is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 285
values | language_instruction_3 stringclasses 293
values | observation.state.gripper_position float32 0 1 | observation.state.cartesian_position listlengths 6 6 | observation.state.joint_position listlengths 7 7 | observation.state listlengths 8 8 | action.gripper_position float32 0 1 | action.gripper_velocity float32 -1 1 | action.cartesian_position listlengths 6 6 | action.cartesian_velocity listlengths 6 6 | action.joint_position listlengths 7 7 | action.joint_velocity listlengths 7 7 | action.original listlengths 7 7 | action listlengths 8 8 | discount float32 1 1 | reward float32 0 1 | task_category stringclasses 40
values | building stringclasses 40
values | collector_id stringclasses 44
values | date stringclasses 44
values | camera_extrinsics.wrist_left listlengths 6 6 | camera_extrinsics.exterior_1_left listlengths 6 6 | camera_extrinsics.exterior_2_left listlengths 6 6 | is_episode_successful bool 2
classes | timestamp float32 0 53 | frame_index int64 0 795 | episode_index int64 0 299 | index int64 0 74.3k | task_index int64 0 299 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | false | Move the glass jar to the left side of the dishwasher rack | Move the glass cup from the right side to the left side of the dishwasher | Move the glass behind the plate in the dishwasher | 0.136564 | [
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false | false | false | Move the glass jar to the left side of the dishwasher rack | Move the glass cup from the right side to the left side of the dishwasher | Move the glass behind the plate in the dishwasher | 0.136564 | [
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false | false | false | Move the glass jar to the left side of the dishwasher rack | Move the glass cup from the right side to the left side of the dishwasher | Move the glass behind the plate in the dishwasher | 0.136564 | [
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false | false | false | Move the glass jar to the left side of the dishwasher rack | Move the glass cup from the right side to the left side of the dishwasher | Move the glass behind the plate in the dishwasher | 0.136564 | [
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false | false | false | Move the glass jar to the left side of the dishwasher rack | Move the glass cup from the right side to the left side of the dishwasher | Move the glass behind the plate in the dishwasher | 0.136564 | [
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false | false | false | Move the glass jar to the left side of the dishwasher rack | Move the glass cup from the right side to the left side of the dishwasher | Move the glass behind the plate in the dishwasher | 0.136564 | [
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false | false | false | Move the glass container forwards. | Shift the clear object to the left side of the plate | Move the glass bowl closer to you | 0 | [
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false | false | false | Move the glass container forwards. | Shift the clear object to the left side of the plate | Move the glass bowl closer to you | 0 | [
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false | false | false | Move the glass container forwards. | Shift the clear object to the left side of the plate | Move the glass bowl closer to you | 0 | [
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] | 1 | 0 | Gates | Gates | sbd7d2c6 | sbd7d2c6 | [
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] | true | 0.733333 | 11 | 298 | 74,093 | 298 |
false | false | false | Move the glass container forwards. | Shift the clear object to the left side of the plate | Move the glass bowl closer to you | 0 | [
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] | 1 | 0 | Gates | Gates | sbd7d2c6 | sbd7d2c6 | [
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false | false | false | Move the glass container forwards. | Shift the clear object to the left side of the plate | Move the glass bowl closer to you | 0 | [
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] | 1 | 0 | Gates | Gates | sbd7d2c6 | sbd7d2c6 | [
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] | true | 0.866667 | 13 | 298 | 74,095 | 298 |
false | false | false | Move the glass container forwards. | Shift the clear object to the left side of the plate | Move the glass bowl closer to you | 0 | [
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] | 1 | 0 | Gates | Gates | sbd7d2c6 | sbd7d2c6 | [
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] | true | 0.933333 | 14 | 298 | 74,096 | 298 |
false | false | false | Move the glass container forwards. | Shift the clear object to the left side of the plate | Move the glass bowl closer to you | 0 | [
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] | 1 | 0 | Gates | Gates | sbd7d2c6 | sbd7d2c6 | [
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] | true | 1 | 15 | 298 | 74,097 | 298 |
false | false | false | Move the glass container forwards. | Shift the clear object to the left side of the plate | Move the glass bowl closer to you | 0 | [
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] | 1 | 0 | Gates | Gates | sbd7d2c6 | sbd7d2c6 | [
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] | true | 1.066667 | 16 | 298 | 74,098 | 298 |
false | false | false | Move the glass container forwards. | Shift the clear object to the left side of the plate | Move the glass bowl closer to you | 0 | [
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0
] | 1 | 0 | Gates | Gates | sbd7d2c6 | sbd7d2c6 | [
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] | true | 1.133333 | 17 | 298 | 74,099 | 298 |
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