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 marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
0.5232610106468201,
0.08919598907232285,
0.17522549629211426,
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0.09379170835018158,
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] | 0.948238 | 0.621145 | [
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] | [
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] | [
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] | [
0.5617029666900635,
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0.05898439884185791,
2.743765115737915,
-0.05734122171998024,
0.9482378959655762
] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
0.25626349449157715,
-0.09774190187454224,
0.47385844588279724,
2.644535779953003,
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1.624755859375
] | [
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] | [
0.12039091438055038,
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0.45097440481185913,
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0.12965768575668335,
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] | true | 5.533333 | 83 | 299 | 74,300 | 299 |
false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
0.5307735204696655,
0.0889308899641037,
0.1802137792110443,
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] | [
0.08541649580001831,
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0.08333274722099304,
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0.05638713017106056,
2.824495553970337,
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] | [
0.08541649580001831,
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0.05638713017106056,
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] | 0.948238 | 0.621145 | [
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] | [
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] | [
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] | [
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] | [
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] | [
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0.058633219450712204,
2.719482421875,
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0.9482378959655762
] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
0.25626349449157715,
-0.09774190187454224,
0.47385844588279724,
2.644535779953003,
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1.624755859375
] | [
0.21650578081607819,
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] | [
0.12039091438055038,
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0.45097440481185913,
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0.12965768575668335,
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] | true | 5.6 | 84 | 299 | 74,301 | 299 |
false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
0.5382643938064575,
0.08805964142084122,
0.184573233127594,
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] | [
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0.056579284369945526,
2.7983484268188477,
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] | [
0.07782594859600067,
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0.056579284369945526,
2.7983484268188477,
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] | 0.948238 | 0.621145 | [
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0.0856805220246315,
0.18872039020061493,
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] | [
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0.05645567923784256,
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] | [
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0.4698028564453125,
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] | [
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0.18872039020061493,
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0.05645567923784256,
2.6947829723358154,
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0.9482378959655762
] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
0.25626349449157715,
-0.09774190187454224,
0.47385844588279724,
2.644535779953003,
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1.624755859375
] | [
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0.3799235224723816,
0.3876440227031708,
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0.34157198667526245,
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] | [
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0.45097440481185913,
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0.12965768575668335,
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] | true | 5.666667 | 85 | 299 | 74,302 | 299 |
false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
0.5458714962005615,
0.08672811090946198,
0.18804994225502014,
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0.14356425404548645
] | [
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0.05658381059765816,
2.7706072330474854,
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] | [
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0.05658381059765816,
2.7706072330474854,
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] | 0.948238 | 0.621145 | [
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0.08508830517530441,
0.18820500373840332,
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] | [
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0.03208635374903679,
0.1881408542394638,
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] | [
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0.053802430629730225,
2.675130605697632,
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] | [
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0.4512117803096771,
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] | [
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] | [
0.049949828535318375,
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0.053802430629730225,
2.675130605697632,
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0.9482378959655762
] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
0.25626349449157715,
-0.09774190187454224,
0.47385844588279724,
2.644535779953003,
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1.624755859375
] | [
0.21650578081607819,
0.3799235224723816,
0.3876440227031708,
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0.34157198667526245,
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] | [
0.12039091438055038,
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0.45097440481185913,
-2.1090757846832275,
0.12965768575668335,
-1.20015287399292
] | true | 5.733333 | 86 | 299 | 74,303 | 299 |
false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
0.5527061223983765,
0.0855841413140297,
0.19007638096809387,
-3.0828356742858887,
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0.14851978421211243
] | [
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2.7456188201904297,
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] | [
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0.056579019874334335,
2.7456188201904297,
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] | 0.948238 | 0.621145 | [
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0.08460356295108795,
0.18617366254329681,
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] | [
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] | [
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0.05418878793716431,
2.6582369804382324,
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] | [
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0.43929511308670044,
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] | [
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0.16381020843982697,
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] | [
0.048121608793735504,
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0.05418878793716431,
2.6582369804382324,
-0.07873675227165222,
0.9482378959655762
] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
0.25626349449157715,
-0.09774190187454224,
0.47385844588279724,
2.644535779953003,
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1.624755859375
] | [
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0.34157198667526245,
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] | [
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0.45097440481185913,
-2.1090757846832275,
0.12965768575668335,
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] | true | 5.8 | 87 | 299 | 74,304 | 299 |
false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
0.5589464902877808,
0.084793820977211,
0.19088762998580933,
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] | [
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] | [
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] | 0.948238 | 0.621145 | [
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] | [
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] | [
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] | [
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] | [
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] | [
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0.05336408317089081,
2.6479976177215576,
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0.9482378959655762
] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
0.25626349449157715,
-0.09774190187454224,
0.47385844588279724,
2.644535779953003,
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] | [
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0.34157198667526245,
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] | [
0.12039091438055038,
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0.45097440481185913,
-2.1090757846832275,
0.12965768575668335,
-1.20015287399292
] | true | 5.866667 | 88 | 299 | 74,305 | 299 |
false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
0.5644381046295166,
0.08439905941486359,
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] | [
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] | [
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] | 0.948238 | 0.621145 | [
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] | [
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] | [
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] | [
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] | [
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] | [
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0.05275855213403702,
2.639331102371216,
-0.0859212875366211,
0.9482378959655762
] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
0.25626349449157715,
-0.09774190187454224,
0.47385844588279724,
2.644535779953003,
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] | [
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] | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.792952 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.779736 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.726872 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.647577 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.581498 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.502203 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.444934 | [
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] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.38326 | [
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] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.167401 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.105727 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.044053 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0 | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0 | [
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] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
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false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0.004405 | [
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] | [
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0.32603782415390015,
0.1815013289451599,
0.0883941575884819,
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] | [
0.035094499588012695,
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] | [
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] | [
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0
] | [
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0.05902022495865822,
2.6339457035064697,
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0
] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
0.25626349449157715,
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0.47385844588279724,
2.644535779953003,
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] | true | 7.933333 | 119 | 299 | 74,336 | 299 |
false | false | false | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0 | [
0.5956718325614929,
0.09235245734453201,
0.1754102259874344,
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] | [
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] | 0 | 0 | [
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] | [
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] | [
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] | [
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0.07312780618667603,
2.628904342651367,
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0
] | 1 | 0 | KAIST | KAIST | 236539bc | 236539bc | [
0.25626349449157715,
-0.09774190187454224,
0.47385844588279724,
2.644535779953003,
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] | [
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0.12965768575668335,
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] | true | 8 | 120 | 299 | 74,337 | 299 |
false | true | true | Move the marker slightly forward | Move the marker backwards | Move the marker forward | 0 | [
0.593787670135498,
0.09346058964729309,
0.18055739998817444,
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] | [
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2.6552987098693848,
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2.6552987098693848,
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] | 0 | 0 | [
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] | [
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0.17654085159301758,
0.0848885104060173,
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] | [
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0.08311069756746292,
2.6229565143585205,
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] | [
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0.1642899066209793,
-0.32510632276535034,
0.174727201461792,
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] | [
0.5718090534210205,
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0.21135826408863068,
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0.19567091763019562,
0
] | [
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0.14215800166130066,
-2.1222944259643555,
0.08311069756746292,
2.6229565143585205,
-0.121072918176651,
0
] | 1 | 1 | KAIST | KAIST | 236539bc | 236539bc | [
0.25626349449157715,
-0.09774190187454224,
0.47385844588279724,
2.644535779953003,
-0.24756449460983276,
1.624755859375
] | [
0.21650578081607819,
0.3799235224723816,
0.3876440227031708,
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0.34157198667526245,
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] | [
0.12039091438055038,
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0.45097440481185913,
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0.12965768575668335,
-1.20015287399292
] | true | 8.066667 | 121 | 299 | 74,338 | 299 |
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