is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 292
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 42
values | building stringclasses 42
values | collector_id stringclasses 51
values | date stringclasses 51
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 1
class | timestamp float32 0 96.6 | frame_index int64 0 1.45k | episode_index int64 0 299 | index int64 0 88.1k | task_index int64 0 299 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | false | Take the marker out of the white mug | Pick up the marker from the cup and put it on the table | Remove the marker from the cup | 0.207048 | [
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false | false | false | Take the marker out of the white mug | Pick up the marker from the cup and put it on the table | Remove the marker from the cup | 0.118943 | [
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false | false | false | Take the marker out of the white mug | Pick up the marker from the cup and put it on the table | Remove the marker from the cup | 0.057269 | [
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] | true | 9.4 | 141 | 289 | 85,102 | 103 |
false | false | false | Take the marker out of the white mug | Pick up the marker from the cup and put it on the table | Remove the marker from the cup | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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] | true | 9.466666 | 142 | 289 | 85,103 | 103 |
false | false | false | Take the marker out of the white mug | Pick up the marker from the cup and put it on the table | Remove the marker from the cup | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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] | true | 9.533334 | 143 | 289 | 85,104 | 103 |
false | true | true | Take the marker out of the white mug | Pick up the marker from the cup and put it on the table | Remove the marker from the cup | 0 | [
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] | 1 | 1 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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] | true | 9.6 | 144 | 289 | 85,105 | 103 |
true | false | false | Remove a lemon from the bowl and put it on the counter | Take a lemon from the bowl and put it on the counter | Remove a lemon from the glass bowl | 0 | [
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] | 1 | 0 | 775 Roble | 775 Roble | 7790ec0a | 7790ec0a | [
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false | false | false | Remove a lemon from the bowl and put it on the counter | Take a lemon from the bowl and put it on the counter | Remove a lemon from the glass bowl | 0 | [
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false | false | false | Remove a lemon from the bowl and put it on the counter | Take a lemon from the bowl and put it on the counter | Remove a lemon from the glass bowl | 0.035242 | [
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false | false | false | Remove a lemon from the bowl and put it on the counter | Take a lemon from the bowl and put it on the counter | Remove a lemon from the glass bowl | 0.004405 | [
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false | false | false | Remove a lemon from the bowl and put it on the counter | Take a lemon from the bowl and put it on the counter | Remove a lemon from the glass bowl | 0 | [
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false | false | false | Remove a lemon from the bowl and put it on the counter | Take a lemon from the bowl and put it on the counter | Remove a lemon from the glass bowl | 0.127753 | [
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false | false | false | Remove a lemon from the bowl and put it on the counter | Take a lemon from the bowl and put it on the counter | Remove a lemon from the glass bowl | 0.207048 | [
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false | false | false | Remove a lemon from the bowl and put it on the counter | Take a lemon from the bowl and put it on the counter | Remove a lemon from the glass bowl | 0.264317 | [
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] | 1 | 0 | 775 Roble | 775 Roble | 7790ec0a | 7790ec0a | [
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] | true | 6.2 | 93 | 290 | 85,199 | 294 |
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