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 | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.656388 | [
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] | 1 | 0 | KAIST | KAIST | 13759f6e | 13759f6e | [
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] | true | 11.333333 | 170 | 293 | 86,000 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.656388 | [
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] | 1 | 0 | KAIST | KAIST | 13759f6e | 13759f6e | [
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] | true | 11.4 | 171 | 293 | 86,001 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.656388 | [
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] | 1 | 0 | KAIST | KAIST | 13759f6e | 13759f6e | [
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] | true | 11.466666 | 172 | 293 | 86,002 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.656388 | [
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] | 1 | 0 | KAIST | KAIST | 13759f6e | 13759f6e | [
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0.4841185510158539,
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] | true | 11.533334 | 173 | 293 | 86,003 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.656388 | [
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] | 0.906388 | 1 | [
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] | 1 | 0 | KAIST | KAIST | 13759f6e | 13759f6e | [
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0.4841185510158539,
2.9115796089172363,
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] | true | 11.6 | 174 | 293 | 86,004 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.656388 | [
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] | 1 | 0 | KAIST | KAIST | 13759f6e | 13759f6e | [
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0.4841185510158539,
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] | [
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] | true | 11.666667 | 175 | 293 | 86,005 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.656388 | [
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] | [
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] | [
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] | 0.906388 | 1 | [
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] | [
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] | [
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] | [
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] | 1 | 0 | KAIST | KAIST | 13759f6e | 13759f6e | [
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false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.656388 | [
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] | true | 11.8 | 177 | 293 | 86,007 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.656388 | [
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] | true | 11.866667 | 178 | 293 | 86,008 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.656388 | [
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] | true | 11.933333 | 179 | 293 | 86,009 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.651982 | [
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] | 1 | 0 | KAIST | KAIST | 13759f6e | 13759f6e | [
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] | true | 12 | 180 | 293 | 86,010 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.585903 | [
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] | 1 | 0 | KAIST | KAIST | 13759f6e | 13759f6e | [
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] | true | 12.066667 | 181 | 293 | 86,011 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.524229 | [
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] | 1 | 0 | KAIST | KAIST | 13759f6e | 13759f6e | [
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] | true | 12.133333 | 182 | 293 | 86,012 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.462555 | [
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] | 1 | 0 | KAIST | KAIST | 13759f6e | 13759f6e | [
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] | true | 12.2 | 183 | 293 | 86,013 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.38326 | [
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] | true | 12.266666 | 184 | 293 | 86,014 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.325991 | [
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] | true | 12.333333 | 185 | 293 | 86,015 | 81 |
false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.246696 | [
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false | false | false | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.185022 | [
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] | true | 12.466666 | 187 | 293 | 86,017 | 81 |
false | true | true | Remove the glue stick from the mug | Remove the glue stick from the mug cup | Remove the bottle from the mug and place it on the table | 0.123348 | [
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true | false | false | Remove the silver spoon from the mug on the left and put it in the coffee cup. | Remove the silver spoon from the mug and put it in the paper cup | Move the spoon from the mug and put it into the coffee cup | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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] | true | 0 | 0 | 294 | 86,019 | 296 |
false | false | false | Remove the silver spoon from the mug on the left and put it in the coffee cup. | Remove the silver spoon from the mug and put it in the paper cup | Move the spoon from the mug and put it into the coffee cup | 0 | [
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] | true | 0.066667 | 1 | 294 | 86,020 | 296 |
false | false | false | Remove the silver spoon from the mug on the left and put it in the coffee cup. | Remove the silver spoon from the mug and put it in the paper cup | Move the spoon from the mug and put it into the coffee cup | 0 | [
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false | false | false | Remove the silver spoon from the mug on the left and put it in the coffee cup. | Remove the silver spoon from the mug and put it in the paper cup | Move the spoon from the mug and put it into the coffee cup | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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] | true | 5.333333 | 80 | 294 | 86,099 | 296 |
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