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 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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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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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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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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0.32545095682144165,
0.07650868594646454,
0.4236052930355072,
2.8549399375915527,
0.24434882402420044,
1.509078025817871
] | [
0.08686726540327072,
0.6360898613929749,
0.42346400022506714,
-1.9629111289978027,
-0.02960803732275963,
-2.5650553703308105
] | [
0.2319905012845993,
-0.5794757604598999,
0.6157873272895813,
-2.148390769958496,
-0.05497258901596069,
-0.6777800917625427
] | true | 12 | 180 | 294 | 86,199 | 296 |
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