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 fork from underneath the table | Remove the folks from the blue towel, the move the green plastic | Move the forks to the right | 0.929515 | [
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false | false | false | Remove the fork from underneath the table | Remove the folks from the blue towel, the move the green plastic | Move the forks to the right | 0.863436 | [
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false | false | false | Remove the fork from underneath the table | Remove the folks from the blue towel, the move the green plastic | Move the forks to the right | 0.806167 | [
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false | false | false | Remove the fork from underneath the table | Remove the folks from the blue towel, the move the green plastic | Move the forks to the right | 0.744493 | [
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false | false | false | Remove the fork from underneath the table | Remove the folks from the blue towel, the move the green plastic | Move the forks to the right | 0.660793 | [
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false | false | false | Remove the fork from underneath the table | Remove the folks from the blue towel, the move the green plastic | Move the forks to the right | 0.599119 | [
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false | false | false | Remove the fork from underneath the table | Remove the folks from the blue towel, the move the green plastic | Move the forks to the right | 0.519824 | [
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0.5920925140380859,
3.071784257888794,
-0.3088343143463135,
0.009386423043906689,
0.9591355919837952
] | [
-0.09608951956033707,
-0.15190823376178741,
-0.13956734538078308,
-1.9085826873779297,
-0.01690812036395073,
2.073464870452881,
-0.23055174946784973,
0.9591355919837952
] | 1 | 0 | 640 Palo Alto Ave | 640 Palo Alto Ave | 52ca9b6a | 52ca9b6a | [
0.3463423252105713,
-0.061330173164606094,
0.4019109606742859,
3.019665002822876,
-0.04405193403363228,
1.7257388830184937
] | [
0.39593783020973206,
0.5367424488067627,
0.5971658825874329,
-1.892846941947937,
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] | [
0.17054693400859833,
-0.6985623836517334,
0.525012195110321,
-2.0380520820617676,
0.06356737017631531,
-0.5404918193817139
] | true | 21 | 315 | 296 | 86,699 | 297 |
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