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 | 0.704846 | [
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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 | 0.722467 | [
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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 | 0.735683 | [
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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 | 0.744493 | [
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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 | 0.744493 | [
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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 | 0.744493 | [
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false | false | false | Remove the white lotion bottle from the plastic bag | Put the white bottle from the plastic bag on the table | Take a white bottle out of the plastic bag and put it on the table | 0 | [
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false | false | false | Remove the white lotion bottle from the plastic bag | Put the white bottle from the plastic bag on the table | Take a white bottle out of the plastic bag and put it on the table | 0 | [
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false | false | false | Remove the white lotion bottle from the plastic bag | Put the white bottle from the plastic bag on the table | Take a white bottle out of the plastic bag and put it on the table | 0 | [
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] | 1 | 0 | BWW | BWW | be856380 | be856380 | [
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] | true | 3.6 | 54 | 297 | 86,899 | 243 |
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