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 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 | 0.502203 | [
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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 | 0.502203 | [
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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 | 0.502203 | [
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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 | 0.502203 | [
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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 | 0.502203 | [
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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 | 0.502203 | [
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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 | 0.502203 | [
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false | false | false | Pick up the pen, put it on the lime towel, fold the towel, pick up the folded towel and put it in the box. | Pick up the marker from the table and put it on the cloth, then fold the cloth and put it in the box | Place the marker on the towel, fold the towel and place it inside the box | 0 | [
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] | 1 | 0 | Autolab | Autolab | 44bb9c36 | 44bb9c36 | [
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false | false | false | Pick up the pen, put it on the lime towel, fold the towel, pick up the folded towel and put it in the box. | Pick up the marker from the table and put it on the cloth, then fold the cloth and put it in the box | Place the marker on the towel, fold the towel and place it inside the box | 0 | [
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] | 1 | 0 | Autolab | Autolab | 44bb9c36 | 44bb9c36 | [
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] | true | 2.333333 | 35 | 298 | 87,095 | 298 |
false | false | false | Pick up the pen, put it on the lime towel, fold the towel, pick up the folded towel and put it in the box. | Pick up the marker from the table and put it on the cloth, then fold the cloth and put it in the box | Place the marker on the towel, fold the towel and place it inside the box | 0 | [
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] | 1 | 0 | Autolab | Autolab | 44bb9c36 | 44bb9c36 | [
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] | true | 2.4 | 36 | 298 | 87,096 | 298 |
false | false | false | Pick up the pen, put it on the lime towel, fold the towel, pick up the folded towel and put it in the box. | Pick up the marker from the table and put it on the cloth, then fold the cloth and put it in the box | Place the marker on the towel, fold the towel and place it inside the box | 0 | [
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] | 1 | 0 | Autolab | Autolab | 44bb9c36 | 44bb9c36 | [
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] | true | 2.466667 | 37 | 298 | 87,097 | 298 |
false | false | false | Pick up the pen, put it on the lime towel, fold the towel, pick up the folded towel and put it in the box. | Pick up the marker from the table and put it on the cloth, then fold the cloth and put it in the box | Place the marker on the towel, fold the towel and place it inside the box | 0 | [
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] | 1 | 0 | Autolab | Autolab | 44bb9c36 | 44bb9c36 | [
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] | true | 2.533333 | 38 | 298 | 87,098 | 298 |
false | false | false | Pick up the pen, put it on the lime towel, fold the towel, pick up the folded towel and put it in the box. | Pick up the marker from the table and put it on the cloth, then fold the cloth and put it in the box | Place the marker on the towel, fold the towel and place it inside the box | 0 | [
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] | 1 | 0 | Autolab | Autolab | 44bb9c36 | 44bb9c36 | [
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] | [
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] | true | 2.6 | 39 | 298 | 87,099 | 298 |
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