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 | 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 | 1 | [
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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 | 1 | [
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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 | 1 | [
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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 | 1 | [
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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 | 1 | [
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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 | 1 | [
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1.2617155313491821,
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0
] | 0 | 0 | [
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0.6248406767845154,
-3.1298418045043945,
0.2480040341615677,
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0.19522437453269958,
0.0703943744301796,
0.02444974146783352,
0.35765472054481506
] | [
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0.23434992134571075,
0.015667390078306198,
-1.2194186449050903,
0.07485685497522354,
1.2180534601211548,
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] | [
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0.021285168826580048,
0.000811490579508245,
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] | [
0.583530843257904,
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0.6248406767845154,
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0.2480040341615677,
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0
] | [
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-1.2194186449050903,
0.07485685497522354,
1.2180534601211548,
0.27680477499961853,
0
] | 1 | 0 | Autolab | Autolab | 44bb9c36 | 44bb9c36 | [
0.33787745237350464,
0.1577867567539215,
0.5114860534667969,
3.093808650970459,
0.14121848344802856,
1.3793079853057861
] | [
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0.6093427538871765,
0.48718592524528503,
-2.114960193634033,
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0.37589868903160095,
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0.43831321597099304,
-1.908821702003479,
0.043840304017066956,
-0.43731868267059326
] | true | 55.933334 | 839 | 298 | 87,899 | 298 |
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