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 the fork and put it in the drawer | Put the fork inside the drawer then close the drawer | Put the fork on the box in the open drawer | 0.894273 | [
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false | false | false | Pick the fork and put it in the drawer | Put the fork inside the drawer then close the drawer | Put the fork on the box in the open drawer | 0.894273 | [
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false | false | false | Pick the fork and put it in the drawer | Put the fork inside the drawer then close the drawer | Put the fork on the box in the open drawer | 0.894273 | [
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false | false | false | Pick the fork and put it in the drawer | Put the fork inside the drawer then close the drawer | Put the fork on the box in the open drawer | 0.894273 | [
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false | false | false | Pick the fork and put it in the drawer | Put the fork inside the drawer then close the drawer | Put the fork on the box in the open drawer | 0 | [
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false | false | false | Pick the fork and put it in the drawer | Put the fork inside the drawer then close the drawer | Put the fork on the box in the open drawer | 0 | [
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false | false | false | Pick the fork and put it in the drawer | Put the fork inside the drawer then close the drawer | Put the fork on the box in the open drawer | 0 | [
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] | true | 25.466667 | 382 | 3 | 997 | 13 |
false | true | true | Pick the fork and put it in the drawer | Put the fork inside the drawer then close the drawer | Put the fork on the box in the open drawer | 0 | [
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] | 1 | 1 | Gates | Gates | edf28ef3 | edf28ef3 | [
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] | true | 25.533333 | 383 | 3 | 998 | 13 |
true | false | false | Remove the glass lid from the black pot | Remove the glass lid from the black pot. | Remove the lid from the pot and place it on the counter | 0 | [
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] | 1 | 0 | Mila staff kitchen | Mila staff kitchen | de601749 | de601749 | [
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] | true | 0 | 0 | 4 | 999 | 14 |
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