is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 294
values | language_instruction_3 stringclasses 298
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 41
values | building stringclasses 41
values | collector_id stringclasses 52
values | date stringclasses 52
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 69.5 | frame_index int64 0 1.04k | episode_index int64 0 299 | index int64 0 81.1k | task_index int64 0 299 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.938326 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.920705 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.867841 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.779736 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.709251 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.625551 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.555066 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.488987 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.405286 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.339207 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.251101 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.185022 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.101322 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.035242 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0.004405 | [
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] | 1 | 0 | 403 Fairmont | 403 Fairmont | 52ca9b6a | 52ca9b6a | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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] | 1 | 0 | 403 Fairmont | 403 Fairmont | 52ca9b6a | 52ca9b6a | [
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] | true | 22.266666 | 334 | 6 | 1,975 | 26 |
false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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false | false | false | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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false | true | true | Press the open button to open the microwave, remove the black bowl and then put it on the countertop | Open the microwave, then take out the bowl and place it on the counter | Open the microwave door by pressing on the bottom right button, remove the black bowl from the microwave and put it on the table | 0 | [
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true | false | false | Use the wooden spoon to put the contents from the pot into the pink bowl. | Use the wooden spoon to scoop up contents from the pot into the bowl | use the wooden spoon to take something from the pot and place it in the bowl | 0 | [
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] | 1 | 0 | 640 Palo Alto Ave | 640 Palo Alto Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 1.066667 | 16 | 7 | 1,999 | 27 |
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