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 | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0 | [
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false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0 | [
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false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0.008811 | [
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false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0.008811 | [
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] | 1 | 0 | 416 W Dana St | 416 W Dana St | 52ca9b6a | 52ca9b6a | [
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] | true | 9.733334 | 146 | 8 | 2,603 | 32 |
false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0.004405 | [
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] | 1 | 0 | 416 W Dana St | 416 W Dana St | 52ca9b6a | 52ca9b6a | [
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false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0 | [
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] | 1 | 0 | 416 W Dana St | 416 W Dana St | 52ca9b6a | 52ca9b6a | [
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false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0 | [
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] | 1 | 0 | 416 W Dana St | 416 W Dana St | 52ca9b6a | 52ca9b6a | [
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] | 1 | 0 | 416 W Dana St | 416 W Dana St | 52ca9b6a | 52ca9b6a | [
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false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0.938326 | [
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] | 1 | 0 | 416 W Dana St | 416 W Dana St | 52ca9b6a | 52ca9b6a | [
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false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0.960352 | [
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false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0.960352 | [
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false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0.960352 | [
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false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0.960352 | [
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] | 1 | 0 | 416 W Dana St | 416 W Dana St | 52ca9b6a | 52ca9b6a | [
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false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0.960352 | [
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] | 1 | 0 | 416 W Dana St | 416 W Dana St | 52ca9b6a | 52ca9b6a | [
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false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0.960352 | [
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] | 1 | 0 | 416 W Dana St | 416 W Dana St | 52ca9b6a | 52ca9b6a | [
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] | true | 16.066668 | 241 | 8 | 2,698 | 32 |
false | false | false | Remove the purple spoon and blue knife from the dish rack and put them in the sink. | Place the cutlery inside the sink | Put the items in the dish tray in the sink | 0.960352 | [
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] | 1 | 0 | 416 W Dana St | 416 W Dana St | 52ca9b6a | 52ca9b6a | [
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] | true | 16.133333 | 242 | 8 | 2,699 | 32 |
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