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 blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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] | true | 5.733333 | 86 | 1 | 303 | 6 |
false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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] | true | 5.866667 | 88 | 1 | 305 | 6 |
false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.026432 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.092511 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.189427 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.264317 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.330396 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.418502 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.484582 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.638767 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.718062 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.788546 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.801762 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.797357 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.797357 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.779736 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.76652 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.76652 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.748899 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.69163 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.599119 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.53304 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.444934 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.374449 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.290749 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.220264 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.15859 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.070485 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.008811 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.026432 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.092511 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.356828 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.418502 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.484582 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.572687 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.555066 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.497797 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.414097 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.339207 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.273128 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.185022 | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.118943 | [
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false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.035242 | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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] | true | 11.866667 | 178 | 1 | 395 | 6 |
false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.004405 | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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] | true | 11.933333 | 179 | 1 | 396 | 6 |
false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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] | true | 12 | 180 | 1 | 397 | 6 |
false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0.004405 | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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] | true | 12.066667 | 181 | 1 | 398 | 6 |
false | false | false | Remove the blue ring from the wooden stand and put it on the table | Take the blue disk off the wooden base and put it on the table | Put the blue ring on the table | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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] | true | 12.133333 | 182 | 1 | 399 | 6 |
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