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 | Take a plate from the counter and put it in dishwasher | Put the plate inside the dishwasher | Pick up one white plate from the countertop and put it in the dish rack. | 0.859031 | [
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false | false | false | Take a plate from the counter and put it in dishwasher | Put the plate inside the dishwasher | Pick up one white plate from the countertop and put it in the dish rack. | 0.810573 | [
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false | false | false | Take a plate from the counter and put it in dishwasher | Put the plate inside the dishwasher | Pick up one white plate from the countertop and put it in the dish rack. | 0.740088 | [
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false | false | false | Take a plate from the counter and put it in dishwasher | Put the plate inside the dishwasher | Pick up one white plate from the countertop and put it in the dish rack. | 0.687225 | [
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false | false | false | Take a plate from the counter and put it in dishwasher | Put the plate inside the dishwasher | Pick up one white plate from the countertop and put it in the dish rack. | 0.612335 | [
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false | false | false | Take a plate from the counter and put it in dishwasher | Put the plate inside the dishwasher | Pick up one white plate from the countertop and put it in the dish rack. | 0.555066 | [
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false | false | false | Take a plate from the counter and put it in dishwasher | Put the plate inside the dishwasher | Pick up one white plate from the countertop and put it in the dish rack. | 0.484582 | [
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-0.039067186415195465,
-0.10497502982616425
] | [
0.6785654425621033,
-0.061431460082530975,
0.3041284680366516,
2.22129487991333,
0.0024481629952788353,
0.5188570618629456,
0.93788081407547
] | [
-0.019884932786226273,
0.5042344331741333,
-0.06842638552188873,
-1.748634934425354,
-1.258427619934082,
2.407149076461792,
0.33978962898254395,
0.93788081407547
] | 1 | 0 | Jimmy's Apartment | Jimmy's Apartment | w026bb9b | w026bb9b | [
0.3759475350379944,
-0.19835029542446136,
0.4960474967956543,
2.890531301498413,
-0.181732639670372,
1.7890506982803345
] | [
0.22860318422317505,
0.5458508729934692,
0.5586574673652649,
-1.9074279069900513,
-0.05095352604985237,
-2.6873302459716797
] | [
-0.016271205618977547,
-0.5024732351303101,
0.6528123617172241,
-2.0875813961029053,
-0.026214277371764183,
-0.7782285213470459
] | true | 13.866667 | 208 | 3 | 799 | 15 |
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