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 | Put the orange wrench inside the blue cup on the right side of the black cabinet | Put the orange object inside the cup | Put the orange handle in the blue cup | 0.484582 | [
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false | false | false | Put the orange wrench inside the blue cup on the right side of the black cabinet | Put the orange object inside the cup | Put the orange handle in the blue cup | 0.396476 | [
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false | false | false | Put the orange wrench inside the blue cup on the right side of the black cabinet | Put the orange object inside the cup | Put the orange handle in the blue cup | 0.330396 | [
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false | false | false | Put the orange wrench inside the blue cup on the right side of the black cabinet | Put the orange object inside the cup | Put the orange handle in the blue cup | 0.246696 | [
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false | false | false | Put the orange wrench inside the blue cup on the right side of the black cabinet | Put the orange object inside the cup | Put the orange handle in the blue cup | 0.176211 | [
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false | false | false | Put the orange wrench inside the blue cup on the right side of the black cabinet | Put the orange object inside the cup | Put the orange handle in the blue cup | 0.110132 | [
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false | false | false | Put the orange wrench inside the blue cup on the right side of the black cabinet | Put the orange object inside the cup | Put the orange handle in the blue cup | 0.026432 | [
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false | false | false | Put the orange wrench inside the blue cup on the right side of the black cabinet | Put the orange object inside the cup | Put the orange handle in the blue cup | 0 | [
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false | true | true | Put the orange wrench inside the blue cup on the right side of the black cabinet | Put the orange object inside the cup | Put the orange handle in the blue cup | 0 | [
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true | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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0
] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
0.2613382637500763,
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0.40564119815826416,
2.9634652137756348,
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] | true | 5.733333 | 86 | 289 | 78,895 | 294 |
false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 0 | 0 | [
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0
] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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] | true | 5.8 | 87 | 289 | 78,896 | 294 |
false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 0 | 0 | [
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0
] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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] | [
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] | true | 5.866667 | 88 | 289 | 78,897 | 294 |
false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
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] | 0 | 0 | [
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] | [
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0
] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
0.2613382637500763,
-0.19095291197299957,
0.40564119815826416,
2.9634652137756348,
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] | [
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] | true | 5.933333 | 89 | 289 | 78,898 | 294 |
false | false | false | Remove the white and black mug from the dish rack and put it on the counter. | Pick the white mug on the bottom far right of the dish rack and place it on the kitchen counter | Put the cup on the counter | 0 | [
0.5131329894065857,
0.0908258855342865,
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] | [
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] | [
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0
] | 0 | 0 | [
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] | [
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] | [
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] | [
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0.03375735878944397,
0.27432090044021606,
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] | [
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] | [
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-2.116166591644287,
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2.174888849258423,
-0.42905905842781067,
0
] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
0.2613382637500763,
-0.19095291197299957,
0.40564119815826416,
2.9634652137756348,
-0.2783687710762024,
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] | [
-0.09877917170524597,
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0.47808659076690674,
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] | [
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-0.03905724361538887,
-2.320211887359619
] | true | 6 | 90 | 289 | 78,899 | 294 |
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