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 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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.806167 | [
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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 | 0.792952 | [
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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 | 0.748899 | [
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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 | 0.696035 | [
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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 | 0.625551 | [
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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 | 0.568282 | [
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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 | 0.506608 | [
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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 | 0.427313 | [
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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 | 0.370044 | [
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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 | 0.30837 | [
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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 | 0.22467 | [
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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 | 0.167401 | [
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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 | 0.088106 | [
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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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] | true | 14.8 | 222 | 289 | 79,031 | 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 | 0.026432 | [
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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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] | true | 14.933333 | 224 | 289 | 79,033 | 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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] | 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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] | true | 15.333333 | 230 | 289 | 79,039 | 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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] | 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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] | 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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2.9634652137756348,
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] | true | 16.133333 | 242 | 289 | 79,051 | 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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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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] | true | 16.200001 | 243 | 289 | 79,052 | 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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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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] | true | 16.266666 | 244 | 289 | 79,053 | 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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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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] | true | 16.333334 | 245 | 289 | 79,054 | 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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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
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] | true | 16.4 | 246 | 289 | 79,055 | 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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] | 1 | 0 | Gates G60 | Gates G60 | f1c42455 | f1c42455 | [
0.2613382637500763,
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0.40564119815826416,
2.9634652137756348,
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] | true | 16.466667 | 247 | 289 | 79,056 | 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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true | false | false | Put the green packet in the bowl. | Put the candy bar into the bowl | Put the green packet in the bowl. | 0 | [
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false | false | false | Put the green packet in the bowl. | Put the candy bar into the bowl | Put the green packet in the bowl. | 0 | [
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false | false | false | Put the green packet in the bowl. | Put the candy bar into the bowl | Put the green packet in the bowl. | 0 | [
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false | false | false | Put the green packet in the bowl. | Put the candy bar into the bowl | Put the green packet in the bowl. | 0 | [
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] | 1 | 0 | AHG kitchen floor 1 | AHG kitchen floor 1 | cb4f6842 | cb4f6842 | [
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false | false | false | Put the green packet in the bowl. | Put the candy bar into the bowl | Put the green packet in the bowl. | 0 | [
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] | 1 | 0 | AHG kitchen floor 1 | AHG kitchen floor 1 | cb4f6842 | cb4f6842 | [
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] | true | 2.4 | 36 | 290 | 79,099 | 55 |
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