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 | Pick the black cloth and put it on the right on the bed | Pick up the black cloth and place it on the bed | Move the black shirt to the right | 0.9163 | [
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false | false | false | Pick the black cloth and put it on the right on the bed | Pick up the black cloth and place it on the bed | Move the black shirt to the right | 0.9163 | [
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false | false | false | Pick the black cloth and put it on the right on the bed | Pick up the black cloth and place it on the bed | Move the black shirt to the right | 0.9163 | [
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false | false | false | Pick the black cloth and put it on the right on the bed | Pick up the black cloth and place it on the bed | Move the black shirt to the right | 0.9163 | [
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false | false | false | Pick the black cloth and put it on the right on the bed | Pick up the black cloth and place it on the bed | Move the black shirt to the right | 0.9163 | [
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false | false | false | Pick the black cloth and put it on the right on the bed | Pick up the black cloth and place it on the bed | Move the black shirt to the right | 0.9163 | [
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false | false | false | Pick the black cloth and put it on the right on the bed | Pick up the black cloth and place it on the bed | Move the black shirt to the right | 0.9163 | [
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false | false | false | Pick the black cloth and put it on the right on the bed | Pick up the black cloth and place it on the bed | Move the black shirt to the right | 0.9163 | [
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true | false | false | Remove the purple toy from the grey plate and put it on the black tray | Put the purple plushy on the black plate | Put the purple plush toy onto the black tray | 0 | [
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false | false | false | Remove the purple toy from the grey plate and put it on the black tray | Put the purple plushy on the black plate | Put the purple plush toy onto the black tray | 0 | [
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false | false | false | Remove the purple toy from the grey plate and put it on the black tray | Put the purple plushy on the black plate | Put the purple plush toy onto the black tray | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | acda9df3 | acda9df3 | [
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] | true | 0.2 | 3 | 294 | 79,798 | 296 |
false | false | false | Remove the purple toy from the grey plate and put it on the black tray | Put the purple plushy on the black plate | Put the purple plush toy onto the black tray | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | acda9df3 | acda9df3 | [
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] | true | 0.266667 | 4 | 294 | 79,799 | 296 |
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