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 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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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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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 | 7.133333 | 107 | 294 | 79,902 | 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 | 7.2 | 108 | 294 | 79,903 | 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 | 7.266667 | 109 | 294 | 79,904 | 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 | 7.333333 | 110 | 294 | 79,905 | 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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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 | 0.004405 | [
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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 | 0.004405 | [
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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 | 0.008811 | [
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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 | 0.017621 | [
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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 | 0.022026 | [
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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 | 0.030837 | [
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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 | 0.039648 | [
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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 | 0.048458 | [
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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 | 0.057269 | [
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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 | 0.061674 | [
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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 | 0.066079 | [
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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 | 0.066079 | [
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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 | 0.057269 | [
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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 | 0.057269 | [
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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 | 0.066079 | [
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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 | 0.066079 | [
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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 | 0.066079 | [
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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 | 0.070485 | [
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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 | 0.070485 | [
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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 | 0.07489 | [
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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 | 0.079295 | [
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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 | 0.079295 | [
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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 | 0.370044 | [
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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 | 0.440529 | [
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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 | 0.524229 | [
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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 | 0.581498 | [
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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 | 0.656388 | [
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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 | 0.84141 | [
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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 | 0.84141 | [
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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 | 0.85022 | [
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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 | 0.85022 | [
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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 | 0.85022 | [
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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 | 0.85022 | [
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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 | 0.85022 | [
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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 | 0.85022 | [
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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 | 0.85022 | [
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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 | 0.85022 | [
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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 | 0.85022 | [
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-0.6658605337142944,
0.1652233898639679,
-0.7972069978713989,
-0.3325394093990326,
-0.014128588140010834,
0.2572014629840851
] | [
0.6316139698028564,
-0.04884956777095795,
0.2658272385597229,
2.4438037872314453,
-0.19620183110237122,
-0.39024031162261963,
0.9625550508499146
] | [
0.28169310092926025,
0.5551465749740601,
-0.3382629156112671,
-1.7624038457870483,
-0.6274144053459167,
2.0826573371887207,
0.8100030422210693,
0.9625550508499146
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | acda9df3 | acda9df3 | [
0.29789116978645325,
0.031855493783950806,
0.531558096408844,
2.6030266284942627,
0.08478529006242752,
1.4708878993988037
] | [
0.47994089126586914,
0.38961145281791687,
0.4349651634693146,
-2.063368558883667,
0.05440323427319527,
-3.0021307468414307
] | [
0.12229391187429428,
-0.4111217260360718,
0.4535881578922272,
-1.8533304929733276,
0.01507577020674944,
-0.8211075663566589
] | true | 13.6 | 204 | 294 | 79,999 | 296 |
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