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. | 0.942731 | [
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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. | 0.933921 | [
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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. | 0.920705 | [
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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. | 0.859031 | [
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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. | 0.828194 | [
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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. | 0.814978 | [
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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. | 0.770925 | [
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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 | 20.533333 | 308 | 3 | 899 | 15 |
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