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 | 0.85022 | [
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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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] | 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 | 0.85022 | [
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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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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 | 0.828194 | [
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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 | 0.770925 | [
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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 | 0.682819 | [
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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 | 0.612335 | [
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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 | 0.453745 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | acda9df3 | acda9df3 | [
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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 | 0.088106 | [
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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 | 0.017621 | [
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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 | Put the orange marker on the table | Remove the orange marker from the bowl and put it on the table | Take the marker out of the bowl and place it on the table | 0 | [
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false | false | false | Put the orange marker on the table | Remove the orange marker from the bowl and put it on the table | Take the marker out of the bowl and place it on the table | 0 | [
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] | true | 1.733333 | 26 | 295 | 80,099 | 182 |
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