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 up the yellow block and put it in the cup | Pick up the yellow object from the table and put it in the cup | Put the yellow block in the blue cup | 0.594714 | [
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] | true | 6.466667 | 97 | 297 | 80,700 | 78 |
false | false | false | Pick up the yellow block and put it in the cup | Pick up the yellow object from the table and put it in the cup | Put the yellow block in the blue cup | 0.524229 | [
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] | true | 6.533333 | 98 | 297 | 80,701 | 78 |
false | false | false | Pick up the yellow block and put it in the cup | Pick up the yellow object from the table and put it in the cup | Put the yellow block in the blue cup | 0.431718 | [
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] | true | 6.6 | 99 | 297 | 80,702 | 78 |
false | false | false | Pick up the yellow block and put it in the cup | Pick up the yellow object from the table and put it in the cup | Put the yellow block in the blue cup | 0.361234 | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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] | true | 6.666667 | 100 | 297 | 80,703 | 78 |
false | false | false | Pick up the yellow block and put it in the cup | Pick up the yellow object from the table and put it in the cup | Put the yellow block in the blue cup | 0.273128 | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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] | true | 6.733333 | 101 | 297 | 80,704 | 78 |
false | false | false | Pick up the yellow block and put it in the cup | Pick up the yellow object from the table and put it in the cup | Put the yellow block in the blue cup | 0.207048 | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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] | true | 6.8 | 102 | 297 | 80,705 | 78 |
false | false | false | Pick up the yellow block and put it in the cup | Pick up the yellow object from the table and put it in the cup | Put the yellow block in the blue cup | 0.118943 | [
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] | 0 | -0.356828 | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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false | false | false | Pick up the animal plush toy on the counter and put it in the pot | Put the orange plush in the pot inside the sink | Put the orange plush in the sink | 0 | [
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] | true | 5.8 | 87 | 298 | 80,796 | 298 |
false | false | false | Pick up the animal plush toy on the counter and put it in the pot | Put the orange plush in the pot inside the sink | Put the orange plush in the sink | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 5.866667 | 88 | 298 | 80,797 | 298 |
false | false | false | Pick up the animal plush toy on the counter and put it in the pot | Put the orange plush in the pot inside the sink | Put the orange plush in the sink | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 5.933333 | 89 | 298 | 80,798 | 298 |
false | false | false | Pick up the animal plush toy on the counter and put it in the pot | Put the orange plush in the pot inside the sink | Put the orange plush in the sink | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6 | 90 | 298 | 80,799 | 298 |
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