is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 286
values | language_instruction_3 stringclasses 292
values | observation.state.gripper_position float32 0 0.99 | 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 22
values | building stringclasses 22
values | collector_id stringclasses 19
values | date stringclasses 19
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 82.5 | frame_index int64 0 1.24k | episode_index int64 0 299 | index int64 0 147k | task_index int64 0 299 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.013216 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.013216 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.066079 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.105727 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.118943 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.202643 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.281938 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.290749 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.273128 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.255507 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.242291 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.237885 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.246696 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.255507 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.277533 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.299559 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.317181 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.317181 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.317181 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.317181 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.330396 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.343612 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.348018 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.361234 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.38326 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.38326 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.392071 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.396476 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.396476 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.392071 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.38326 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.378855 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.361234 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.361234 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.348018 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.348018 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.356828 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.374449 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.396476 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.471366 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.572687 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.638767 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.722467 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.792952 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.854626 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.929515 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.964758 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.964758 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.964758 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.964758 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.964758 | [
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false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.964758 | [
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] | true | 10.666667 | 160 | 2 | 1,098 | 2 |
false | false | false | Use the silver spoon to get some coffee beans from the container and put them on the small white plate. | Use the silver spoon to take the coffee beans out of the container and place them on the small white plate. | Take the scoop and get some of the objects from the bottle and put them on the plate | 0.964758 | [
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2.2793707847595215,
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] | true | 10.733334 | 161 | 2 | 1,099 | 2 |
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