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 | 0.964758 | [
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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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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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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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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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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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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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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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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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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 | 0.955947 | [
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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 | 0.885463 | [
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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 | 0.819383 | [
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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 | 0.731278 | [
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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 | 0.665198 | [
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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 | 0.594714 | [
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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 | 0.506608 | [
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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 | 0.440529 | [
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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 | 0.352423 | [
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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 | 0.286344 | [
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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 | 0.198238 | [
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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 | 0.132159 | [
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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 | 0.004405 | [
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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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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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] | 0 | 0 | [
0.545093297958374,
-0.2933647036552429,
0.3098313510417938,
2.3338730335235596,
-0.05331931635737419,
0.377957820892334
] | [
0.017958397045731544,
-0.017247047275304794,
0.699702262878418,
0.8576517701148987,
-0.28269851207733154,
-0.4295520782470703
] | [
0.3093653619289398,
0.5453983545303345,
-0.9725103378295898,
-2.099454402923584,
-0.9549151659011841,
3.0830695629119873,
0.13770940899848938
] | [
-0.33744025230407715,
-1,
0.5033506155014038,
-0.3647782802581787,
0.45293742418289185,
-0.3395359218120575,
-0.6759757995605469
] | [
0.545093297958374,
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0.3098313510417938,
2.3338730335235596,
-0.05331931635737419,
0.377957820892334,
0
] | [
0.3093653619289398,
0.5453983545303345,
-0.9725103378295898,
-2.099454402923584,
-0.9549151659011841,
3.0830695629119873,
0.13770940899848938,
0
] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
0.2433866262435913,
0.077969491481781,
0.417208731174469,
2.861142873764038,
0.043125927448272705,
1.7060614824295044
] | [
0.30159100890159607,
0.542585551738739,
0.5953336954116821,
-2.1241281032562256,
0.07145035266876221,
-2.596461296081543
] | [
-0.0012659335043281317,
-0.47171851992607117,
0.38093146681785583,
-1.8142693042755127,
-0.052051715552806854,
-1.0290131568908691
] | true | 30.733334 | 461 | 2 | 1,399 | 2 |
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