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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] | 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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true | false | false | Use the spoon to scoop some of the contents in the white bowl into the glass on the right | Use the spoon to get some contents of the bowl and put them in the glass cup | Use the spoon to scoop some the contents from the bowl and put them in the cup, and then return the spoon to the bowl | 0 | [
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