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 spoon to place some coffee beans from the red bowl in the clear jug. | Use the spoon to put some of the contents of the orange bowl into the clear jug | Use the spoon to scoop up the contents in the bowl and put them inside the jug | 0.801762 | [
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false | false | false | Use the spoon to place some coffee beans from the red bowl in the clear jug. | Use the spoon to put some of the contents of the orange bowl into the clear jug | Use the spoon to scoop up the contents in the bowl and put them inside the jug | 0.801762 | [
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false | false | false | Use the spoon to place some coffee beans from the red bowl in the clear jug. | Use the spoon to put some of the contents of the orange bowl into the clear jug | Use the spoon to scoop up the contents in the bowl and put them inside the jug | 0.801762 | [
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false | false | false | Use the spoon to place some coffee beans from the red bowl in the clear jug. | Use the spoon to put some of the contents of the orange bowl into the clear jug | Use the spoon to scoop up the contents in the bowl and put them inside the jug | 0.801762 | [
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false | false | false | Use the spoon to place some coffee beans from the red bowl in the clear jug. | Use the spoon to put some of the contents of the orange bowl into the clear jug | Use the spoon to scoop up the contents in the bowl and put them inside the jug | 0.801762 | [
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] | true | 21.6 | 324 | 299 | 147,298 | 299 |
false | false | false | Use the spoon to place some coffee beans from the red bowl in the clear jug. | Use the spoon to put some of the contents of the orange bowl into the clear jug | Use the spoon to scoop up the contents in the bowl and put them inside the jug | 0.801762 | [
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] | true | 21.666666 | 325 | 299 | 147,299 | 299 |
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