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 | Move the black pot to the right then use the spoon to take some contents out of the pot | Move the pot to the right then use the small spoon to scoop out some of its contents | Use the small spoon to get some contents from the pot and put it back on the table | 0.797357 | [
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false | false | false | Move the black pot to the right then use the spoon to take some contents out of the pot | Move the pot to the right then use the small spoon to scoop out some of its contents | Use the small spoon to get some contents from the pot and put it back on the table | 0.797357 | [
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false | false | false | Move the black pot to the right then use the spoon to take some contents out of the pot | Move the pot to the right then use the small spoon to scoop out some of its contents | Use the small spoon to get some contents from the pot and put it back on the table | 0.797357 | [
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false | false | false | Move the black pot to the right then use the spoon to take some contents out of the pot | Move the pot to the right then use the small spoon to scoop out some of its contents | Use the small spoon to get some contents from the pot and put it back on the table | 0.797357 | [
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false | false | false | Move the black pot to the right then use the spoon to take some contents out of the pot | Move the pot to the right then use the small spoon to scoop out some of its contents | Use the small spoon to get some contents from the pot and put it back on the table | 0.797357 | [
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false | false | false | Move the black pot to the right then use the spoon to take some contents out of the pot | Move the pot to the right then use the small spoon to scoop out some of its contents | Use the small spoon to get some contents from the pot and put it back on the table | 0.797357 | [
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false | false | false | Move the black pot to the right then use the spoon to take some contents out of the pot | Move the pot to the right then use the small spoon to scoop out some of its contents | Use the small spoon to get some contents from the pot and put it back on the table | 0.797357 | [
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1.5101971626281738,
2.515981674194336,
-0.5389498472213745,
0
] | 1 | 0 | TRI | TRI | 938130c4 | 938130c4 | [
0.2060123234987259,
-0.14296790957450867,
0.48402607440948486,
3.096954584121704,
-0.2076624035835266,
1.4350550174713135
] | [
0.19253860414028168,
0.4934358596801758,
0.4437755346298218,
-1.8706244230270386,
0.03627391159534454,
-2.4332122802734375
] | [
0.044257137924432755,
-0.28289559483528137,
0.4248164892196655,
-1.979610800743103,
-0.11321433633565903,
-1.2021327018737793
] | true | 3.133333 | 47 | 1 | 699 | 1 |
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