is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 292
values | language_instruction_3 stringclasses 295
values | observation.state.gripper_position float32 0 1 | 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 39
values | building stringclasses 39
values | collector_id stringclasses 43
values | date stringclasses 43
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 2
classes | timestamp float32 0 68.3 | frame_index int64 0 1.03k | episode_index int64 0 299 | index int64 0 90.1k | task_index int64 0 299 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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] | true | 13.133333 | 197 | 292 | 87,920 | 296 |
false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.46696 | [
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] | true | 13.533334 | 203 | 292 | 87,926 | 296 |
false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.453745 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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] | true | 13.6 | 204 | 292 | 87,927 | 296 |
false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.392071 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.325991 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.242291 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.171806 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.101322 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.017621 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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] | true | 14.066667 | 211 | 292 | 87,934 | 296 |
false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.008811 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | true | true | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Stack the cups together. | Stack the cups inside each other starting with the yellow cups into the orange cup | Stack the cups | 0 | [
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