observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 16
values | skill.verification_question stringclasses 1
value | skill.type stringclasses 5
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 1
value | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 104 | frame_index int64 0 3.11k | episode_index int64 0 99 | index int64 0 276k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | place blue block | move | 0.626335 | [
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] | place blue block | move | 0.630899 | [
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] | place blue block | move | 0.630899 | [
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] | [
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] | place blue block | move | 0.64391 | [
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] | 88.166664 | 2,645 | 96 | 267,429 | 0 | |||
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] | [
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] | place blue block | move | 0.670042 | [
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] | [
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] | 88.199997 | 2,646 | 96 | 267,430 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.690897 | [
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] | 88.23333 | 2,647 | 96 | 267,431 | 0 | |||
[
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] | [
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] | place blue block | move | 0.702649 | [
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] | [
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] | 88.26667 | 2,648 | 96 | 267,432 | 0 | |||
[
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] | [
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] | place blue block | move | 0.717281 | [
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] | 88.300003 | 2,649 | 96 | 267,433 | 0 | |||
[
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] | [
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] | place blue block | move | 0.727373 | [
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] | 88.333336 | 2,650 | 96 | 267,434 | 0 | |||
[
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] | [
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] | place blue block | move | 0.736613 | [
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] | 88.366669 | 2,651 | 96 | 267,435 | 0 | |||
[
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] | [
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] | place blue block | move | 0.739487 | [
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] | 88.400002 | 2,652 | 96 | 267,436 | 0 | |||
[
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] | [
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] | place blue block | move | 0.755039 | [
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] | 88.433334 | 2,653 | 96 | 267,437 | 0 | |||
[
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] | [
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] | place blue block | move | 0.77 | [
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] | [
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] | 88.466667 | 2,654 | 96 | 267,438 | 0 | |||
[
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] | [
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] | place blue block | move | 0.784245 | [
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] | 88.5 | 2,655 | 96 | 267,439 | 0 | |||
[
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] | [
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] | place blue block | move | 0.792231 | [
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] | 88.533333 | 2,656 | 96 | 267,440 | 0 | |||
[
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] | [
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] | [
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] | forward home return (initial) | move_initial | 0 | [
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] | 88.566666 | 2,657 | 96 | 267,441 | 0 | |||
[
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] | forward home return (initial) | move_initial | 0 | [
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] | 88.599998 | 2,658 | 96 | 267,442 | 0 | |||
[
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] | forward home return (initial) | move_initial | 0.431442 | [
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[
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] | forward home return (initial) | move_initial | 0.448085 | [
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[
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[
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] | forward home return (initial) | move_initial | 0.483606 | [
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[
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] | forward home return (initial) | move_initial | 0.501118 | [
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[
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[
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[
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[
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] | forward home return (initial) | move_initial | 0.570744 | [
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] | 90.333336 | 2,710 | 96 | 267,494 | 0 | |||
[
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] | forward home return (initial) | move_initial | 0.58795 | [
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] | 90.366669 | 2,711 | 96 | 267,495 | 0 | |||
[
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] | forward home return (initial) | move_initial | 0.605009 | [
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] | 90.400002 | 2,712 | 96 | 267,496 | 0 | |||
[
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] | forward home return (initial) | move_initial | 0.622567 | [
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] | 90.433334 | 2,713 | 96 | 267,497 | 0 | |||
[
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] | forward home return (initial) | move_initial | 0.639485 | [
2.2691292762756348,
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] | [
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] | 90.466667 | 2,714 | 96 | 267,498 | 0 | |||
[
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0
] | forward home return (initial) | move_initial | 0.655413 | [
2.2691292762756348,
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42.141231536865234,
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] | [
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] | 0 | [
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] | 90.5 | 2,715 | 96 | 267,499 | 0 |
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