is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringlengths 0 459 | language_instruction_2 stringlengths 0 245 | language_instruction_3 stringlengths 0 252 | observation.state.gripper_position float64 0 1 | observation.state.cartesian_position listlengths 6 6 | observation.state.joint_position listlengths 7 7 | observation.state listlengths 8 8 | action.gripper_position float64 0 1 | action.gripper_velocity float64 -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 float64 1 1 | reward float64 0 1 | task_category stringclasses 71
values | building stringclasses 71
values | collector_id stringclasses 84
values | date stringclasses 84
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 float64 0 205 | frame_index int64 0 3.07k | episode_index int64 0 27k | index int64 0 19.3k | task_index int64 0 16.2k |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.973568 | [
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] | 1 | 0 | 394 Franklin | 394 Franklin | 52ca9b6a | 52ca9b6a | [
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] | true | 10.6 | 159 | 35 | 11,400 | 28 |
false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.9163 | [
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] | true | 10.666667 | 160 | 35 | 11,401 | 28 |
false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.832599 | [
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] | 0.512115 | -1 | [
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] | 1 | 0 | 394 Franklin | 394 Franklin | 52ca9b6a | 52ca9b6a | [
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] | true | 10.733333 | 161 | 35 | 11,402 | 28 |
false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.762115 | [
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] | 0.446035 | -1 | [
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] | 1 | 0 | 394 Franklin | 394 Franklin | 52ca9b6a | 52ca9b6a | [
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] | true | 10.8 | 162 | 35 | 11,403 | 28 |
false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.696035 | [
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] | 0.379956 | -1 | [
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] | 1 | 0 | 394 Franklin | 394 Franklin | 52ca9b6a | 52ca9b6a | [
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] | true | 10.866667 | 163 | 35 | 11,404 | 28 |
false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.612335 | [
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] | 1 | 0 | 394 Franklin | 394 Franklin | 52ca9b6a | 52ca9b6a | [
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] | true | 10.933333 | 164 | 35 | 11,405 | 28 |
false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.546256 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.45815 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.392071 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.38326 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.409692 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.484582 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.563877 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.651982 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.718062 | [
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] | 1 | 0 | 394 Franklin | 394 Franklin | 52ca9b6a | 52ca9b6a | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.806167 | [
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] | 1 | 0 | 394 Franklin | 394 Franklin | 52ca9b6a | 52ca9b6a | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.867841 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.872247 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.876652 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.854626 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.797357 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.731278 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.647577 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.581498 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.511013 | [
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] | true | 14 | 210 | 35 | 11,451 | 28 |
false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.427313 | [
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] | true | 14.066667 | 211 | 35 | 11,452 | 28 |
false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.361234 | [
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] | true | 14.133333 | 212 | 35 | 11,453 | 28 |
false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.277533 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.211454 | [
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] | 1 | 0 | 394 Franklin | 394 Franklin | 52ca9b6a | 52ca9b6a | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.140969 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.057269 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.004405 | [
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] | true | 14.466667 | 217 | 35 | 11,458 | 28 |
false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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] | 1 | 0 | 394 Franklin | 394 Franklin | 52ca9b6a | 52ca9b6a | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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] | 1 | 0 | 394 Franklin | 394 Franklin | 52ca9b6a | 52ca9b6a | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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] | true | 15.066667 | 226 | 35 | 11,467 | 28 |
false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.013216 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.013216 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.048458 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.14978 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.22467 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.30837 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.378855 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.449339 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.53304 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.603524 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.687225 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.753304 | [
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] | 1 | 0 | 394 Franklin | 394 Franklin | 52ca9b6a | 52ca9b6a | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.823789 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.84141 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.84141 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.84141 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.84141 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.84141 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.84141 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.84141 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.84141 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.84141 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.84141 | [
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false | false | false | Pick up the white coat hanger from the couch and hang it on the top rail | Put the white hanger on the top rod | Pick up the hanger from the sofa seat and hang it on the top rail of the clothes hanging rack | 0.84141 | [
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