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 | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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] | true | 6.333333 | 95 | 37 | 11,900 | 30 |
false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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] | true | 6.4 | 96 | 37 | 11,901 | 30 |
false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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] | true | 6.466667 | 97 | 37 | 11,902 | 30 |
false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 6.533333 | 98 | 37 | 11,903 | 30 |
false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 6.6 | 99 | 37 | 11,904 | 30 |
false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 6.666667 | 100 | 37 | 11,905 | 30 |
false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.863436 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.889868 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.907489 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.881057 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.823789 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.762115 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.678414 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.61674 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.53304 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.46696 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.101322 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0.017621 | [
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false | false | false | Remove the marker from the silver pot and put it on the table | Pick up the marker pen from the pot and put it on the table. | Remove the marker from the pot and place it on the table | 0 | [
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