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 | Open the top kitchen cabinet door to the right | Open the top cupboard door second from the left | Open the right cabinet door | 0.594714 | [
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] | true | 9.133333 | 137 | 43 | 13,200 | 34 |
false | false | false | Open the top kitchen cabinet door to the right | Open the top cupboard door second from the left | Open the right cabinet door | 0.519824 | [
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false | false | false | Open the top kitchen cabinet door to the right | Open the top cupboard door second from the left | Open the right cabinet door | 0.431718 | [
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false | false | false | Open the top kitchen cabinet door to the right | Open the top cupboard door second from the left | Open the right cabinet door | 0.361234 | [
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] | true | 9.333333 | 140 | 43 | 13,203 | 34 |
false | false | false | Open the top kitchen cabinet door to the right | Open the top cupboard door second from the left | Open the right cabinet door | 0.277533 | [
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false | false | false | Open the top kitchen cabinet door to the right | Open the top cupboard door second from the left | Open the right cabinet door | 0.211454 | [
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false | false | false | Open the top kitchen cabinet door to the right | Open the top cupboard door second from the left | Open the right cabinet door | 0.127753 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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0,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 0.6 | 9 | 44 | 13,245 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 0.666667 | 10 | 44 | 13,246 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 0.733333 | 11 | 44 | 13,247 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 0.866667 | 13 | 44 | 13,249 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 0.933333 | 14 | 44 | 13,250 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1 | 15 | 44 | 13,251 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.066667 | 16 | 44 | 13,252 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.133333 | 17 | 44 | 13,253 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.2 | 18 | 44 | 13,254 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.266667 | 19 | 44 | 13,255 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.333333 | 20 | 44 | 13,256 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.3918536305427551,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.4 | 21 | 44 | 13,257 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.466667 | 22 | 44 | 13,258 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.408882737159729,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.533333 | 23 | 44 | 13,259 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.41748327016830444,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.6 | 24 | 44 | 13,260 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.4269978702068329,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.666667 | 25 | 44 | 13,261 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.4364864230155945,
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.733333 | 26 | 44 | 13,262 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.8 | 27 | 44 | 13,263 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.866667 | 28 | 44 | 13,264 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 1.933333 | 29 | 44 | 13,265 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.4773666560649872,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 2 | 30 | 44 | 13,266 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.066667 | 46 | 44 | 13,282 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.5372166037559509,
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.133333 | 47 | 44 | 13,283 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.5399852991104126,
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.2 | 48 | 44 | 13,284 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.542719304561615,
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.266667 | 49 | 44 | 13,285 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.5449672937393188,
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] | 0 | 0 | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.333333 | 50 | 44 | 13,286 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 0 | 0 | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.4 | 51 | 44 | 13,287 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.5491732954978943,
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] | 0 | 0 | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.466667 | 52 | 44 | 13,288 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.5514582991600037,
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] | 0 | 0 | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
0.25401413440704346,
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] | true | 3.533333 | 53 | 44 | 13,289 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.5538184642791748,
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.6 | 54 | 44 | 13,290 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.666667 | 55 | 44 | 13,291 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.733333 | 56 | 44 | 13,292 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.8 | 57 | 44 | 13,293 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.866667 | 58 | 44 | 13,294 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.5713396072387695,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 3.933333 | 59 | 44 | 13,295 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.5752837657928467,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
0.25401413440704346,
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] | true | 4 | 60 | 44 | 13,296 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
0.5793712139129639,
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] | 0 | 0 | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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0.20399434864521027,
0.3326597213745117,
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] | true | 4.066667 | 61 | 44 | 13,297 | 35 |
false | false | false | Move the green cloth to the right | Move the green towel to the right | Move the green cloth to the right | 0 | [
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