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 | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0 | [
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0
] | 0 | 0 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 3.266667 | 49 | 45 | 13,400 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0 | [
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] | 0.007143 | 0.028572 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 3.333333 | 50 | 45 | 13,401 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0 | [
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0
] | 0.074368 | 0.279852 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 3.4 | 51 | 45 | 13,402 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.004405 | [
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] | 0.091761 | 0.349421 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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0.5330216884613037,
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] | true | 3.466667 | 52 | 45 | 13,403 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.004405 | [
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] | 0.229066 | 0.669569 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 3.533333 | 53 | 45 | 13,404 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.061674 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 3.6 | 54 | 45 | 13,405 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.0837 | [
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] | 0.227894 | 0.559154 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.101322 | [
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0.5330216884613037,
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] | true | 3.733333 | 56 | 45 | 13,407 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.171806 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 3.8 | 57 | 45 | 13,408 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.220264 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 3.866667 | 58 | 45 | 13,409 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.229075 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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0.5330216884613037,
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] | true | 3.933333 | 59 | 45 | 13,410 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.295154 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 4 | 60 | 45 | 13,411 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.312775 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 4.066667 | 61 | 45 | 13,412 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.339207 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.414097 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.515418 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.581498 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.647577 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 4.4 | 66 | 45 | 13,417 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 4.466667 | 67 | 45 | 13,418 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 4.533333 | 68 | 45 | 13,419 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | true | 4.866667 | 73 | 45 | 13,424 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 4.933333 | 74 | 45 | 13,425 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 5 | 75 | 45 | 13,426 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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0.5330216884613037,
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] | true | 5.066667 | 76 | 45 | 13,427 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 5.4 | 81 | 45 | 13,432 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 5.466667 | 82 | 45 | 13,433 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 5.533333 | 83 | 45 | 13,434 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | true | 6.2 | 93 | 45 | 13,444 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | true | 6.266667 | 94 | 45 | 13,445 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 6.333333 | 95 | 45 | 13,446 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 6.4 | 96 | 45 | 13,447 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 6.466667 | 97 | 45 | 13,448 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | true | 6.8 | 102 | 45 | 13,453 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 7.266667 | 109 | 45 | 13,460 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 7.333333 | 110 | 45 | 13,461 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 7.4 | 111 | 45 | 13,462 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | true | 7.666667 | 115 | 45 | 13,466 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | true | 8.133333 | 122 | 45 | 13,473 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 8.266667 | 124 | 45 | 13,475 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 8.333333 | 125 | 45 | 13,476 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | true | 8.733333 | 131 | 45 | 13,482 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 8.8 | 132 | 45 | 13,483 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 8.866667 | 133 | 45 | 13,484 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | true | 9.066667 | 136 | 45 | 13,487 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 9.133333 | 137 | 45 | 13,488 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 9.2 | 138 | 45 | 13,489 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 9.266667 | 139 | 45 | 13,490 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 9.333333 | 140 | 45 | 13,491 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.678414 | [
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] | true | 9.466667 | 142 | 45 | 13,493 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.665198 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 9.533333 | 143 | 45 | 13,494 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.594714 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 9.6 | 144 | 45 | 13,495 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.528634 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 9.666667 | 145 | 45 | 13,496 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.462555 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 9.733333 | 146 | 45 | 13,497 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.374449 | [
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] | 1 | 0 | 780 Shary Ave | 780 Shary Ave | 52ca9b6a | 52ca9b6a | [
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] | true | 9.8 | 147 | 45 | 13,498 | 36 |
false | false | false | Put the black knife in the open drawer | Put the knife in the open drawer second position | Put the black knife in the drawer | 0.30837 | [
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