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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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true | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.022026 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.167401 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.22467 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.281938 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.356828 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.414097 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.488987 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.546256 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.678414 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.731278 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.797357 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.845815 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.876652 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.876652 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.889868 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.894273 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.894273 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.894273 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.894273 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.894273 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.894273 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.894273 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.894273 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.894273 | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.894273 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.894273 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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false | false | false | Put the towel on the seat of the chair | Put the towel on the arm rest on the seat | Move the towel to the seat | 0.894273 | [
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] | 1 | 0 | Wasabi Tempura | Wasabi Tempura | 5085c3ce | 5085c3ce | [
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