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 yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.088106 | [
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0.13231150805950165,
3.0584053993225098,
0.16563837230205536,
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] | [
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2.4348301887512207,
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] | [
0.2154557704925537,
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2.4348301887512207,
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0.08810574561357498
] | 0.412996 | 1 | [
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0.1921396255493164,
0.1337737888097763,
3.0436010360717773,
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] | [
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2.430513858795166,
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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0.5529062151908875,
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0.052510522305965424,
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] | true | 3.333333 | 50 | 54 | 1,897 | 43 |
false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.185022 | [
0.5857399702072144,
0.180272176861763,
0.13280808925628662,
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] | [
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2.434161424636841,
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] | [
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2.434161424636841,
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] | 0.509912 | 1 | [
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0.1348835527896881,
3.045271158218384,
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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0.5529062151908875,
2.7039005756378174,
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] | true | 3.4 | 51 | 54 | 1,898 | 43 |
false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.259912 | [
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0.18403318524360657,
0.1329989731311798,
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2.4341890811920166,
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] | [
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2.4341890811920166,
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0.2599119246006012
] | 0.571586 | 1 | [
0.5872740745544434,
0.19401659071445465,
0.1381663978099823,
3.0422260761260986,
0.15830522775650024,
0.7717584371566772
] | [
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] | [
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] | [
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] | [
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2.4257729053497314,
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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0.5529062151908875,
2.7039005756378174,
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] | true | 3.466667 | 52 | 54 | 1,899 | 43 |
false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.321586 | [
0.5849928259849548,
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] | [
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2.4341883659362793,
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0.32158589363098145
] | 0.659692 | 1 | [
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3.038398265838623,
0.1615908443927765,
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] | [
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] | [
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] | [
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] | [
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2.4195950031280518,
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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0.5529062151908875,
2.7039005756378174,
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] | [
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] | [
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0.052510522305965424,
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] | true | 3.533333 | 53 | 54 | 1,900 | 43 |
false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.409692 | [
0.5855095386505127,
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3.056016683578491,
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] | [
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] | [
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2.433933973312378,
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] | 0.721366 | 1 | [
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] | [
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] | [
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] | [
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] | [
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] | [
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2.4105224609375,
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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0.5529062151908875,
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] | [
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] | [
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] | true | 3.6 | 54 | 54 | 1,901 | 43 |
false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.471366 | [
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] | [
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] | [
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] | 0.813877 | 1 | [
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] | [
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] | [
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] | [
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] | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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] | [
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] | [
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] | true | 3.666667 | 55 | 54 | 1,902 | 43 |
false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.563877 | [
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] | [
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] | [
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] | 0.879956 | 1 | [
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] | [
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] | [
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] | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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] | [
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] | [
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false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.660793 | [
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false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.660793 | [
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false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.660793 | [
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false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.660793 | [
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false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.651982 | [
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false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.594714 | [
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false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.506608 | [
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false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.431718 | [
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false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.361234 | [
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false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.273128 | [
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false | false | false | Put the yellow block in the blue cup | Put the yellow square into the blue cup. | Put the yellow object in the blue cup | 0.207048 | [
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] | 1 | 0 | BAIR | BAIR | 84bd5053 | 84bd5053 | [
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false | false | false | Pour the content in the orange cup into the two blue bowls start by pouring into the navy blue bowl and then into the neon blue bowl | Pour the content in the orange bowl into the two blue bowls starting in the navy blue bowl and next into the neon blue bowl | Lift the orange bowl and pour its content into the blue bowls | 0.171806 | [
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false | false | false | Pour the content in the orange cup into the two blue bowls start by pouring into the navy blue bowl and then into the neon blue bowl | Pour the content in the orange bowl into the two blue bowls starting in the navy blue bowl and next into the neon blue bowl | Lift the orange bowl and pour its content into the blue bowls | 0.185022 | [
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false | false | false | Pour the content in the orange cup into the two blue bowls start by pouring into the navy blue bowl and then into the neon blue bowl | Pour the content in the orange bowl into the two blue bowls starting in the navy blue bowl and next into the neon blue bowl | Lift the orange bowl and pour its content into the blue bowls | 0.242291 | [
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false | false | false | Pour the content in the orange cup into the two blue bowls start by pouring into the navy blue bowl and then into the neon blue bowl | Pour the content in the orange bowl into the two blue bowls starting in the navy blue bowl and next into the neon blue bowl | Lift the orange bowl and pour its content into the blue bowls | 0.286344 | [
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false | false | false | Pour the content in the orange cup into the two blue bowls start by pouring into the navy blue bowl and then into the neon blue bowl | Pour the content in the orange bowl into the two blue bowls starting in the navy blue bowl and next into the neon blue bowl | Lift the orange bowl and pour its content into the blue bowls | 0.295154 | [
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