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 | Pick the marker and put it in the plastic box | Pick up one pen and put it in the bucket | Place one pen in the clear container on the left | 0.876652 | [
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false | false | false | Pick the marker and put it in the plastic box | Pick up one pen and put it in the bucket | Place one pen in the clear container on the left | 0.876652 | [
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false | false | false | Pick the marker and put it in the plastic box | Pick up one pen and put it in the bucket | Place one pen in the clear container on the left | 0.876652 | [
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false | false | false | Pick the marker and put it in the plastic box | Pick up one pen and put it in the bucket | Place one pen in the clear container on the left | 0.876652 | [
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false | false | false | Pick the marker and put it in the plastic box | Pick up one pen and put it in the bucket | Place one pen in the clear container on the left | 0.876652 | [
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false | false | false | Pick the marker and put it in the plastic box | Pick up one pen and put it in the bucket | Place one pen in the clear container on the left | 0.876652 | [
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false | false | false | Pick the marker and put it in the plastic box | Pick up one pen and put it in the bucket | Place one pen in the clear container on the left | 0.876652 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.37178441882133484,
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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] | true | 0.333333 | 5 | 10 | 2,462 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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] | true | 0.466667 | 7 | 10 | 2,464 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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0.0035085983108729124,
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] | true | 0.533333 | 8 | 10 | 2,465 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.37174099683761597,
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0.567233681678772,
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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] | true | 0.6 | 9 | 10 | 2,466 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.3717443346977234,
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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] | true | 0.666667 | 10 | 10 | 2,467 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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] | true | 0.733333 | 11 | 10 | 2,468 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.37187203764915466,
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
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] | true | 0.8 | 12 | 10 | 2,469 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.3725668489933014,
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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] | true | 0.866667 | 13 | 10 | 2,470 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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] | true | 0.933333 | 14 | 10 | 2,471 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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0.467299222946167,
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0.0035085983108729124,
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] | true | 1 | 15 | 10 | 2,472 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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0.01741313934326172,
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1.974238634109497,
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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] | true | 1.066667 | 16 | 10 | 2,473 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.3953360915184021,
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0.5457304120063782,
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0.03477836772799492,
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1.8841147422790527,
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] | 0 | 0 | [
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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] | true | 1.133333 | 17 | 10 | 2,474 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.4054822623729706,
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1.9202860593795776,
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0
] | 0 | 0 | [
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2.0483434200286865,
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
2.7517688274383545,
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] | true | 1.2 | 18 | 10 | 2,475 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.4163774847984314,
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1.9597110748291016,
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] | 0 | 0 | [
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2.084455966949463,
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
2.7517688274383545,
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] | true | 1.266667 | 19 | 10 | 2,476 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.4267600476741791,
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1.9983383417129517,
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] | 0 | 0 | [
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] | [
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2.117147207260132,
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
2.7517688274383545,
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0.0035085983108729124,
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] | true | 1.333333 | 20 | 10 | 2,477 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.43696680665016174,
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2.037856101989746,
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] | 0 | 0 | [
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2.129728317260742,
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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0.5552048683166504,
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] | true | 1.4 | 21 | 10 | 2,478 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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0.5552048683166504,
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0.0035085983108729124,
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] | true | 1.466667 | 22 | 10 | 2,479 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
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] | true | 1.533333 | 23 | 10 | 2,480 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.4624316096305847,
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0.45294198393821716,
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2.135094165802002,
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0
] | 0 | 0 | [
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2.210235118865967,
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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] | true | 1.6 | 24 | 10 | 2,481 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.4691222608089447,
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0.44004184007644653,
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] | 0 | 0 | [
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2.2329676151275635,
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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2.7517688274383545,
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] | true | 1.666667 | 25 | 10 | 2,482 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.4752480089664459,
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2.1875009536743164,
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] | 0 | 0 | [
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2.249209403991699,
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
2.7517688274383545,
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] | true | 1.733333 | 26 | 10 | 2,483 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.4815008342266083,
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2.212268590927124,
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] | 0 | 0 | [
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2.275644540786743,
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
2.7517688274383545,
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] | true | 1.8 | 27 | 10 | 2,484 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.4879686236381531,
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2.233447551727295,
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] | 0 | 0 | [
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2.2923836708068848,
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
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] | true | 1.866667 | 28 | 10 | 2,485 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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0.5552048683166504,
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0.0035085983108729124,
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] | true | 1.933333 | 29 | 10 | 2,486 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 0 | 0 | [
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2.318535327911377,
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
2.7517688274383545,
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0.1938718855381012,
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0.467299222946167,
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0.0035085983108729124,
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] | true | 2 | 30 | 10 | 2,487 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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2.2914888858795166,
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0
] | 0 | 0 | [
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0
] | [
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0.024327130988240242,
2.33083176612854,
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
2.7517688274383545,
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] | true | 2.066667 | 31 | 10 | 2,488 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.5144233703613281,
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0.3386228680610657,
3.099210500717163,
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0.10246285796165466,
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2.306532621383667,
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0
] | 0 | 0 | [
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0.0298212468624115,
2.33677339553833,
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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2.7517688274383545,
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] | true | 2.133333 | 32 | 10 | 2,489 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.5212684869766235,
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0.322928249835968,
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2.320922613143921,
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2.320922613143921,
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0
] | 0 | 0 | [
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] | [
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0.025575708597898483,
2.339101552963257,
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
2.7517688274383545,
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] | true | 2.2 | 33 | 10 | 2,490 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.5274789333343506,
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0.30810800194740295,
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2.330648183822632,
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0
] | 0 | 0 | [
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3.103461503982544,
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0
] | [
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0.012196849100291729,
2.349956512451172,
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
2.7517688274383545,
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0.0035085983108729124,
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] | true | 2.266667 | 34 | 10 | 2,491 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.5338287353515625,
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0.2944202423095703,
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0.0017612827941775322,
2.33807373046875,
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] | 0 | 0 | [
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] | [
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0.007730226498097181,
2.3455512523651123,
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
2.7517688274383545,
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0.467299222946167,
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0.0035085983108729124,
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] | true | 2.333333 | 35 | 10 | 2,492 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.539922833442688,
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2.3435420989990234,
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] | 0 | 0 | [
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2.349682569503784,
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0
] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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0.5552048683166504,
2.7517688274383545,
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0.1938718855381012,
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0.467299222946167,
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0.0035085983108729124,
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] | true | 2.4 | 36 | 10 | 2,493 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.5455300211906433,
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] | 0 | 0 | [
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2.350131034851074,
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
0.3097103536128998,
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0.5552048683166504,
2.7517688274383545,
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0.1938718855381012,
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0.467299222946167,
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0.0035085983108729124,
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] | true | 2.466667 | 37 | 10 | 2,494 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
0.5505126118659973,
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] | 0 | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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] | true | 2.533333 | 38 | 10 | 2,495 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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] | true | 2.6 | 39 | 10 | 2,496 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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] | true | 2.666667 | 40 | 10 | 2,497 | 7 |
false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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false | false | false | Put the purple plush toy in the white bowl. | Put the purple plushy on the white plate | Put the purple plushy on the white plate | 0 | [
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] | 1 | 0 | Penn Levine 457 | Penn Levine 457 | c5f808b7 | c5f808b7 | [
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