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 blue block in the green bowl | Put the blue block in the bowl | Put the blue block inside the bowl | 0 | [
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false | false | false | Put the blue block in the green bowl | Put the blue block in the bowl | Put the blue block inside the bowl | 0 | [
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false | false | false | Put the blue block in the green bowl | Put the blue block in the bowl | Put the blue block inside the bowl | 0 | [
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false | false | false | Put the blue block in the green bowl | Put the blue block in the bowl | Put the blue block inside the bowl | 0 | [
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false | false | false | Put the blue block in the green bowl | Put the blue block in the bowl | Put the blue block inside the bowl | 0 | [
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false | false | false | Put the blue block in the green bowl | Put the blue block in the bowl | Put the blue block inside the bowl | 0 | [
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false | false | false | Put the blue block in the green bowl | Put the blue block in the bowl | Put the blue block inside the bowl | 0 | [
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false | false | false | Put the blue block in the green bowl | Put the blue block in the bowl | Put the blue block inside the bowl | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0.026432 | [
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false | false | false | Move the bottom right tip of the duvet to the left | Pull the duvet to lift the bottom left duvet corner onto the top of the bed, pick the bottom left duvet corner and put it in the middle of the bed | fold the blanket | 0.096916 | [
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