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 green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0 | [
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0
] | 0.263216 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 5.133333 | 77 | 17 | 4,300 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.013216 | [
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] | 0.346916 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 5.2 | 78 | 17 | 4,301 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.096916 | [
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] | 0.421806 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 5.266667 | 79 | 17 | 4,302 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.171806 | [
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] | 0.496696 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 5.333333 | 80 | 17 | 4,303 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.264317 | [
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] | [
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] | [
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] | 0.580396 | 1 | [
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] | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 5.4 | 81 | 17 | 4,304 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.330396 | [
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] | [
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] | 0.646476 | 1 | [
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] | [
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] | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | [
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] | [
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] | true | 5.466667 | 82 | 17 | 4,305 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.418502 | [
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] | [
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] | [
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] | 0.734582 | 1 | [
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] | [
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] | [
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] | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 5.533333 | 83 | 17 | 4,306 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.484582 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 5.6 | 84 | 17 | 4,307 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.568282 | [
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] | true | 5.666667 | 85 | 17 | 4,308 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.638767 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 5.733333 | 86 | 17 | 4,309 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 5.866667 | 88 | 17 | 4,311 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 5.933333 | 89 | 17 | 4,312 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 6 | 90 | 17 | 4,313 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 6.4 | 96 | 17 | 4,319 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 0.915198 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 6.466667 | 97 | 17 | 4,320 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 6.666667 | 100 | 17 | 4,323 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 6.733333 | 101 | 17 | 4,324 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 0.915198 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 6.8 | 102 | 17 | 4,325 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 0.915198 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 6.866667 | 103 | 17 | 4,326 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 0.915198 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 6.933333 | 104 | 17 | 4,327 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 0.915198 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 0.915198 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 7.266667 | 109 | 17 | 4,332 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 7.333333 | 110 | 17 | 4,333 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 7.4 | 111 | 17 | 4,334 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 0.915198 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 0.915198 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 8.333333 | 125 | 17 | 4,348 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 0.915198 | 1 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 8.4 | 126 | 17 | 4,349 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 8.733333 | 131 | 17 | 4,354 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 8.866667 | 133 | 17 | 4,356 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 9.2 | 138 | 17 | 4,361 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.665198 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 9.266667 | 139 | 17 | 4,362 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.647577 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 9.333333 | 140 | 17 | 4,363 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.590308 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.506608 | [
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] | true | 9.466667 | 142 | 17 | 4,365 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.440529 | [
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] | true | 9.533333 | 143 | 17 | 4,366 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.356828 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 9.6 | 144 | 17 | 4,367 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.290749 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 9.666667 | 145 | 17 | 4,368 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.207048 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 9.733333 | 146 | 17 | 4,369 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.140969 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 9.8 | 147 | 17 | 4,370 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.07489 | [
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] | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 9.866667 | 148 | 17 | 4,371 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0.004405 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 9.933333 | 149 | 17 | 4,372 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 10 | 150 | 17 | 4,373 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 10.066667 | 151 | 17 | 4,374 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 10.133333 | 152 | 17 | 4,375 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 10.2 | 153 | 17 | 4,376 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 10.266667 | 154 | 17 | 4,377 | 14 |
false | false | false | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0 | [
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] | 1 | 0 | BAIR | BAIR | d027f2ae | d027f2ae | [
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] | true | 10.333333 | 155 | 17 | 4,378 | 14 |
false | true | true | Put the green block on top of the other blocks | Put the green block on top of the stack. | Put the green block on top of the built up tower | 0 | [
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