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 | Open the storage bin, then place the blue bottle inside it | Open the storage bin, then place the blue bottle inside | Remove the lid from the container then put the spray bottle inside | 0.687225 | [
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false | false | false | Open the storage bin, then place the blue bottle inside it | Open the storage bin, then place the blue bottle inside | Remove the lid from the container then put the spray bottle inside | 0.687225 | [
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false | false | false | Open the storage bin, then place the blue bottle inside it | Open the storage bin, then place the blue bottle inside | Remove the lid from the container then put the spray bottle inside | 0.665198 | [
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false | false | false | Open the storage bin, then place the blue bottle inside it | Open the storage bin, then place the blue bottle inside | Remove the lid from the container then put the spray bottle inside | 0.60793 | [
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false | false | false | Open the storage bin, then place the blue bottle inside it | Open the storage bin, then place the blue bottle inside | Remove the lid from the container then put the spray bottle inside | 0.524229 | [
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false | false | false | Open the storage bin, then place the blue bottle inside it | Open the storage bin, then place the blue bottle inside | Remove the lid from the container then put the spray bottle inside | 0.462555 | [
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false | false | false | Open the storage bin, then place the blue bottle inside it | Open the storage bin, then place the blue bottle inside | Remove the lid from the container then put the spray bottle inside | 0.374449 | [
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false | false | false | Open the compartment in the washing machine. | Press on the washing machine | Open the detergent tray on the second washing machine | 0 | [
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false | false | false | Open the compartment in the washing machine. | Press on the washing machine | Open the detergent tray on the second washing machine | 0 | [
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false | false | false | Open the compartment in the washing machine. | Press on the washing machine | Open the detergent tray on the second washing machine | 0 | [
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false | false | false | Open the compartment in the washing machine. | Press on the washing machine | Open the detergent tray on the second washing machine | 0 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 1.666667 | 25 | 27 | 7,955 | 23 |
false | false | false | Open the compartment in the washing machine. | Press on the washing machine | Open the detergent tray on the second washing machine | 0 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 1.733333 | 26 | 27 | 7,956 | 23 |
false | false | false | Open the compartment in the washing machine. | Press on the washing machine | Open the detergent tray on the second washing machine | 0 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 1.8 | 27 | 27 | 7,957 | 23 |
false | false | false | Open the compartment in the washing machine. | Press on the washing machine | Open the detergent tray on the second washing machine | 0 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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false | false | false | Open the compartment in the washing machine. | Press on the washing machine | Open the detergent tray on the second washing machine | 0 | [
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