Datasets:
is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 299
values | language_instruction_2 stringclasses 284
values | language_instruction_3 stringclasses 292
values | observation.state.gripper_position float32 -0 1 | observation.state.cartesian_position listlengths 6 6 | observation.state.joint_position listlengths 7 7 | observation.state listlengths 8 8 | action.gripper_position float32 0 1 | action.gripper_velocity float32 -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 listlengths 8 8 | discount float32 1 1 | reward float32 0 1 | task_category stringclasses 40
values | building stringclasses 40
values | collector_id stringclasses 44
values | date stringclasses 44
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 1
class | timestamp float32 0 53 | frame_index int64 0 530 | episode_index int64 0 318 | index int64 0 50.8k | task_index int64 0 300 | prompt stringclasses 299
values |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
true | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | true | 0.3 | 3 | 0 | 3 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | true | 0.4 | 4 | 0 | 4 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | true | 0.6 | 6 | 0 | 6 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | true | 0.7 | 7 | 0 | 7 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.3147866129875183,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 0.8 | 8 | 0 | 8 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.31470194458961487,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 0.9 | 9 | 0 | 9 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.3165554404258728,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 1 | 10 | 0 | 10 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.32076647877693176,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 1.1 | 11 | 0 | 11 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.3395290970802307,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 1.2 | 12 | 0 | 12 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.3537119925022125,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 1.3 | 13 | 0 | 13 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.3894122838973999,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 1.4 | 14 | 0 | 14 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.4088924825191498,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 1.5 | 15 | 0 | 15 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.4500429630279541,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 1.6 | 16 | 0 | 16 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.4902077615261078,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 1.7 | 17 | 0 | 17 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.5102623105049133,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 1.8 | 18 | 0 | 18 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.5502223372459412,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 1.9 | 19 | 0 | 19 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.5697083473205566,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 2 | 20 | 0 | 20 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.588540256023407,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 2.1 | 21 | 0 | 21 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.6249396204948425,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | [
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] | true | 2.2 | 22 | 0 | 22 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.6584290266036987,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 2.4 | 24 | 0 | 24 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 2.5 | 25 | 0 | 25 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 2.6 | 26 | 0 | 26 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.7190071940422058,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 2.7 | 27 | 0 | 27 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.7323577404022217,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 2.8 | 28 | 0 | 28 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.7423893809318542,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 2.9 | 29 | 0 | 29 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.7457736730575562,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 3 | 30 | 0 | 30 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 3.1 | 31 | 0 | 31 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.7511197924613953,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 3.2 | 32 | 0 | 32 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.7545270323753357,
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] | 0 | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 3.3 | 33 | 0 | 33 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 3.4 | 34 | 0 | 34 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.7585751414299011,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 3.5 | 35 | 0 | 35 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.7642021775245667,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 3.6 | 36 | 0 | 36 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.767159640789032,
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] | 0 | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 3.7 | 37 | 0 | 37 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
0.7729004621505737,
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] | 0 | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | [
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] | [
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0.49482160806655884,
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] | true | 3.8 | 38 | 0 | 38 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | true | 3.9 | 39 | 0 | 39 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | true | 4 | 40 | 0 | 40 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.022026 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 4.1 | 41 | 0 | 41 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.044053 | [
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] | true | 4.2 | 42 | 0 | 42 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.110132 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 4.3 | 43 | 0 | 43 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.273128 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 4.4 | 44 | 0 | 44 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.343612 | [
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] | true | 4.5 | 45 | 0 | 45 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.480176 | [
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] | true | 4.6 | 46 | 0 | 46 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.612335 | [
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] | true | 4.7 | 47 | 0 | 47 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.69163 | [
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] | true | 4.8 | 48 | 0 | 48 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.753304 | [
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1
] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 4.9 | 49 | 0 | 49 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.898678 | [
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1
] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 5 | 50 | 0 | 50 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.986784 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 5.1 | 51 | 0 | 51 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.986784 | [
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1
] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 5.2 | 52 | 0 | 52 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.995595 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 5.3 | 53 | 0 | 53 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
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] | 1 | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.7722408771514893,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 5.6 | 56 | 0 | 56 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 5.7 | 57 | 0 | 57 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.7438242435455322,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 5.8 | 58 | 0 | 58 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.7408251166343689,
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] | 1 | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 5.9 | 59 | 0 | 59 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.73508220911026,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6 | 60 | 0 | 60 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.7292726039886475,
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] | 1 | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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0.49482160806655884,
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] | true | 6.1 | 61 | 0 | 61 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.7261493802070618,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6.2 | 62 | 0 | 62 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.7234572768211365,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6.3 | 63 | 0 | 63 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.7191625237464905,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6.4 | 64 | 0 | 64 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.7176723480224609,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6.5 | 65 | 0 | 65 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.7158923149108887,
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] | 1 | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6.6 | 66 | 0 | 66 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.7163347601890564,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6.7 | 67 | 0 | 67 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.7171369791030884,
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] | 0.75 | -1 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6.8 | 68 | 0 | 68 | 0 | Move the green plushie to the left of the orange plushie |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 1 | [
0.7177553772926331,
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] | 0.736784 | -1 | [
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End of preview. Expand in Data Studio
Merged DROID Skill Dataset: moving
This dataset merges a language-filtered DROID skill subset with newly collected environment data for the same skill.
Repository
- Hugging Face repo:
jellyho/droid_merged_skills_moving - Local merged dataset path:
/scratch/jellyho/droid_merged_skills_v21/moving - Skill:
moving - LeRobot codebase version:
v2.1
Sources
[
"jellyho/droid_subsets_moving",
"jellyho/droid_move_banana"
]
| source_dataset | episodes |
|---|---|
| jellyho/droid_subsets_moving | 298 |
| jellyho/droid_move_banana | 21 |
State And Action
The compact LeRobot training fields are standardized as 8D vectors:
observation.state = [joint_position_0..6, gripper_position]
action = [joint_velocity_0..6, gripper_position]
For original DROID subset rows, action is derived from
action.joint_velocity plus action.gripper_position. For newly collected
rows, action is derived from observation.joint_velocities[:7] plus the
collected gripper position from the original action vector.
Detailed columns such as action.joint_position, action.joint_velocity,
action.gripper_position, observation.state.joint_position, and
observation.state.gripper_position remain available in the parquet files.
Dataset Statistics
- Episodes:
319 - Frames:
50755 - Unique tasks:
301 observation.stateshape:[8]actionshape:[8]- Video keys:
['observation.images.wrist_left', 'observation.images.side_view_1_left'] - Videos:
638
Top Episode Task Strings
| task | episodes |
|---|---|
| ['move the banana closer to the green bowl'] | 21 |
| ['Pull open the topmost chest of drawers to the right'] | 1 |
| ['Slide the white plates a little upwards on the table, slide the white plates a little to the left on the table'] | 1 |
| ['Move the bottle from the lower compartment to the upper compartment of the tray'] | 1 |
| ['Move the green and white sachet forward'] | 1 |
| ['Move the brown bear forward'] | 1 |
| ['Move the bigger cube-shaped object to the tray'] | 1 |
| ['Move the white mug forward.'] | 1 |
| ['Move the turquoise object forward'] | 1 |
| ['Move the white ball to the right'] | 1 |
Files
meta/info.json
meta/tasks.jsonl
meta/episodes.jsonl
meta/episodes_stats.jsonl
data/chunk-000/episode_*.parquet
videos/chunk-000/observation.images.wrist_left/episode_*.mp4
episodes.csv
merge_summary.json
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