is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 292
values | language_instruction_3 stringclasses 295
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.original listlengths 7 7 | action listlengths 8 8 | discount float32 1 1 | reward float32 0 1 | task_category stringclasses 39
values | building stringclasses 39
values | collector_id stringclasses 43
values | date stringclasses 43
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 float32 0 68.3 | frame_index int64 0 1.03k | episode_index int64 0 299 | index int64 0 90.1k | task_index int64 0 299 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.942731 | [
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] | true | 7.066667 | 106 | 291 | 87,500 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.942731 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 7.133333 | 107 | 291 | 87,501 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.920705 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 7.2 | 108 | 291 | 87,502 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.863436 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 7.266667 | 109 | 291 | 87,503 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.792952 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 7.333333 | 110 | 291 | 87,504 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.700441 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 7.4 | 111 | 291 | 87,505 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.634361 | [
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] | 0.318282 | -1 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.176211 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.110132 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.026432 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.145375 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.22467 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.537445 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.603524 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.69163 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.757709 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.911894 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.92511 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.92511 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.92511 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.92511 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.907489 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.53304 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.46696 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.400881 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.317181 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.246696 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.162996 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.096916 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 13.6 | 204 | 291 | 87,598 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.013216 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 13.666667 | 205 | 291 | 87,599 | 31 |
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