is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 260
values | language_instruction_3 stringclasses 271
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 27
values | building stringclasses 27
values | collector_id stringclasses 38
values | date stringclasses 38
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 97.1 | frame_index int64 0 1.46k | episode_index int64 0 299 | index int64 0 119k | task_index int64 0 299 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
true | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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] | true | 0.266667 | 4 | 0 | 4 | 1 |
false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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] | true | 0.333333 | 5 | 0 | 5 | 1 |
false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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] | true | 0.4 | 6 | 0 | 6 | 1 |
false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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0
] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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] | true | 6.4 | 96 | 0 | 96 | 1 |
false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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] | true | 6.466667 | 97 | 0 | 97 | 1 |
false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | 0 | 0 | [
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0
] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
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] | [
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] | true | 6.533333 | 98 | 0 | 98 | 1 |
false | false | false | Sweep the candy to the left using the white and black brush | Use the brush to move the sweets away from the edge of the table | Use the brush and sweep the objects on the right of the table | 0 | [
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] | [
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] | 0 | 0 | [
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] | [
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] | [
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] | [
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0
] | 1 | 0 | Gates | Gates | 7dfa2da3 | 7dfa2da3 | [
0.26586684584617615,
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0.40521034598350525,
2.5827269554138184,
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] | [
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] | [
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] | true | 6.6 | 99 | 0 | 99 | 1 |
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