id
int64 1
669k
| episode_id
stringclasses 50
values | task
stringclasses 74
values | trace
listlengths 1
25
| image
images listlengths 1
1
| source
stringclasses 1
value |
|---|---|---|---|---|---|
561,532
|
00033
|
pick up the book and place it in the left compartment of the caddy
|
[
[
0.8519999980926514,
0.19499999284744263
],
[
0.8519999980926514,
0.2029999941587448
],
[
0.859000027179718,
0.19499999284744263
],
[
0.8669999837875366,
0.19499999284744263
],
[
0.8669999837875366,
0.19499999284744263
],
[
0.875,
0.2029999941587448
],
[
0.875,
0.2029999941587448
]
] |
libero_train
|
|
440,587
|
00043
|
pick up the cream cheese and put it in the tray
|
[
[
0.8050000071525574,
0.35899999737739563
],
[
0.781000018119812,
0.421999990940094
],
[
0.796999990940094,
0.5230000019073486
],
[
0.7889999747276306,
0.593999981880188
],
[
0.796999990940094,
0.6480000019073486
],
[
0.7889999747276306,
0.671999990940094
],
[
0.8050000071525574,
0.6800000071525574
],
[
0.8050000071525574,
0.6800000071525574
],
[
0.8050000071525574,
0.6800000071525574
],
[
0.796999990940094,
0.6480000019073486
],
[
0.7730000019073486,
0.578000009059906
],
[
0.6949999928474426,
0.515999972820282
],
[
0.5860000252723694,
0.4300000071525574
],
[
0.5080000162124634,
0.375
],
[
0.382999986410141,
0.328000009059906
],
[
0.289000004529953,
0.296999990940094
],
[
0.210999995470047,
0.289000004529953
],
[
0.164000004529953,
0.31200000643730164
],
[
0.11699999868869781,
0.328000009059906
],
[
0.10899999737739563,
0.382999986410141
],
[
0.10899999737739563,
0.414000004529953
],
[
0.10899999737739563,
0.4059999883174896
],
[
0.10899999737739563,
0.35899999737739563
],
[
0.10899999737739563,
0.31200000643730164
],
[
0.10199999809265137,
0.26600000262260437
]
] |
libero_train
|
|
256,635
|
00014
|
put the yellow and white mug to the front of the white mug
|
[
[
0.3440000116825104,
0.39100000262260437
],
[
0.335999995470047,
0.43799999356269836
],
[
0.35199999809265137,
0.492000013589859
],
[
0.367000013589859,
0.5230000019073486
],
[
0.39100000262260437,
0.5389999747276306
],
[
0.382999986410141,
0.5619999766349792
],
[
0.375,
0.5619999766349792
],
[
0.375,
0.5699999928474426
],
[
0.375,
0.5699999928474426
],
[
0.39100000262260437,
0.5619999766349792
],
[
0.39100000262260437,
0.5619999766349792
],
[
0.39100000262260437,
0.5389999747276306
],
[
0.421999990940094,
0.515999972820282
],
[
0.453000009059906,
0.492000013589859
],
[
0.5230000019073486,
0.4690000116825104
],
[
0.6019999980926514,
0.43799999356269836
],
[
0.6480000019073486,
0.43799999356269836
],
[
0.734000027179718,
0.4300000071525574
],
[
0.796999990940094,
0.43799999356269836
],
[
0.828000009059906,
0.4449999928474426
],
[
0.8360000252723694,
0.47699999809265137
],
[
0.8360000252723694,
0.5
],
[
0.8360000252723694,
0.515999972820282
],
[
0.8199999928474426,
0.5389999747276306
],
[
0.8199999928474426,
0.5389999747276306
]
] |
libero_train
|
|
530,104
|
00015
|
put the chocolate pudding to the right of the plate
|
[
[
0.335999995470047,
0.421999990940094
],
[
0.328000009059906,
0.460999995470047
],
[
0.335999995470047,
0.5
],
[
0.328000009059906,
0.5230000019073486
],
[
0.3440000116825104,
0.5389999747276306
],
[
0.35199999809265137,
0.546999990940094
],
[
0.35899999737739563,
0.546999990940094
],
[
0.35899999737739563,
0.546999990940094
],
[
0.35899999737739563,
0.546999990940094
],
[
0.35199999809265137,
0.546999990940094
],
[
0.35199999809265137,
0.546999990940094
],
[
0.35199999809265137,
0.5389999747276306
],
[
0.3440000116825104,
0.5230000019073486
],
[
0.3440000116825104,
0.5080000162124634
],
[
0.335999995470047,
0.5080000162124634
],
[
0.31200000643730164,
0.5080000162124634
],
[
0.27300000190734863,
0.5230000019073486
],
[
0.26600000262260437,
0.531000018119812
],
[
0.25,
0.5699999928474426
],
[
0.23399999737739563,
0.609000027179718
],
[
0.25,
0.6480000019073486
],
[
0.27300000190734863,
0.7110000252723694
],
[
0.3050000071525574,
0.7580000162124634
],
[
0.3050000071525574,
0.7730000019073486
],
[
0.31200000643730164,
0.7730000019073486
]
] |
libero_train
|
|
439,349
|
00036
|
pick up the cream cheese and put it in the tray
|
[
[
0.8199999928474426,
0.5080000162124634
],
[
0.8199999928474426,
0.5699999928474426
],
[
0.828000009059906,
0.6330000162124634
],
[
0.828000009059906,
0.656000018119812
],
[
0.828000009059906,
0.656000018119812
],
[
0.828000009059906,
0.6639999747276306
],
[
0.828000009059906,
0.6639999747276306
],
[
0.828000009059906,
0.671999990940094
],
[
0.8360000252723694,
0.671999990940094
],
[
0.843999981880188,
0.625
],
[
0.828000009059906,
0.5230000019073486
],
[
0.7889999747276306,
0.4300000071525574
],
[
0.734000027179718,
0.35199999809265137
],
[
0.6169999837875366,
0.296999990940094
],
[
0.515999972820282,
0.27300000190734863
],
[
0.39800000190734863,
0.24199999868869781
],
[
0.27300000190734863,
0.19499999284744263
],
[
0.18000000715255737,
0.18799999356269836
],
[
0.14800000190734863,
0.21899999678134918
],
[
0.14100000262260437,
0.296999990940094
],
[
0.14100000262260437,
0.35199999809265137
],
[
0.11699999868869781,
0.375
],
[
0.09399999678134918,
0.375
],
[
0.09399999678134918,
0.35199999809265137
],
[
0.0860000029206276,
0.3199999928474426
]
] |
libero_train
|
|
379,360
|
00039
|
pick up the ketchup and put it in the basket
|
[
[
0.5,
0.09399999678134918
],
[
0.460999995470047,
0.09399999678134918
],
[
0.43799999356269836,
0.0860000029206276
],
[
0.375,
0.09399999678134918
],
[
0.3440000116825104,
0.09399999678134918
],
[
0.2809999883174896,
0.09399999678134918
],
[
0.25,
0.09399999678134918
],
[
0.2029999941587448,
0.10199999809265137
],
[
0.1720000058412552,
0.10199999809265137
],
[
0.125,
0.10899999737739563
],
[
0.10899999737739563,
0.11699999868869781
],
[
0.09399999678134918,
0.125
],
[
0.0860000029206276,
0.15600000321865082
],
[
0.0860000029206276,
0.1720000058412552
],
[
0.0860000029206276,
0.21899999678134918
],
[
0.0860000029206276,
0.23399999737739563
],
[
0.09399999678134918,
0.26600000262260437
],
[
0.09399999678134918,
0.2809999883174896
],
[
0.09399999678134918,
0.289000004529953
],
[
0.09399999678134918,
0.289000004529953
],
[
0.09399999678134918,
0.26600000262260437
],
[
0.09399999678134918,
0.257999986410141
],
[
0.09399999678134918,
0.24199999868869781
],
[
0.09399999678134918,
0.23399999737739563
],
[
0.10199999809265137,
0.23399999737739563
]
] |
libero_train
|
|
646,380
|
00037
|
pick up the book in the middle and place it on the cabinet shelf
|
[
[
0.578000009059906,
0.22699999809265137
],
[
0.5699999928474426,
0.21899999678134918
],
[
0.5699999928474426,
0.21899999678134918
],
[
0.5550000071525574,
0.23399999737739563
],
[
0.5619999766349792,
0.23399999737739563
],
[
0.5699999928474426,
0.257999986410141
],
[
0.5619999766349792,
0.26600000262260437
],
[
0.5619999766349792,
0.2809999883174896
],
[
0.5619999766349792,
0.2809999883174896
],
[
0.546999990940094,
0.3199999928474426
],
[
0.515999972820282,
0.3440000116825104
],
[
0.5230000019073486,
0.35199999809265137
],
[
0.492000013589859,
0.375
],
[
0.47699999809265137,
0.39100000262260437
],
[
0.47699999809265137,
0.4059999883174896
],
[
0.4449999928474426,
0.4449999928474426
],
[
0.460999995470047,
0.4690000116825104
],
[
0.4690000116825104,
0.4690000116825104
],
[
0.460999995470047,
0.492000013589859
],
[
0.421999990940094,
0.4690000116825104
],
[
0.421999990940094,
0.48399999737739563
],
[
0.39800000190734863,
0.5
],
[
0.4059999883174896,
0.5080000162124634
],
[
0.375,
0.5230000019073486
],
[
0.35199999809265137,
0.5389999747276306
]
] |
libero_train
|
|
524,789
|
00020
|
put the chocolate pudding to the left of the plate
|
[
[
0.718999981880188,
0.6639999747276306
],
[
0.7110000252723694,
0.6639999747276306
],
[
0.718999981880188,
0.6880000233650208
],
[
0.718999981880188,
0.6949999928474426
],
[
0.718999981880188,
0.703000009059906
],
[
0.718999981880188,
0.7269999980926514
],
[
0.718999981880188,
0.734000027179718
],
[
0.7110000252723694,
0.7419999837875366
],
[
0.718999981880188,
0.765999972820282
],
[
0.7110000252723694,
0.7580000162124634
],
[
0.7269999980926514,
0.765999972820282
],
[
0.7269999980926514,
0.7730000019073486
],
[
0.7269999980926514,
0.765999972820282
]
] |
libero_train
|
|
47,568
|
00006
|
put the chocolate pudding in the top drawer of the cabinet and close it
|
[
[
0.734000027179718,
0.328000009059906
],
[
0.7419999837875366,
0.3050000071525574
],
[
0.734000027179718,
0.289000004529953
],
[
0.7110000252723694,
0.27300000190734863
],
[
0.6639999747276306,
0.27300000190734863
],
[
0.6330000162124634,
0.27300000190734863
],
[
0.5699999928474426,
0.2809999883174896
],
[
0.515999972820282,
0.289000004529953
],
[
0.460999995470047,
0.3050000071525574
],
[
0.4300000071525574,
0.328000009059906
],
[
0.382999986410141,
0.3440000116825104
],
[
0.375,
0.382999986410141
],
[
0.39100000262260437,
0.4059999883174896
],
[
0.414000004529953,
0.4300000071525574
],
[
0.453000009059906,
0.4449999928474426
],
[
0.48399999737739563,
0.43799999356269836
],
[
0.5230000019073486,
0.4449999928474426
],
[
0.546999990940094,
0.4449999928474426
],
[
0.578000009059906,
0.453000009059906
],
[
0.625,
0.453000009059906
],
[
0.6639999747276306,
0.460999995470047
],
[
0.656000018119812,
0.453000009059906
],
[
0.6639999747276306,
0.453000009059906
],
[
0.6639999747276306,
0.453000009059906
],
[
0.671999990940094,
0.453000009059906
]
] |
libero_train
|
|
381,754
|
00007
|
pick up the ketchup and put it in the basket
|
[
[
0.546999990940094,
0.18799999356269836
],
[
0.593999981880188,
0.18000000715255737
],
[
0.6330000162124634,
0.19499999284744263
],
[
0.656000018119812,
0.23399999737739563
],
[
0.6800000071525574,
0.27300000190734863
],
[
0.6800000071525574,
0.296999990940094
],
[
0.6880000233650208,
0.296999990940094
],
[
0.6949999928474426,
0.289000004529953
],
[
0.703000009059906,
0.296999990940094
],
[
0.703000009059906,
0.289000004529953
],
[
0.6880000233650208,
0.27300000190734863
],
[
0.6330000162124634,
0.22699999809265137
],
[
0.5619999766349792,
0.1720000058412552
],
[
0.5,
0.13300000131130219
],
[
0.4449999928474426,
0.09399999678134918
],
[
0.335999995470047,
0.07000000029802322
],
[
0.21899999678134918,
0.07800000160932541
],
[
0.14800000190734863,
0.07000000029802322
],
[
0.11699999868869781,
0.10199999809265137
],
[
0.10899999737739563,
0.14100000262260437
],
[
0.10899999737739563,
0.22699999809265137
],
[
0.10199999809265137,
0.27300000190734863
],
[
0.13300000131130219,
0.3440000116825104
],
[
0.13300000131130219,
0.367000013589859
],
[
0.13300000131130219,
0.35199999809265137
]
] |
libero_train
|
|
572,997
|
00000
|
pick up the yellow and white mug and place it to the right of the caddy
|
[
[
0.414000004529953,
0.593999981880188
],
[
0.4059999883174896,
0.5619999766349792
],
[
0.39100000262260437,
0.546999990940094
],
[
0.367000013589859,
0.5
],
[
0.35199999809265137,
0.453000009059906
],
[
0.328000009059906,
0.414000004529953
],
[
0.31200000643730164,
0.35899999737739563
],
[
0.2809999883174896,
0.328000009059906
],
[
0.26600000262260437,
0.296999990940094
],
[
0.25,
0.27300000190734863
],
[
0.23399999737739563,
0.27300000190734863
],
[
0.21899999678134918,
0.25
],
[
0.2029999941587448,
0.25
],
[
0.19499999284744263,
0.257999986410141
],
[
0.19499999284744263,
0.257999986410141
],
[
0.19499999284744263,
0.27300000190734863
],
[
0.19499999284744263,
0.2809999883174896
],
[
0.18799999356269836,
0.3050000071525574
],
[
0.210999995470047,
0.328000009059906
],
[
0.210999995470047,
0.35199999809265137
],
[
0.21899999678134918,
0.367000013589859
],
[
0.22699999809265137,
0.4059999883174896
],
[
0.23399999737739563,
0.414000004529953
],
[
0.23399999737739563,
0.421999990940094
],
[
0.22699999809265137,
0.43799999356269836
]
] |
libero_train
|
|
149,358
|
00033
|
turn on the stove and put the frying pan on it
|
[
[
0.25,
0.421999990940094
],
[
0.24199999868869781,
0.421999990940094
],
[
0.25,
0.4300000071525574
],
[
0.25,
0.4300000071525574
],
[
0.25,
0.43799999356269836
],
[
0.23399999737739563,
0.453000009059906
],
[
0.21899999678134918,
0.421999990940094
],
[
0.2809999883174896,
0.328000009059906
],
[
0.39800000190734863,
0.289000004529953
],
[
0.5080000162124634,
0.296999990940094
],
[
0.6019999980926514,
0.35199999809265137
],
[
0.625,
0.382999986410141
],
[
0.6330000162124634,
0.43799999356269836
],
[
0.6330000162124634,
0.492000013589859
],
[
0.625,
0.5080000162124634
],
[
0.6330000162124634,
0.515999972820282
],
[
0.640999972820282,
0.515999972820282
],
[
0.640999972820282,
0.43799999356269836
],
[
0.5550000071525574,
0.335999995470047
],
[
0.460999995470047,
0.257999986410141
],
[
0.289000004529953,
0.257999986410141
],
[
0.15600000321865082,
0.3050000071525574
],
[
0.07000000029802322,
0.39800000190734863
],
[
0.07000000029802322,
0.492000013589859
],
[
0.07000000029802322,
0.515999972820282
]
] |
libero_train
|
|
137,904
|
00031
|
put the moka pot on the stove
|
[
[
0.515999972820282,
0.257999986410141
],
[
0.531000018119812,
0.2809999883174896
],
[
0.5389999747276306,
0.3199999928474426
],
[
0.5619999766349792,
0.3440000116825104
],
[
0.5860000252723694,
0.375
],
[
0.625,
0.375
],
[
0.6639999747276306,
0.39800000190734863
],
[
0.6639999747276306,
0.421999990940094
],
[
0.640999972820282,
0.43799999356269836
],
[
0.6480000019073486,
0.453000009059906
],
[
0.6480000019073486,
0.492000013589859
],
[
0.6480000019073486,
0.5080000162124634
],
[
0.6480000019073486,
0.515999972820282
],
[
0.640999972820282,
0.531000018119812
],
[
0.640999972820282,
0.5389999747276306
],
[
0.656000018119812,
0.531000018119812
],
[
0.640999972820282,
0.5080000162124634
],
[
0.5860000252723694,
0.492000013589859
],
[
0.5080000162124634,
0.453000009059906
],
[
0.43799999356269836,
0.367000013589859
],
[
0.375,
0.39100000262260437
],
[
0.35899999737739563,
0.421999990940094
],
[
0.367000013589859,
0.453000009059906
],
[
0.367000013589859,
0.453000009059906
],
[
0.367000013589859,
0.453000009059906
]
] |
libero_train
|
|
581,692
|
00022
|
pick up the book and place it in the back compartment of the caddy
|
[
[
0.6330000162124634,
0.18000000715255737
],
[
0.640999972820282,
0.18799999356269836
],
[
0.6480000019073486,
0.18799999356269836
],
[
0.656000018119812,
0.18799999356269836
],
[
0.656000018119812,
0.19499999284744263
],
[
0.656000018119812,
0.19499999284744263
],
[
0.6639999747276306,
0.2029999941587448
],
[
0.671999990940094,
0.22699999809265137
],
[
0.671999990940094,
0.22699999809265137
],
[
0.671999990940094,
0.25
],
[
0.671999990940094,
0.24199999868869781
],
[
0.671999990940094,
0.257999986410141
],
[
0.671999990940094,
0.26600000262260437
],
[
0.671999990940094,
0.26600000262260437
],
[
0.671999990940094,
0.26600000262260437
],
[
0.6800000071525574,
0.26600000262260437
],
[
0.6800000071525574,
0.27300000190734863
]
] |
libero_train
|
|
651,764
|
00021
|
pick up the book on the left and place it on top of the shelf
|
[
[
0.5,
0.23399999737739563
],
[
0.593999981880188,
0.23399999737739563
],
[
0.7419999837875366,
0.26600000262260437
],
[
0.8360000252723694,
0.328000009059906
],
[
0.859000027179718,
0.4059999883174896
],
[
0.859000027179718,
0.460999995470047
],
[
0.859000027179718,
0.5080000162124634
],
[
0.8519999980926514,
0.48399999737739563
],
[
0.8519999980926514,
0.39800000190734863
],
[
0.843999981880188,
0.26600000262260437
],
[
0.7889999747276306,
0.210999995470047
],
[
0.7419999837875366,
0.1720000058412552
],
[
0.6639999747276306,
0.18000000715255737
],
[
0.5699999928474426,
0.23399999737739563
],
[
0.5,
0.22699999809265137
],
[
0.4300000071525574,
0.25
],
[
0.367000013589859,
0.2809999883174896
],
[
0.382999986410141,
0.367000013589859
],
[
0.335999995470047,
0.414000004529953
],
[
0.23399999737739563,
0.421999990940094
],
[
0.22699999809265137,
0.4449999928474426
],
[
0.22699999809265137,
0.4449999928474426
],
[
0.2029999941587448,
0.4449999928474426
],
[
0.164000004529953,
0.414000004529953
],
[
0.125,
0.382999986410141
]
] |
libero_train
|
|
452,040
|
00022
|
pick up the tomato sauce and put it in the tray
|
[
[
0.210999995470047,
0.3050000071525574
],
[
0.2029999941587448,
0.3050000071525574
],
[
0.18799999356269836,
0.31200000643730164
],
[
0.18000000715255737,
0.31200000643730164
],
[
0.15600000321865082,
0.328000009059906
],
[
0.14800000190734863,
0.3199999928474426
],
[
0.14800000190734863,
0.335999995470047
],
[
0.14100000262260437,
0.3440000116825104
],
[
0.125,
0.367000013589859
],
[
0.11699999868869781,
0.382999986410141
],
[
0.10899999737739563,
0.39100000262260437
],
[
0.10899999737739563,
0.4059999883174896
],
[
0.10899999737739563,
0.4300000071525574
],
[
0.10199999809265137,
0.453000009059906
],
[
0.10199999809265137,
0.4690000116825104
],
[
0.10899999737739563,
0.47699999809265137
],
[
0.10899999737739563,
0.5
],
[
0.10899999737739563,
0.5230000019073486
],
[
0.10899999737739563,
0.531000018119812
],
[
0.10899999737739563,
0.531000018119812
],
[
0.10899999737739563,
0.531000018119812
],
[
0.10899999737739563,
0.515999972820282
],
[
0.10199999809265137,
0.5230000019073486
],
[
0.10199999809265137,
0.5080000162124634
],
[
0.10199999809265137,
0.5
]
] |
libero_train
|
|
126,629
|
00002
|
put the frying pan on the stove
|
[
[
0.06199999898672104,
0.39100000262260437
],
[
0.06199999898672104,
0.39800000190734863
],
[
0.054999999701976776,
0.421999990940094
],
[
0.054999999701976776,
0.4300000071525574
],
[
0.054999999701976776,
0.4449999928474426
],
[
0.054999999701976776,
0.460999995470047
],
[
0.054999999701976776,
0.48399999737739563
],
[
0.054999999701976776,
0.48399999737739563
],
[
0.06199999898672104,
0.5
],
[
0.06199999898672104,
0.5
],
[
0.07000000029802322,
0.5
],
[
0.07000000029802322,
0.5
],
[
0.07800000160932541,
0.5
],
[
0.07800000160932541,
0.492000013589859
],
[
0.07800000160932541,
0.48399999737739563
],
[
0.09399999678134918,
0.48399999737739563
],
[
0.10199999809265137,
0.48399999737739563
],
[
0.10899999737739563,
0.48399999737739563
],
[
0.11699999868869781,
0.48399999737739563
],
[
0.11699999868869781,
0.4690000116825104
],
[
0.11699999868869781,
0.4690000116825104
],
[
0.125,
0.47699999809265137
],
[
0.11699999868869781,
0.47699999809265137
],
[
0.10899999737739563,
0.48399999737739563
],
[
0.10199999809265137,
0.492000013589859
]
] |
libero_train
|
|
193,588
|
00015
|
put the wine bottle in the bottom drawer of the cabinet
|
[
[
0.3050000071525574,
0.453000009059906
],
[
0.3050000071525574,
0.460999995470047
],
[
0.31200000643730164,
0.460999995470047
],
[
0.3050000071525574,
0.4690000116825104
],
[
0.31200000643730164,
0.453000009059906
],
[
0.289000004529953,
0.515999972820282
]
] |
libero_train
|
|
443,339
|
00014
|
pick up the ketchup and put it in the tray
|
[
[
0.0860000029206276,
0.382999986410141
],
[
0.0860000029206276,
0.382999986410141
],
[
0.0860000029206276,
0.382999986410141
],
[
0.0860000029206276,
0.382999986410141
],
[
0.0860000029206276,
0.39100000262260437
],
[
0.0860000029206276,
0.382999986410141
],
[
0.0860000029206276,
0.375
],
[
0.0860000029206276,
0.382999986410141
],
[
0.0860000029206276,
0.367000013589859
],
[
0.0860000029206276,
0.35899999737739563
],
[
0.07800000160932541,
0.3440000116825104
],
[
0.07800000160932541,
0.335999995470047
],
[
0.07800000160932541,
0.328000009059906
],
[
0.07800000160932541,
0.3199999928474426
],
[
0.07800000160932541,
0.3050000071525574
],
[
0.07800000160932541,
0.289000004529953
],
[
0.07800000160932541,
0.289000004529953
],
[
0.07000000029802322,
0.26600000262260437
],
[
0.07000000029802322,
0.257999986410141
],
[
0.07000000029802322,
0.257999986410141
],
[
0.07000000029802322,
0.24199999868869781
]
] |
libero_train
|
|
19,721
|
00047
|
put the black bowl in the top drawer of the cabinet
|
[
[
0.4300000071525574,
0.4449999928474426
],
[
0.421999990940094,
0.4300000071525574
],
[
0.4300000071525574,
0.414000004529953
],
[
0.4300000071525574,
0.4059999883174896
],
[
0.4059999883174896,
0.375
],
[
0.4059999883174896,
0.35899999737739563
],
[
0.39100000262260437,
0.3199999928474426
],
[
0.39100000262260437,
0.3050000071525574
],
[
0.39800000190734863,
0.2809999883174896
],
[
0.39800000190734863,
0.257999986410141
],
[
0.4059999883174896,
0.23399999737739563
],
[
0.414000004529953,
0.23399999737739563
],
[
0.453000009059906,
0.21899999678134918
],
[
0.492000013589859,
0.21899999678134918
],
[
0.546999990940094,
0.21899999678134918
],
[
0.578000009059906,
0.21899999678134918
],
[
0.6169999837875366,
0.21899999678134918
],
[
0.6330000162124634,
0.25
],
[
0.656000018119812,
0.2809999883174896
],
[
0.6639999747276306,
0.3199999928474426
],
[
0.656000018119812,
0.35199999809265137
],
[
0.6480000019073486,
0.367000013589859
],
[
0.6480000019073486,
0.382999986410141
],
[
0.640999972820282,
0.375
],
[
0.640999972820282,
0.382999986410141
]
] |
libero_train
|
|
463,052
|
00014
|
pick up the chocolate pudding and put it in the tray
|
[
[
0.8119999766349792,
0.6639999747276306
],
[
0.8119999766349792,
0.625
],
[
0.7889999747276306,
0.593999981880188
],
[
0.7889999747276306,
0.531000018119812
],
[
0.734000027179718,
0.453000009059906
],
[
0.6639999747276306,
0.375
],
[
0.6019999980926514,
0.3199999928474426
],
[
0.5389999747276306,
0.289000004529953
],
[
0.4690000116825104,
0.27300000190734863
],
[
0.39100000262260437,
0.26600000262260437
],
[
0.3050000071525574,
0.25
],
[
0.257999986410141,
0.257999986410141
],
[
0.19499999284744263,
0.257999986410141
],
[
0.15600000321865082,
0.26600000262260437
],
[
0.14800000190734863,
0.296999990940094
],
[
0.14100000262260437,
0.335999995470047
],
[
0.13300000131130219,
0.367000013589859
],
[
0.125,
0.39100000262260437
],
[
0.10899999737739563,
0.4059999883174896
],
[
0.10899999737739563,
0.4059999883174896
],
[
0.09399999678134918,
0.382999986410141
],
[
0.09399999678134918,
0.367000013589859
],
[
0.09399999678134918,
0.35199999809265137
],
[
0.0860000029206276,
0.335999995470047
],
[
0.09399999678134918,
0.328000009059906
]
] |
libero_train
|
|
142,179
|
00010
|
turn on the stove and put the frying pan on it
|
[
[
0.375,
0.1720000058412552
],
[
0.26600000262260437,
0.25
],
[
0.25,
0.39100000262260437
],
[
0.257999986410141,
0.421999990940094
],
[
0.257999986410141,
0.4300000071525574
],
[
0.25,
0.421999990940094
],
[
0.26600000262260437,
0.421999990940094
],
[
0.2809999883174896,
0.4300000071525574
],
[
0.289000004529953,
0.43799999356269836
],
[
0.328000009059906,
0.39100000262260437
],
[
0.4300000071525574,
0.3050000071525574
],
[
0.5230000019073486,
0.2809999883174896
],
[
0.6330000162124634,
0.3050000071525574
],
[
0.656000018119812,
0.382999986410141
],
[
0.640999972820282,
0.4449999928474426
],
[
0.6949999928474426,
0.48399999737739563
],
[
0.6949999928474426,
0.531000018119812
],
[
0.7269999980926514,
0.546999990940094
],
[
0.718999981880188,
0.421999990940094
],
[
0.609000027179718,
0.3050000071525574
],
[
0.460999995470047,
0.31200000643730164
],
[
0.26600000262260437,
0.35899999737739563
],
[
0.09399999678134918,
0.421999990940094
],
[
0.06199999898672104,
0.4690000116825104
],
[
0.06199999898672104,
0.5
]
] |
libero_train
|
|
498,884
|
00013
|
put the red mug on the left plate
|
[
[
0.48399999737739563,
0.19499999284744263
],
[
0.48399999737739563,
0.18799999356269836
],
[
0.453000009059906,
0.18000000715255737
],
[
0.421999990940094,
0.18000000715255737
],
[
0.39100000262260437,
0.19499999284744263
],
[
0.39100000262260437,
0.21899999678134918
],
[
0.39100000262260437,
0.25
],
[
0.39100000262260437,
0.27300000190734863
],
[
0.39100000262260437,
0.289000004529953
],
[
0.39800000190734863,
0.3050000071525574
],
[
0.39100000262260437,
0.26600000262260437
],
[
0.4059999883174896,
0.210999995470047
],
[
0.460999995470047,
0.15600000321865082
],
[
0.5080000162124634,
0.13300000131130219
],
[
0.609000027179718,
0.14800000190734863
],
[
0.7269999980926514,
0.1720000058412552
],
[
0.796999990940094,
0.210999995470047
],
[
0.843999981880188,
0.2809999883174896
],
[
0.8830000162124634,
0.367000013589859
],
[
0.890999972820282,
0.421999990940094
],
[
0.8980000019073486,
0.453000009059906
],
[
0.890999972820282,
0.4449999928474426
],
[
0.8980000019073486,
0.421999990940094
],
[
0.8980000019073486,
0.4300000071525574
],
[
0.8980000019073486,
0.4300000071525574
]
] |
libero_train
|
|
441,550
|
00049
|
pick up the cream cheese and put it in the tray
|
[
[
0.47699999809265137,
0.25
],
[
0.4059999883174896,
0.210999995470047
],
[
0.375,
0.18799999356269836
],
[
0.296999990940094,
0.18000000715255737
],
[
0.257999986410141,
0.18000000715255737
],
[
0.24199999868869781,
0.18000000715255737
],
[
0.210999995470047,
0.1720000058412552
],
[
0.18000000715255737,
0.1720000058412552
],
[
0.13300000131130219,
0.24199999868869781
],
[
0.10199999809265137,
0.289000004529953
],
[
0.0860000029206276,
0.3440000116825104
],
[
0.07800000160932541,
0.375
],
[
0.07000000029802322,
0.382999986410141
],
[
0.06199999898672104,
0.382999986410141
],
[
0.06199999898672104,
0.4059999883174896
],
[
0.06199999898672104,
0.39800000190734863
],
[
0.07000000029802322,
0.39800000190734863
],
[
0.07000000029802322,
0.39100000262260437
],
[
0.07800000160932541,
0.367000013589859
],
[
0.07800000160932541,
0.375
],
[
0.0860000029206276,
0.35199999809265137
],
[
0.0860000029206276,
0.335999995470047
],
[
0.07800000160932541,
0.3199999928474426
],
[
0.0860000029206276,
0.3199999928474426
],
[
0.0860000029206276,
0.31200000643730164
]
] |
libero_train
|
|
78,857
|
00021
|
put the black bowl on top of the cabinet
|
[
[
0.75,
0.2029999941587448
],
[
0.765999972820282,
0.2029999941587448
],
[
0.8119999766349792,
0.2029999941587448
],
[
0.8199999928474426,
0.210999995470047
],
[
0.8360000252723694,
0.22699999809265137
],
[
0.8360000252723694,
0.24199999868869781
],
[
0.8519999980926514,
0.257999986410141
],
[
0.8519999980926514,
0.26600000262260437
],
[
0.859000027179718,
0.2809999883174896
],
[
0.859000027179718,
0.296999990940094
],
[
0.859000027179718,
0.3050000071525574
],
[
0.8669999837875366,
0.3050000071525574
],
[
0.8669999837875366,
0.3199999928474426
],
[
0.8669999837875366,
0.3199999928474426
],
[
0.8669999837875366,
0.3199999928474426
],
[
0.8669999837875366,
0.335999995470047
],
[
0.8669999837875366,
0.328000009059906
],
[
0.859000027179718,
0.3199999928474426
],
[
0.8669999837875366,
0.3199999928474426
],
[
0.8669999837875366,
0.3199999928474426
],
[
0.859000027179718,
0.3199999928474426
],
[
0.859000027179718,
0.328000009059906
],
[
0.859000027179718,
0.328000009059906
],
[
0.859000027179718,
0.31200000643730164
],
[
0.8519999980926514,
0.296999990940094
]
] |
libero_train
|
|
583,619
|
00034
|
pick up the book and place it in the back compartment of the caddy
|
[
[
0.734000027179718,
0.14800000190734863
],
[
0.734000027179718,
0.14800000190734863
],
[
0.75,
0.14100000262260437
],
[
0.75,
0.14800000190734863
],
[
0.7580000162124634,
0.14800000190734863
],
[
0.765999972820282,
0.14100000262260437
],
[
0.765999972820282,
0.15600000321865082
],
[
0.765999972820282,
0.14800000190734863
],
[
0.7730000019073486,
0.15600000321865082
],
[
0.765999972820282,
0.164000004529953
],
[
0.765999972820282,
0.164000004529953
],
[
0.765999972820282,
0.14800000190734863
],
[
0.765999972820282,
0.14800000190734863
],
[
0.7580000162124634,
0.14800000190734863
],
[
0.7419999837875366,
0.14800000190734863
],
[
0.734000027179718,
0.15600000321865082
],
[
0.7269999980926514,
0.14100000262260437
],
[
0.718999981880188,
0.14800000190734863
],
[
0.7269999980926514,
0.14800000190734863
],
[
0.734000027179718,
0.164000004529953
],
[
0.7419999837875366,
0.1720000058412552
],
[
0.75,
0.19499999284744263
],
[
0.765999972820282,
0.19499999284744263
],
[
0.765999972820282,
0.2029999941587448
],
[
0.75,
0.21899999678134918
]
] |
libero_train
|
|
351,818
|
00049
|
turn on the stove and put the frying pan on it
|
[
[
0.22699999809265137,
0.593999981880188
],
[
0.25,
0.625
],
[
0.2809999883174896,
0.6480000019073486
],
[
0.296999990940094,
0.6639999747276306
],
[
0.3050000071525574,
0.671999990940094
],
[
0.3050000071525574,
0.6639999747276306
],
[
0.3050000071525574,
0.656000018119812
],
[
0.3050000071525574,
0.656000018119812
],
[
0.296999990940094,
0.6639999747276306
],
[
0.289000004529953,
0.6639999747276306
],
[
0.2809999883174896,
0.656000018119812
],
[
0.25,
0.6330000162124634
],
[
0.19499999284744263,
0.5860000252723694
],
[
0.14100000262260437,
0.546999990940094
],
[
0.10899999737739563,
0.515999972820282
],
[
0.06199999898672104,
0.460999995470047
],
[
0.054999999701976776,
0.47699999809265137
],
[
0.054999999701976776,
0.47699999809265137
],
[
0.054999999701976776,
0.47699999809265137
],
[
0.054999999701976776,
0.47699999809265137
],
[
0.054999999701976776,
0.47699999809265137
],
[
0.054999999701976776,
0.47699999809265137
],
[
0.054999999701976776,
0.47699999809265137
],
[
0.054999999701976776,
0.47699999809265137
],
[
0.054999999701976776,
0.47699999809265137
]
] |
libero_train
|
|
148,181
|
00003
|
turn on the stove and put the frying pan on it
|
[
[
0.2809999883174896,
0.414000004529953
],
[
0.289000004529953,
0.421999990940094
],
[
0.27300000190734863,
0.421999990940094
],
[
0.2809999883174896,
0.421999990940094
],
[
0.296999990940094,
0.4300000071525574
],
[
0.3050000071525574,
0.43799999356269836
],
[
0.3050000071525574,
0.367000013589859
],
[
0.39100000262260437,
0.3199999928474426
],
[
0.5,
0.3199999928474426
],
[
0.5699999928474426,
0.328000009059906
],
[
0.6330000162124634,
0.39800000190734863
],
[
0.656000018119812,
0.47699999809265137
],
[
0.656000018119812,
0.5230000019073486
],
[
0.656000018119812,
0.492000013589859
],
[
0.656000018119812,
0.48399999737739563
],
[
0.656000018119812,
0.546999990940094
],
[
0.671999990940094,
0.453000009059906
],
[
0.6169999837875366,
0.3440000116825104
],
[
0.5,
0.23399999737739563
],
[
0.43799999356269836,
0.2029999941587448
],
[
0.375,
0.2029999941587448
],
[
0.25,
0.289000004529953
],
[
0.10899999737739563,
0.375
],
[
0.10199999809265137,
0.460999995470047
],
[
0.10199999809265137,
0.47699999809265137
]
] |
libero_train
|
|
653,446
|
00003
|
pick up the book on the left and place it on top of the shelf
|
[
[
0.625,
0.1720000058412552
],
[
0.578000009059906,
0.1720000058412552
],
[
0.531000018119812,
0.15600000321865082
],
[
0.5080000162124634,
0.15600000321865082
],
[
0.4690000116825104,
0.14800000190734863
],
[
0.4449999928474426,
0.14800000190734863
],
[
0.414000004529953,
0.15600000321865082
],
[
0.4059999883174896,
0.164000004529953
],
[
0.414000004529953,
0.164000004529953
],
[
0.421999990940094,
0.1720000058412552
],
[
0.4300000071525574,
0.19499999284744263
],
[
0.421999990940094,
0.22699999809265137
],
[
0.453000009059906,
0.22699999809265137
],
[
0.4300000071525574,
0.257999986410141
],
[
0.453000009059906,
0.26600000262260437
],
[
0.421999990940094,
0.289000004529953
],
[
0.4059999883174896,
0.3199999928474426
],
[
0.367000013589859,
0.35199999809265137
],
[
0.335999995470047,
0.375
],
[
0.3199999928474426,
0.4059999883174896
],
[
0.296999990940094,
0.414000004529953
],
[
0.27300000190734863,
0.4300000071525574
],
[
0.257999986410141,
0.4449999928474426
],
[
0.23399999737739563,
0.43799999356269836
],
[
0.23399999737739563,
0.4449999928474426
]
] |
libero_train
|
|
557,500
|
00010
|
pick up the book and place it in the left compartment of the caddy
|
[
[
0.26600000262260437,
0.531000018119812
],
[
0.26600000262260437,
0.5389999747276306
],
[
0.27300000190734863,
0.48399999737739563
],
[
0.3050000071525574,
0.414000004529953
],
[
0.382999986410141,
0.31200000643730164
],
[
0.492000013589859,
0.23399999737739563
],
[
0.609000027179718,
0.18799999356269836
],
[
0.7110000252723694,
0.14800000190734863
],
[
0.781000018119812,
0.125
],
[
0.8050000071525574,
0.125
],
[
0.828000009059906,
0.13300000131130219
],
[
0.8199999928474426,
0.14100000262260437
],
[
0.8199999928474426,
0.11699999868869781
],
[
0.843999981880188,
0.13300000131130219
],
[
0.8669999837875366,
0.14100000262260437
],
[
0.859000027179718,
0.15600000321865082
],
[
0.8519999980926514,
0.1720000058412552
],
[
0.8360000252723694,
0.1720000058412552
],
[
0.8199999928474426,
0.1720000058412552
],
[
0.828000009059906,
0.18000000715255737
],
[
0.8199999928474426,
0.164000004529953
],
[
0.8050000071525574,
0.14800000190734863
],
[
0.8199999928474426,
0.164000004529953
],
[
0.828000009059906,
0.210999995470047
],
[
0.8519999980926514,
0.24199999868869781
]
] |
libero_train
|
|
249,894
|
00028
|
close the microwave
|
[
[
0.671999990940094,
0.367000013589859
],
[
0.671999990940094,
0.328000009059906
],
[
0.656000018119812,
0.3050000071525574
],
[
0.6480000019073486,
0.257999986410141
],
[
0.640999972820282,
0.23399999737739563
],
[
0.625,
0.210999995470047
],
[
0.6019999980926514,
0.21899999678134918
],
[
0.593999981880188,
0.21899999678134918
],
[
0.578000009059906,
0.24199999868869781
],
[
0.546999990940094,
0.2809999883174896
],
[
0.531000018119812,
0.31200000643730164
],
[
0.5230000019073486,
0.31200000643730164
],
[
0.5,
0.3199999928474426
],
[
0.492000013589859,
0.3199999928474426
],
[
0.47699999809265137,
0.335999995470047
],
[
0.453000009059906,
0.35199999809265137
],
[
0.43799999356269836,
0.367000013589859
],
[
0.421999990940094,
0.375
],
[
0.4059999883174896,
0.39100000262260437
],
[
0.39800000190734863,
0.421999990940094
],
[
0.3440000116825104,
0.460999995470047
],
[
0.3440000116825104,
0.460999995470047
],
[
0.335999995470047,
0.4690000116825104
],
[
0.3440000116825104,
0.4690000116825104
],
[
0.335999995470047,
0.4690000116825104
]
] |
libero_train
|
|
412,540
|
00022
|
pick up the orange juice and put it in the basket
|
[
[
0.10899999737739563,
0.31200000643730164
],
[
0.10899999737739563,
0.31200000643730164
]
] |
libero_train
|
|
550,375
|
00019
|
pick up the book and place it in the front compartment of the caddy
|
[
[
0.25,
0.546999990940094
],
[
0.25,
0.5550000071525574
],
[
0.24199999868869781,
0.5550000071525574
],
[
0.23399999737739563,
0.5619999766349792
],
[
0.23399999737739563,
0.5550000071525574
],
[
0.24199999868869781,
0.531000018119812
],
[
0.26600000262260437,
0.48399999737739563
],
[
0.3050000071525574,
0.421999990940094
],
[
0.335999995470047,
0.39100000262260437
],
[
0.39100000262260437,
0.3199999928474426
],
[
0.453000009059906,
0.289000004529953
],
[
0.515999972820282,
0.26600000262260437
],
[
0.5860000252723694,
0.25
],
[
0.640999972820282,
0.210999995470047
],
[
0.703000009059906,
0.21899999678134918
],
[
0.734000027179718,
0.2029999941587448
],
[
0.7419999837875366,
0.210999995470047
],
[
0.7419999837875366,
0.22699999809265137
],
[
0.734000027179718,
0.24199999868869781
],
[
0.718999981880188,
0.25
],
[
0.718999981880188,
0.25
],
[
0.718999981880188,
0.257999986410141
],
[
0.7110000252723694,
0.26600000262260437
],
[
0.703000009059906,
0.2809999883174896
],
[
0.6949999928474426,
0.296999990940094
]
] |
libero_train
|
|
514,386
|
00024
|
put the white mug on the left plate
|
[
[
0.906000018119812,
0.453000009059906
],
[
0.906000018119812,
0.453000009059906
],
[
0.9139999747276306,
0.453000009059906
],
[
0.9139999747276306,
0.453000009059906
],
[
0.9139999747276306,
0.453000009059906
]
] |
libero_train
|
|
504,774
|
00005
|
put the red mug on the left plate
|
[
[
0.890999972820282,
0.3199999928474426
],
[
0.890999972820282,
0.328000009059906
],
[
0.890999972820282,
0.35899999737739563
],
[
0.890999972820282,
0.375
],
[
0.890999972820282,
0.39800000190734863
],
[
0.890999972820282,
0.414000004529953
],
[
0.8830000162124634,
0.421999990940094
],
[
0.890999972820282,
0.43799999356269836
],
[
0.875,
0.453000009059906
],
[
0.875,
0.460999995470047
],
[
0.8830000162124634,
0.47699999809265137
],
[
0.875,
0.47699999809265137
],
[
0.8669999837875366,
0.492000013589859
],
[
0.875,
0.492000013589859
],
[
0.875,
0.5
],
[
0.875,
0.492000013589859
],
[
0.875,
0.492000013589859
],
[
0.875,
0.492000013589859
],
[
0.8669999837875366,
0.48399999737739563
],
[
0.875,
0.48399999737739563
],
[
0.8830000162124634,
0.47699999809265137
],
[
0.875,
0.4690000116825104
],
[
0.875,
0.453000009059906
],
[
0.8830000162124634,
0.453000009059906
],
[
0.875,
0.43799999356269836
]
] |
libero_train
|
|
220,460
|
00007
|
put the black bowl in the top drawer of the cabinet
|
[
[
0.5860000252723694,
0.26600000262260437
],
[
0.625,
0.31200000643730164
],
[
0.6480000019073486,
0.367000013589859
],
[
0.6639999747276306,
0.4300000071525574
],
[
0.671999990940094,
0.47699999809265137
],
[
0.6800000071525574,
0.531000018119812
],
[
0.6880000233650208,
0.546999990940094
],
[
0.6800000071525574,
0.5550000071525574
],
[
0.6639999747276306,
0.5699999928474426
],
[
0.6639999747276306,
0.5699999928474426
],
[
0.671999990940094,
0.5699999928474426
],
[
0.671999990940094,
0.546999990940094
],
[
0.6880000233650208,
0.515999972820282
],
[
0.6949999928474426,
0.48399999737739563
],
[
0.703000009059906,
0.453000009059906
],
[
0.671999990940094,
0.382999986410141
],
[
0.625,
0.3199999928474426
],
[
0.546999990940094,
0.2809999883174896
],
[
0.47699999809265137,
0.27300000190734863
],
[
0.39800000190734863,
0.26600000262260437
],
[
0.35199999809265137,
0.289000004529953
],
[
0.3440000116825104,
0.335999995470047
],
[
0.335999995470047,
0.375
],
[
0.3440000116825104,
0.414000004529953
],
[
0.328000009059906,
0.382999986410141
]
] |
libero_train
|
|
543,902
|
00028
|
put the white mug on the plate
|
[
[
0.382999986410141,
0.625
],
[
0.382999986410141,
0.625
],
[
0.375,
0.625
],
[
0.382999986410141,
0.625
]
] |
libero_train
|
|
636,168
|
00009
|
pick up the red mug and place it to the right of the caddy
|
[
[
0.18799999356269836,
0.3199999928474426
],
[
0.19499999284744263,
0.3199999928474426
],
[
0.2029999941587448,
0.328000009059906
],
[
0.210999995470047,
0.328000009059906
],
[
0.210999995470047,
0.328000009059906
],
[
0.210999995470047,
0.328000009059906
],
[
0.21899999678134918,
0.335999995470047
],
[
0.21899999678134918,
0.3440000116825104
],
[
0.21899999678134918,
0.3440000116825104
],
[
0.22699999809265137,
0.35199999809265137
],
[
0.22699999809265137,
0.35199999809265137
],
[
0.23399999737739563,
0.35899999737739563
],
[
0.23399999737739563,
0.35899999737739563
],
[
0.23399999737739563,
0.367000013589859
],
[
0.23399999737739563,
0.367000013589859
],
[
0.22699999809265137,
0.367000013589859
],
[
0.23399999737739563,
0.367000013589859
]
] |
libero_train
|
|
394,290
|
00034
|
pick up the alphabet soup and put it in the basket
|
[
[
0.734000027179718,
0.414000004529953
],
[
0.7269999980926514,
0.414000004529953
],
[
0.734000027179718,
0.43799999356269836
],
[
0.734000027179718,
0.453000009059906
],
[
0.734000027179718,
0.4449999928474426
],
[
0.734000027179718,
0.43799999356269836
],
[
0.734000027179718,
0.39800000190734863
],
[
0.7269999980926514,
0.35199999809265137
],
[
0.6949999928474426,
0.289000004529953
],
[
0.6480000019073486,
0.25
],
[
0.6019999980926514,
0.210999995470047
],
[
0.546999990940094,
0.18799999356269836
],
[
0.48399999737739563,
0.18000000715255737
],
[
0.421999990940094,
0.18799999356269836
],
[
0.328000009059906,
0.18799999356269836
],
[
0.25,
0.19499999284744263
],
[
0.18799999356269836,
0.2029999941587448
],
[
0.14100000262260437,
0.22699999809265137
],
[
0.125,
0.2809999883174896
],
[
0.13300000131130219,
0.3050000071525574
],
[
0.14100000262260437,
0.3050000071525574
],
[
0.14800000190734863,
0.2809999883174896
],
[
0.15600000321865082,
0.257999986410141
],
[
0.15600000321865082,
0.24199999868869781
],
[
0.15600000321865082,
0.24199999868869781
]
] |
libero_train
|
|
91,496
|
00043
|
put the black bowl at the back on the plate
|
[
[
0.5230000019073486,
0.4449999928474426
],
[
0.515999972820282,
0.453000009059906
],
[
0.515999972820282,
0.460999995470047
],
[
0.5080000162124634,
0.460999995470047
],
[
0.5080000162124634,
0.4690000116825104
],
[
0.5080000162124634,
0.47699999809265137
],
[
0.5080000162124634,
0.47699999809265137
],
[
0.515999972820282,
0.460999995470047
],
[
0.531000018119812,
0.4449999928474426
],
[
0.5389999747276306,
0.43799999356269836
],
[
0.546999990940094,
0.4449999928474426
],
[
0.5389999747276306,
0.47699999809265137
],
[
0.5389999747276306,
0.5
],
[
0.546999990940094,
0.5080000162124634
],
[
0.5550000071525574,
0.515999972820282
],
[
0.5699999928474426,
0.5230000019073486
],
[
0.5619999766349792,
0.531000018119812
],
[
0.5619999766349792,
0.531000018119812
],
[
0.5550000071525574,
0.5230000019073486
],
[
0.5550000071525574,
0.5230000019073486
],
[
0.5550000071525574,
0.5230000019073486
],
[
0.5550000071525574,
0.5230000019073486
],
[
0.5619999766349792,
0.515999972820282
],
[
0.5619999766349792,
0.5080000162124634
],
[
0.5550000071525574,
0.5230000019073486
]
] |
libero_train
|
|
163,180
|
00002
|
close the bottom drawer of the cabinet and open the top drawer
|
[
[
0.492000013589859,
0.22699999809265137
],
[
0.48399999737739563,
0.3050000071525574
],
[
0.5,
0.367000013589859
],
[
0.5230000019073486,
0.43799999356269836
],
[
0.531000018119812,
0.5080000162124634
],
[
0.546999990940094,
0.546999990940094
],
[
0.531000018119812,
0.5550000071525574
],
[
0.515999972820282,
0.5860000252723694
],
[
0.5080000162124634,
0.593999981880188
],
[
0.460999995470047,
0.6019999980926514
],
[
0.367000013589859,
0.6169999837875366
],
[
0.2809999883174896,
0.5860000252723694
],
[
0.2809999883174896,
0.609000027179718
],
[
0.39800000190734863,
0.609000027179718
],
[
0.453000009059906,
0.5619999766349792
],
[
0.414000004529953,
0.453000009059906
],
[
0.31200000643730164,
0.375
],
[
0.26600000262260437,
0.328000009059906
],
[
0.25,
0.375
],
[
0.23399999737739563,
0.39800000190734863
],
[
0.23399999737739563,
0.414000004529953
],
[
0.289000004529953,
0.43799999356269836
],
[
0.39100000262260437,
0.4059999883174896
],
[
0.4690000116825104,
0.453000009059906
],
[
0.5080000162124634,
0.421999990940094
]
] |
libero_train
|
|
130,056
|
00035
|
put the frying pan on the stove
|
[
[
0.609000027179718,
0.414000004529953
],
[
0.625,
0.4449999928474426
],
[
0.6480000019073486,
0.48399999737739563
],
[
0.640999972820282,
0.5080000162124634
],
[
0.640999972820282,
0.546999990940094
],
[
0.640999972820282,
0.546999990940094
],
[
0.640999972820282,
0.5550000071525574
],
[
0.640999972820282,
0.5550000071525574
],
[
0.640999972820282,
0.5
],
[
0.593999981880188,
0.453000009059906
],
[
0.531000018119812,
0.39800000190734863
],
[
0.453000009059906,
0.35899999737739563
],
[
0.375,
0.35199999809265137
],
[
0.289000004529953,
0.35899999737739563
],
[
0.210999995470047,
0.367000013589859
],
[
0.13300000131130219,
0.375
],
[
0.07800000160932541,
0.43799999356269836
],
[
0.054999999701976776,
0.48399999737739563
],
[
0.054999999701976776,
0.515999972820282
],
[
0.054999999701976776,
0.515999972820282
],
[
0.054999999701976776,
0.515999972820282
],
[
0.054999999701976776,
0.5230000019073486
],
[
0.054999999701976776,
0.5230000019073486
],
[
0.054999999701976776,
0.5230000019073486
],
[
0.054999999701976776,
0.515999972820282
]
] |
libero_train
|
|
520,587
|
00031
|
put the yellow and white mug on the right plate
|
[
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
],
[
0.039000000804662704,
0.4300000071525574
]
] |
libero_train
|
|
95,226
|
00024
|
put the black bowl at the front on the plate
|
[
[
0.22699999809265137,
0.6639999747276306
],
[
0.21899999678134918,
0.6639999747276306
],
[
0.21899999678134918,
0.6639999747276306
],
[
0.21899999678134918,
0.6480000019073486
],
[
0.21899999678134918,
0.6330000162124634
],
[
0.21899999678134918,
0.6019999980926514
],
[
0.23399999737739563,
0.5619999766349792
],
[
0.25,
0.5230000019073486
],
[
0.2809999883174896,
0.492000013589859
],
[
0.3199999928474426,
0.4690000116825104
],
[
0.35199999809265137,
0.4690000116825104
],
[
0.382999986410141,
0.47699999809265137
],
[
0.414000004529953,
0.492000013589859
],
[
0.4300000071525574,
0.5
],
[
0.43799999356269836,
0.5
],
[
0.4449999928474426,
0.5080000162124634
],
[
0.453000009059906,
0.515999972820282
],
[
0.453000009059906,
0.5389999747276306
],
[
0.453000009059906,
0.546999990940094
],
[
0.4449999928474426,
0.546999990940094
],
[
0.43799999356269836,
0.5389999747276306
],
[
0.43799999356269836,
0.5389999747276306
],
[
0.43799999356269836,
0.5389999747276306
],
[
0.43799999356269836,
0.5389999747276306
],
[
0.43799999356269836,
0.5389999747276306
]
] |
libero_train
|
|
171,877
|
00008
|
close the bottom drawer of the cabinet and open the top drawer
|
[
[
0.578000009059906,
0.39100000262260437
],
[
0.5860000252723694,
0.39100000262260437
],
[
0.593999981880188,
0.382999986410141
],
[
0.5860000252723694,
0.39100000262260437
],
[
0.578000009059906,
0.39100000262260437
],
[
0.578000009059906,
0.382999986410141
]
] |
libero_train
|
|
228,444
|
00014
|
put the black bowl on top of the cabinet
|
[
[
0.593999981880188,
0.289000004529953
],
[
0.546999990940094,
0.2809999883174896
],
[
0.515999972820282,
0.24199999868869781
],
[
0.47699999809265137,
0.23399999737739563
],
[
0.4300000071525574,
0.22699999809265137
],
[
0.39800000190734863,
0.21899999678134918
],
[
0.3440000116825104,
0.22699999809265137
],
[
0.31200000643730164,
0.210999995470047
],
[
0.257999986410141,
0.21899999678134918
],
[
0.22699999809265137,
0.21899999678134918
],
[
0.18799999356269836,
0.21899999678134918
],
[
0.18799999356269836,
0.23399999737739563
],
[
0.14800000190734863,
0.25
],
[
0.13300000131130219,
0.27300000190734863
],
[
0.14100000262260437,
0.2809999883174896
],
[
0.13300000131130219,
0.296999990940094
],
[
0.13300000131130219,
0.3050000071525574
],
[
0.13300000131130219,
0.3050000071525574
],
[
0.13300000131130219,
0.3050000071525574
],
[
0.13300000131130219,
0.296999990940094
],
[
0.125,
0.296999990940094
],
[
0.125,
0.289000004529953
],
[
0.125,
0.289000004529953
],
[
0.125,
0.26600000262260437
],
[
0.125,
0.25
]
] |
libero_train
|
|
430,137
|
00013
|
pick up the butter and put it in the tray
|
[
[
0.2809999883174896,
0.453000009059906
],
[
0.26600000262260437,
0.43799999356269836
],
[
0.21899999678134918,
0.414000004529953
],
[
0.2029999941587448,
0.4059999883174896
],
[
0.1720000058412552,
0.39100000262260437
],
[
0.164000004529953,
0.382999986410141
],
[
0.15600000321865082,
0.39100000262260437
],
[
0.14100000262260437,
0.4059999883174896
],
[
0.13300000131130219,
0.414000004529953
],
[
0.125,
0.4300000071525574
],
[
0.125,
0.453000009059906
],
[
0.11699999868869781,
0.460999995470047
],
[
0.11699999868869781,
0.47699999809265137
],
[
0.10899999737739563,
0.460999995470047
],
[
0.10899999737739563,
0.453000009059906
],
[
0.10199999809265137,
0.4300000071525574
],
[
0.10199999809265137,
0.414000004529953
],
[
0.10199999809265137,
0.39100000262260437
],
[
0.10199999809265137,
0.39100000262260437
],
[
0.10199999809265137,
0.39100000262260437
],
[
0.10199999809265137,
0.39100000262260437
],
[
0.10199999809265137,
0.39100000262260437
],
[
0.10199999809265137,
0.39100000262260437
],
[
0.10199999809265137,
0.39800000190734863
],
[
0.10899999737739563,
0.39100000262260437
]
] |
libero_train
|
|
565,090
|
00009
|
pick up the book and place it in the left compartment of the caddy
|
[
[
0.8519999980926514,
0.22699999809265137
],
[
0.843999981880188,
0.22699999809265137
],
[
0.859000027179718,
0.22699999809265137
],
[
0.8519999980926514,
0.22699999809265137
]
] |
libero_train
|
|
81,467
|
00004
|
put the black bowl on top of the cabinet
|
[
[
0.460999995470047,
0.4300000071525574
],
[
0.47699999809265137,
0.39800000190734863
],
[
0.48399999737739563,
0.367000013589859
],
[
0.492000013589859,
0.335999995470047
],
[
0.5080000162124634,
0.31200000643730164
],
[
0.5389999747276306,
0.296999990940094
],
[
0.5699999928474426,
0.26600000262260437
],
[
0.593999981880188,
0.23399999737739563
],
[
0.625,
0.210999995470047
],
[
0.6639999747276306,
0.2029999941587448
],
[
0.7110000252723694,
0.210999995470047
],
[
0.75,
0.2029999941587448
],
[
0.8050000071525574,
0.2029999941587448
],
[
0.828000009059906,
0.2029999941587448
],
[
0.843999981880188,
0.19499999284744263
],
[
0.8519999980926514,
0.2029999941587448
],
[
0.8669999837875366,
0.210999995470047
],
[
0.8669999837875366,
0.22699999809265137
],
[
0.8669999837875366,
0.257999986410141
],
[
0.8669999837875366,
0.289000004529953
],
[
0.859000027179718,
0.31200000643730164
],
[
0.8519999980926514,
0.31200000643730164
],
[
0.859000027179718,
0.3199999928474426
],
[
0.859000027179718,
0.3199999928474426
],
[
0.8669999837875366,
0.31200000643730164
]
] |
libero_train
|
|
463,251
|
00015
|
pick up the chocolate pudding and put it in the tray
|
[
[
0.164000004529953,
0.26600000262260437
],
[
0.164000004529953,
0.27300000190734863
],
[
0.15600000321865082,
0.289000004529953
],
[
0.14800000190734863,
0.3050000071525574
],
[
0.14100000262260437,
0.3199999928474426
],
[
0.14100000262260437,
0.328000009059906
],
[
0.14800000190734863,
0.35199999809265137
],
[
0.14800000190734863,
0.367000013589859
],
[
0.14800000190734863,
0.39100000262260437
],
[
0.14800000190734863,
0.39800000190734863
],
[
0.14100000262260437,
0.421999990940094
],
[
0.14100000262260437,
0.4300000071525574
],
[
0.14800000190734863,
0.43799999356269836
],
[
0.14100000262260437,
0.43799999356269836
],
[
0.13300000131130219,
0.4300000071525574
],
[
0.14100000262260437,
0.421999990940094
],
[
0.14100000262260437,
0.39800000190734863
],
[
0.13300000131130219,
0.4059999883174896
],
[
0.13300000131130219,
0.382999986410141
],
[
0.13300000131130219,
0.382999986410141
],
[
0.13300000131130219,
0.367000013589859
],
[
0.125,
0.35899999737739563
],
[
0.125,
0.3440000116825104
],
[
0.125,
0.335999995470047
],
[
0.125,
0.335999995470047
]
] |
libero_train
|
|
350,838
|
00045
|
turn on the stove and put the frying pan on it
|
[
[
0.2029999941587448,
0.6169999837875366
],
[
0.1720000058412552,
0.593999981880188
],
[
0.15600000321865082,
0.5699999928474426
],
[
0.13300000131130219,
0.531000018119812
],
[
0.11699999868869781,
0.5080000162124634
],
[
0.11699999868869781,
0.5
],
[
0.09399999678134918,
0.48399999737739563
],
[
0.0860000029206276,
0.4690000116825104
],
[
0.07000000029802322,
0.453000009059906
],
[
0.06199999898672104,
0.460999995470047
],
[
0.382999986410141,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
],
[
0.367000013589859,
0.5230000019073486
]
] |
libero_train
|
|
105,588
|
00011
|
put the middle black bowl on top of the cabinet
|
[
[
0.2029999941587448,
0.531000018119812
],
[
0.210999995470047,
0.531000018119812
],
[
0.19499999284744263,
0.531000018119812
],
[
0.19499999284744263,
0.531000018119812
],
[
0.18799999356269836,
0.515999972820282
],
[
0.19499999284744263,
0.5
],
[
0.210999995470047,
0.47699999809265137
],
[
0.24199999868869781,
0.4449999928474426
],
[
0.289000004529953,
0.4059999883174896
],
[
0.335999995470047,
0.367000013589859
],
[
0.39100000262260437,
0.328000009059906
],
[
0.4449999928474426,
0.296999990940094
],
[
0.5080000162124634,
0.257999986410141
],
[
0.5619999766349792,
0.25
],
[
0.6169999837875366,
0.23399999737739563
],
[
0.7110000252723694,
0.22699999809265137
],
[
0.781000018119812,
0.22699999809265137
],
[
0.828000009059906,
0.257999986410141
],
[
0.843999981880188,
0.3050000071525574
],
[
0.843999981880188,
0.3199999928474426
],
[
0.843999981880188,
0.3050000071525574
],
[
0.843999981880188,
0.3050000071525574
],
[
0.8519999980926514,
0.289000004529953
],
[
0.843999981880188,
0.27300000190734863
],
[
0.8519999980926514,
0.25
]
] |
libero_train
|
|
616,522
|
00010
|
pick up the book and place it in the left compartment of the caddy
|
[
[
0.6800000071525574,
0.35899999737739563
],
[
0.718999981880188,
0.39800000190734863
],
[
0.7580000162124634,
0.460999995470047
],
[
0.7580000162124634,
0.5080000162124634
],
[
0.7419999837875366,
0.546999990940094
],
[
0.75,
0.5389999747276306
],
[
0.75,
0.531000018119812
],
[
0.765999972820282,
0.531000018119812
],
[
0.8119999766349792,
0.47699999809265137
],
[
0.8519999980926514,
0.4059999883174896
],
[
0.890999972820282,
0.35199999809265137
],
[
0.9139999747276306,
0.3199999928474426
],
[
0.9139999747276306,
0.296999990940094
],
[
0.9139999747276306,
0.2809999883174896
],
[
0.9139999747276306,
0.26600000262260437
],
[
0.9139999747276306,
0.24199999868869781
],
[
0.9139999747276306,
0.22699999809265137
],
[
0.9139999747276306,
0.21899999678134918
],
[
0.9139999747276306,
0.210999995470047
],
[
0.921999990940094,
0.210999995470047
],
[
0.8980000019073486,
0.15600000321865082
],
[
0.875,
0.164000004529953
],
[
0.843999981880188,
0.1720000058412552
],
[
0.828000009059906,
0.21899999678134918
],
[
0.8360000252723694,
0.21899999678134918
]
] |
libero_train
|
|
261,422
|
00005
|
put the yellow and white mug to the front of the white mug
|
[
[
0.8519999980926514,
0.5389999747276306
],
[
0.859000027179718,
0.546999990940094
],
[
0.859000027179718,
0.546999990940094
],
[
0.8519999980926514,
0.5550000071525574
],
[
0.859000027179718,
0.5619999766349792
],
[
0.859000027179718,
0.5619999766349792
],
[
0.8669999837875366,
0.5699999928474426
],
[
0.8669999837875366,
0.5699999928474426
],
[
0.8669999837875366,
0.5699999928474426
],
[
0.859000027179718,
0.5699999928474426
],
[
0.859000027179718,
0.578000009059906
],
[
0.8519999980926514,
0.578000009059906
],
[
0.8519999980926514,
0.578000009059906
],
[
0.8519999980926514,
0.578000009059906
],
[
0.8519999980926514,
0.5860000252723694
],
[
0.8519999980926514,
0.5860000252723694
],
[
0.843999981880188,
0.5860000252723694
],
[
0.843999981880188,
0.593999981880188
],
[
0.843999981880188,
0.593999981880188
],
[
0.843999981880188,
0.5860000252723694
],
[
0.843999981880188,
0.593999981880188
],
[
0.843999981880188,
0.6019999980926514
],
[
0.843999981880188,
0.593999981880188
],
[
0.8360000252723694,
0.593999981880188
],
[
0.8360000252723694,
0.6019999980926514
]
] |
libero_train
|
|
187,220
|
00023
|
put the black bowl on top of the cabinet
|
[
[
0.06199999898672104,
0.257999986410141
],
[
0.06199999898672104,
0.26600000262260437
],
[
0.06199999898672104,
0.26600000262260437
],
[
0.06199999898672104,
0.26600000262260437
],
[
0.06199999898672104,
0.26600000262260437
],
[
0.06199999898672104,
0.26600000262260437
],
[
0.06199999898672104,
0.26600000262260437
],
[
0.06199999898672104,
0.26600000262260437
],
[
0.06199999898672104,
0.26600000262260437
],
[
0.06199999898672104,
0.26600000262260437
]
] |
libero_train
|
|
565,248
|
00001
|
pick up the book and place it in the right compartment of the caddy
|
[
[
0.4300000071525574,
0.3050000071525574
],
[
0.39800000190734863,
0.3440000116825104
],
[
0.335999995470047,
0.382999986410141
],
[
0.2809999883174896,
0.4300000071525574
],
[
0.25,
0.47699999809265137
],
[
0.25,
0.531000018119812
],
[
0.257999986410141,
0.578000009059906
],
[
0.27300000190734863,
0.5860000252723694
],
[
0.2809999883174896,
0.578000009059906
],
[
0.2809999883174896,
0.578000009059906
],
[
0.2809999883174896,
0.578000009059906
],
[
0.2809999883174896,
0.5550000071525574
],
[
0.2809999883174896,
0.515999972820282
],
[
0.3050000071525574,
0.43799999356269836
],
[
0.3440000116825104,
0.35199999809265137
],
[
0.4059999883174896,
0.23399999737739563
],
[
0.4300000071525574,
0.210999995470047
],
[
0.460999995470047,
0.18000000715255737
],
[
0.492000013589859,
0.14800000190734863
],
[
0.5230000019073486,
0.125
],
[
0.5389999747276306,
0.13300000131130219
],
[
0.5619999766349792,
0.14800000190734863
],
[
0.5550000071525574,
0.164000004529953
],
[
0.546999990940094,
0.1720000058412552
],
[
0.5230000019073486,
0.210999995470047
]
] |
libero_train
|
|
257,532
|
00020
|
put the yellow and white mug to the front of the white mug
|
[
[
0.781000018119812,
0.414000004529953
],
[
0.781000018119812,
0.421999990940094
],
[
0.781000018119812,
0.4300000071525574
],
[
0.796999990940094,
0.4300000071525574
],
[
0.8050000071525574,
0.4449999928474426
],
[
0.8050000071525574,
0.460999995470047
],
[
0.8119999766349792,
0.4690000116825104
],
[
0.8119999766349792,
0.47699999809265137
],
[
0.8119999766349792,
0.48399999737739563
],
[
0.8119999766349792,
0.492000013589859
],
[
0.8199999928474426,
0.5080000162124634
],
[
0.8199999928474426,
0.515999972820282
],
[
0.8199999928474426,
0.531000018119812
],
[
0.8199999928474426,
0.531000018119812
],
[
0.8199999928474426,
0.5550000071525574
],
[
0.8119999766349792,
0.5550000071525574
],
[
0.8050000071525574,
0.5619999766349792
],
[
0.8050000071525574,
0.5619999766349792
]
] |
libero_train
|
|
407,945
|
00004
|
pick up the milk and put it in the basket
|
[
[
0.609000027179718,
0.23399999737739563
],
[
0.640999972820282,
0.2809999883174896
],
[
0.6480000019073486,
0.367000013589859
],
[
0.6639999747276306,
0.43799999356269836
],
[
0.6639999747276306,
0.47699999809265137
],
[
0.656000018119812,
0.5080000162124634
],
[
0.6480000019073486,
0.5389999747276306
],
[
0.6480000019073486,
0.531000018119812
],
[
0.656000018119812,
0.5550000071525574
],
[
0.656000018119812,
0.515999972820282
],
[
0.640999972820282,
0.453000009059906
],
[
0.625,
0.35899999737739563
],
[
0.546999990940094,
0.23399999737739563
],
[
0.4690000116825104,
0.18000000715255737
],
[
0.382999986410141,
0.14100000262260437
],
[
0.289000004529953,
0.125
],
[
0.21899999678134918,
0.125
],
[
0.14800000190734863,
0.14800000190734863
],
[
0.11699999868869781,
0.14800000190734863
],
[
0.09399999678134918,
0.18799999356269836
],
[
0.09399999678134918,
0.24199999868869781
],
[
0.10899999737739563,
0.31200000643730164
],
[
0.125,
0.382999986410141
],
[
0.11699999868869781,
0.39800000190734863
],
[
0.11699999868869781,
0.39100000262260437
]
] |
libero_train
|
|
358,108
|
00045
|
turn on the stove
|
[
[
0.14800000190734863,
0.335999995470047
],
[
0.15600000321865082,
0.3440000116825104
],
[
0.164000004529953,
0.367000013589859
],
[
0.164000004529953,
0.382999986410141
],
[
0.164000004529953,
0.39800000190734863
],
[
0.164000004529953,
0.4059999883174896
],
[
0.164000004529953,
0.414000004529953
],
[
0.164000004529953,
0.421999990940094
],
[
0.164000004529953,
0.421999990940094
],
[
0.164000004529953,
0.4300000071525574
],
[
0.164000004529953,
0.43799999356269836
],
[
0.164000004529953,
0.43799999356269836
],
[
0.164000004529953,
0.43799999356269836
],
[
0.15600000321865082,
0.43799999356269836
],
[
0.15600000321865082,
0.43799999356269836
],
[
0.15600000321865082,
0.43799999356269836
],
[
0.15600000321865082,
0.43799999356269836
],
[
0.15600000321865082,
0.43799999356269836
],
[
0.15600000321865082,
0.43799999356269836
],
[
0.164000004529953,
0.43799999356269836
],
[
0.164000004529953,
0.43799999356269836
],
[
0.164000004529953,
0.43799999356269836
],
[
0.164000004529953,
0.43799999356269836
],
[
0.1720000058412552,
0.4449999928474426
],
[
0.1720000058412552,
0.453000009059906
]
] |
libero_train
|
|
602,731
|
00024
|
pick up the book and place it in the right compartment of the caddy
|
[
[
0.5619999766349792,
0.492000013589859
],
[
0.609000027179718,
0.515999972820282
],
[
0.6169999837875366,
0.5389999747276306
],
[
0.6019999980926514,
0.5550000071525574
],
[
0.5860000252723694,
0.5699999928474426
],
[
0.593999981880188,
0.578000009059906
],
[
0.593999981880188,
0.578000009059906
],
[
0.6019999980926514,
0.546999990940094
],
[
0.6019999980926514,
0.5
],
[
0.6169999837875366,
0.43799999356269836
],
[
0.609000027179718,
0.3199999928474426
],
[
0.6019999980926514,
0.22699999809265137
],
[
0.593999981880188,
0.164000004529953
],
[
0.5550000071525574,
0.14100000262260437
],
[
0.5389999747276306,
0.14100000262260437
],
[
0.5230000019073486,
0.1720000058412552
],
[
0.5230000019073486,
0.18000000715255737
],
[
0.5230000019073486,
0.18000000715255737
],
[
0.5389999747276306,
0.1720000058412552
],
[
0.5389999747276306,
0.18799999356269836
],
[
0.531000018119812,
0.164000004529953
],
[
0.546999990940094,
0.164000004529953
],
[
0.5389999747276306,
0.2029999941587448
],
[
0.531000018119812,
0.210999995470047
],
[
0.531000018119812,
0.210999995470047
]
] |
libero_train
|
|
132,154
|
00044
|
put the frying pan on the stove
|
[
[
0.10199999809265137,
0.35899999737739563
],
[
0.09399999678134918,
0.367000013589859
],
[
0.07800000160932541,
0.382999986410141
],
[
0.07000000029802322,
0.39800000190734863
],
[
0.07000000029802322,
0.4059999883174896
],
[
0.06199999898672104,
0.421999990940094
],
[
0.06199999898672104,
0.4449999928474426
],
[
0.06199999898672104,
0.460999995470047
],
[
0.06199999898672104,
0.47699999809265137
],
[
0.07000000029802322,
0.492000013589859
],
[
0.07000000029802322,
0.5080000162124634
],
[
0.07800000160932541,
0.5080000162124634
],
[
0.07000000029802322,
0.515999972820282
],
[
0.07000000029802322,
0.5080000162124634
],
[
0.06199999898672104,
0.5080000162124634
],
[
0.07000000029802322,
0.5
],
[
0.07000000029802322,
0.492000013589859
],
[
0.07000000029802322,
0.47699999809265137
],
[
0.06199999898672104,
0.47699999809265137
],
[
0.06199999898672104,
0.47699999809265137
],
[
0.06199999898672104,
0.47699999809265137
],
[
0.06199999898672104,
0.47699999809265137
],
[
0.06199999898672104,
0.47699999809265137
],
[
0.06199999898672104,
0.47699999809265137
],
[
0.06199999898672104,
0.47699999809265137
]
] |
libero_train
|
|
196,286
|
00034
|
put the wine bottle in the bottom drawer of the cabinet
|
[
[
0.3440000116825104,
0.453000009059906
],
[
0.3440000116825104,
0.460999995470047
],
[
0.3440000116825104,
0.453000009059906
],
[
0.3440000116825104,
0.453000009059906
],
[
0.3440000116825104,
0.460999995470047
],
[
0.3440000116825104,
0.4690000116825104
]
] |
libero_train
|
|
357,894
|
00043
|
turn on the stove
|
[
[
0.13300000131130219,
0.4059999883174896
],
[
0.13300000131130219,
0.414000004529953
],
[
0.13300000131130219,
0.414000004529953
],
[
0.13300000131130219,
0.421999990940094
],
[
0.13300000131130219,
0.421999990940094
],
[
0.14100000262260437,
0.4300000071525574
],
[
0.13300000131130219,
0.43799999356269836
],
[
0.13300000131130219,
0.4300000071525574
],
[
0.13300000131130219,
0.4300000071525574
],
[
0.13300000131130219,
0.4300000071525574
],
[
0.13300000131130219,
0.4300000071525574
],
[
0.13300000131130219,
0.4300000071525574
],
[
0.13300000131130219,
0.4300000071525574
],
[
0.14100000262260437,
0.4300000071525574
],
[
0.13300000131130219,
0.4300000071525574
],
[
0.13300000131130219,
0.4300000071525574
],
[
0.14100000262260437,
0.4300000071525574
],
[
0.14100000262260437,
0.4300000071525574
],
[
0.14100000262260437,
0.4300000071525574
],
[
0.14800000190734863,
0.4300000071525574
],
[
0.14800000190734863,
0.4300000071525574
],
[
0.15600000321865082,
0.4300000071525574
],
[
0.15600000321865082,
0.43799999356269836
],
[
0.14800000190734863,
0.43799999356269836
],
[
0.15600000321865082,
0.43799999356269836
]
] |
libero_train
|
|
261,870
|
00008
|
put the yellow and white mug to the front of the white mug
|
[
[
0.7889999747276306,
0.492000013589859
],
[
0.7889999747276306,
0.5
],
[
0.796999990940094,
0.5080000162124634
],
[
0.796999990940094,
0.5080000162124634
],
[
0.8050000071525574,
0.515999972820282
],
[
0.8119999766349792,
0.5230000019073486
],
[
0.8119999766349792,
0.5230000019073486
],
[
0.8199999928474426,
0.531000018119812
],
[
0.8199999928474426,
0.5389999747276306
],
[
0.8199999928474426,
0.546999990940094
],
[
0.8199999928474426,
0.5550000071525574
]
] |
libero_train
|
|
158,781
|
00004
|
turn on the stove
|
[
[
0.4300000071525574,
0.11699999868869781
],
[
0.382999986410141,
0.11699999868869781
],
[
0.3440000116825104,
0.125
],
[
0.31200000643730164,
0.15600000321865082
],
[
0.27300000190734863,
0.2029999941587448
],
[
0.25,
0.23399999737739563
],
[
0.22699999809265137,
0.289000004529953
],
[
0.22699999809265137,
0.35199999809265137
],
[
0.23399999737739563,
0.39100000262260437
],
[
0.23399999737739563,
0.421999990940094
],
[
0.22699999809265137,
0.4300000071525574
],
[
0.24199999868869781,
0.4300000071525574
],
[
0.24199999868869781,
0.43799999356269836
],
[
0.25,
0.4300000071525574
],
[
0.257999986410141,
0.4300000071525574
],
[
0.25,
0.4300000071525574
],
[
0.25,
0.4300000071525574
],
[
0.24199999868869781,
0.4300000071525574
],
[
0.24199999868869781,
0.4300000071525574
],
[
0.24199999868869781,
0.4300000071525574
],
[
0.24199999868869781,
0.4300000071525574
],
[
0.24199999868869781,
0.4300000071525574
],
[
0.24199999868869781,
0.421999990940094
],
[
0.24199999868869781,
0.4059999883174896
],
[
0.23399999737739563,
0.39800000190734863
]
] |
libero_train
|
|
507,433
|
00020
|
put the red mug on the right plate
|
[
[
0.14100000262260437,
0.1720000058412552
],
[
0.13300000131130219,
0.1720000058412552
],
[
0.10899999737739563,
0.19499999284744263
],
[
0.09399999678134918,
0.210999995470047
],
[
0.0860000029206276,
0.21899999678134918
],
[
0.06199999898672104,
0.22699999809265137
],
[
0.04699999839067459,
0.24199999868869781
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
],
[
0.039000000804662704,
0.26600000262260437
]
] |
libero_train
|
|
53,975
|
00046
|
open the bottom drawer of the cabinet
|
[
[
0.5230000019073486,
0.296999990940094
],
[
0.531000018119812,
0.31200000643730164
],
[
0.546999990940094,
0.3440000116825104
],
[
0.5230000019073486,
0.39100000262260437
],
[
0.5389999747276306,
0.43799999356269836
],
[
0.5699999928474426,
0.4690000116825104
],
[
0.6169999837875366,
0.5
],
[
0.6800000071525574,
0.5230000019073486
],
[
0.6800000071525574,
0.546999990940094
],
[
0.671999990940094,
0.5550000071525574
],
[
0.671999990940094,
0.5550000071525574
],
[
0.593999981880188,
0.546999990940094
],
[
0.5389999747276306,
0.5389999747276306
],
[
0.5080000162124634,
0.492000013589859
],
[
0.515999972820282,
0.48399999737739563
],
[
0.5619999766349792,
0.47699999809265137
],
[
0.656000018119812,
0.546999990940094
],
[
0.671999990940094,
0.5550000071525574
],
[
0.6880000233650208,
0.5619999766349792
],
[
0.6800000071525574,
0.5699999928474426
],
[
0.6169999837875366,
0.5699999928474426
],
[
0.5619999766349792,
0.5619999766349792
],
[
0.48399999737739563,
0.5550000071525574
],
[
0.43799999356269836,
0.546999990940094
],
[
0.421999990940094,
0.5389999747276306
]
] |
libero_train
|
|
31,327
|
00014
|
put the butter at the front in the top drawer of the cabinet and close it
|
[
[
0.734000027179718,
0.31200000643730164
],
[
0.7269999980926514,
0.3050000071525574
],
[
0.734000027179718,
0.289000004529953
],
[
0.7110000252723694,
0.2809999883174896
],
[
0.6880000233650208,
0.257999986410141
],
[
0.6480000019073486,
0.25
],
[
0.6019999980926514,
0.24199999868869781
],
[
0.578000009059906,
0.24199999868869781
],
[
0.5230000019073486,
0.257999986410141
],
[
0.4690000116825104,
0.296999990940094
],
[
0.4300000071525574,
0.3440000116825104
],
[
0.4059999883174896,
0.382999986410141
],
[
0.39800000190734863,
0.43799999356269836
],
[
0.4059999883174896,
0.460999995470047
],
[
0.4300000071525574,
0.47699999809265137
],
[
0.4690000116825104,
0.48399999737739563
],
[
0.5,
0.5
],
[
0.5550000071525574,
0.5
],
[
0.5699999928474426,
0.5080000162124634
],
[
0.609000027179718,
0.492000013589859
],
[
0.6480000019073486,
0.5
],
[
0.6480000019073486,
0.492000013589859
],
[
0.6480000019073486,
0.48399999737739563
],
[
0.6480000019073486,
0.47699999809265137
],
[
0.6480000019073486,
0.4690000116825104
]
] |
libero_train
|
|
599,996
|
00007
|
pick up the book and place it in the left compartment of the caddy
|
[
[
0.5389999747276306,
0.3199999928474426
],
[
0.5699999928474426,
0.367000013589859
],
[
0.593999981880188,
0.4300000071525574
],
[
0.593999981880188,
0.48399999737739563
],
[
0.593999981880188,
0.515999972820282
],
[
0.593999981880188,
0.531000018119812
],
[
0.593999981880188,
0.5389999747276306
],
[
0.593999981880188,
0.5389999747276306
],
[
0.6019999980926514,
0.5230000019073486
],
[
0.6019999980926514,
0.492000013589859
],
[
0.625,
0.4449999928474426
],
[
0.671999990940094,
0.382999986410141
],
[
0.7419999837875366,
0.3199999928474426
],
[
0.828000009059906,
0.27300000190734863
],
[
0.8519999980926514,
0.24199999868869781
],
[
0.8830000162124634,
0.210999995470047
],
[
0.875,
0.2029999941587448
],
[
0.8830000162124634,
0.18000000715255737
],
[
0.890999972820282,
0.210999995470047
],
[
0.875,
0.21899999678134918
],
[
0.875,
0.21899999678134918
],
[
0.8669999837875366,
0.23399999737739563
],
[
0.875,
0.25
],
[
0.875,
0.289000004529953
],
[
0.875,
0.3440000116825104
]
] |
libero_train
|
|
45,995
|
00042
|
put the chocolate pudding in the top drawer of the cabinet and close it
|
[
[
0.414000004529953,
0.4449999928474426
],
[
0.4300000071525574,
0.453000009059906
],
[
0.43799999356269836,
0.453000009059906
],
[
0.453000009059906,
0.453000009059906
],
[
0.4690000116825104,
0.453000009059906
],
[
0.48399999737739563,
0.4449999928474426
],
[
0.5,
0.453000009059906
],
[
0.5230000019073486,
0.453000009059906
],
[
0.531000018119812,
0.460999995470047
],
[
0.546999990940094,
0.453000009059906
],
[
0.5619999766349792,
0.453000009059906
],
[
0.5860000252723694,
0.4449999928474426
],
[
0.6019999980926514,
0.4449999928474426
],
[
0.6169999837875366,
0.4449999928474426
],
[
0.6480000019073486,
0.453000009059906
],
[
0.6639999747276306,
0.460999995470047
],
[
0.6639999747276306,
0.453000009059906
],
[
0.671999990940094,
0.4690000116825104
],
[
0.6639999747276306,
0.453000009059906
],
[
0.6639999747276306,
0.453000009059906
],
[
0.671999990940094,
0.460999995470047
],
[
0.671999990940094,
0.460999995470047
],
[
0.6639999747276306,
0.453000009059906
],
[
0.6639999747276306,
0.4449999928474426
],
[
0.6639999747276306,
0.453000009059906
]
] |
libero_train
|
|
517,622
|
00008
|
put the white mug on the left plate
|
[
[
0.703000009059906,
0.26600000262260437
],
[
0.718999981880188,
0.296999990940094
],
[
0.718999981880188,
0.328000009059906
],
[
0.718999981880188,
0.35899999737739563
],
[
0.7110000252723694,
0.382999986410141
],
[
0.703000009059906,
0.39100000262260437
],
[
0.6949999928474426,
0.39100000262260437
],
[
0.6949999928474426,
0.39800000190734863
],
[
0.6949999928474426,
0.39800000190734863
],
[
0.6880000233650208,
0.414000004529953
],
[
0.6949999928474426,
0.4059999883174896
],
[
0.7110000252723694,
0.414000004529953
],
[
0.7419999837875366,
0.382999986410141
],
[
0.765999972820282,
0.35199999809265137
],
[
0.796999990940094,
0.3199999928474426
],
[
0.828000009059906,
0.3199999928474426
],
[
0.843999981880188,
0.31200000643730164
],
[
0.8669999837875366,
0.35199999809265137
],
[
0.875,
0.39100000262260437
],
[
0.8830000162124634,
0.4300000071525574
],
[
0.8830000162124634,
0.4449999928474426
],
[
0.875,
0.460999995470047
],
[
0.8830000162124634,
0.47699999809265137
],
[
0.8830000162124634,
0.492000013589859
],
[
0.8830000162124634,
0.492000013589859
]
] |
libero_train
|
|
574,164
|
00017
|
pick up the yellow and white mug and place it to the right of the caddy
|
[
[
0.3199999928474426,
0.3440000116825104
],
[
0.31200000643730164,
0.3199999928474426
],
[
0.31200000643730164,
0.3050000071525574
],
[
0.296999990940094,
0.27300000190734863
],
[
0.2809999883174896,
0.257999986410141
],
[
0.27300000190734863,
0.25
],
[
0.26600000262260437,
0.24199999868869781
],
[
0.25,
0.23399999737739563
],
[
0.22699999809265137,
0.22699999809265137
],
[
0.21899999678134918,
0.23399999737739563
],
[
0.210999995470047,
0.22699999809265137
],
[
0.2029999941587448,
0.24199999868869781
],
[
0.2029999941587448,
0.25
],
[
0.2029999941587448,
0.26600000262260437
],
[
0.2029999941587448,
0.27300000190734863
],
[
0.210999995470047,
0.289000004529953
],
[
0.210999995470047,
0.31200000643730164
],
[
0.21899999678134918,
0.328000009059906
],
[
0.22699999809265137,
0.335999995470047
],
[
0.23399999737739563,
0.35899999737739563
],
[
0.22699999809265137,
0.367000013589859
],
[
0.23399999737739563,
0.382999986410141
],
[
0.23399999737739563,
0.39800000190734863
],
[
0.24199999868869781,
0.421999990940094
],
[
0.23399999737739563,
0.4300000071525574
]
] |
libero_train
|
|
267,653
|
00042
|
open the microwave
|
[
[
0.453000009059906,
0.5389999747276306
],
[
0.4449999928474426,
0.5
],
[
0.4449999928474426,
0.5230000019073486
],
[
0.43799999356269836,
0.5619999766349792
],
[
0.4300000071525574,
0.5619999766349792
],
[
0.4300000071525574,
0.578000009059906
],
[
0.421999990940094,
0.5860000252723694
],
[
0.414000004529953,
0.593999981880188
],
[
0.4059999883174896,
0.546999990940094
],
[
0.39100000262260437,
0.5619999766349792
],
[
0.39100000262260437,
0.5619999766349792
],
[
0.39800000190734863,
0.5619999766349792
],
[
0.382999986410141,
0.5699999928474426
],
[
0.375,
0.578000009059906
],
[
0.367000013589859,
0.593999981880188
],
[
0.35899999737739563,
0.593999981880188
],
[
0.367000013589859,
0.6019999980926514
],
[
0.35899999737739563,
0.6169999837875366
],
[
0.35899999737739563,
0.6169999837875366
],
[
0.35899999737739563,
0.6169999837875366
],
[
0.35899999737739563,
0.6169999837875366
]
] |
libero_train
|
|
459,842
|
00037
|
pick up the black bowl on the left and put it in the tray
|
[
[
0.5550000071525574,
0.24199999868869781
],
[
0.531000018119812,
0.22699999809265137
],
[
0.492000013589859,
0.23399999737739563
],
[
0.4690000116825104,
0.23399999737739563
],
[
0.4300000071525574,
0.23399999737739563
],
[
0.39800000190734863,
0.23399999737739563
],
[
0.35199999809265137,
0.22699999809265137
],
[
0.335999995470047,
0.22699999809265137
],
[
0.296999990940094,
0.24199999868869781
],
[
0.27300000190734863,
0.25
],
[
0.23399999737739563,
0.26600000262260437
],
[
0.2029999941587448,
0.2809999883174896
],
[
0.18799999356269836,
0.3050000071525574
],
[
0.18799999356269836,
0.335999995470047
],
[
0.15600000321865082,
0.367000013589859
],
[
0.15600000321865082,
0.39100000262260437
],
[
0.14100000262260437,
0.4300000071525574
],
[
0.13300000131130219,
0.4449999928474426
],
[
0.13300000131130219,
0.48399999737739563
],
[
0.13300000131130219,
0.5
],
[
0.14800000190734863,
0.5230000019073486
],
[
0.14100000262260437,
0.546999990940094
],
[
0.14800000190734863,
0.5389999747276306
],
[
0.14800000190734863,
0.5389999747276306
],
[
0.14100000262260437,
0.5389999747276306
]
] |
libero_train
|
|
246,204
|
00011
|
close the microwave
|
[
[
0.5230000019073486,
0.414000004529953
],
[
0.531000018119812,
0.4690000116825104
],
[
0.5389999747276306,
0.5
],
[
0.5389999747276306,
0.515999972820282
],
[
0.546999990940094,
0.515999972820282
],
[
0.5699999928474426,
0.5
],
[
0.609000027179718,
0.460999995470047
],
[
0.6480000019073486,
0.39800000190734863
],
[
0.671999990940094,
0.35899999737739563
],
[
0.671999990940094,
0.328000009059906
],
[
0.6639999747276306,
0.35899999737739563
],
[
0.656000018119812,
0.367000013589859
],
[
0.656000018119812,
0.3199999928474426
],
[
0.6330000162124634,
0.26600000262260437
],
[
0.5699999928474426,
0.21899999678134918
],
[
0.531000018119812,
0.210999995470047
],
[
0.515999972820282,
0.2029999941587448
],
[
0.5080000162124634,
0.21899999678134918
],
[
0.492000013589859,
0.24199999868869781
],
[
0.4690000116825104,
0.26600000262260437
],
[
0.460999995470047,
0.3199999928474426
],
[
0.39800000190734863,
0.414000004529953
],
[
0.3199999928474426,
0.453000009059906
],
[
0.3050000071525574,
0.48399999737739563
],
[
0.3050000071525574,
0.5
]
] |
libero_train
|
|
459,652
|
00036
|
pick up the black bowl on the left and put it in the tray
|
[
[
0.47699999809265137,
0.19499999284744263
],
[
0.546999990940094,
0.210999995470047
],
[
0.6480000019073486,
0.22699999809265137
],
[
0.75,
0.23399999737739563
],
[
0.7889999747276306,
0.2809999883174896
],
[
0.7889999747276306,
0.35899999737739563
],
[
0.7730000019073486,
0.414000004529953
],
[
0.7889999747276306,
0.453000009059906
],
[
0.7889999747276306,
0.4690000116825104
],
[
0.796999990940094,
0.492000013589859
],
[
0.796999990940094,
0.47699999809265137
],
[
0.796999990940094,
0.47699999809265137
],
[
0.7889999747276306,
0.460999995470047
],
[
0.8119999766349792,
0.4059999883174896
],
[
0.781000018119812,
0.3440000116825104
],
[
0.703000009059906,
0.27300000190734863
],
[
0.6480000019073486,
0.22699999809265137
],
[
0.5550000071525574,
0.2029999941587448
],
[
0.460999995470047,
0.210999995470047
],
[
0.35199999809265137,
0.23399999737739563
],
[
0.257999986410141,
0.2809999883174896
],
[
0.18000000715255737,
0.3440000116825104
],
[
0.164000004529953,
0.421999990940094
],
[
0.164000004529953,
0.47699999809265137
],
[
0.15600000321865082,
0.5080000162124634
]
] |
libero_train
|
|
629,346
|
00048
|
pick up the book and place it in the right compartment of the caddy
|
[
[
0.75,
0.4300000071525574
],
[
0.75,
0.48399999737739563
],
[
0.7419999837875366,
0.5080000162124634
],
[
0.734000027179718,
0.531000018119812
],
[
0.75,
0.5230000019073486
],
[
0.7580000162124634,
0.5230000019073486
],
[
0.765999972820282,
0.515999972820282
],
[
0.781000018119812,
0.47699999809265137
],
[
0.7889999747276306,
0.39800000190734863
],
[
0.7889999747276306,
0.3199999928474426
],
[
0.7730000019073486,
0.22699999809265137
],
[
0.7419999837875366,
0.18000000715255737
],
[
0.703000009059906,
0.14100000262260437
],
[
0.640999972820282,
0.125
],
[
0.625,
0.125
],
[
0.578000009059906,
0.14100000262260437
],
[
0.531000018119812,
0.125
],
[
0.5080000162124634,
0.11699999868869781
],
[
0.5,
0.125
],
[
0.5,
0.13300000131130219
],
[
0.5,
0.14100000262260437
],
[
0.5080000162124634,
0.14800000190734863
],
[
0.5,
0.164000004529953
],
[
0.5080000162124634,
0.2029999941587448
],
[
0.5,
0.22699999809265137
]
] |
libero_train
|
|
596,413
|
00024
|
pick up the book and place it in the left compartment of the caddy
|
[
[
0.8830000162124634,
0.23399999737739563
],
[
0.875,
0.23399999737739563
],
[
0.875,
0.24199999868869781
],
[
0.859000027179718,
0.24199999868869781
],
[
0.8669999837875366,
0.23399999737739563
],
[
0.8519999980926514,
0.23399999737739563
],
[
0.8519999980926514,
0.23399999737739563
],
[
0.843999981880188,
0.23399999737739563
],
[
0.8360000252723694,
0.23399999737739563
],
[
0.8360000252723694,
0.23399999737739563
],
[
0.8360000252723694,
0.24199999868869781
],
[
0.828000009059906,
0.24199999868869781
],
[
0.828000009059906,
0.24199999868869781
],
[
0.828000009059906,
0.25
],
[
0.828000009059906,
0.25
],
[
0.828000009059906,
0.25
],
[
0.8360000252723694,
0.257999986410141
],
[
0.843999981880188,
0.257999986410141
],
[
0.843999981880188,
0.26600000262260437
],
[
0.859000027179718,
0.26600000262260437
],
[
0.8519999980926514,
0.2809999883174896
],
[
0.8669999837875366,
0.289000004529953
],
[
0.8669999837875366,
0.296999990940094
]
] |
libero_train
|
|
310,913
|
00035
|
put the frying pan on the cabinet shelf
|
[
[
0.31200000643730164,
0.6019999980926514
],
[
0.335999995470047,
0.6169999837875366
],
[
0.328000009059906,
0.656000018119812
],
[
0.3199999928474426,
0.6639999747276306
],
[
0.3050000071525574,
0.6800000071525574
],
[
0.3050000071525574,
0.6639999747276306
],
[
0.3050000071525574,
0.656000018119812
],
[
0.31200000643730164,
0.6639999747276306
],
[
0.3199999928474426,
0.656000018119812
],
[
0.3199999928474426,
0.640999972820282
],
[
0.328000009059906,
0.6169999837875366
],
[
0.335999995470047,
0.593999981880188
],
[
0.3440000116825104,
0.546999990940094
],
[
0.35199999809265137,
0.5230000019073486
],
[
0.375,
0.5
],
[
0.382999986410141,
0.4690000116825104
],
[
0.382999986410141,
0.4449999928474426
],
[
0.382999986410141,
0.4300000071525574
],
[
0.382999986410141,
0.414000004529953
],
[
0.421999990940094,
0.4059999883174896
],
[
0.4690000116825104,
0.39100000262260437
],
[
0.5080000162124634,
0.367000013589859
],
[
0.5699999928474426,
0.375
],
[
0.6330000162124634,
0.414000004529953
],
[
0.671999990940094,
0.48399999737739563
]
] |
libero_train
|
|
479,434
|
00023
|
stack the left bowl on the right bowl and place them in the tray
|
[
[
0.5,
0.43799999356269836
],
[
0.492000013589859,
0.421999990940094
],
[
0.48399999737739563,
0.4059999883174896
],
[
0.453000009059906,
0.382999986410141
],
[
0.43799999356269836,
0.367000013589859
],
[
0.39800000190734863,
0.35899999737739563
],
[
0.367000013589859,
0.3440000116825104
],
[
0.3440000116825104,
0.3440000116825104
],
[
0.3050000071525574,
0.328000009059906
],
[
0.27300000190734863,
0.3199999928474426
],
[
0.24199999868869781,
0.3199999928474426
],
[
0.21899999678134918,
0.31200000643730164
],
[
0.19499999284744263,
0.31200000643730164
],
[
0.18000000715255737,
0.31200000643730164
],
[
0.18000000715255737,
0.328000009059906
],
[
0.15600000321865082,
0.3440000116825104
],
[
0.14100000262260437,
0.35199999809265137
],
[
0.14100000262260437,
0.382999986410141
],
[
0.13300000131130219,
0.4059999883174896
],
[
0.13300000131130219,
0.421999990940094
],
[
0.13300000131130219,
0.453000009059906
],
[
0.13300000131130219,
0.48399999737739563
],
[
0.13300000131130219,
0.492000013589859
],
[
0.14100000262260437,
0.5
],
[
0.14100000262260437,
0.5
]
] |
libero_train
|
|
333,334
|
00011
|
put the white bowl on top of the cabinet
|
[
[
0.8199999928474426,
0.210999995470047
],
[
0.8360000252723694,
0.21899999678134918
],
[
0.8360000252723694,
0.21899999678134918
],
[
0.8519999980926514,
0.22699999809265137
],
[
0.8519999980926514,
0.23399999737739563
],
[
0.8519999980926514,
0.23399999737739563
],
[
0.859000027179718,
0.24199999868869781
],
[
0.859000027179718,
0.24199999868869781
],
[
0.859000027179718,
0.257999986410141
],
[
0.8519999980926514,
0.26600000262260437
],
[
0.8519999980926514,
0.27300000190734863
],
[
0.8519999980926514,
0.2809999883174896
],
[
0.843999981880188,
0.289000004529953
],
[
0.8360000252723694,
0.31200000643730164
],
[
0.8360000252723694,
0.31200000643730164
],
[
0.8360000252723694,
0.328000009059906
],
[
0.828000009059906,
0.335999995470047
],
[
0.828000009059906,
0.3440000116825104
],
[
0.8199999928474426,
0.3440000116825104
],
[
0.8119999766349792,
0.3440000116825104
],
[
0.8199999928474426,
0.3199999928474426
],
[
0.8050000071525574,
0.3199999928474426
],
[
0.8119999766349792,
0.31200000643730164
],
[
0.8119999766349792,
0.3050000071525574
],
[
0.7889999747276306,
0.26600000262260437
]
] |
libero_train
|
|
599,745
|
00005
|
pick up the book and place it in the left compartment of the caddy
|
[
[
0.5230000019073486,
0.367000013589859
],
[
0.5550000071525574,
0.4059999883174896
],
[
0.5860000252723694,
0.43799999356269836
],
[
0.609000027179718,
0.4690000116825104
],
[
0.6019999980926514,
0.48399999737739563
],
[
0.5860000252723694,
0.5080000162124634
],
[
0.578000009059906,
0.5230000019073486
],
[
0.6019999980926514,
0.531000018119812
],
[
0.6330000162124634,
0.515999972820282
],
[
0.640999972820282,
0.5230000019073486
],
[
0.640999972820282,
0.5230000019073486
],
[
0.640999972820282,
0.5080000162124634
],
[
0.6480000019073486,
0.4449999928474426
],
[
0.703000009059906,
0.382999986410141
],
[
0.75,
0.3199999928474426
],
[
0.8199999928474426,
0.27300000190734863
],
[
0.8519999980926514,
0.257999986410141
],
[
0.8669999837875366,
0.23399999737739563
],
[
0.8669999837875366,
0.23399999737739563
],
[
0.859000027179718,
0.21899999678134918
],
[
0.859000027179718,
0.21899999678134918
],
[
0.8669999837875366,
0.210999995470047
],
[
0.875,
0.21899999678134918
],
[
0.875,
0.24199999868869781
],
[
0.875,
0.289000004529953
]
] |
libero_train
|
|
621,069
|
00039
|
pick up the book and place it in the left compartment of the caddy
|
[
[
0.921999990940094,
0.164000004529953
],
[
0.921999990940094,
0.164000004529953
],
[
0.921999990940094,
0.18799999356269836
],
[
0.921999990940094,
0.164000004529953
],
[
0.921999990940094,
0.164000004529953
],
[
0.921999990940094,
0.14800000190734863
],
[
0.921999990940094,
0.13300000131130219
],
[
0.9139999747276306,
0.13300000131130219
],
[
0.906000018119812,
0.13300000131130219
],
[
0.906000018119812,
0.13300000131130219
],
[
0.8980000019073486,
0.13300000131130219
],
[
0.890999972820282,
0.14100000262260437
],
[
0.890999972820282,
0.14100000262260437
],
[
0.8830000162124634,
0.164000004529953
],
[
0.8669999837875366,
0.15600000321865082
],
[
0.875,
0.14100000262260437
],
[
0.875,
0.14100000262260437
],
[
0.8669999837875366,
0.15600000321865082
],
[
0.875,
0.14800000190734863
],
[
0.875,
0.14800000190734863
],
[
0.8830000162124634,
0.13300000131130219
],
[
0.875,
0.14100000262260437
],
[
0.8830000162124634,
0.14800000190734863
],
[
0.8830000162124634,
0.14100000262260437
],
[
0.8830000162124634,
0.14100000262260437
]
] |
libero_train
|
|
104,543
|
00049
|
put the middle black bowl on the plate
|
[
[
0.18799999356269836,
0.531000018119812
],
[
0.18799999356269836,
0.531000018119812
],
[
0.18000000715255737,
0.5230000019073486
],
[
0.18799999356269836,
0.531000018119812
],
[
0.18799999356269836,
0.515999972820282
],
[
0.18000000715255737,
0.5080000162124634
],
[
0.1720000058412552,
0.47699999809265137
],
[
0.1720000058412552,
0.460999995470047
],
[
0.1720000058412552,
0.453000009059906
],
[
0.19499999284744263,
0.4449999928474426
],
[
0.210999995470047,
0.453000009059906
],
[
0.25,
0.453000009059906
],
[
0.2809999883174896,
0.460999995470047
],
[
0.3050000071525574,
0.4690000116825104
],
[
0.328000009059906,
0.48399999737739563
],
[
0.35899999737739563,
0.5
],
[
0.375,
0.515999972820282
],
[
0.39100000262260437,
0.531000018119812
],
[
0.4059999883174896,
0.546999990940094
],
[
0.4059999883174896,
0.5550000071525574
],
[
0.39800000190734863,
0.5550000071525574
],
[
0.39800000190734863,
0.5619999766349792
],
[
0.39800000190734863,
0.5619999766349792
],
[
0.39100000262260437,
0.5550000071525574
],
[
0.382999986410141,
0.5389999747276306
]
] |
libero_train
|
|
59,806
|
00028
|
open the top drawer of the cabinet and put the bowl in it
|
[
[
0.4059999883174896,
0.515999972820282
],
[
0.4059999883174896,
0.5080000162124634
],
[
0.4059999883174896,
0.5080000162124634
],
[
0.39800000190734863,
0.5
],
[
0.39100000262260437,
0.5
],
[
0.382999986410141,
0.4690000116825104
],
[
0.367000013589859,
0.453000009059906
],
[
0.335999995470047,
0.4059999883174896
],
[
0.328000009059906,
0.35199999809265137
],
[
0.3199999928474426,
0.3050000071525574
],
[
0.31200000643730164,
0.27300000190734863
],
[
0.35199999809265137,
0.23399999737739563
],
[
0.382999986410141,
0.2029999941587448
],
[
0.421999990940094,
0.2029999941587448
],
[
0.47699999809265137,
0.210999995470047
],
[
0.5230000019073486,
0.22699999809265137
],
[
0.5699999928474426,
0.23399999737739563
],
[
0.6019999980926514,
0.23399999737739563
],
[
0.625,
0.25
],
[
0.6330000162124634,
0.257999986410141
],
[
0.6330000162124634,
0.257999986410141
],
[
0.6480000019073486,
0.2809999883174896
],
[
0.656000018119812,
0.289000004529953
],
[
0.6639999747276306,
0.296999990940094
],
[
0.6639999747276306,
0.31200000643730164
]
] |
libero_train
|
|
237,600
|
00002
|
put the ketchup in the top drawer of the cabinet
|
[
[
0.6949999928474426,
0.453000009059906
],
[
0.6880000233650208,
0.4690000116825104
],
[
0.6800000071525574,
0.48399999737739563
],
[
0.6639999747276306,
0.48399999737739563
],
[
0.671999990940094,
0.47699999809265137
],
[
0.6800000071525574,
0.460999995470047
],
[
0.6800000071525574,
0.4449999928474426
],
[
0.6880000233650208,
0.4300000071525574
],
[
0.6639999747276306,
0.4690000116825104
],
[
0.656000018119812,
0.48399999737739563
],
[
0.656000018119812,
0.5
],
[
0.671999990940094,
0.48399999737739563
],
[
0.6480000019073486,
0.4300000071525574
],
[
0.593999981880188,
0.35199999809265137
],
[
0.5230000019073486,
0.289000004529953
],
[
0.453000009059906,
0.22699999809265137
],
[
0.414000004529953,
0.1720000058412552
],
[
0.335999995470047,
0.164000004529953
],
[
0.289000004529953,
0.18000000715255737
],
[
0.296999990940094,
0.24199999868869781
],
[
0.3199999928474426,
0.296999990940094
],
[
0.31200000643730164,
0.335999995470047
],
[
0.3199999928474426,
0.35899999737739563
],
[
0.3199999928474426,
0.39100000262260437
],
[
0.3440000116825104,
0.382999986410141
]
] |
libero_train
|
|
481,607
|
00033
|
stack the left bowl on the right bowl and place them in the tray
|
[
[
0.7730000019073486,
0.27300000190734863
],
[
0.8050000071525574,
0.35199999809265137
],
[
0.8050000071525574,
0.43799999356269836
],
[
0.796999990940094,
0.47699999809265137
],
[
0.8050000071525574,
0.492000013589859
],
[
0.8119999766349792,
0.48399999737739563
],
[
0.828000009059906,
0.43799999356269836
],
[
0.7889999747276306,
0.367000013589859
],
[
0.640999972820282,
0.3199999928474426
],
[
0.5389999747276306,
0.3199999928474426
],
[
0.492000013589859,
0.375
],
[
0.47699999809265137,
0.4059999883174896
],
[
0.492000013589859,
0.4300000071525574
],
[
0.48399999737739563,
0.421999990940094
],
[
0.492000013589859,
0.421999990940094
],
[
0.492000013589859,
0.421999990940094
],
[
0.5230000019073486,
0.4300000071525574
],
[
0.5230000019073486,
0.4690000116825104
],
[
0.531000018119812,
0.47699999809265137
],
[
0.5230000019073486,
0.4449999928474426
],
[
0.5080000162124634,
0.39100000262260437
],
[
0.39800000190734863,
0.335999995470047
],
[
0.257999986410141,
0.35899999737739563
],
[
0.1720000058412552,
0.43799999356269836
],
[
0.1720000058412552,
0.5080000162124634
]
] |
libero_train
|
|
486,006
|
00007
|
stack the left bowl on the right bowl and place them in the tray
|
[
[
0.5,
0.4059999883174896
],
[
0.48399999737739563,
0.367000013589859
],
[
0.4690000116825104,
0.335999995470047
],
[
0.4449999928474426,
0.3199999928474426
],
[
0.4059999883174896,
0.31200000643730164
],
[
0.39100000262260437,
0.3050000071525574
],
[
0.335999995470047,
0.3050000071525574
],
[
0.296999990940094,
0.3050000071525574
],
[
0.26600000262260437,
0.296999990940094
],
[
0.23399999737739563,
0.289000004529953
],
[
0.2029999941587448,
0.289000004529953
],
[
0.18000000715255737,
0.296999990940094
],
[
0.1720000058412552,
0.31200000643730164
],
[
0.15600000321865082,
0.328000009059906
],
[
0.164000004529953,
0.367000013589859
],
[
0.14800000190734863,
0.382999986410141
],
[
0.14800000190734863,
0.4059999883174896
],
[
0.14800000190734863,
0.4300000071525574
],
[
0.14800000190734863,
0.4690000116825104
],
[
0.14800000190734863,
0.48399999737739563
],
[
0.15600000321865082,
0.492000013589859
],
[
0.14800000190734863,
0.48399999737739563
],
[
0.14800000190734863,
0.48399999737739563
],
[
0.14800000190734863,
0.47699999809265137
],
[
0.14800000190734863,
0.4690000116825104
]
] |
libero_train
|
|
265,622
|
00030
|
open the microwave
|
[
[
0.5230000019073486,
0.47699999809265137
],
[
0.5080000162124634,
0.48399999737739563
],
[
0.4690000116825104,
0.5
],
[
0.421999990940094,
0.5080000162124634
],
[
0.375,
0.5230000019073486
],
[
0.3440000116825104,
0.5389999747276306
],
[
0.31200000643730164,
0.5619999766349792
],
[
0.26600000262260437,
0.5860000252723694
],
[
0.23399999737739563,
0.593999981880188
],
[
0.22699999809265137,
0.593999981880188
],
[
0.22699999809265137,
0.5699999928474426
],
[
0.24199999868869781,
0.5389999747276306
],
[
0.27300000190734863,
0.515999972820282
],
[
0.296999990940094,
0.5
],
[
0.35199999809265137,
0.47699999809265137
],
[
0.4059999883174896,
0.47699999809265137
],
[
0.4449999928474426,
0.4690000116825104
],
[
0.460999995470047,
0.5080000162124634
],
[
0.4690000116825104,
0.546999990940094
],
[
0.460999995470047,
0.5550000071525574
],
[
0.43799999356269836,
0.593999981880188
],
[
0.4300000071525574,
0.6169999837875366
],
[
0.375,
0.6330000162124634
],
[
0.328000009059906,
0.6480000019073486
],
[
0.3199999928474426,
0.6800000071525574
]
] |
libero_train
|
|
178,717
|
00014
|
put the black bowl in the bottom drawer of the cabinet
|
[
[
0.5550000071525574,
0.21899999678134918
],
[
0.5550000071525574,
0.26600000262260437
],
[
0.5699999928474426,
0.31200000643730164
],
[
0.578000009059906,
0.35899999737739563
],
[
0.578000009059906,
0.414000004529953
],
[
0.5860000252723694,
0.4449999928474426
],
[
0.593999981880188,
0.492000013589859
],
[
0.593999981880188,
0.5230000019073486
],
[
0.593999981880188,
0.5550000071525574
],
[
0.593999981880188,
0.5619999766349792
],
[
0.5860000252723694,
0.578000009059906
],
[
0.5860000252723694,
0.5860000252723694
],
[
0.5860000252723694,
0.5860000252723694
],
[
0.593999981880188,
0.5860000252723694
],
[
0.593999981880188,
0.546999990940094
],
[
0.5860000252723694,
0.515999972820282
],
[
0.546999990940094,
0.4690000116825104
],
[
0.5,
0.4449999928474426
],
[
0.4300000071525574,
0.421999990940094
],
[
0.367000013589859,
0.43799999356269836
],
[
0.3199999928474426,
0.460999995470047
],
[
0.31200000643730164,
0.5
],
[
0.3199999928474426,
0.531000018119812
],
[
0.3199999928474426,
0.5389999747276306
],
[
0.3199999928474426,
0.531000018119812
]
] |
libero_train
|
|
181,630
|
00033
|
put the black bowl in the bottom drawer of the cabinet
|
[
[
0.3440000116825104,
0.421999990940094
]
] |
libero_train
|
|
135,783
|
00019
|
put the moka pot on the stove
|
[
[
0.5,
0.25
],
[
0.5080000162124634,
0.2809999883174896
],
[
0.5230000019073486,
0.3050000071525574
],
[
0.5389999747276306,
0.328000009059906
],
[
0.5619999766349792,
0.39100000262260437
],
[
0.6169999837875366,
0.414000004529953
],
[
0.6639999747276306,
0.453000009059906
],
[
0.7110000252723694,
0.48399999737739563
],
[
0.734000027179718,
0.5230000019073486
],
[
0.703000009059906,
0.5699999928474426
],
[
0.6949999928474426,
0.5619999766349792
],
[
0.6639999747276306,
0.593999981880188
],
[
0.671999990940094,
0.593999981880188
],
[
0.6800000071525574,
0.593999981880188
],
[
0.656000018119812,
0.593999981880188
],
[
0.6480000019073486,
0.578000009059906
],
[
0.609000027179718,
0.5860000252723694
],
[
0.6019999980926514,
0.578000009059906
],
[
0.531000018119812,
0.546999990940094
],
[
0.453000009059906,
0.531000018119812
],
[
0.382999986410141,
0.515999972820282
],
[
0.382999986410141,
0.515999972820282
],
[
0.382999986410141,
0.515999972820282
],
[
0.382999986410141,
0.515999972820282
],
[
0.382999986410141,
0.515999972820282
]
] |
libero_train
|
|
480,151
|
00026
|
stack the left bowl on the right bowl and place them in the tray
|
[
[
0.2029999941587448,
0.26600000262260437
],
[
0.1720000058412552,
0.2809999883174896
],
[
0.1720000058412552,
0.289000004529953
],
[
0.1720000058412552,
0.296999990940094
],
[
0.164000004529953,
0.3050000071525574
],
[
0.14800000190734863,
0.3199999928474426
],
[
0.15600000321865082,
0.335999995470047
],
[
0.15600000321865082,
0.3440000116825104
],
[
0.14100000262260437,
0.367000013589859
],
[
0.14800000190734863,
0.382999986410141
],
[
0.14100000262260437,
0.375
],
[
0.14800000190734863,
0.39100000262260437
],
[
0.14800000190734863,
0.414000004529953
],
[
0.14800000190734863,
0.414000004529953
],
[
0.14800000190734863,
0.421999990940094
],
[
0.14800000190734863,
0.4300000071525574
],
[
0.14800000190734863,
0.4300000071525574
],
[
0.14800000190734863,
0.43799999356269836
],
[
0.15600000321865082,
0.4449999928474426
],
[
0.15600000321865082,
0.453000009059906
],
[
0.15600000321865082,
0.453000009059906
],
[
0.15600000321865082,
0.460999995470047
],
[
0.15600000321865082,
0.460999995470047
]
] |
libero_train
|
|
75,607
|
00046
|
put the black bowl on the plate
|
[
[
0.4300000071525574,
0.546999990940094
],
[
0.421999990940094,
0.546999990940094
],
[
0.414000004529953,
0.5389999747276306
],
[
0.4059999883174896,
0.546999990940094
],
[
0.39100000262260437,
0.5389999747276306
],
[
0.375,
0.5230000019073486
],
[
0.35199999809265137,
0.515999972820282
],
[
0.31200000643730164,
0.5080000162124634
],
[
0.26600000262260437,
0.48399999737739563
],
[
0.22699999809265137,
0.48399999737739563
],
[
0.19499999284744263,
0.48399999737739563
],
[
0.15600000321865082,
0.48399999737739563
],
[
0.125,
0.492000013589859
],
[
0.10899999737739563,
0.5
],
[
0.10199999809265137,
0.5080000162124634
],
[
0.09399999678134918,
0.5080000162124634
],
[
0.0860000029206276,
0.5080000162124634
],
[
0.0860000029206276,
0.5389999747276306
],
[
0.0860000029206276,
0.5699999928474426
],
[
0.07800000160932541,
0.5619999766349792
],
[
0.07800000160932541,
0.546999990940094
],
[
0.07800000160932541,
0.531000018119812
],
[
0.07800000160932541,
0.546999990940094
],
[
0.0860000029206276,
0.5619999766349792
],
[
0.0860000029206276,
0.5619999766349792
]
] |
libero_train
|
|
486,393
|
00009
|
stack the left bowl on the right bowl and place them in the tray
|
[
[
0.5230000019073486,
0.4300000071525574
],
[
0.5080000162124634,
0.421999990940094
],
[
0.5,
0.4300000071525574
],
[
0.492000013589859,
0.43799999356269836
],
[
0.492000013589859,
0.4449999928474426
],
[
0.5,
0.453000009059906
],
[
0.5080000162124634,
0.47699999809265137
],
[
0.5080000162124634,
0.47699999809265137
],
[
0.515999972820282,
0.4690000116825104
],
[
0.515999972820282,
0.4690000116825104
],
[
0.5,
0.4690000116825104
],
[
0.48399999737739563,
0.453000009059906
],
[
0.48399999737739563,
0.43799999356269836
],
[
0.47699999809265137,
0.421999990940094
],
[
0.460999995470047,
0.414000004529953
],
[
0.414000004529953,
0.39100000262260437
],
[
0.375,
0.367000013589859
],
[
0.31200000643730164,
0.35899999737739563
],
[
0.26600000262260437,
0.367000013589859
],
[
0.24199999868869781,
0.39100000262260437
],
[
0.19499999284744263,
0.421999990940094
],
[
0.18000000715255737,
0.460999995470047
],
[
0.1720000058412552,
0.492000013589859
],
[
0.164000004529953,
0.5
],
[
0.164000004529953,
0.5080000162124634
]
] |
libero_train
|
|
151,207
|
00039
|
turn on the stove and put the frying pan on it
|
[
[
0.6169999837875366,
0.335999995470047
],
[
0.5860000252723694,
0.3440000116825104
],
[
0.5389999747276306,
0.3199999928474426
],
[
0.5080000162124634,
0.335999995470047
],
[
0.460999995470047,
0.335999995470047
],
[
0.43799999356269836,
0.3440000116825104
],
[
0.382999986410141,
0.35899999737739563
],
[
0.335999995470047,
0.382999986410141
],
[
0.2809999883174896,
0.39100000262260437
],
[
0.257999986410141,
0.39100000262260437
],
[
0.210999995470047,
0.39100000262260437
],
[
0.1720000058412552,
0.375
],
[
0.13300000131130219,
0.375
],
[
0.125,
0.382999986410141
],
[
0.11699999868869781,
0.414000004529953
],
[
0.11699999868869781,
0.4449999928474426
],
[
0.13300000131130219,
0.460999995470047
],
[
0.125,
0.48399999737739563
],
[
0.125,
0.5
],
[
0.125,
0.515999972820282
],
[
0.11699999868869781,
0.531000018119812
],
[
0.11699999868869781,
0.5389999747276306
],
[
0.125,
0.5389999747276306
],
[
0.125,
0.5389999747276306
],
[
0.11699999868869781,
0.5389999747276306
]
] |
libero_train
|
|
245,810
|
00001
|
close the microwave
|
[
[
0.5080000162124634,
0.14800000190734863
],
[
0.515999972820282,
0.14800000190734863
],
[
0.5230000019073486,
0.164000004529953
],
[
0.5080000162124634,
0.210999995470047
],
[
0.5080000162124634,
0.335999995470047
],
[
0.531000018119812,
0.421999990940094
],
[
0.515999972820282,
0.48399999737739563
],
[
0.5230000019073486,
0.5230000019073486
],
[
0.531000018119812,
0.5230000019073486
],
[
0.5550000071525574,
0.48399999737739563
],
[
0.6019999980926514,
0.421999990940094
],
[
0.640999972820282,
0.375
],
[
0.6639999747276306,
0.375
],
[
0.6800000071525574,
0.39100000262260437
],
[
0.6800000071525574,
0.367000013589859
],
[
0.640999972820282,
0.296999990940094
],
[
0.5860000252723694,
0.257999986410141
],
[
0.5619999766349792,
0.24199999868869781
],
[
0.5389999747276306,
0.2809999883174896
],
[
0.531000018119812,
0.31200000643730164
],
[
0.5080000162124634,
0.3440000116825104
],
[
0.453000009059906,
0.421999990940094
],
[
0.3440000116825104,
0.4449999928474426
],
[
0.3199999928474426,
0.43799999356269836
],
[
0.328000009059906,
0.43799999356269836
]
] |
libero_train
|
|
449,378
|
00048
|
pick up the ketchup and put it in the tray
|
[
[
0.10199999809265137,
0.24199999868869781
]
] |
libero_train
|
|
70,600
|
00011
|
put the black bowl on the plate
|
[
[
0.0860000029206276,
0.578000009059906
],
[
0.0860000029206276,
0.593999981880188
],
[
0.0860000029206276,
0.5860000252723694
],
[
0.0860000029206276,
0.5699999928474426
],
[
0.0860000029206276,
0.578000009059906
],
[
0.0860000029206276,
0.578000009059906
],
[
0.0860000029206276,
0.5860000252723694
],
[
0.0860000029206276,
0.5860000252723694
],
[
0.0860000029206276,
0.578000009059906
],
[
0.0860000029206276,
0.578000009059906
],
[
0.0860000029206276,
0.5860000252723694
],
[
0.0860000029206276,
0.5860000252723694
],
[
0.09399999678134918,
0.5860000252723694
],
[
0.09399999678134918,
0.5860000252723694
]
] |
libero_train
|
|
479,522
|
00024
|
stack the left bowl on the right bowl and place them in the tray
|
[
[
0.781000018119812,
0.453000009059906
],
[
0.8050000071525574,
0.453000009059906
],
[
0.8050000071525574,
0.43799999356269836
],
[
0.8050000071525574,
0.421999990940094
],
[
0.8119999766349792,
0.453000009059906
],
[
0.8199999928474426,
0.453000009059906
],
[
0.8199999928474426,
0.414000004529953
],
[
0.781000018119812,
0.335999995470047
],
[
0.6800000071525574,
0.289000004529953
],
[
0.593999981880188,
0.335999995470047
],
[
0.5550000071525574,
0.39100000262260437
],
[
0.5230000019073486,
0.4300000071525574
],
[
0.5230000019073486,
0.453000009059906
],
[
0.5230000019073486,
0.460999995470047
],
[
0.5230000019073486,
0.4449999928474426
],
[
0.5699999928474426,
0.4449999928474426
],
[
0.578000009059906,
0.47699999809265137
],
[
0.5550000071525574,
0.5
],
[
0.546999990940094,
0.48399999737739563
],
[
0.5389999747276306,
0.4300000071525574
],
[
0.4690000116825104,
0.35199999809265137
],
[
0.3199999928474426,
0.31200000643730164
],
[
0.18000000715255737,
0.3440000116825104
],
[
0.15600000321865082,
0.421999990940094
],
[
0.15600000321865082,
0.5080000162124634
]
] |
libero_train
|
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.