id
int64 6k
34.1M
| episode_id
stringlengths 5
5
| task
stringlengths 4
416
| trace
listlengths 0
59
| image
images listlengths 1
1
| source
stringclasses 1
value |
|---|---|---|---|---|---|
867,736
|
00213
|
Interact with the objects in diverse but meaningful ways
|
[
[
0.734000027179718,
0.22699999809265137
],
[
0.718999981880188,
0.25
],
[
0.796999990940094,
0.125
],
[
0.625,
0.125
],
[
0.5,
0.18799999356269836
],
[
0.367000013589859,
0.21899999678134918
],
[
0.27300000190734863,
0.23399999737739563
],
[
0.25,
0.125
],
[
0.24199999868869781,
0.19499999284744263
],
[
0.24199999868869781,
0.4449999928474426
],
[
0.21899999678134918,
0.5619999766349792
],
[
0.22699999809265137,
0.609000027179718
],
[
0.26600000262260437,
0.5860000252723694
],
[
0.460999995470047,
0.25
],
[
0.609000027179718,
0.125
],
[
0.6019999980926514,
0.164000004529953
],
[
0.6330000162124634,
0.125
],
[
0.6480000019073486,
0.11699999868869781
],
[
0.515999972820282,
0.25
],
[
0.460999995470047,
0.492000013589859
],
[
0.39100000262260437,
0.7110000252723694
],
[
0.39800000190734863,
0.7419999837875366
],
[
0.6800000071525574,
0.43799999356269836
],
[
0.8119999766349792,
0.1720000058412552
],
[
0.7889999747276306,
0.24199999868869781
],
[
0.8050000071525574,
0.24199999868869781
],
[
0.7580000162124634,
0.1720000058412552
],
[
0.6949999928474426,
0.14800000190734863
],
[
0.671999990940094,
0.1720000058412552
],
[
0.609000027179718,
0.210999995470047
],
[
0.6019999980926514,
0.22699999809265137
],
[
0.6800000071525574,
0.10899999737739563
]
] |
openx_train
|
|
19,714,180
|
01941
|
move redbull can near apple
|
[
[
0.6499999761581421,
0.23800000548362732
],
[
0.6309999823570251,
0.19499999284744263
],
[
0.6060000061988831,
0.19900000095367432
],
[
0.5910000205039978,
0.19499999284744263
],
[
0.5879999995231628,
0.2029999941587448
],
[
0.5839999914169312,
0.2029999941587448
],
[
0.574999988079071,
0.2029999941587448
],
[
0.5619999766349792,
0.2029999941587448
],
[
0.5659999847412109,
0.2070000022649765
],
[
0.574999988079071,
0.210999995470047
],
[
0.609000027179718,
0.210999995470047
],
[
0.6779999732971191,
0.2150000035762787
],
[
0.6690000295639038,
0.22300000488758087
]
] |
openx_train
|
|
32,076,741
|
29144
|
Pick up a designated object from a clutter of objects
|
[
[
0.47999998927116394,
0.4020000100135803
],
[
0.453000009059906,
0.4410000145435333
],
[
0.4300000071525574,
0.4690000116825104
],
[
0.382999986410141,
0.5120000243186951
],
[
0.3479999899864197,
0.5389999747276306
],
[
0.328000009059906,
0.5590000152587891
],
[
0.3160000145435333,
0.5619999766349792
],
[
0.3160000145435333,
0.5740000009536743
],
[
0.3089999854564667,
0.5699999928474426
],
[
0.3089999854564667,
0.578000009059906
],
[
0.3199999928474426,
0.5860000252723694
],
[
0.3199999928474426,
0.593999981880188
],
[
0.3160000145435333,
0.5979999899864197
],
[
0.3199999928474426,
0.6019999980926514
],
[
0.3199999928474426,
0.5979999899864197
],
[
0.3199999928474426,
0.6019999980926514
],
[
0.3199999928474426,
0.6019999980926514
],
[
0.328000009059906,
0.593999981880188
],
[
0.3400000035762787,
0.578000009059906
],
[
0.35199999809265137,
0.5740000009536743
],
[
0.3709999918937683,
0.546999990940094
],
[
0.39800000190734863,
0.5270000100135803
],
[
0.4339999854564667,
0.4959999918937683
],
[
0.4650000035762787,
0.4690000116825104
],
[
0.515999972820282,
0.4300000071525574
],
[
0.5619999766349792,
0.39100000262260437
],
[
0.5979999899864197,
0.3479999899864197
],
[
0.6520000100135803,
0.31200000643730164
],
[
0.7229999899864197,
0.26600000262260437
],
[
0.7699999809265137,
0.22300000488758087
],
[
0.8119999766349792,
0.19099999964237213
],
[
0.828000009059906,
0.164000004529953
],
[
0.8320000171661377,
0.15600000321865082
]
] |
openx_train
|
|
33,994,611
|
00048
|
pick yellow cup and place in dish rack
|
[
[
0.4449999928474426,
0.27300000190734863
],
[
0.4300000071525574,
0.296999990940094
],
[
0.4300000071525574,
0.257999986410141
],
[
0.4300000071525574,
0.22699999809265137
],
[
0.4300000071525574,
0.21899999678134918
],
[
0.453000009059906,
0.23399999737739563
],
[
0.460999995470047,
0.19499999284744263
],
[
0.4690000116825104,
0.1720000058412552
],
[
0.4690000116825104,
0.14800000190734863
],
[
0.492000013589859,
0.14100000262260437
],
[
0.492000013589859,
0.14100000262260437
],
[
0.492000013589859,
0.14800000190734863
],
[
0.5,
0.15600000321865082
],
[
0.48399999737739563,
0.1720000058412552
],
[
0.4690000116825104,
0.164000004529953
],
[
0.460999995470047,
0.19499999284744263
],
[
0.460999995470047,
0.23399999737739563
],
[
0.43799999356269836,
0.22699999809265137
],
[
0.4449999928474426,
0.289000004529953
],
[
0.4300000071525574,
0.31200000643730164
],
[
0.421999990940094,
0.31200000643730164
],
[
0.4059999883174896,
0.3199999928474426
],
[
0.421999990940094,
0.367000013589859
],
[
0.414000004529953,
0.367000013589859
],
[
0.414000004529953,
0.39100000262260437
],
[
0.421999990940094,
0.4059999883174896
],
[
0.414000004529953,
0.39800000190734863
],
[
0.414000004529953,
0.4300000071525574
],
[
0.39800000190734863,
0.414000004529953
],
[
0.39800000190734863,
0.414000004529953
],
[
0.39100000262260437,
0.4449999928474426
],
[
0.4059999883174896,
0.453000009059906
],
[
0.39800000190734863,
0.43799999356269836
],
[
0.4059999883174896,
0.4690000116825104
],
[
0.4059999883174896,
0.4449999928474426
],
[
0.4059999883174896,
0.453000009059906
]
] |
openx_train
|
|
19,074,092
|
53749
|
move orange near sponge
|
[
[
0.8500000238418579,
0.2930000126361847
],
[
0.7940000295639038,
0.24199999868869781
],
[
0.7379999756813049,
0.2150000035762787
],
[
0.734000027179718,
0.2150000035762787
],
[
0.7160000205039978,
0.22699999809265137
],
[
0.6690000295639038,
0.23800000548362732
],
[
0.6309999823570251,
0.25
],
[
0.6000000238418579,
0.26600000262260437
],
[
0.5879999995231628,
0.27300000190734863
],
[
0.5720000267028809,
0.27000001072883606
],
[
0.5690000057220459,
0.289000004529953
],
[
0.5559999942779541,
0.296999990940094
],
[
0.546999990940094,
0.296999990940094
],
[
0.5529999732971191,
0.2770000100135803
],
[
0.5529999732971191,
0.2770000100135803
],
[
0.550000011920929,
0.2849999964237213
],
[
0.5370000004768372,
0.289000004529953
],
[
0.5440000295639038,
0.2849999964237213
],
[
0.5249999761581421,
0.26600000262260437
],
[
0.5220000147819519,
0.23800000548362732
],
[
0.5090000033378601,
0.22300000488758087
],
[
0.5059999823570251,
0.21899999678134918
],
[
0.4869999885559082,
0.210999995470047
],
[
0.47200000286102295,
0.21899999678134918
],
[
0.46299999952316284,
0.2070000022649765
],
[
0.44699999690055847,
0.2150000035762787
],
[
0.42500001192092896,
0.22699999809265137
],
[
0.40299999713897705,
0.22699999809265137
],
[
0.38100001215934753,
0.23800000548362732
],
[
0.375,
0.24199999868869781
],
[
0.3779999911785126,
0.23800000548362732
],
[
0.375,
0.2619999945163727
],
[
0.3779999911785126,
0.2619999945163727
]
] |
openx_train
|
|
6,334,821
|
17558
|
pick yellow rubber cube
|
[
[
0.6019999980926514,
0.4350000023841858
],
[
0.6019999980926514,
0.4350000023841858
],
[
0.6000000238418579,
0.4309999942779541
],
[
0.6029999852180481,
0.4309999942779541
],
[
0.6029999852180481,
0.42899999022483826
],
[
0.6029999852180481,
0.42899999022483826
],
[
0.6029999852180481,
0.42899999022483826
],
[
0.6029999852180481,
0.4309999942779541
],
[
0.6050000190734863,
0.4309999942779541
],
[
0.6050000190734863,
0.4309999942779541
],
[
0.6050000190734863,
0.42899999022483826
],
[
0.6079999804496765,
0.42899999022483826
],
[
0.6079999804496765,
0.42899999022483826
],
[
0.6050000190734863,
0.4309999942779541
],
[
0.6050000190734863,
0.4309999942779541
],
[
0.6060000061988831,
0.42899999022483826
],
[
0.597000002861023,
0.4269999861717224
],
[
0.597000002861023,
0.4269999861717224
],
[
0.6060000061988831,
0.4230000078678131
],
[
0.5950000286102295,
0.4059999883174896
],
[
0.5950000286102295,
0.4059999883174896
],
[
0.6019999980926514,
0.39399999380111694
],
[
0.597000002861023,
0.38499999046325684
],
[
0.597000002861023,
0.36899998784065247
],
[
0.597000002861023,
0.36899998784065247
],
[
0.5979999899864197,
0.3540000021457672
],
[
0.5950000286102295,
0.34599998593330383
],
[
0.5950000286102295,
0.34599998593330383
],
[
0.593999981880188,
0.33799999952316284
],
[
0.597000002861023,
0.31700000166893005
],
[
0.5950000286102295,
0.3059999942779541
],
[
0.5950000286102295,
0.3059999942779541
],
[
0.5920000076293945,
0.28999999165534973
],
[
0.5950000286102295,
0.2770000100135803
],
[
0.5950000286102295,
0.2770000100135803
],
[
0.597000002861023,
0.26899999380111694
],
[
0.6019999980926514,
0.25600001215934753
]
] |
openx_train
|
|
771,723
|
00114
|
Place the fish, sausage, and tomato into the frying pan
|
[
[
0.257999986410141,
0.04699999839067459
],
[
0.1720000058412552,
0.13300000131130219
],
[
0.10899999737739563,
0.25
],
[
0.10899999737739563,
0.375
],
[
0.10899999737739563,
0.43799999356269836
],
[
0.11699999868869781,
0.453000009059906
],
[
0.15600000321865082,
0.3440000116825104
],
[
0.335999995470047,
0.11699999868869781
],
[
0.4449999928474426,
0.04699999839067459
],
[
0.460999995470047,
0.04699999839067459
],
[
0.47699999809265137,
0.04699999839067459
],
[
0.492000013589859,
0.04699999839067459
],
[
0.5,
0.04699999839067459
],
[
0.48399999737739563,
0.07800000160932541
],
[
0.3440000116825104,
0.10899999737739563
],
[
0.26600000262260437,
0.1720000058412552
],
[
0.21899999678134918,
0.26600000262260437
],
[
0.21899999678134918,
0.3050000071525574
],
[
0.21899999678134918,
0.3050000071525574
],
[
0.257999986410141,
0.19499999284744263
],
[
0.39800000190734863,
0.07800000160932541
],
[
0.492000013589859,
0.03099999949336052
],
[
0.515999972820282,
0.039000000804662704
],
[
0.531000018119812,
0.04699999839067459
],
[
0.5,
0.04699999839067459
],
[
0.4690000116825104,
0.04699999839067459
],
[
0.4059999883174896,
0.06199999898672104
],
[
0.35899999737739563,
0.09399999678134918
],
[
0.31200000643730164,
0.10899999737739563
],
[
0.328000009059906,
0.14100000262260437
],
[
0.31200000643730164,
0.1720000058412552
],
[
0.335999995470047,
0.125
],
[
0.39100000262260437,
0.04699999839067459
]
] |
openx_train
|
|
9,211,070
|
01251
|
destack purple yellow cube
|
[
[
0.4749999940395355,
0.4729999899864197
],
[
0.4860000014305115,
0.4869999885559082
],
[
0.4970000088214874,
0.49399998784065247
],
[
0.5090000033378601,
0.5120000243186951
],
[
0.5120000243186951,
0.5329999923706055
],
[
0.5109999775886536,
0.5770000219345093
],
[
0.5120000243186951,
0.6019999980926514
],
[
0.5109999775886536,
0.6290000081062317
],
[
0.5080000162124634,
0.6480000019073486
],
[
0.5059999823570251,
0.6579999923706055
],
[
0.5090000033378601,
0.6710000038146973
],
[
0.5059999823570251,
0.6769999861717224
],
[
0.5080000162124634,
0.6790000200271606
],
[
0.5109999775886536,
0.6830000281333923
],
[
0.5109999775886536,
0.6830000281333923
],
[
0.5090000033378601,
0.6850000023841858
],
[
0.5109999775886536,
0.6880000233650208
],
[
0.5090000033378601,
0.6769999861717224
],
[
0.5139999985694885,
0.6520000100135803
],
[
0.5139999985694885,
0.6269999742507935
],
[
0.5170000195503235,
0.5899999737739563
],
[
0.5170000195503235,
0.5580000281333923
],
[
0.5199999809265137,
0.5019999742507935
],
[
0.5139999985694885,
0.4560000002384186
],
[
0.5139999985694885,
0.3919999897480011
],
[
0.515999972820282,
0.3440000116825104
],
[
0.5139999985694885,
0.2919999957084656
],
[
0.5170000195503235,
0.24199999868869781
],
[
0.5139999985694885,
0.20800000429153442
],
[
0.5170000195503235,
0.19200000166893005
],
[
0.5199999809265137,
0.1809999942779541
],
[
0.5220000147819519,
0.1809999942779541
],
[
0.5199999809265137,
0.18299999833106995
],
[
0.5199999809265137,
0.1809999942779541
]
] |
openx_train
|
|
31,505,599
|
11834
|
Insert a designated object into the corresponding slot on a board
|
[
[
0.19499999284744263,
0.6209999918937683
],
[
0.19499999284744263,
0.625
],
[
0.19499999284744263,
0.640999972820282
],
[
0.2029999941587448,
0.6129999756813049
],
[
0.19499999284744263,
0.6290000081062317
],
[
0.19900000095367432,
0.6209999918937683
],
[
0.19499999284744263,
0.625
],
[
0.19099999964237213,
0.6480000019073486
],
[
0.210999995470047,
0.6129999756813049
],
[
0.210999995470047,
0.5979999899864197
],
[
0.22300000488758087,
0.6019999980926514
],
[
0.22699999809265137,
0.6019999980926514
],
[
0.25,
0.593999981880188
],
[
0.26600000262260437,
0.5820000171661377
],
[
0.27300000190734863,
0.5659999847412109
],
[
0.289000004529953,
0.5619999766349792
],
[
0.3160000145435333,
0.5389999747276306
],
[
0.35499998927116394,
0.5230000019073486
],
[
0.3790000081062317,
0.515999972820282
],
[
0.414000004529953,
0.4959999918937683
],
[
0.4490000009536743,
0.4729999899864197
],
[
0.47699999809265137,
0.4410000145435333
],
[
0.5199999809265137,
0.453000009059906
],
[
0.5550000071525574,
0.421999990940094
],
[
0.5860000252723694,
0.4300000071525574
],
[
0.6019999980926514,
0.4099999964237213
],
[
0.6290000081062317,
0.4059999883174896
],
[
0.6520000100135803,
0.39100000262260437
],
[
0.671999990940094,
0.3709999918937683
],
[
0.6909999847412109,
0.367000013589859
],
[
0.7070000171661377,
0.375
],
[
0.718999981880188,
0.382999986410141
],
[
0.7300000190734863,
0.367000013589859
],
[
0.7379999756813049,
0.3869999945163727
],
[
0.7379999756813049,
0.367000013589859
],
[
0.7419999837875366,
0.3790000081062317
],
[
0.734000027179718,
0.3709999918937683
],
[
0.7379999756813049,
0.367000013589859
],
[
0.7379999756813049,
0.3709999918937683
],
[
0.7300000190734863,
0.35899999737739563
],
[
0.7300000190734863,
0.367000013589859
],
[
0.7300000190734863,
0.375
],
[
0.7300000190734863,
0.367000013589859
],
[
0.734000027179718,
0.3790000081062317
]
] |
openx_train
|
|
31,498,037
|
14136
|
Pick up the object and move it to a goal position
|
[
[
0.4690000116825104,
0.5199999809265137
],
[
0.4690000116825104,
0.515999972820282
],
[
0.4690000116825104,
0.5120000243186951
],
[
0.460999995470047,
0.5120000243186951
],
[
0.4650000035762787,
0.515999972820282
],
[
0.4690000116825104,
0.5120000243186951
],
[
0.4690000116825104,
0.5120000243186951
],
[
0.460999995470047,
0.5120000243186951
],
[
0.460999995470047,
0.5040000081062317
],
[
0.460999995470047,
0.5040000081062317
],
[
0.4569999873638153,
0.5
],
[
0.4569999873638153,
0.492000013589859
],
[
0.453000009059906,
0.48399999737739563
],
[
0.4449999928474426,
0.47699999809265137
],
[
0.4449999928474426,
0.4729999899864197
],
[
0.43799999356269836,
0.4569999873638153
],
[
0.4339999854564667,
0.4490000009536743
],
[
0.4259999990463257,
0.4449999928474426
],
[
0.421999990940094,
0.4339999854564667
],
[
0.414000004529953,
0.4259999990463257
],
[
0.414000004529953,
0.421999990940094
],
[
0.4020000100135803,
0.4020000100135803
],
[
0.39800000190734863,
0.39500001072883606
],
[
0.3869999945163727,
0.3790000081062317
],
[
0.3869999945163727,
0.3790000081062317
],
[
0.3790000081062317,
0.3709999918937683
],
[
0.3869999945163727,
0.3709999918937683
],
[
0.3869999945163727,
0.367000013589859
],
[
0.382999986410141,
0.367000013589859
],
[
0.39100000262260437,
0.3630000054836273
],
[
0.3869999945163727,
0.35899999737739563
]
] |
openx_train
|
|
9,427,905
|
00581
|
pour
|
[
[
0.21699999272823334,
0.2919999957084656
],
[
0.20200000703334808,
0.3100000023841858
],
[
0.1889999955892563,
0.3440000116825104
],
[
0.18400000035762787,
0.36899998784065247
],
[
0.17000000178813934,
0.4169999957084656
],
[
0.1809999942779541,
0.42899999022483826
],
[
0.19499999284744263,
0.44600000977516174
],
[
0.16699999570846558,
0.4650000035762787
],
[
0.17000000178813934,
0.48500001430511475
],
[
0.1860000044107437,
0.492000013589859
],
[
0.18799999356269836,
0.5
],
[
0.17800000309944153,
0.5099999904632568
],
[
0.17499999701976776,
0.5099999904632568
],
[
0.17000000178813934,
0.5059999823570251
],
[
0.18799999356269836,
0.5019999742507935
],
[
0.1979999989271164,
0.5019999742507935
],
[
0.1940000057220459,
0.5019999742507935
],
[
0.1940000057220459,
0.5
],
[
0.19699999690055847,
0.49799999594688416
],
[
0.20600000023841858,
0.5019999742507935
],
[
0.20600000023841858,
0.5
],
[
0.210999995470047,
0.49399998784065247
],
[
0.20499999821186066,
0.5
],
[
0.2029999941587448,
0.49399998784065247
],
[
0.2029999941587448,
0.49000000953674316
],
[
0.1979999989271164,
0.492000013589859
],
[
0.19499999284744263,
0.4869999885559082
],
[
0.19699999690055847,
0.4830000102519989
],
[
0.20800000429153442,
0.46700000762939453
],
[
0.1809999942779541,
0.4650000035762787
],
[
0.16699999570846558,
0.4580000042915344
],
[
0.19099999964237213,
0.44999998807907104
]
] |
openx_train
|
|
12,295,674
|
03278
|
assemble one_leg
|
[
[
0.6740000247955322,
0.43299999833106995
],
[
0.6610000133514404,
0.2590000033378601
],
[
0.41999998688697815,
0.2720000147819519
],
[
0.3479999899864197,
0.41999998688697815
],
[
0.5040000081062317,
0.45100000500679016
],
[
0.531000018119812,
0.5490000247955322
],
[
0.6290000081062317,
0.31700000166893005
],
[
0.6520000100135803,
0.2720000147819519
],
[
0.6470000147819519,
0.41100001335144043
],
[
0.5180000066757202,
0.4869999885559082
],
[
0.6119999885559082,
0.41999998688697815
],
[
0.5180000066757202,
0.5040000081062317
],
[
0.5220000147819519,
0.3970000147819519
],
[
0.6610000133514404,
0.2409999966621399
],
[
0.7319999933242798,
0.18799999356269836
],
[
0.7540000081062317,
0.2370000034570694
],
[
0.7950000166893005,
0.33000001311302185
],
[
0.8080000281333923,
0.41999998688697815
],
[
0.8040000200271606,
0.41999998688697815
],
[
0.8479999899864197,
0.41100001335144043
],
[
0.8389999866485596,
0.41100001335144043
],
[
0.8259999752044678,
0.4020000100135803
],
[
0.8299999833106995,
0.3840000033378601
],
[
0.8080000281333923,
0.44200000166893005
],
[
0.8349999785423279,
0.41999998688697815
],
[
0.8259999752044678,
0.375
],
[
0.8119999766349792,
0.42899999022483826
],
[
0.7990000247955322,
0.33500000834465027
],
[
0.8389999866485596,
0.41999998688697815
],
[
0.8529999852180481,
0.41499999165534973
],
[
0.8259999752044678,
0.4059999883174896
],
[
0.9150000214576721,
0.5270000100135803
]
] |
openx_train
|
|
12,478,611
|
03020
|
assemble square_table
|
[
[
0.8040000200271606,
0.31200000643730164
],
[
0.8080000281333923,
0.31200000643730164
],
[
0.8040000200271606,
0.32100000977516174
],
[
0.8349999785423279,
0.33000001311302185
],
[
0.7990000247955322,
0.31200000643730164
],
[
0.7860000133514404,
0.3569999933242798
],
[
0.7049999833106995,
0.3659999966621399
],
[
0.75,
0.46000000834465027
],
[
0.4869999885559082,
0.22300000488758087
],
[
0.5450000166893005,
0.31700000166893005
],
[
0.5220000147819519,
0.31200000643730164
],
[
0.5450000166893005,
0.29899999499320984
],
[
0.5360000133514404,
0.32100000977516174
],
[
0.6650000214576721,
0.4909999966621399
],
[
0.7279999852180481,
0.41999998688697815
],
[
0.2720000147819519,
0.3529999852180481
],
[
0.32600000500679016,
0.21400000154972076
],
[
0.8119999766349792,
0.2720000147819519
],
[
0.8080000281333923,
0.29899999499320984
],
[
0.8299999833106995,
0.3440000116825104
],
[
0.8259999752044678,
0.31700000166893005
],
[
0.8479999899864197,
0.33000001311302185
],
[
0.8529999852180481,
0.33899998664855957
],
[
0.7319999933242798,
0.2680000066757202
],
[
0.16099999845027924,
0.32600000500679016
],
[
0.28999999165534973,
0.2630000114440918
],
[
0.593999981880188,
0.3440000116825104
],
[
0.5040000081062317,
0.30399999022483826
],
[
0.6029999852180481,
0.3659999966621399
],
[
0.593999981880188,
0.3709999918937683
],
[
0.6290000081062317,
0.33000001311302185
]
] |
openx_train
|
|
33,368,975
|
02061
|
Turn on the faucet by rotating a designated handle
|
[
[
0.3869999945163727,
0.027000000700354576
],
[
0.3709999918937683,
0.054999999701976776
],
[
0.3790000081062317,
0.07000000029802322
],
[
0.375,
0.09399999678134918
],
[
0.367000013589859,
0.11299999803304672
],
[
0.3630000054836273,
0.10899999737739563
],
[
0.35199999809265137,
0.12099999934434891
],
[
0.35199999809265137,
0.13300000131130219
],
[
0.3440000116825104,
0.1289999932050705
],
[
0.3440000116825104,
0.13699999451637268
],
[
0.3400000035762787,
0.14100000262260437
],
[
0.335999995470047,
0.14100000262260437
],
[
0.335999995470047,
0.1679999977350235
],
[
0.328000009059906,
0.14800000190734863
],
[
0.3199999928474426,
0.17599999904632568
],
[
0.3009999990463257,
0.15600000321865082
],
[
0.296999990940094,
0.14800000190734863
],
[
0.296999990940094,
0.14800000190734863
],
[
0.296999990940094,
0.1599999964237213
],
[
0.3160000145435333,
0.19099999964237213
],
[
0.3240000009536743,
0.19900000095367432
],
[
0.3319999873638153,
0.19900000095367432
],
[
0.3400000035762787,
0.19900000095367432
],
[
0.35499998927116394,
0.19499999284744263
],
[
0.39500001072883606,
0.19099999964237213
],
[
0.4059999883174896,
0.2070000022649765
],
[
0.414000004529953,
0.18799999356269836
],
[
0.4259999990463257,
0.14800000190734863
],
[
0.453000009059906,
0.15600000321865082
],
[
0.4729999899864197,
0.14499999582767487
],
[
0.5,
0.15600000321865082
],
[
0.5040000081062317,
0.14800000190734863
],
[
0.5199999809265137,
0.14800000190734863
],
[
0.5350000262260437,
0.15199999511241913
],
[
0.531000018119812,
0.14800000190734863
],
[
0.5590000152587891,
0.14499999582767487
],
[
0.5550000071525574,
0.14800000190734863
],
[
0.5550000071525574,
0.14800000190734863
]
] |
openx_train
|
|
31,740,583
|
11402
|
Turn on the faucet by rotating a designated handle
|
[
[
0.5619999766349792,
0.5659999847412109
],
[
0.5619999766349792,
0.5619999766349792
],
[
0.5590000152587891,
0.5590000152587891
],
[
0.5590000152587891,
0.5590000152587891
],
[
0.5550000071525574,
0.5550000071525574
],
[
0.5550000071525574,
0.5509999990463257
],
[
0.5550000071525574,
0.546999990940094
],
[
0.5509999990463257,
0.546999990940094
],
[
0.5509999990463257,
0.5429999828338623
],
[
0.5509999990463257,
0.5389999747276306
],
[
0.546999990940094,
0.5389999747276306
],
[
0.546999990940094,
0.5350000262260437
],
[
0.546999990940094,
0.531000018119812
],
[
0.5429999828338623,
0.5270000100135803
],
[
0.5429999828338623,
0.5270000100135803
],
[
0.5429999828338623,
0.5230000019073486
],
[
0.5389999747276306,
0.5199999809265137
],
[
0.5389999747276306,
0.515999972820282
],
[
0.5389999747276306,
0.515999972820282
],
[
0.5350000262260437,
0.5120000243186951
],
[
0.5350000262260437,
0.5080000162124634
],
[
0.5350000262260437,
0.5080000162124634
],
[
0.531000018119812,
0.5040000081062317
],
[
0.531000018119812,
0.5
],
[
0.531000018119812,
0.4959999918937683
],
[
0.5270000100135803,
0.4959999918937683
],
[
0.5270000100135803,
0.492000013589859
],
[
0.5230000019073486,
0.4880000054836273
],
[
0.5230000019073486,
0.4880000054836273
],
[
0.5230000019073486,
0.48399999737739563
],
[
0.5199999809265137,
0.47999998927116394
],
[
0.5199999809265137,
0.47699999809265137
],
[
0.5199999809265137,
0.47699999809265137
],
[
0.515999972820282,
0.4729999899864197
],
[
0.515999972820282,
0.4690000116825104
],
[
0.515999972820282,
0.4650000035762787
],
[
0.5120000243186951,
0.4650000035762787
],
[
0.5120000243186951,
0.460999995470047
],
[
0.5,
0.4449999928474426
],
[
0.4880000054836273,
0.4339999854564667
]
] |
openx_train
|
|
31,412,974
|
19964
|
Insert a designated object into the corresponding slot on a board
|
[
[
0.421999990940094,
0.35899999737739563
],
[
0.421999990940094,
0.3709999918937683
],
[
0.4259999990463257,
0.375
],
[
0.4300000071525574,
0.39100000262260437
],
[
0.4259999990463257,
0.375
],
[
0.4339999854564667,
0.39100000262260437
],
[
0.4300000071525574,
0.39100000262260437
],
[
0.4300000071525574,
0.39100000262260437
],
[
0.4259999990463257,
0.382999986410141
],
[
0.4300000071525574,
0.3869999945163727
],
[
0.4259999990463257,
0.3869999945163727
],
[
0.4180000126361847,
0.3869999945163727
],
[
0.414000004529953,
0.3869999945163727
],
[
0.4059999883174896,
0.39500001072883606
],
[
0.39500001072883606,
0.39800000190734863
],
[
0.3790000081062317,
0.4059999883174896
],
[
0.375,
0.421999990940094
],
[
0.35899999737739563,
0.4300000071525574
],
[
0.35899999737739563,
0.4490000009536743
],
[
0.3440000116825104,
0.4729999899864197
],
[
0.335999995470047,
0.5
],
[
0.31200000643730164,
0.5230000019073486
],
[
0.3240000009536743,
0.5270000100135803
],
[
0.35499998927116394,
0.5270000100135803
],
[
0.3199999928474426,
0.546999990940094
],
[
0.3790000081062317,
0.546999990940094
],
[
0.382999986410141,
0.546999990940094
],
[
0.3790000081062317,
0.5550000071525574
],
[
0.3869999945163727,
0.5509999990463257
],
[
0.39100000262260437,
0.5550000071525574
],
[
0.39100000262260437,
0.5590000152587891
],
[
0.39100000262260437,
0.5619999766349792
],
[
0.3869999945163727,
0.5619999766349792
],
[
0.39100000262260437,
0.5590000152587891
]
] |
openx_train
|
|
9,774,600
|
02139
|
assemble square_table
|
[
[
0.6520000100135803,
0.5400000214576721
],
[
0.8569999933242798,
0.4959999918937683
],
[
0.781000018119812,
0.45500001311302185
],
[
0.8040000200271606,
0.4690000116825104
],
[
0.8299999833106995,
0.44600000977516174
],
[
0.8259999752044678,
0.46399998664855957
],
[
0.8040000200271606,
0.4869999885559082
],
[
0.8619999885559082,
0.4909999966621399
],
[
0.7860000133514404,
0.30799999833106995
],
[
0.6650000214576721,
0.4690000116825104
],
[
0.5040000081062317,
0.2630000114440918
],
[
0.531000018119812,
0.46000000834465027
],
[
0.5580000281333923,
0.46399998664855957
],
[
0.5619999766349792,
0.4819999933242798
],
[
0.5799999833106995,
0.4690000116825104
],
[
0.531000018119812,
0.5849999785423279
],
[
0.6740000247955322,
0.5709999799728394
],
[
0.43299999833106995,
0.5759999752044678
],
[
0.3790000081062317,
0.30799999833106995
],
[
0.2370000034570694,
0.31200000643730164
],
[
0.7860000133514404,
0.43799999356269836
],
[
0.8119999766349792,
0.4959999918937683
],
[
0.8040000200271606,
0.5
],
[
0.8080000281333923,
0.5799999833106995
],
[
0.19200000166893005,
0.33899998664855957
],
[
0.2630000114440918,
0.33000001311302185
],
[
0.5,
0.3880000114440918
],
[
0.5709999799728394,
0.46000000834465027
],
[
0.6159999966621399,
0.4729999899864197
],
[
0.5849999785423279,
0.5130000114440918
],
[
0.5979999899864197,
0.4909999966621399
]
] |
openx_train
|
|
18,597,494
|
23288
|
place redbull can into top drawer
|
[
[
0.722000002861023,
0.3790000081062317
],
[
0.6340000033378601,
0.3160000145435333
],
[
0.5690000057220459,
0.3199999928474426
],
[
0.5220000147819519,
0.3089999854564667
],
[
0.515999972820282,
0.3009999990463257
],
[
0.48100000619888306,
0.3009999990463257
],
[
0.41600000858306885,
0.2849999964237213
],
[
0.4000000059604645,
0.26600000262260437
],
[
0.38100001215934753,
0.2619999945163727
],
[
0.375,
0.25
],
[
0.3720000088214874,
0.23399999737739563
],
[
0.34700000286102295,
0.2150000035762787
],
[
0.3190000057220459,
0.19499999284744263
],
[
0.31200000643730164,
0.19099999964237213
],
[
0.31200000643730164,
0.19900000095367432
],
[
0.3190000057220459,
0.19900000095367432
],
[
0.3059999942779541,
0.18799999356269836
],
[
0.3440000116825104,
0.14100000262260437
],
[
0.4059999883174896,
0.13300000131130219
],
[
0.4560000002384186,
0.19900000095367432
],
[
0.503000020980835,
0.35499998927116394
],
[
0.5839999914169312,
0.4650000035762787
],
[
0.6309999823570251,
0.5509999990463257
],
[
0.628000020980835,
0.5820000171661377
],
[
0.6309999823570251,
0.578000009059906
],
[
0.597000002861023,
0.593999981880188
],
[
0.550000011920929,
0.6209999918937683
],
[
0.5220000147819519,
0.6449999809265137
],
[
0.515999972820282,
0.6679999828338623
],
[
0.515999972820282,
0.6880000233650208
],
[
0.5120000243186951,
0.6949999928474426
],
[
0.5090000033378601,
0.6949999928474426
],
[
0.5090000033378601,
0.6949999928474426
],
[
0.5059999823570251,
0.6949999928474426
],
[
0.5090000033378601,
0.6949999928474426
]
] |
openx_train
|
|
11,034,368
|
03435
|
assemble drawer
|
[
[
0.46000000834465027,
0.12099999934434891
],
[
0.2770000100135803,
0.2460000067949295
],
[
0.29499998688697815,
0.2630000114440918
],
[
0.3440000116825104,
0.2720000147819519
],
[
0.41100001335144043,
0.30799999833106995
],
[
0.45100000500679016,
0.29499998688697815
],
[
0.4779999852180481,
0.30799999833106995
],
[
0.4909999966621399,
0.28600001335144043
],
[
0.5490000247955322,
0.25
],
[
0.5130000114440918,
0.2370000034570694
],
[
0.32600000500679016,
0.30799999833106995
],
[
0.41999998688697815,
0.3479999899864197
],
[
0.5130000114440918,
0.33000001311302185
],
[
0.3619999885559082,
0.28600001335144043
],
[
0.41999998688697815,
0.33000001311302185
],
[
0.42399999499320984,
0.31700000166893005
],
[
0.593999981880188,
0.3440000116825104
],
[
0.3970000147819519,
0.33000001311302185
],
[
0.375,
0.3529999852180481
],
[
0.30799999833106995,
0.16099999845027924
],
[
0.28600001335144043,
0.18799999356269836
],
[
0.30799999833106995,
0.19200000166893005
],
[
0.3930000066757202,
0.21899999678134918
],
[
0.375,
0.21899999678134918
],
[
0.3440000116825104,
0.23199999332427979
],
[
0.43799999356269836,
0.2590000033378601
],
[
0.5180000066757202,
0.21899999678134918
],
[
0.5450000166893005,
0.2770000100135803
],
[
0.5270000100135803,
0.23199999332427979
],
[
0.22300000488758087,
0.20999999344348907
],
[
0.5360000133514404,
0.2770000100135803
]
] |
openx_train
|
|
11,978,147
|
00324
|
assemble one_leg
|
[
[
0.6959999799728394,
0.2770000100135803
],
[
0.5580000281333923,
0.33000001311302185
],
[
0.41100001335144043,
0.5450000166893005
],
[
0.23199999332427979,
0.5180000066757202
],
[
0.6029999852180481,
0.4909999966621399
],
[
0.6700000166893005,
0.5709999799728394
],
[
0.8119999766349792,
0.4779999852180481
],
[
0.75,
0.375
],
[
0.5709999799728394,
0.45100000500679016
],
[
0.5450000166893005,
0.5
],
[
0.5090000033378601,
0.42899999022483826
],
[
0.41999998688697815,
0.3970000147819519
],
[
0.4729999899864197,
0.5619999766349792
],
[
0.4819999933242798,
0.6029999852180481
],
[
0.7680000066757202,
0.44600000977516174
],
[
0.7860000133514404,
0.5979999899864197
],
[
0.7900000214576721,
0.5799999833106995
],
[
0.7860000133514404,
0.28600001335144043
],
[
0.7630000114440918,
0.4020000100135803
],
[
0.7720000147819519,
0.4729999899864197
],
[
0.781000018119812,
0.5090000033378601
],
[
0.8119999766349792,
0.5220000147819519
],
[
0.7770000100135803,
0.5220000147819519
],
[
0.8080000281333923,
0.4909999966621399
],
[
0.7860000133514404,
0.5270000100135803
],
[
0.781000018119812,
0.5270000100135803
],
[
0.8349999785423279,
0.531000018119812
],
[
0.7680000066757202,
0.5400000214576721
],
[
0.8659999966621399,
0.5360000133514404
],
[
0.7860000133514404,
0.5400000214576721
],
[
0.875,
0.6119999885559082
]
] |
openx_train
|
|
11,393,645
|
01758
|
assemble stool
|
[
[
0.7139999866485596,
0.3790000081062317
],
[
0.7950000166893005,
0.3659999966621399
],
[
0.75,
0.32600000500679016
],
[
0.8569999933242798,
0.42899999022483826
],
[
0.8529999852180481,
0.41100001335144043
],
[
0.8040000200271606,
0.3709999918937683
],
[
0.8569999933242798,
0.3479999899864197
],
[
0.8840000033378601,
0.41499999165534973
],
[
0.6880000233650208,
0.3529999852180481
],
[
0.5709999799728394,
0.3479999899864197
],
[
0.2590000033378601,
0.41999998688697815
],
[
0.23199999332427979,
0.46399998664855957
],
[
0.33899998664855957,
0.5130000114440918
],
[
0.3529999852180481,
0.46000000834465027
],
[
0.6119999885559082,
0.33000001311302185
],
[
0.7319999933242798,
0.29899999499320984
],
[
0.7590000033378601,
0.3790000081062317
],
[
0.6959999799728394,
0.2770000100135803
],
[
0.75,
0.29499998688697815
],
[
0.7540000081062317,
0.42399999499320984
],
[
0.7630000114440918,
0.3569999933242798
],
[
0.7099999785423279,
0.375
],
[
0.7590000033378601,
0.4909999966621399
],
[
0.7540000081062317,
0.28600001335144043
],
[
0.7229999899864197,
0.32100000977516174
],
[
0.75,
0.3619999885559082
],
[
0.7319999933242798,
0.3840000033378601
],
[
0.8349999785423279,
0.4020000100135803
],
[
0.7990000247955322,
0.31200000643730164
],
[
0.7860000133514404,
0.33899998664855957
],
[
0.7900000214576721,
0.42399999499320984
],
[
0.7459999918937683,
0.3880000114440918
]
] |
openx_train
|
|
4,748,141
|
17137
|
pick yellow cube
|
[
[
0.4000000059604645,
0.36500000953674316
],
[
0.39399999380111694,
0.3540000021457672
],
[
0.39399999380111694,
0.3440000116825104
],
[
0.3919999897480011,
0.33799999952316284
],
[
0.39500001072883606,
0.3269999921321869
],
[
0.3919999897480011,
0.31700000166893005
],
[
0.39500001072883606,
0.30799999833106995
],
[
0.3919999897480011,
0.29600000381469727
],
[
0.3919999897480011,
0.2849999964237213
],
[
0.39500001072883606,
0.27300000190734863
],
[
0.3919999897480011,
0.26899999380111694
],
[
0.39500001072883606,
0.257999986410141
],
[
0.39500001072883606,
0.24799999594688416
],
[
0.39500001072883606,
0.2329999953508377
],
[
0.39100000262260437,
0.22300000488758087
],
[
0.39100000262260437,
0.20800000429153442
],
[
0.39399999380111694,
0.1979999989271164
],
[
0.3919999897480011,
0.1899999976158142
],
[
0.3919999897480011,
0.17100000381469727
],
[
0.3889999985694885,
0.16300000250339508
],
[
0.3919999897480011,
0.15199999511241913
],
[
0.39100000262260437,
0.1420000046491623
],
[
0.38600000739097595,
0.1289999932050705
],
[
0.3889999985694885,
0.12700000405311584
],
[
0.382999986410141,
0.11699999868869781
],
[
0.3880000114440918,
0.10999999940395355
],
[
0.38600000739097595,
0.10199999809265137
],
[
0.38600000739097595,
0.09799999743700027
],
[
0.3889999985694885,
0.09200000017881393
],
[
0.39100000262260437,
0.09200000017881393
],
[
0.39100000262260437,
0.09000000357627869
],
[
0.3919999897480011,
0.08699999749660492
]
] |
openx_train
|
|
4,543,078
|
06538
|
pick bin
|
[
[
0.36899998784065247,
0.13099999725818634
],
[
0.3610000014305115,
0.1459999978542328
],
[
0.36399999260902405,
0.16899999976158142
],
[
0.3610000014305115,
0.19599999487400055
],
[
0.3659999966621399,
0.21199999749660492
],
[
0.3659999966621399,
0.24400000274181366
],
[
0.3659999966621399,
0.27300000190734863
],
[
0.36399999260902405,
0.27900001406669617
],
[
0.3659999966621399,
0.2919999957084656
],
[
0.3619999885559082,
0.30399999022483826
],
[
0.36399999260902405,
0.31200000643730164
],
[
0.367000013589859,
0.3059999942779541
],
[
0.3659999966621399,
0.3100000023841858
],
[
0.367000013589859,
0.31200000643730164
],
[
0.367000013589859,
0.3100000023841858
],
[
0.3659999966621399,
0.31200000643730164
],
[
0.3659999966621399,
0.3100000023841858
],
[
0.3659999966621399,
0.3100000023841858
],
[
0.3659999966621399,
0.3100000023841858
],
[
0.3659999966621399,
0.3100000023841858
],
[
0.3659999966621399,
0.3100000023841858
],
[
0.36399999260902405,
0.30799999833106995
],
[
0.3659999966621399,
0.30799999833106995
],
[
0.3659999966621399,
0.2939999997615814
],
[
0.36399999260902405,
0.28299999237060547
],
[
0.35899999737739563,
0.2630000114440918
],
[
0.36399999260902405,
0.24400000274181366
],
[
0.35899999737739563,
0.22100000083446503
],
[
0.3580000102519989,
0.20000000298023224
],
[
0.3619999885559082,
0.1809999942779541
],
[
0.3610000014305115,
0.15600000321865082
],
[
0.3619999885559082,
0.1379999965429306
],
[
0.36399999260902405,
0.11699999868869781
],
[
0.367000013589859,
0.10000000149011612
],
[
0.36899998784065247,
0.09000000357627869
],
[
0.3610000014305115,
0.07699999958276749
],
[
0.3659999966621399,
0.06700000166893005
],
[
0.3779999911785126,
0.06199999898672104
]
] |
openx_train
|
|
5,797,137
|
19197
|
stack purple yellow cube
|
[
[
0.4000000059604645,
0.33500000834465027
],
[
0.4000000059604645,
0.35199999809265137
],
[
0.4059999883174896,
0.382999986410141
],
[
0.4050000011920929,
0.3959999978542328
],
[
0.4059999883174896,
0.41499999165534973
],
[
0.4050000011920929,
0.42500001192092896
],
[
0.4000000059604645,
0.4269999861717224
],
[
0.4050000011920929,
0.43299999833106995
],
[
0.4050000011920929,
0.4309999942779541
],
[
0.4050000011920929,
0.43299999833106995
],
[
0.40299999713897705,
0.4350000023841858
],
[
0.4050000011920929,
0.4399999976158142
],
[
0.4050000011920929,
0.4350000023841858
],
[
0.4050000011920929,
0.43799999356269836
],
[
0.4050000011920929,
0.4350000023841858
],
[
0.4000000059604645,
0.42500001192092896
],
[
0.4059999883174896,
0.40400001406669617
],
[
0.40299999713897705,
0.3790000081062317
],
[
0.4050000011920929,
0.35600000619888306
],
[
0.4020000100135803,
0.32499998807907104
],
[
0.4000000059604645,
0.28700000047683716
],
[
0.39800000190734863,
0.24400000274181366
],
[
0.4000000059604645,
0.20200000703334808
],
[
0.39800000190734863,
0.1599999964237213
],
[
0.39500001072883606,
0.13300000131130219
],
[
0.4059999883174896,
0.10999999940395355
],
[
0.39399999380111694,
0.09200000017881393
],
[
0.3970000147819519,
0.07500000298023224
],
[
0.4090000092983246,
0.06499999761581421
],
[
0.4090000092983246,
0.05400000140070915
],
[
0.40299999713897705,
0.05000000074505806
],
[
0.40799999237060547,
0.05400000140070915
],
[
0.4090000092983246,
0.05400000140070915
],
[
0.4059999883174896,
0.05400000140070915
],
[
0.4090000092983246,
0.05000000074505806
]
] |
openx_train
|
|
8,970,904
|
10089
|
pick bin
|
[
[
0.6060000061988831,
0.23499999940395355
],
[
0.6050000190734863,
0.2540000081062317
],
[
0.6050000190734863,
0.2669999897480011
],
[
0.6029999852180481,
0.2809999883174896
],
[
0.6019999980926514,
0.2980000078678131
],
[
0.597000002861023,
0.3149999976158142
],
[
0.5950000286102295,
0.32499998807907104
],
[
0.5979999899864197,
0.3330000042915344
],
[
0.5979999899864197,
0.3400000035762787
],
[
0.6000000238418579,
0.3400000035762787
],
[
0.6000000238418579,
0.34200000762939453
],
[
0.5979999899864197,
0.34200000762939453
],
[
0.6000000238418579,
0.3400000035762787
],
[
0.5979999899864197,
0.34200000762939453
],
[
0.6000000238418579,
0.3400000035762787
],
[
0.5979999899864197,
0.3400000035762787
],
[
0.6000000238418579,
0.3400000035762787
],
[
0.5979999899864197,
0.34200000762939453
],
[
0.597000002861023,
0.3400000035762787
],
[
0.5979999899864197,
0.32100000977516174
],
[
0.6000000238418579,
0.3149999976158142
],
[
0.6000000238418579,
0.30000001192092896
],
[
0.6050000190734863,
0.2770000100135803
],
[
0.6029999852180481,
0.2709999978542328
],
[
0.6060000061988831,
0.25
],
[
0.6079999804496765,
0.2370000034570694
],
[
0.609000027179718,
0.22100000083446503
],
[
0.6050000190734863,
0.20399999618530273
],
[
0.6110000014305115,
0.18799999356269836
],
[
0.6110000014305115,
0.17900000512599945
],
[
0.6110000014305115,
0.16500000655651093
],
[
0.6140000224113464,
0.15000000596046448
],
[
0.6110000014305115,
0.13300000131130219
],
[
0.6140000224113464,
0.12300000339746475
]
] |
openx_train
|
|
4,141,711
|
07482
|
pick bin
|
[
[
0.4699999988079071,
0.11500000208616257
],
[
0.4690000116825104,
0.10400000214576721
],
[
0.4749999940395355,
0.10599999874830246
],
[
0.4690000116825104,
0.10599999874830246
],
[
0.47200000286102295,
0.1379999965429306
],
[
0.47200000286102295,
0.10199999809265137
],
[
0.4690000116825104,
0.10199999809265137
],
[
0.47200000286102295,
0.09799999743700027
],
[
0.47200000286102295,
0.10000000149011612
],
[
0.4699999988079071,
0.13099999725818634
],
[
0.4729999899864197,
0.10000000149011612
],
[
0.4729999899864197,
0.10000000149011612
],
[
0.4729999899864197,
0.09799999743700027
],
[
0.4749999940395355,
0.10000000149011612
],
[
0.4690000116825104,
0.1289999932050705
],
[
0.46700000762939453,
0.13300000131130219
],
[
0.4729999899864197,
0.10199999809265137
],
[
0.47200000286102295,
0.10999999940395355
],
[
0.4690000116825104,
0.1420000046491623
],
[
0.4690000116825104,
0.1379999965429306
],
[
0.46700000762939453,
0.1420000046491623
],
[
0.4699999988079071,
0.1289999932050705
],
[
0.4729999899864197,
0.10199999809265137
],
[
0.46700000762939453,
0.14000000059604645
],
[
0.4659999907016754,
0.14000000059604645
],
[
0.4690000116825104,
0.14000000059604645
],
[
0.4699999988079071,
0.13300000131130219
]
] |
openx_train
|
|
33,319,863
|
16054
|
Pick up the object and move it to a goal position
|
[
[
0.4650000035762787,
0.5080000162124634
],
[
0.460999995470047,
0.5120000243186951
],
[
0.4650000035762787,
0.515999972820282
],
[
0.460999995470047,
0.515999972820282
],
[
0.4650000035762787,
0.5199999809265137
],
[
0.4650000035762787,
0.5230000019073486
],
[
0.4650000035762787,
0.531000018119812
],
[
0.4650000035762787,
0.531000018119812
],
[
0.4650000035762787,
0.5350000262260437
],
[
0.4650000035762787,
0.5350000262260437
],
[
0.460999995470047,
0.5350000262260437
],
[
0.4650000035762787,
0.5350000262260437
],
[
0.4650000035762787,
0.5350000262260437
],
[
0.4650000035762787,
0.5350000262260437
],
[
0.4650000035762787,
0.531000018119812
],
[
0.4650000035762787,
0.5350000262260437
],
[
0.4729999899864197,
0.531000018119812
],
[
0.4729999899864197,
0.5270000100135803
],
[
0.47999998927116394,
0.5199999809265137
],
[
0.4880000054836273,
0.515999972820282
],
[
0.4959999918937683,
0.515999972820282
],
[
0.5040000081062317,
0.5080000162124634
],
[
0.5199999809265137,
0.5080000162124634
],
[
0.531000018119812,
0.4959999918937683
],
[
0.5429999828338623,
0.4880000054836273
],
[
0.5550000071525574,
0.47699999809265137
],
[
0.5740000009536743,
0.4690000116825104
],
[
0.5899999737739563,
0.4569999873638153
],
[
0.6019999980926514,
0.4490000009536743
],
[
0.6209999918937683,
0.4410000145435333
],
[
0.6370000243186951,
0.43799999356269836
],
[
0.6520000100135803,
0.4259999990463257
],
[
0.6639999747276306,
0.4180000126361847
],
[
0.6759999990463257,
0.414000004529953
],
[
0.6840000152587891,
0.4099999964237213
],
[
0.6880000233650208,
0.4099999964237213
],
[
0.6880000233650208,
0.4059999883174896
]
] |
openx_train
|
|
4,401,916
|
03502
|
pick 4wp wood cube
|
[
[
0.4090000092983246,
0.6520000100135803
],
[
0.41200000047683716,
0.6439999938011169
],
[
0.414000004529953,
0.6399999856948853
],
[
0.41600000858306885,
0.6150000095367432
],
[
0.41600000858306885,
0.6019999980926514
],
[
0.41100001335144043,
0.5809999704360962
],
[
0.41100001335144043,
0.5690000057220459
],
[
0.4090000092983246,
0.550000011920929
],
[
0.41200000047683716,
0.531000018119812
],
[
0.4059999883174896,
0.5040000081062317
],
[
0.41100001335144043,
0.48100000619888306
],
[
0.4169999957084656,
0.4749999940395355
],
[
0.4090000092983246,
0.4480000138282776
],
[
0.4000000059604645,
0.4269999861717224
],
[
0.4059999883174896,
0.4059999883174896
],
[
0.4050000011920929,
0.38999998569488525
],
[
0.4000000059604645,
0.375
],
[
0.39800000190734863,
0.36000001430511475
],
[
0.39100000262260437,
0.35199999809265137
],
[
0.39399999380111694,
0.3440000116825104
],
[
0.3889999985694885,
0.32899999618530273
],
[
0.3840000033378601,
0.31700000166893005
],
[
0.382999986410141,
0.3149999976158142
],
[
0.3700000047683716,
0.3059999942779541
],
[
0.367000013589859,
0.30000001192092896
],
[
0.36899998784065247,
0.2939999997615814
],
[
0.367000013589859,
0.2980000078678131
],
[
0.3619999885559082,
0.28999999165534973
],
[
0.36399999260902405,
0.28700000047683716
],
[
0.36899998784065247,
0.2849999964237213
],
[
0.36899998784065247,
0.28299999237060547
],
[
0.3700000047683716,
0.28700000047683716
],
[
0.3619999885559082,
0.28700000047683716
]
] |
openx_train
|
|
33,026,905
|
26421
|
Pick up the object and move it to a goal position
|
[
[
0.47999998927116394,
0.5429999828338623
],
[
0.48399999737739563,
0.5389999747276306
],
[
0.4880000054836273,
0.5389999747276306
],
[
0.48399999737739563,
0.5389999747276306
],
[
0.48399999737739563,
0.5389999747276306
],
[
0.48399999737739563,
0.5350000262260437
],
[
0.48399999737739563,
0.5350000262260437
],
[
0.4880000054836273,
0.531000018119812
],
[
0.4880000054836273,
0.5270000100135803
],
[
0.4880000054836273,
0.5230000019073486
],
[
0.4880000054836273,
0.515999972820282
],
[
0.492000013589859,
0.515999972820282
],
[
0.492000013589859,
0.5120000243186951
],
[
0.4959999918937683,
0.5080000162124634
],
[
0.5,
0.5040000081062317
],
[
0.4959999918937683,
0.4959999918937683
],
[
0.5,
0.492000013589859
],
[
0.5,
0.48399999737739563
],
[
0.5,
0.4729999899864197
],
[
0.5040000081062317,
0.4690000116825104
],
[
0.5040000081062317,
0.460999995470047
],
[
0.5080000162124634,
0.453000009059906
],
[
0.5040000081062317,
0.43799999356269836
],
[
0.5120000243186951,
0.4259999990463257
],
[
0.5120000243186951,
0.4180000126361847
],
[
0.515999972820282,
0.4059999883174896
],
[
0.515999972820282,
0.39500001072883606
],
[
0.5199999809265137,
0.39100000262260437
],
[
0.5230000019073486,
0.375
],
[
0.5230000019073486,
0.35899999737739563
],
[
0.5270000100135803,
0.3479999899864197
],
[
0.531000018119812,
0.3319999873638153
],
[
0.5350000262260437,
0.3240000009536743
],
[
0.5389999747276306,
0.3089999854564667
],
[
0.5350000262260437,
0.2930000126361847
],
[
0.5389999747276306,
0.2770000100135803
],
[
0.5429999828338623,
0.27000001072883606
],
[
0.546999990940094,
0.24199999868869781
],
[
0.5550000071525574,
0.24199999868869781
],
[
0.5619999766349792,
0.23000000417232513
],
[
0.5590000152587891,
0.2150000035762787
],
[
0.5619999766349792,
0.2029999941587448
],
[
0.5659999847412109,
0.18799999356269836
],
[
0.5619999766349792,
0.18000000715255737
],
[
0.5699999928474426,
0.164000004529953
],
[
0.5659999847412109,
0.15600000321865082
],
[
0.5659999847412109,
0.15600000321865082
],
[
0.5699999928474426,
0.17599999904632568
],
[
0.593999981880188,
0.164000004529953
],
[
0.6169999837875366,
0.15600000321865082
],
[
0.5699999928474426,
0.1289999932050705
],
[
0.578000009059906,
0.125
],
[
0.609000027179718,
0.10199999809265137
],
[
0.609000027179718,
0.0860000029206276
],
[
0.609000027179718,
0.09000000357627869
],
[
0.6480000019073486,
0.07800000160932541
],
[
0.6019999980926514,
0.07800000160932541
],
[
0.5979999899864197,
0.0860000029206276
]
] |
openx_train
|
|
19,147,692
|
19395
|
place green can into middle drawer
|
[
[
0.9190000295639038,
0.382999986410141
],
[
0.8379999995231628,
0.3319999873638153
],
[
0.675000011920929,
0.24199999868869781
],
[
0.5249999761581421,
0.2150000035762787
],
[
0.421999990940094,
0.2460000067949295
],
[
0.328000009059906,
0.2770000100135803
],
[
0.296999990940094,
0.25
],
[
0.2840000092983246,
0.3089999854564667
],
[
0.2939999997615814,
0.3199999928474426
],
[
0.3190000057220459,
0.3319999873638153
],
[
0.33799999952316284,
0.3440000116825104
],
[
0.3499999940395355,
0.3400000035762787
],
[
0.3529999852180481,
0.3400000035762787
],
[
0.3529999852180481,
0.31200000643730164
],
[
0.38100001215934753,
0.3009999990463257
],
[
0.42800000309944153,
0.3160000145435333
],
[
0.42800000309944153,
0.3199999928474426
],
[
0.42800000309944153,
0.35199999809265137
],
[
0.4410000145435333,
0.3790000081062317
],
[
0.43799999356269836,
0.4300000071525574
],
[
0.43799999356269836,
0.4959999918937683
],
[
0.44699999690055847,
0.48399999737739563
],
[
0.4749999940395355,
0.5550000071525574
],
[
0.5440000295639038,
0.6480000019073486
],
[
0.5529999732971191,
0.6370000243186951
],
[
0.5590000152587891,
0.656000018119812
],
[
0.621999979019165,
0.6449999809265137
],
[
0.6909999847412109,
0.6480000019073486
],
[
0.6909999847412109,
0.6480000019073486
],
[
0.6620000004768372,
0.671999990940094
],
[
0.6340000033378601,
0.7269999980926514
],
[
0.621999979019165,
0.7459999918937683
],
[
0.625,
0.7459999918937683
],
[
0.609000027179718,
0.734000027179718
],
[
0.6029999852180481,
0.718999981880188
],
[
0.597000002861023,
0.7229999899864197
],
[
0.597000002861023,
0.7269999980926514
],
[
0.593999981880188,
0.7149999737739563
],
[
0.6000000238418579,
0.7229999899864197
],
[
0.6029999852180481,
0.765999972820282
],
[
0.6190000176429749,
0.7379999756813049
],
[
0.6660000085830688,
0.7300000190734863
],
[
0.722000002861023,
0.75
],
[
0.7940000295639038,
0.765999972820282
],
[
0.8500000238418579,
0.781000018119812
],
[
0.8379999995231628,
0.7770000100135803
],
[
0.8500000238418579,
0.7889999747276306
]
] |
openx_train
|
|
10,311,682
|
00779
|
assemble drawer
|
[
[
0.4819999933242798,
0.33500000834465027
],
[
0.4909999966621399,
0.33899998664855957
],
[
0.5180000066757202,
0.375
],
[
0.5490000247955322,
0.3440000116825104
],
[
0.5619999766349792,
0.2809999883174896
],
[
0.28600001335144043,
0.32600000500679016
],
[
0.41499999165534973,
0.3619999885559082
],
[
0.45100000500679016,
0.3479999899864197
],
[
0.4819999933242798,
0.33899998664855957
],
[
0.44600000977516174,
0.3569999933242798
],
[
0.4779999852180481,
0.3790000081062317
],
[
0.4690000116825104,
0.3479999899864197
],
[
0.29899999499320984,
0.2540000081062317
],
[
0.2590000033378601,
0.22300000488758087
],
[
0.2809999883174896,
0.2809999883174896
],
[
0.28999999165534973,
0.2809999883174896
],
[
0.3440000116825104,
0.23199999332427979
],
[
0.5,
0.2630000114440918
],
[
0.43799999356269836,
0.22300000488758087
],
[
0.45100000500679016,
0.2409999966621399
],
[
0.4779999852180481,
0.21899999678134918
],
[
0.5090000033378601,
0.2460000067949295
],
[
0.5130000114440918,
0.2460000067949295
],
[
0.5130000114440918,
0.2540000081062317
],
[
0.5130000114440918,
0.2540000081062317
],
[
0.5180000066757202,
0.2630000114440918
],
[
0.5040000081062317,
0.2590000033378601
],
[
0.531000018119812,
0.2370000034570694
],
[
0.5669999718666077,
0.21899999678134918
],
[
0.46000000834465027,
0.17399999499320984
],
[
0.32100000977516174,
0.2460000067949295
],
[
0.5130000114440918,
0.2540000081062317
]
] |
openx_train
|
|
9,428,696
|
00633
|
pour
|
[
[
0.453000009059906,
0.29600000381469727
],
[
0.45500001311302185,
0.2980000078678131
],
[
0.45500001311302185,
0.2939999997615814
],
[
0.453000009059906,
0.29600000381469727
],
[
0.4560000002384186,
0.2939999997615814
],
[
0.45500001311302185,
0.2919999957084656
],
[
0.45500001311302185,
0.2849999964237213
],
[
0.453000009059906,
0.2939999997615814
],
[
0.44999998807907104,
0.2919999957084656
],
[
0.44999998807907104,
0.2939999997615814
],
[
0.453000009059906,
0.28999999165534973
],
[
0.44999998807907104,
0.2919999957084656
],
[
0.4519999921321869,
0.2919999957084656
],
[
0.4519999921321869,
0.28999999165534973
],
[
0.4519999921321869,
0.28700000047683716
],
[
0.4519999921321869,
0.2849999964237213
],
[
0.4519999921321869,
0.28700000047683716
],
[
0.4560000002384186,
0.2809999883174896
],
[
0.4580000042915344,
0.2809999883174896
],
[
0.460999995470047,
0.28299999237060547
],
[
0.46299999952316284,
0.2809999883174896
],
[
0.460999995470047,
0.28299999237060547
],
[
0.460999995470047,
0.28299999237060547
],
[
0.46299999952316284,
0.2849999964237213
],
[
0.46299999952316284,
0.28299999237060547
],
[
0.460999995470047,
0.2809999883174896
],
[
0.46299999952316284,
0.2770000100135803
],
[
0.460999995470047,
0.28299999237060547
],
[
0.46299999952316284,
0.27900001406669617
],
[
0.46299999952316284,
0.2770000100135803
],
[
0.46399998664855957,
0.2809999883174896
],
[
0.4659999907016754,
0.27900001406669617
]
] |
openx_train
|
|
12,792,696
|
03541
|
assemble drawer
|
[
[
0.29499998688697815,
0.43299999833106995
],
[
0.33899998664855957,
0.43799999356269836
],
[
0.42899999022483826,
0.44200000166893005
],
[
0.4959999918937683,
0.44600000977516174
],
[
0.5270000100135803,
0.4690000116825104
],
[
0.531000018119812,
0.45100000500679016
],
[
0.5490000247955322,
0.46399998664855957
],
[
0.5400000214576721,
0.46399998664855957
],
[
0.45100000500679016,
0.3569999933242798
],
[
0.29499998688697815,
0.46399998664855957
],
[
0.4059999883174896,
0.5
],
[
0.44200000166893005,
0.5040000081062317
],
[
0.46000000834465027,
0.5040000081062317
],
[
0.5450000166893005,
0.4819999933242798
],
[
0.41100001335144043,
0.4779999852180481
],
[
0.2280000001192093,
0.3659999966621399
],
[
0.22300000488758087,
0.33000001311302185
],
[
0.2540000081062317,
0.3529999852180481
],
[
0.2590000033378601,
0.41999998688697815
],
[
0.3790000081062317,
0.3659999966621399
],
[
0.42399999499320984,
0.28999999165534973
],
[
0.44600000977516174,
0.30799999833106995
],
[
0.4690000116825104,
0.3479999899864197
],
[
0.4959999918937683,
0.33500000834465027
],
[
0.5130000114440918,
0.3529999852180481
],
[
0.5040000081062317,
0.3569999933242798
],
[
0.5450000166893005,
0.33500000834465027
],
[
0.43299999833106995,
0.2630000114440918
],
[
0.2590000033378601,
0.3440000116825104
],
[
0.41999998688697815,
0.3619999885559082
],
[
0.5400000214576721,
0.3790000081062317
]
] |
openx_train
|
|
30,529,510
|
22081
|
Turn on the faucet by rotating a designated handle
|
[
[
0.593999981880188,
0.4259999990463257
],
[
0.5979999899864197,
0.4300000071525574
],
[
0.5979999899864197,
0.4259999990463257
],
[
0.5979999899864197,
0.421999990940094
],
[
0.593999981880188,
0.421999990940094
],
[
0.6019999980926514,
0.4259999990463257
],
[
0.6050000190734863,
0.3630000054836273
],
[
0.6050000190734863,
0.43799999356269836
],
[
0.6050000190734863,
0.4339999854564667
],
[
0.6050000190734863,
0.421999990940094
],
[
0.6129999756813049,
0.43799999356269836
],
[
0.6129999756813049,
0.43799999356269836
],
[
0.6129999756813049,
0.4339999854564667
],
[
0.6209999918937683,
0.4339999854564667
],
[
0.6209999918937683,
0.4339999854564667
],
[
0.6169999837875366,
0.43799999356269836
],
[
0.6209999918937683,
0.43799999356269836
],
[
0.6169999837875366,
0.4410000145435333
],
[
0.6129999756813049,
0.43799999356269836
],
[
0.6129999756813049,
0.4339999854564667
],
[
0.6209999918937683,
0.4300000071525574
],
[
0.6209999918937683,
0.43799999356269836
],
[
0.6209999918937683,
0.43799999356269836
],
[
0.6209999918937683,
0.4449999928474426
],
[
0.6169999837875366,
0.4410000145435333
],
[
0.6169999837875366,
0.4410000145435333
],
[
0.6169999837875366,
0.4449999928474426
],
[
0.6169999837875366,
0.4449999928474426
],
[
0.6209999918937683,
0.4410000145435333
],
[
0.6129999756813049,
0.4410000145435333
],
[
0.6129999756813049,
0.4490000009536743
],
[
0.609000027179718,
0.4449999928474426
],
[
0.6050000190734863,
0.4449999928474426
],
[
0.6019999980926514,
0.4410000145435333
],
[
0.5979999899864197,
0.4490000009536743
],
[
0.5979999899864197,
0.4410000145435333
]
] |
openx_train
|
|
18,747,203
|
12656
|
open bottom drawer
|
[
[
0.6690000295639038,
0.8949999809265137
],
[
0.6690000295639038,
0.9259999990463257
],
[
0.675000011920929,
0.9139999747276306
],
[
0.6690000295639038,
0.9300000071525574
],
[
0.6589999794960022,
0.9409999847412109
]
] |
openx_train
|
|
29,838,347
|
00046
|
make a piece of toast with the oven
|
[
[
0.32199999690055847,
0.5960000157356262
],
[
0.25,
0.5580000281333923
],
[
0.22200000286102295,
0.5040000081062317
],
[
0.3190000057220459,
0.3790000081062317
],
[
0.4000000059604645,
0.33799999952316284
],
[
0.4410000145435333,
0.32899999618530273
],
[
0.47200000286102295,
0.40799999237060547
],
[
0.4690000116825104,
0.40799999237060547
],
[
0.41600000858306885,
0.3540000021457672
],
[
0.28700000047683716,
0.3540000021457672
],
[
0.16899999976158142,
0.3580000102519989
],
[
0.14399999380111694,
0.4000000059604645
],
[
0.1340000033378601,
0.44200000166893005
],
[
0.10599999874830246,
0.5419999957084656
],
[
0.10599999874830246,
0.5709999799728394
],
[
0.08699999749660492,
0.6620000004768372
],
[
0.08399999886751175,
0.7749999761581421
],
[
0.1469999998807907,
0.8289999961853027
],
[
0.1940000057220459,
0.7710000276565552
],
[
0.2029999941587448,
0.6539999842643738
],
[
0.32499998807907104,
0.6000000238418579
],
[
0.29100000858306885,
0.5709999799728394
],
[
0.23399999737739563,
0.5080000162124634
],
[
0.2370000034570694,
0.6420000195503235
],
[
0.2720000147819519,
0.6710000038146973
],
[
0.32199999690055847,
0.7329999804496765
],
[
0.4090000092983246,
0.8629999756813049
],
[
0.44699999690055847,
0.9039999842643738
],
[
0.5,
0.8999999761581421
],
[
0.5440000295639038,
0.8920000195503235
],
[
0.5120000243186951,
0.8870000243186951
],
[
0.5189999938011169,
0.8920000195503235
],
[
0.5220000147819519,
0.8920000195503235
],
[
0.4560000002384186,
0.8999999761581421
]
] |
openx_train
|
|
31,744,477
|
25225
|
Pick up a designated object from a clutter of objects
|
[
[
0.3790000081062317,
0.5899999737739563
],
[
0.375,
0.5899999737739563
],
[
0.3709999918937683,
0.5860000252723694
],
[
0.3709999918937683,
0.5820000171661377
],
[
0.3709999918937683,
0.5740000009536743
],
[
0.3709999918937683,
0.5699999928474426
],
[
0.3709999918937683,
0.5619999766349792
],
[
0.3709999918937683,
0.5590000152587891
],
[
0.367000013589859,
0.5550000071525574
],
[
0.3630000054836273,
0.5509999990463257
],
[
0.3630000054836273,
0.546999990940094
],
[
0.3630000054836273,
0.5350000262260437
],
[
0.35899999737739563,
0.5270000100135803
],
[
0.35499998927116394,
0.5230000019073486
],
[
0.35499998927116394,
0.515999972820282
],
[
0.35499998927116394,
0.5
],
[
0.35199999809265137,
0.4959999918937683
],
[
0.35199999809265137,
0.47999998927116394
],
[
0.35199999809265137,
0.47699999809265137
],
[
0.3479999899864197,
0.460999995470047
],
[
0.3400000035762787,
0.453000009059906
],
[
0.3400000035762787,
0.4410000145435333
],
[
0.3319999873638153,
0.4339999854564667
],
[
0.328000009059906,
0.421999990940094
],
[
0.3199999928474426,
0.414000004529953
],
[
0.3160000145435333,
0.4020000100135803
],
[
0.3240000009536743,
0.3790000081062317
],
[
0.31200000643730164,
0.35899999737739563
],
[
0.3199999928474426,
0.3160000145435333
],
[
0.3089999854564667,
0.3050000071525574
],
[
0.296999990940094,
0.2809999883174896
],
[
0.3050000071525574,
0.2540000081062317
],
[
0.2930000126361847,
0.27000001072883606
],
[
0.3050000071525574,
0.257999986410141
],
[
0.2809999883174896,
0.24199999868869781
],
[
0.27300000190734863,
0.2619999945163727
],
[
0.3050000071525574,
0.2460000067949295
],
[
0.3050000071525574,
0.23800000548362732
],
[
0.3089999854564667,
0.23399999737739563
],
[
0.3089999854564667,
0.22699999809265137
],
[
0.31200000643730164,
0.210999995470047
],
[
0.3199999928474426,
0.19099999964237213
],
[
0.3199999928474426,
0.18799999356269836
],
[
0.3160000145435333,
0.18000000715255737
]
] |
openx_train
|
|
12,670,911
|
02546
|
assemble one_leg
|
[
[
0.8169999718666077,
0.5
],
[
0.8209999799728394,
0.5
],
[
0.8209999799728394,
0.43799999356269836
],
[
0.8259999752044678,
0.4819999933242798
],
[
0.8259999752044678,
0.4909999966621399
],
[
0.8299999833106995,
0.46000000834465027
],
[
0.8659999966621399,
0.46399998664855957
],
[
0.8389999866485596,
0.46399998664855957
],
[
0.8299999833106995,
0.4909999966621399
],
[
0.8299999833106995,
0.4729999899864197
],
[
0.8569999933242798,
0.4729999899864197
],
[
0.8569999933242798,
0.46000000834465027
],
[
0.8479999899864197,
0.46399998664855957
],
[
0.8389999866485596,
0.4729999899864197
],
[
0.8259999752044678,
0.4729999899864197
],
[
0.8619999885559082,
0.4779999852180481
],
[
0.8619999885559082,
0.46399998664855957
],
[
0.843999981880188,
0.45500001311302185
],
[
0.8389999866485596,
0.4779999852180481
],
[
0.8259999752044678,
0.4819999933242798
],
[
0.8479999899864197,
0.4819999933242798
],
[
0.8569999933242798,
0.4819999933242798
],
[
0.8389999866485596,
0.45100000500679016
],
[
0.8299999833106995,
0.46000000834465027
],
[
0.8389999866485596,
0.46399998664855957
],
[
0.875,
0.4959999918937683
],
[
0.8479999899864197,
0.4690000116825104
],
[
0.843999981880188,
0.4690000116825104
],
[
0.8209999799728394,
0.4729999899864197
],
[
0.8259999752044678,
0.4729999899864197
],
[
0.8080000281333923,
0.4959999918937683
],
[
0.7990000247955322,
0.4909999966621399
]
] |
openx_train
|
|
19,294,850
|
29840
|
place sponge into bottom drawer
|
[
[
0.5590000152587891,
0.1720000058412552
],
[
0.5,
0.15600000321865082
],
[
0.5,
0.1599999964237213
],
[
0.5090000033378601,
0.15600000321865082
],
[
0.4909999966621399,
0.1679999977350235
],
[
0.4869999885559082,
0.19900000095367432
],
[
0.4970000088214874,
0.2150000035762787
],
[
0.4869999885559082,
0.22699999809265137
],
[
0.48399999737739563,
0.2460000067949295
],
[
0.4909999966621399,
0.2460000067949295
],
[
0.48100000619888306,
0.2540000081062317
],
[
0.4749999940395355,
0.2460000067949295
],
[
0.48399999737739563,
0.18000000715255737
],
[
0.5809999704360962,
0.15199999511241913
],
[
0.5619999766349792,
0.14499999582767487
],
[
0.5809999704360962,
0.14800000190734863
],
[
0.6620000004768372,
0.10899999737739563
],
[
0.671999990940094,
0.2070000022649765
],
[
0.6690000295639038,
0.2930000126361847
],
[
0.6589999794960022,
0.5350000262260437
],
[
0.6060000061988831,
0.6880000233650208
],
[
0.5879999995231628,
0.734000027179718
],
[
0.574999988079071,
0.7730000019073486
],
[
0.5619999766349792,
0.8009999990463257
],
[
0.5619999766349792,
0.8519999980926514
],
[
0.5559999942779541,
0.8830000162124634
],
[
0.5339999794960022,
0.921999990940094
],
[
0.5339999794960022,
0.921999990940094
],
[
0.503000020980835,
0.9139999747276306
],
[
0.5809999704360962,
0.9100000262260437
],
[
0.574999988079071,
0.9100000262260437
],
[
0.5440000295639038,
0.9259999990463257
],
[
0.5529999732971191,
0.9259999990463257
],
[
0.5220000147819519,
0.9300000071525574
],
[
0.5249999761581421,
0.9300000071525574
],
[
0.531000018119812,
0.9259999990463257
]
] |
openx_train
|
|
31,629,865
|
15321
|
Turn on the faucet by rotating a designated handle
|
[
[
0.039000000804662704,
0.3790000081062317
],
[
0.10199999809265137,
0.4650000035762787
],
[
0.19900000095367432,
0.5230000019073486
],
[
0.23000000417232513,
0.5350000262260437
],
[
0.27000001072883606,
0.5619999766349792
],
[
0.3009999990463257,
0.5590000152587891
],
[
0.335999995470047,
0.546999990940094
],
[
0.335999995470047,
0.5389999747276306
],
[
0.382999986410141,
0.5389999747276306
],
[
0.39800000190734863,
0.5590000152587891
],
[
0.39500001072883606,
0.5429999828338623
],
[
0.3869999945163727,
0.5230000019073486
],
[
0.3869999945163727,
0.48399999737739563
],
[
0.39100000262260437,
0.4690000116825104
],
[
0.39800000190734863,
0.4339999854564667
],
[
0.4339999854564667,
0.47699999809265137
],
[
0.4300000071525574,
0.382999986410141
],
[
0.4650000035762787,
0.3709999918937683
],
[
0.5080000162124634,
0.3240000009536743
],
[
0.531000018119812,
0.3319999873638153
],
[
0.5270000100135803,
0.35199999809265137
],
[
0.5230000019073486,
0.3709999918937683
],
[
0.5199999809265137,
0.39100000262260437
],
[
0.515999972820282,
0.4099999964237213
],
[
0.5120000243186951,
0.4300000071525574
],
[
0.5080000162124634,
0.4490000009536743
],
[
0.5040000081062317,
0.4690000116825104
],
[
0.5,
0.4880000054836273
],
[
0.4959999918937683,
0.5080000162124634
],
[
0.492000013589859,
0.5270000100135803
],
[
0.4880000054836273,
0.546999990940094
]
] |
openx_train
|
|
4,663,062
|
09150
|
pick bin
|
[
[
0.4860000014305115,
0.1379999965429306
],
[
0.47999998927116394,
0.14800000190734863
],
[
0.47200000286102295,
0.15399999916553497
],
[
0.4690000116825104,
0.1599999964237213
],
[
0.46399998664855957,
0.19200000166893005
],
[
0.4560000002384186,
0.21199999749660492
],
[
0.4449999928474426,
0.23499999940395355
],
[
0.4440000057220459,
0.26499998569488525
],
[
0.4269999861717224,
0.28999999165534973
],
[
0.4189999997615814,
0.30799999833106995
],
[
0.39800000190734863,
0.34599998593330383
],
[
0.3970000147819519,
0.3580000102519989
],
[
0.4000000059604645,
0.43299999833106995
],
[
0.4000000059604645,
0.48100000619888306
],
[
0.3970000147819519,
0.5040000081062317
],
[
0.4000000059604645,
0.5249999761581421
],
[
0.39800000190734863,
0.5249999761581421
],
[
0.4020000100135803,
0.5270000100135803
],
[
0.39800000190734863,
0.5120000243186951
],
[
0.4020000100135803,
0.5210000276565552
],
[
0.3970000147819519,
0.5099999904632568
],
[
0.4000000059604645,
0.4790000021457672
],
[
0.39399999380111694,
0.4440000057220459
],
[
0.3970000147819519,
0.38100001215934753
],
[
0.3970000147819519,
0.3190000057220459
],
[
0.39800000190734863,
0.24799999594688416
],
[
0.4020000100135803,
0.1809999942779541
],
[
0.39500001072883606,
0.12300000339746475
],
[
0.40299999713897705,
0.09799999743700027
],
[
0.39800000190734863,
0.07900000363588333
],
[
0.382999986410141,
0.0729999989271164
],
[
0.3889999985694885,
0.07500000298023224
],
[
0.3580000102519989,
0.08100000023841858
]
] |
openx_train
|
|
3,172,883
|
15875
|
pick wp3 red cube
|
[
[
0.4869999885559082,
0.08299999684095383
],
[
0.4779999852180481,
0.08299999684095383
],
[
0.4690000116825104,
0.09000000357627869
],
[
0.45899999141693115,
0.10000000149011612
],
[
0.44200000166893005,
0.12300000339746475
],
[
0.43299999833106995,
0.15199999511241913
],
[
0.4169999957084656,
0.18299999833106995
],
[
0.4020000100135803,
0.23499999940395355
],
[
0.39500001072883606,
0.2919999957084656
],
[
0.3799999952316284,
0.3479999899864197
],
[
0.38600000739097595,
0.4020000100135803
],
[
0.3840000033378601,
0.4480000138282776
],
[
0.3840000033378601,
0.492000013589859
],
[
0.38600000739097595,
0.5270000100135803
],
[
0.39100000262260437,
0.5540000200271606
],
[
0.3919999897480011,
0.5690000057220459
],
[
0.3880000114440918,
0.5809999704360962
],
[
0.3919999897480011,
0.5789999961853027
],
[
0.39399999380111694,
0.5690000057220459
],
[
0.3919999897480011,
0.550000011920929
],
[
0.3889999985694885,
0.5210000276565552
],
[
0.38600000739097595,
0.47699999809265137
],
[
0.3880000114440918,
0.43299999833106995
],
[
0.37700000405311584,
0.3709999918937683
],
[
0.38100001215934753,
0.3230000138282776
],
[
0.38100001215934753,
0.27300000190734863
],
[
0.3799999952316284,
0.21899999678134918
],
[
0.37700000405311584,
0.1770000010728836
],
[
0.3720000088214874,
0.15000000596046448
],
[
0.3720000088214874,
0.1289999932050705
],
[
0.37299999594688416,
0.11900000274181366
],
[
0.367000013589859,
0.11900000274181366
]
] |
openx_train
|
|
31,770,408
|
04878
|
Pick up the object and move it to a goal position
|
[
[
0.5080000162124634,
0.48399999737739563
],
[
0.5230000019073486,
0.47999998927116394
],
[
0.5270000100135803,
0.47999998927116394
],
[
0.5230000019073486,
0.47999998927116394
],
[
0.5040000081062317,
0.492000013589859
],
[
0.492000013589859,
0.5080000162124634
],
[
0.47999998927116394,
0.5270000100135803
],
[
0.4690000116825104,
0.5350000262260437
],
[
0.460999995470047,
0.5429999828338623
],
[
0.453000009059906,
0.546999990940094
],
[
0.453000009059906,
0.546999990940094
],
[
0.453000009059906,
0.5509999990463257
],
[
0.4569999873638153,
0.5659999847412109
],
[
0.453000009059906,
0.5740000009536743
],
[
0.4569999873638153,
0.5740000009536743
],
[
0.460999995470047,
0.5740000009536743
],
[
0.460999995470047,
0.5740000009536743
],
[
0.4569999873638153,
0.5740000009536743
],
[
0.460999995470047,
0.5699999928474426
],
[
0.4690000116825104,
0.5590000152587891
],
[
0.47999998927116394,
0.5429999828338623
],
[
0.5080000162124634,
0.5199999809265137
],
[
0.531000018119812,
0.4880000054836273
],
[
0.5699999928474426,
0.453000009059906
],
[
0.609000027179718,
0.4099999964237213
],
[
0.6480000019073486,
0.3630000054836273
],
[
0.703000009059906,
0.3199999928474426
],
[
0.7459999918937683,
0.2809999883174896
],
[
0.7730000019073486,
0.25
],
[
0.7889999747276306,
0.23800000548362732
]
] |
openx_train
|
|
5,853,723
|
02657
|
destack yellow blue cube
|
[
[
0.17299999296665192,
0.4000000059604645
],
[
0.18400000035762787,
0.48500001430511475
],
[
0.19099999964237213,
0.5120000243186951
],
[
0.19200000166893005,
0.5170000195503235
],
[
0.19200000166893005,
0.5170000195503235
],
[
0.19200000166893005,
0.5170000195503235
],
[
0.18400000035762787,
0.47099998593330383
],
[
0.1770000010728836,
0.4020000100135803
],
[
0.1889999955892563,
0.3540000021457672
],
[
0.23000000417232513,
0.33799999952316284
],
[
0.26899999380111694,
0.33500000834465027
],
[
0.30799999833106995,
0.31700000166893005
],
[
0.3409999907016754,
0.29600000381469727
],
[
0.3720000088214874,
0.28999999165534973
],
[
0.4000000059604645,
0.2770000100135803
],
[
0.42500001192092896,
0.2709999978542328
],
[
0.453000009059906,
0.25600001215934753
],
[
0.4580000042915344,
0.3190000057220459
],
[
0.453000009059906,
0.3790000081062317
],
[
0.460999995470047,
0.42100000381469727
],
[
0.460999995470047,
0.4440000057220459
],
[
0.4560000002384186,
0.44600000977516174
],
[
0.4580000042915344,
0.4480000138282776
],
[
0.4560000002384186,
0.4480000138282776
],
[
0.46299999952316284,
0.43799999356269836
],
[
0.460999995470047,
0.38499999046325684
],
[
0.4580000042915344,
0.30000001192092896
],
[
0.45500001311302185,
0.20000000298023224
],
[
0.45500001311302185,
0.12700000405311584
],
[
0.4580000042915344,
0.09000000357627869
],
[
0.45899999141693115,
0.08100000023841858
],
[
0.453000009059906,
0.07699999958276749
]
] |
openx_train
|
|
3,730,103
|
15224
|
pick white cube
|
[
[
0.44999998807907104,
0.20399999618530273
],
[
0.4410000145435333,
0.22499999403953552
],
[
0.4339999854564667,
0.2540000081062317
],
[
0.4269999861717224,
0.2750000059604645
],
[
0.4189999997615814,
0.3019999861717224
],
[
0.41200000047683716,
0.32100000977516174
],
[
0.40299999713897705,
0.3400000035762787
],
[
0.39399999380111694,
0.36500000953674316
],
[
0.3840000033378601,
0.3790000081062317
],
[
0.375,
0.3959999978542328
],
[
0.367000013589859,
0.41200000047683716
],
[
0.3619999885559082,
0.41499999165534973
],
[
0.3659999966621399,
0.44200000166893005
],
[
0.3659999966621399,
0.4580000042915344
],
[
0.3700000047683716,
0.4830000102519989
],
[
0.367000013589859,
0.48100000619888306
],
[
0.36899998784065247,
0.4749999940395355
],
[
0.367000013589859,
0.45399999618530273
],
[
0.3659999966621399,
0.4350000023841858
],
[
0.36399999260902405,
0.4189999997615814
],
[
0.3659999966621399,
0.39399999380111694
],
[
0.3659999966621399,
0.375
],
[
0.3619999885559082,
0.35199999809265137
],
[
0.36399999260902405,
0.3310000002384186
],
[
0.3619999885559082,
0.31200000643730164
],
[
0.3619999885559082,
0.28999999165534973
],
[
0.3610000014305115,
0.26499998569488525
],
[
0.3610000014305115,
0.2370000034570694
],
[
0.3580000102519989,
0.21199999749660492
],
[
0.35499998927116394,
0.19200000166893005
],
[
0.3529999852180481,
0.16699999570846558
],
[
0.3499999940395355,
0.15000000596046448
],
[
0.35199999809265137,
0.14000000059604645
],
[
0.3499999940395355,
0.1379999965429306
]
] |
openx_train
|
|
10,768,990
|
04049
|
assemble one_leg
|
[
[
0.7900000214576721,
0.4729999899864197
],
[
0.7720000147819519,
0.41499999165534973
],
[
0.8080000281333923,
0.45100000500679016
],
[
0.7990000247955322,
0.4909999966621399
],
[
0.7990000247955322,
0.4819999933242798
],
[
0.7990000247955322,
0.5040000081062317
],
[
0.7680000066757202,
0.4779999852180481
],
[
0.8209999799728394,
0.5090000033378601
],
[
0.7950000166893005,
0.46000000834465027
],
[
0.781000018119812,
0.5
],
[
0.7900000214576721,
0.4959999918937683
],
[
0.7900000214576721,
0.4959999918937683
],
[
0.843999981880188,
0.5180000066757202
],
[
0.843999981880188,
0.5220000147819519
],
[
0.8080000281333923,
0.5040000081062317
],
[
0.7950000166893005,
0.5180000066757202
],
[
0.8040000200271606,
0.5180000066757202
],
[
0.8619999885559082,
0.5040000081062317
],
[
0.8840000033378601,
0.5360000133514404
],
[
0.8299999833106995,
0.5270000100135803
],
[
0.8119999766349792,
0.5180000066757202
],
[
0.8119999766349792,
0.5220000147819519
],
[
0.8790000081062317,
0.5540000200271606
],
[
0.8880000114440918,
0.5130000114440918
],
[
0.8299999833106995,
0.5450000166893005
],
[
0.7900000214576721,
0.531000018119812
],
[
0.8080000281333923,
0.5400000214576721
],
[
0.8619999885559082,
0.5849999785423279
],
[
0.906000018119812,
0.6069999933242798
],
[
0.8299999833106995,
0.5360000133514404
],
[
0.7950000166893005,
0.5450000166893005
],
[
0.8040000200271606,
0.5540000200271606
],
[
0.8840000033378601,
0.5759999752044678
],
[
0.9150000214576721,
0.7229999899864197
]
] |
openx_train
|
|
5,317,576
|
00649
|
destack gray white cube
|
[
[
0.3970000147819519,
0.3619999885559082
],
[
0.39800000190734863,
0.34200000762939453
],
[
0.39500001072883606,
0.33799999952316284
],
[
0.39500001072883606,
0.3330000042915344
],
[
0.39500001072883606,
0.32899999618530273
],
[
0.39399999380111694,
0.3269999921321869
],
[
0.39399999380111694,
0.32100000977516174
],
[
0.3970000147819519,
0.3100000023841858
],
[
0.3970000147819519,
0.3019999861717224
],
[
0.39800000190734863,
0.2980000078678131
],
[
0.39500001072883606,
0.28700000047683716
],
[
0.39500001072883606,
0.28299999237060547
],
[
0.39500001072883606,
0.27900001406669617
],
[
0.3970000147819519,
0.2709999978542328
],
[
0.39500001072883606,
0.2669999897480011
],
[
0.39500001072883606,
0.26499998569488525
],
[
0.3970000147819519,
0.25
],
[
0.39500001072883606,
0.24799999594688416
],
[
0.3970000147819519,
0.23999999463558197
],
[
0.39800000190734863,
0.2370000034570694
],
[
0.3970000147819519,
0.22499999403953552
],
[
0.3970000147819519,
0.22100000083446503
],
[
0.39800000190734863,
0.21899999678134918
],
[
0.3970000147819519,
0.20999999344348907
],
[
0.3970000147819519,
0.20399999618530273
],
[
0.39800000190734863,
0.20000000298023224
],
[
0.39800000190734863,
0.1979999989271164
],
[
0.39500001072883606,
0.19599999487400055
],
[
0.3970000147819519,
0.1940000057220459
],
[
0.39800000190734863,
0.1940000057220459
],
[
0.39800000190734863,
0.19200000166893005
],
[
0.3970000147819519,
0.1899999976158142
],
[
0.39500001072883606,
0.1979999989271164
],
[
0.3970000147819519,
0.1979999989271164
],
[
0.3970000147819519,
0.1940000057220459
],
[
0.3970000147819519,
0.19200000166893005
],
[
0.3970000147819519,
0.19599999487400055
],
[
0.39500001072883606,
0.19599999487400055
],
[
0.39500001072883606,
0.1940000057220459
],
[
0.39500001072883606,
0.1979999989271164
],
[
0.3970000147819519,
0.20000000298023224
],
[
0.3970000147819519,
0.19200000166893005
],
[
0.3970000147819519,
0.20000000298023224
],
[
0.3970000147819519,
0.1940000057220459
]
] |
openx_train
|
|
33,775,071
|
00003
|
rotate wood holder 180 dgree around z axis and push to the left front
|
[
[
0.06199999898672104,
0.09399999678134918
],
[
0.1770000010728836,
0.12099999934434891
],
[
0.2669999897480011,
0.12700000405311584
],
[
0.3330000042915344,
0.12300000339746475
],
[
0.39100000262260437,
0.12300000339746475
],
[
0.44699999690055847,
0.11900000274181366
],
[
0.47999998927116394,
0.12300000339746475
],
[
0.5479999780654907,
0.1379999965429306
],
[
0.609000027179718,
0.1459999978542328
],
[
0.6470000147819519,
0.13300000131130219
],
[
0.6359999775886536,
0.09399999678134918
],
[
0.550000011920929,
0.08699999749660492
],
[
0.49399998784065247,
0.07100000232458115
],
[
0.47200000286102295,
0.0729999989271164
],
[
0.4580000042915344,
0.10199999809265137
],
[
0.527999997138977,
0.12300000339746475
],
[
0.593999981880188,
0.15000000596046448
],
[
0.6579999923706055,
0.15199999511241913
],
[
0.7129999995231628,
0.16500000655651093
],
[
0.7580000162124634,
0.1599999964237213
],
[
0.7419999837875366,
0.13099999725818634
],
[
0.6669999957084656,
0.13099999725818634
],
[
0.6639999747276306,
0.12300000339746475
],
[
0.6859999895095825,
0.10199999809265137
],
[
0.7200000286102295,
0.1459999978542328
],
[
0.7770000100135803,
0.16500000655651093
],
[
0.8230000138282776,
0.20999999344348907
],
[
0.8199999928474426,
0.16500000655651093
],
[
0.7839999794960022,
0.1289999932050705
],
[
0.7590000033378601,
0.12700000405311584
],
[
0.7229999899864197,
0.13500000536441803
],
[
0.6890000104904175,
0.14399999380111694
],
[
0.6800000071525574,
0.15000000596046448
]
] |
openx_train
|
|
30,586,453
|
00834
|
Turn on the faucet by rotating a designated handle
|
[
[
0.3009999990463257,
0.2770000100135803
],
[
0.31200000643730164,
0.2770000100135803
],
[
0.3160000145435333,
0.27300000190734863
],
[
0.3240000009536743,
0.3009999990463257
],
[
0.3319999873638153,
0.2930000126361847
],
[
0.3400000035762787,
0.289000004529953
],
[
0.3440000116825104,
0.27300000190734863
],
[
0.35199999809265137,
0.27000001072883606
],
[
0.35199999809265137,
0.27300000190734863
],
[
0.35899999737739563,
0.2770000100135803
],
[
0.3790000081062317,
0.27000001072883606
],
[
0.4059999883174896,
0.27000001072883606
],
[
0.4259999990463257,
0.289000004529953
],
[
0.4449999928474426,
0.296999990940094
],
[
0.4650000035762787,
0.296999990940094
],
[
0.48399999737739563,
0.2770000100135803
],
[
0.5080000162124634,
0.2849999964237213
],
[
0.5230000019073486,
0.2849999964237213
],
[
0.5230000019073486,
0.2849999964237213
],
[
0.5230000019073486,
0.289000004529953
],
[
0.531000018119812,
0.2849999964237213
],
[
0.5389999747276306,
0.26600000262260437
],
[
0.5509999990463257,
0.296999990940094
],
[
0.5509999990463257,
0.27000001072883606
],
[
0.5590000152587891,
0.2809999883174896
],
[
0.5659999847412109,
0.2809999883174896
],
[
0.5699999928474426,
0.27000001072883606
],
[
0.578000009059906,
0.2770000100135803
],
[
0.5740000009536743,
0.2809999883174896
],
[
0.5820000171661377,
0.2849999964237213
],
[
0.5820000171661377,
0.2849999964237213
],
[
0.5820000171661377,
0.289000004529953
],
[
0.5860000252723694,
0.2770000100135803
],
[
0.5979999899864197,
0.27000001072883606
]
] |
openx_train
|
|
6,408,517
|
05920
|
pick bin
|
[
[
0.6019999980926514,
0.2460000067949295
],
[
0.6029999852180481,
0.23499999940395355
],
[
0.6050000190734863,
0.23499999940395355
],
[
0.6060000061988831,
0.2329999953508377
],
[
0.6050000190734863,
0.22699999809265137
],
[
0.6079999804496765,
0.22499999403953552
],
[
0.6060000061988831,
0.22100000083446503
],
[
0.6050000190734863,
0.2150000035762787
],
[
0.6029999852180481,
0.20999999344348907
],
[
0.6050000190734863,
0.20999999344348907
],
[
0.6079999804496765,
0.20000000298023224
],
[
0.6079999804496765,
0.20200000703334808
],
[
0.6050000190734863,
0.19599999487400055
],
[
0.6079999804496765,
0.19599999487400055
],
[
0.6079999804496765,
0.18799999356269836
],
[
0.6050000190734863,
0.18299999833106995
],
[
0.6050000190734863,
0.17299999296665192
],
[
0.6079999804496765,
0.17900000512599945
],
[
0.6079999804496765,
0.17900000512599945
],
[
0.609000027179718,
0.17900000512599945
],
[
0.6129999756813049,
0.17499999701976776
],
[
0.6110000014305115,
0.16899999976158142
],
[
0.6110000014305115,
0.17100000381469727
],
[
0.6129999756813049,
0.17299999296665192
],
[
0.6110000014305115,
0.16899999976158142
],
[
0.6110000014305115,
0.17299999296665192
],
[
0.6129999756813049,
0.16899999976158142
],
[
0.6129999756813049,
0.17299999296665192
],
[
0.6129999756813049,
0.17299999296665192
]
] |
openx_train
|
|
8,293,833
|
18553
|
stack gray white cube
|
[
[
0.5799999833106995,
0.22300000488758087
],
[
0.6000000238418579,
0.29600000381469727
],
[
0.6169999837875366,
0.36899998784065247
],
[
0.628000020980835,
0.4269999861717224
],
[
0.6420000195503235,
0.48500001430511475
],
[
0.6470000147819519,
0.531000018119812
],
[
0.6389999985694885,
0.5809999704360962
],
[
0.6389999985694885,
0.6150000095367432
],
[
0.6389999985694885,
0.6230000257492065
],
[
0.6370000243186951,
0.5979999899864197
],
[
0.640999972820282,
0.5519999861717224
],
[
0.640999972820282,
0.5170000195503235
],
[
0.6169999837875366,
0.5230000019073486
],
[
0.5950000286102295,
0.5249999761581421
],
[
0.5699999928474426,
0.5419999957084656
],
[
0.5440000295639038,
0.5460000038146973
],
[
0.515999972820282,
0.5559999942779541
],
[
0.5109999775886536,
0.5809999704360962
],
[
0.5109999775886536,
0.6290000081062317
],
[
0.5090000033378601,
0.6790000200271606
],
[
0.5090000033378601,
0.6980000138282776
],
[
0.5059999823570251,
0.6980000138282776
],
[
0.5049999952316284,
0.6919999718666077
],
[
0.5049999952316284,
0.6650000214576721
],
[
0.5019999742507935,
0.6269999742507935
],
[
0.5,
0.5619999766349792
],
[
0.4970000088214874,
0.5170000195503235
],
[
0.5,
0.46000000834465027
],
[
0.492000013589859,
0.4020000100135803
],
[
0.5019999742507935,
0.32899999618530273
],
[
0.49799999594688416,
0.26499998569488525
],
[
0.5059999823570251,
0.22300000488758087
],
[
0.503000020980835,
0.21899999678134918
]
] |
openx_train
|
|
3,606,649
|
12037
|
pick gray cube
|
[
[
0.39100000262260437,
0.1979999989271164
],
[
0.37700000405311584,
0.22699999809265137
],
[
0.3580000102519989,
0.25
],
[
0.34200000762939453,
0.2709999978542328
],
[
0.3310000002384186,
0.2980000078678131
],
[
0.31700000166893005,
0.3230000138282776
],
[
0.30300000309944153,
0.3440000116825104
],
[
0.28700000047683716,
0.367000013589859
],
[
0.2720000147819519,
0.382999986410141
],
[
0.257999986410141,
0.4059999883174896
],
[
0.24500000476837158,
0.42100000381469727
],
[
0.24199999868869781,
0.44200000166893005
],
[
0.25200000405311584,
0.4480000138282776
],
[
0.25,
0.46299999952316284
],
[
0.24799999594688416,
0.4869999885559082
],
[
0.25200000405311584,
0.492000013589859
],
[
0.24400000274181366,
0.4830000102519989
],
[
0.23899999260902405,
0.4580000042915344
],
[
0.2409999966621399,
0.43799999356269836
],
[
0.2370000034570694,
0.42100000381469727
],
[
0.2329999953508377,
0.4000000059604645
],
[
0.2329999953508377,
0.38499999046325684
],
[
0.23000000417232513,
0.3619999885559082
],
[
0.2280000001192093,
0.33799999952316284
],
[
0.22699999809265137,
0.31700000166893005
],
[
0.22200000286102295,
0.28999999165534973
],
[
0.21899999678134918,
0.26499998569488525
],
[
0.21699999272823334,
0.2370000034570694
],
[
0.21400000154972076,
0.21899999678134918
],
[
0.210999995470047,
0.1940000057220459
],
[
0.20800000429153442,
0.16300000250339508
],
[
0.20600000023841858,
0.14800000190734863
],
[
0.20600000023841858,
0.13300000131130219
],
[
0.20499999821186066,
0.13099999725818634
]
] |
openx_train
|
|
11,063,382
|
00452
|
assemble desk
|
[
[
0.3569999933242798,
0.5040000081062317
],
[
0.3479999899864197,
0.3659999966621399
],
[
0.6069999933242798,
0.5
],
[
0.375,
0.33500000834465027
],
[
0.6470000147819519,
0.5540000200271606
],
[
0.33899998664855957,
0.18299999833106995
],
[
0.30399999022483826,
0.32600000500679016
],
[
0.23199999332427979,
0.42399999499320984
],
[
0.21400000154972076,
0.6029999852180481
],
[
0.375,
0.19599999487400055
],
[
0.7900000214576721,
0.21400000154972076
],
[
0.7950000166893005,
0.2590000033378601
],
[
0.781000018119812,
0.25
],
[
0.7990000247955322,
0.3569999933242798
],
[
0.75,
0.2720000147819519
],
[
0.781000018119812,
0.29499998688697815
],
[
0.7860000133514404,
0.33000001311302185
],
[
0.8169999718666077,
0.31200000643730164
],
[
0.8479999899864197,
0.33500000834465027
],
[
0.44600000977516174,
0.1469999998807907
],
[
0.20999999344348907,
0.41999998688697815
],
[
0.20100000500679016,
0.3930000066757202
],
[
0.16099999845027924,
0.4059999883174896
],
[
0.1469999998807907,
0.3659999966621399
],
[
0.3880000114440918,
0.23199999332427979
],
[
0.3790000081062317,
0.30399999022483826
],
[
0.3569999933242798,
0.28999999165534973
],
[
0.3529999852180481,
0.2809999883174896
],
[
0.3970000147819519,
0.31700000166893005
],
[
0.3930000066757202,
0.33899998664855957
],
[
0.3529999852180481,
0.375
]
] |
openx_train
|
|
4,085,441
|
10051
|
pick bin
|
[
[
0.5329999923706055,
0.10199999809265137
],
[
0.5519999861717224,
0.10599999874830246
],
[
0.574999988079071,
0.11500000208616257
],
[
0.6000000238418579,
0.11500000208616257
],
[
0.6159999966621399,
0.11900000274181366
],
[
0.6359999775886536,
0.125
],
[
0.6389999985694885,
0.13300000131130219
],
[
0.6330000162124634,
0.15600000321865082
],
[
0.6340000033378601,
0.17100000381469727
],
[
0.6330000162124634,
0.1979999989271164
],
[
0.628000020980835,
0.2329999953508377
],
[
0.6299999952316284,
0.26499998569488525
],
[
0.628000020980835,
0.2770000100135803
],
[
0.6269999742507935,
0.3100000023841858
],
[
0.6230000257492065,
0.3400000035762787
],
[
0.628000020980835,
0.35600000619888306
],
[
0.628000020980835,
0.35600000619888306
],
[
0.6269999742507935,
0.3580000102519989
],
[
0.6269999742507935,
0.35600000619888306
],
[
0.628000020980835,
0.3540000021457672
],
[
0.628000020980835,
0.35600000619888306
],
[
0.628000020980835,
0.3540000021457672
],
[
0.6269999742507935,
0.3540000021457672
],
[
0.6269999742507935,
0.32100000977516174
],
[
0.625,
0.2939999997615814
],
[
0.625,
0.26899999380111694
],
[
0.6299999952316284,
0.25
],
[
0.6309999823570251,
0.22100000083446503
],
[
0.6340000033378601,
0.18799999356269836
],
[
0.640999972820282,
0.15600000321865082
],
[
0.640999972820282,
0.1459999978542328
]
] |
openx_train
|
|
3,360,229
|
09452
|
pick bin
|
[
[
0.49799999594688416,
0.09399999678134918
],
[
0.5019999742507935,
0.09799999743700027
],
[
0.5139999985694885,
0.10599999874830246
],
[
0.5270000100135803,
0.11699999868869781
],
[
0.5440000295639038,
0.13300000131130219
],
[
0.5580000281333923,
0.1599999964237213
],
[
0.5669999718666077,
0.19200000166893005
],
[
0.5770000219345093,
0.2150000035762787
],
[
0.5879999995231628,
0.22699999809265137
],
[
0.6000000238418579,
0.28299999237060547
],
[
0.6019999980926514,
0.32100000977516174
],
[
0.6000000238418579,
0.38999998569488525
],
[
0.6060000061988831,
0.46299999952316284
],
[
0.597000002861023,
0.5289999842643738
],
[
0.5950000286102295,
0.5789999961853027
],
[
0.5979999899864197,
0.6079999804496765
],
[
0.5910000205039978,
0.6079999804496765
],
[
0.5979999899864197,
0.6150000095367432
],
[
0.6000000238418579,
0.6150000095367432
],
[
0.6029999852180481,
0.6209999918937683
],
[
0.593999981880188,
0.6060000061988831
],
[
0.597000002861023,
0.5730000138282776
],
[
0.6060000061988831,
0.5040000081062317
],
[
0.6019999980926514,
0.4309999942779541
],
[
0.6050000190734863,
0.35199999809265137
],
[
0.6159999966621399,
0.2630000114440918
],
[
0.6159999966621399,
0.21199999749660492
],
[
0.6159999966621399,
0.15399999916553497
],
[
0.621999979019165,
0.1289999932050705
],
[
0.6169999837875366,
0.13099999725818634
]
] |
openx_train
|
|
8,953,821
|
12833
|
pick green wood cylinder
|
[
[
0.2750000059604645,
0.6060000061988831
],
[
0.2750000059604645,
0.6060000061988831
],
[
0.27300000190734863,
0.6060000061988831
],
[
0.2770000100135803,
0.6019999980926514
],
[
0.27799999713897705,
0.6019999980926514
],
[
0.2770000100135803,
0.6019999980926514
],
[
0.2770000100135803,
0.6019999980926514
],
[
0.2770000100135803,
0.6000000238418579
],
[
0.2800000011920929,
0.6000000238418579
],
[
0.2770000100135803,
0.6019999980926514
],
[
0.27300000190734863,
0.6039999723434448
],
[
0.27799999713897705,
0.5920000076293945
],
[
0.2720000147819519,
0.5849999785423279
],
[
0.2770000100135803,
0.5649999976158142
],
[
0.27000001072883606,
0.5460000038146973
],
[
0.2630000114440918,
0.5210000276565552
],
[
0.2669999897480011,
0.5019999742507935
],
[
0.27000001072883606,
0.48100000619888306
],
[
0.27000001072883606,
0.4560000002384186
],
[
0.26100000739097595,
0.4230000078678131
],
[
0.26600000262260437,
0.3959999978542328
],
[
0.25200000405311584,
0.36899998784065247
],
[
0.2529999911785126,
0.3400000035762787
],
[
0.25200000405311584,
0.30399999022483826
],
[
0.2409999966621399,
0.2750000059604645
],
[
0.2370000034570694,
0.24400000274181366
],
[
0.2409999966621399,
0.20999999344348907
],
[
0.2329999953508377,
0.18799999356269836
],
[
0.2280000001192093,
0.16699999570846558
],
[
0.2409999966621399,
0.15000000596046448
],
[
0.23100000619888306,
0.14000000059604645
],
[
0.22699999809265137,
0.13500000536441803
],
[
0.22699999809265137,
0.13300000131130219
],
[
0.2329999953508377,
0.125
],
[
0.2280000001192093,
0.125
],
[
0.22699999809265137,
0.12300000339746475
],
[
0.23000000417232513,
0.125
]
] |
openx_train
|
|
32,727,403
|
05341
|
Insert the peg into the horizontal hole in a box
|
[
[
0.4339999854564667,
0.10899999737739563
],
[
0.43799999356269836,
0.15199999511241913
],
[
0.4410000145435333,
0.19099999964237213
],
[
0.4449999928474426,
0.23000000417232513
],
[
0.4490000009536743,
0.27000001072883606
],
[
0.453000009059906,
0.3089999854564667
],
[
0.4569999873638153,
0.3479999899864197
],
[
0.460999995470047,
0.3869999945163727
],
[
0.4650000035762787,
0.4259999990463257
],
[
0.4690000116825104,
0.4650000035762787
],
[
0.4729999899864197,
0.5040000081062317
],
[
0.47699999809265137,
0.546999990940094
],
[
0.47999998927116394,
0.5860000252723694
],
[
0.48399999737739563,
0.625
],
[
0.4880000054836273,
0.6639999747276306
],
[
0.492000013589859,
0.703000009059906
],
[
0.5619999766349792,
0.48399999737739563
],
[
0.5590000152587891,
0.4180000126361847
],
[
0.5740000009536743,
0.3709999918937683
],
[
0.5699999928474426,
0.35199999809265137
],
[
0.5740000009536743,
0.3479999899864197
],
[
0.5740000009536743,
0.3400000035762787
],
[
0.578000009059906,
0.3440000116825104
],
[
0.5740000009536743,
0.3400000035762787
],
[
0.578000009059906,
0.3400000035762787
],
[
0.578000009059906,
0.3440000116825104
],
[
0.5659999847412109,
0.3440000116825104
],
[
0.5699999928474426,
0.3479999899864197
],
[
0.5619999766349792,
0.3479999899864197
],
[
0.5619999766349792,
0.3479999899864197
],
[
0.5659999847412109,
0.3440000116825104
],
[
0.578000009059906,
0.3440000116825104
]
] |
openx_train
|
|
5,304,779
|
06848
|
pick bin
|
[
[
0.5049999952316284,
0.0689999982714653
],
[
0.5080000162124634,
0.0689999982714653
],
[
0.4909999966621399,
0.07100000232458115
],
[
0.4699999988079071,
0.08100000023841858
],
[
0.46299999952316284,
0.09200000017881393
],
[
0.460999995470047,
0.10599999874830246
],
[
0.44200000166893005,
0.12099999934434891
],
[
0.4339999854564667,
0.13300000131130219
],
[
0.4309999942779541,
0.16699999570846558
],
[
0.41999998688697815,
0.20200000703334808
],
[
0.41100001335144043,
0.2460000067949295
],
[
0.4059999883174896,
0.2939999997615814
],
[
0.414000004529953,
0.33799999952316284
],
[
0.41100001335144043,
0.3790000081062317
],
[
0.414000004529953,
0.39800000190734863
],
[
0.414000004529953,
0.40400001406669617
],
[
0.41600000858306885,
0.40400001406669617
],
[
0.41200000047683716,
0.4059999883174896
],
[
0.41600000858306885,
0.40400001406669617
],
[
0.41600000858306885,
0.4000000059604645
],
[
0.414000004529953,
0.375
],
[
0.41100001335144043,
0.35600000619888306
],
[
0.4090000092983246,
0.3190000057220459
],
[
0.4090000092983246,
0.2770000100135803
],
[
0.41200000047683716,
0.22100000083446503
],
[
0.414000004529953,
0.1809999942779541
],
[
0.41100001335144043,
0.13300000131130219
],
[
0.41600000858306885,
0.10599999874830246
],
[
0.414000004529953,
0.08699999749660492
],
[
0.40799999237060547,
0.08100000023841858
],
[
0.41999998688697815,
0.06700000166893005
],
[
0.41999998688697815,
0.05400000140070915
],
[
0.41999998688697815,
0.052000001072883606
],
[
0.41999998688697815,
0.05400000140070915
]
] |
openx_train
|
|
33,890,417
|
00276
|
pick pot and place in dish rack
|
[
[
0.3050000071525574,
0.11699999868869781
],
[
0.3199999928474426,
0.11699999868869781
],
[
0.31200000643730164,
0.125
],
[
0.31200000643730164,
0.125
],
[
0.3199999928474426,
0.13300000131130219
],
[
0.3199999928474426,
0.14100000262260437
],
[
0.3199999928474426,
0.14800000190734863
],
[
0.3440000116825104,
0.15600000321865082
],
[
0.328000009059906,
0.15600000321865082
],
[
0.328000009059906,
0.15600000321865082
],
[
0.335999995470047,
0.1720000058412552
],
[
0.3440000116825104,
0.1720000058412552
],
[
0.328000009059906,
0.18000000715255737
],
[
0.35199999809265137,
0.210999995470047
],
[
0.3199999928474426,
0.18799999356269836
],
[
0.3440000116825104,
0.210999995470047
],
[
0.296999990940094,
0.18000000715255737
],
[
0.3199999928474426,
0.2029999941587448
],
[
0.3440000116825104,
0.24199999868869781
],
[
0.335999995470047,
0.22699999809265137
],
[
0.3440000116825104,
0.24199999868869781
],
[
0.3440000116825104,
0.22699999809265137
],
[
0.328000009059906,
0.26600000262260437
],
[
0.335999995470047,
0.27300000190734863
],
[
0.35199999809265137,
0.328000009059906
],
[
0.382999986410141,
0.375
],
[
0.382999986410141,
0.375
],
[
0.35899999737739563,
0.3440000116825104
],
[
0.35899999737739563,
0.335999995470047
],
[
0.367000013589859,
0.335999995470047
],
[
0.375,
0.3440000116825104
],
[
0.382999986410141,
0.3440000116825104
],
[
0.375,
0.35899999737739563
],
[
0.367000013589859,
0.367000013589859
],
[
0.382999986410141,
0.35199999809265137
],
[
0.367000013589859,
0.335999995470047
],
[
0.421999990940094,
0.39100000262260437
],
[
0.39100000262260437,
0.382999986410141
],
[
0.39800000190734863,
0.39100000262260437
],
[
0.39800000190734863,
0.382999986410141
],
[
0.421999990940094,
0.367000013589859
],
[
0.414000004529953,
0.414000004529953
],
[
0.39800000190734863,
0.367000013589859
],
[
0.414000004529953,
0.39100000262260437
],
[
0.4300000071525574,
0.4059999883174896
],
[
0.421999990940094,
0.39800000190734863
],
[
0.47699999809265137,
0.5619999766349792
],
[
0.4059999883174896,
0.35899999737739563
],
[
0.39800000190734863,
0.335999995470047
],
[
0.39800000190734863,
0.3199999928474426
]
] |
openx_train
|
|
8,737,417
|
01245
|
destack purple yellow cube
|
[
[
0.4359999895095825,
0.5669999718666077
],
[
0.4359999895095825,
0.550000011920929
],
[
0.43799999356269836,
0.5329999923706055
],
[
0.4359999895095825,
0.5189999938011169
],
[
0.4300000071525574,
0.5040000081062317
],
[
0.4339999854564667,
0.492000013589859
],
[
0.4339999854564667,
0.46700000762939453
],
[
0.4339999854564667,
0.4480000138282776
],
[
0.4359999895095825,
0.42500001192092896
],
[
0.4300000071525574,
0.4020000100135803
],
[
0.4339999854564667,
0.3919999897480011
],
[
0.4359999895095825,
0.36899998784065247
],
[
0.4390000104904175,
0.3440000116825104
],
[
0.4309999942779541,
0.3230000138282776
],
[
0.4339999854564667,
0.30799999833106995
],
[
0.4309999942779541,
0.28299999237060547
],
[
0.4339999854564667,
0.26499998569488525
],
[
0.4309999942779541,
0.24400000274181366
],
[
0.4300000071525574,
0.2290000021457672
],
[
0.4300000071525574,
0.20800000429153442
],
[
0.44200000166893005,
0.1940000057220459
],
[
0.44200000166893005,
0.1899999976158142
],
[
0.4339999854564667,
0.1809999942779541
],
[
0.4300000071525574,
0.1809999942779541
],
[
0.4300000071525574,
0.17100000381469727
],
[
0.4300000071525574,
0.16699999570846558
],
[
0.4309999942779541,
0.16699999570846558
],
[
0.43299999833106995,
0.16300000250339508
],
[
0.43299999833106995,
0.16500000655651093
],
[
0.4339999854564667,
0.16500000655651093
],
[
0.4309999942779541,
0.16699999570846558
],
[
0.4359999895095825,
0.16699999570846558
],
[
0.4339999854564667,
0.16500000655651093
],
[
0.43299999833106995,
0.16500000655651093
],
[
0.4339999854564667,
0.16500000655651093
],
[
0.4359999895095825,
0.16500000655651093
],
[
0.4339999854564667,
0.16699999570846558
]
] |
openx_train
|
|
8,851,007
|
06477
|
pick bin
|
[
[
0.47999998927116394,
0.12300000339746475
],
[
0.44999998807907104,
0.14399999380111694
],
[
0.4269999861717224,
0.16699999570846558
],
[
0.4000000059604645,
0.1979999989271164
],
[
0.37700000405311584,
0.24199999868869781
],
[
0.3529999852180481,
0.2770000100135803
],
[
0.3330000042915344,
0.31200000643730164
],
[
0.3059999942779541,
0.34200000762939453
],
[
0.28700000047683716,
0.38499999046325684
],
[
0.26600000262260437,
0.4169999957084656
],
[
0.23600000143051147,
0.4440000057220459
],
[
0.2199999988079071,
0.47099998593330383
],
[
0.21699999272823334,
0.47699999809265137
],
[
0.21699999272823334,
0.47699999809265137
],
[
0.21699999272823334,
0.5040000081062317
],
[
0.2329999953508377,
0.5519999861717224
],
[
0.23399999737739563,
0.550000011920929
],
[
0.2370000034570694,
0.5519999861717224
],
[
0.23399999737739563,
0.5400000214576721
],
[
0.2329999953508377,
0.5080000162124634
],
[
0.23600000143051147,
0.48100000619888306
],
[
0.22300000488758087,
0.4560000002384186
],
[
0.2160000056028366,
0.4189999997615814
],
[
0.1940000057220459,
0.38499999046325684
],
[
0.1940000057220459,
0.3540000021457672
],
[
0.19099999964237213,
0.3190000057220459
],
[
0.19200000166893005,
0.28700000047683716
],
[
0.18400000035762787,
0.25200000405311584
],
[
0.17299999296665192,
0.22100000083446503
],
[
0.17299999296665192,
0.17499999701976776
],
[
0.17000000178813934,
0.15399999916553497
]
] |
openx_train
|
|
17,909,522
|
17989
|
pick apple
|
[
[
0.5659999847412109,
0.4300000071525574
],
[
0.5619999766349792,
0.4180000126361847
],
[
0.5720000267028809,
0.3790000081062317
],
[
0.5559999942779541,
0.3400000035762787
],
[
0.5559999942779541,
0.3400000035762787
]
] |
openx_train
|
|
32,987,092
|
12210
|
Pick up the object and move it to a goal position
|
[
[
0.3199999928474426,
0.4880000054836273
],
[
0.296999990940094,
0.4880000054836273
],
[
0.296999990940094,
0.4880000054836273
],
[
0.2809999883174896,
0.4880000054836273
],
[
0.296999990940094,
0.492000013589859
],
[
0.296999990940094,
0.48399999737739563
],
[
0.296999990940094,
0.48399999737739563
],
[
0.2849999964237213,
0.48399999737739563
]
] |
openx_train
|
|
30,291,292
|
15071
|
Plug the charger into the wall socket
|
[
[
0.11299999803304672,
0.5270000100135803
],
[
0.09000000357627869,
0.5389999747276306
],
[
0.0820000022649765,
0.5550000071525574
],
[
0.0820000022649765,
0.5550000071525574
],
[
0.0820000022649765,
0.5619999766349792
],
[
0.0820000022649765,
0.5740000009536743
],
[
0.0820000022649765,
0.6209999918937683
],
[
0.0860000029206276,
0.6600000262260437
],
[
0.24199999868869781,
0.6639999747276306
],
[
0.09000000357627869,
0.6909999847412109
],
[
0.23000000417232513,
0.7070000171661377
],
[
0.23000000417232513,
0.7070000171661377
],
[
0.23000000417232513,
0.7070000171661377
],
[
0.23000000417232513,
0.7070000171661377
],
[
0.23399999737739563,
0.6949999928474426
],
[
0.257999986410141,
0.6759999990463257
],
[
0.2809999883174896,
0.656000018119812
],
[
0.3160000145435333,
0.4880000054836273
],
[
0.39800000190734863,
0.4569999873638153
],
[
0.4449999928474426,
0.414000004529953
],
[
0.48399999737739563,
0.39800000190734863
],
[
0.5120000243186951,
0.3790000081062317
],
[
0.5230000019073486,
0.3790000081062317
],
[
0.531000018119812,
0.375
],
[
0.5389999747276306,
0.367000013589859
],
[
0.5350000262260437,
0.375
],
[
0.5230000019073486,
0.39100000262260437
],
[
0.531000018119812,
0.3869999945163727
],
[
0.5389999747276306,
0.382999986410141
],
[
0.5350000262260437,
0.3869999945163727
],
[
0.5350000262260437,
0.39800000190734863
],
[
0.5389999747276306,
0.4020000100135803
],
[
0.5389999747276306,
0.4059999883174896
]
] |
openx_train
|
|
30,935,349
|
01344
|
Turn on the faucet by rotating a designated handle
|
[
[
0.35499998927116394,
0.3869999945163727
],
[
0.3709999918937683,
0.3869999945163727
],
[
0.3790000081062317,
0.3709999918937683
],
[
0.382999986410141,
0.35899999737739563
],
[
0.382999986410141,
0.35499998927116394
],
[
0.3869999945163727,
0.35199999809265137
],
[
0.2150000035762787,
0.09399999678134918
],
[
0.2460000067949295,
0.0820000022649765
],
[
0.27000001072883606,
0.07800000160932541
],
[
0.296999990940094,
0.07000000029802322
],
[
0.43799999356269836,
0.2930000126361847
],
[
0.4339999854564667,
0.296999990940094
],
[
0.4490000009536743,
0.2930000126361847
],
[
0.4650000035762787,
0.289000004529953
],
[
0.460999995470047,
0.492000013589859
],
[
0.5,
0.2809999883174896
],
[
0.4490000009536743,
0.47999998927116394
],
[
0.4490000009536743,
0.47699999809265137
],
[
0.5389999747276306,
0.2809999883174896
],
[
0.4569999873638153,
0.4959999918937683
],
[
0.4569999873638153,
0.5040000081062317
],
[
0.593999981880188,
0.3009999990463257
],
[
0.6169999837875366,
0.3089999854564667
],
[
0.6370000243186951,
0.31200000643730164
],
[
0.656000018119812,
0.31200000643730164
],
[
0.6679999828338623,
0.3160000145435333
],
[
0.6800000071525574,
0.3160000145435333
],
[
0.6840000152587891,
0.3240000009536743
],
[
0.6990000009536743,
0.328000009059906
],
[
0.718999981880188,
0.335999995470047
],
[
0.734000027179718,
0.3440000116825104
],
[
0.7419999837875366,
0.35199999809265137
],
[
0.7540000081062317,
0.35899999737739563
],
[
0.765999972820282,
0.3630000054836273
],
[
0.5389999747276306,
0.48399999737739563
],
[
0.5,
0.5199999809265137
],
[
0.5820000171661377,
0.492000013589859
],
[
0.6600000262260437,
0.460999995470047
],
[
0.7419999837875366,
0.4339999854564667
]
] |
openx_train
|
|
11,578,885
|
04163
|
assemble chair
|
[
[
0.6610000133514404,
0.16500000655651093
],
[
0.6340000033378601,
0.2409999966621399
],
[
0.4819999933242798,
0.17000000178813934
],
[
0.6610000133514404,
0.17900000512599945
],
[
0.8349999785423279,
0.22300000488758087
],
[
0.8299999833106995,
0.2460000067949295
],
[
0.8040000200271606,
0.17399999499320984
],
[
0.781000018119812,
0.19599999487400055
],
[
0.7630000114440918,
0.18799999356269836
],
[
0.8169999718666077,
0.31200000643730164
],
[
0.7770000100135803,
0.22300000488758087
],
[
0.7540000081062317,
0.19599999487400055
],
[
0.7590000033378601,
0.20100000500679016
],
[
0.6959999799728394,
0.20499999821186066
],
[
0.6209999918937683,
0.2630000114440918
],
[
0.8209999799728394,
0.20100000500679016
],
[
0.8349999785423279,
0.20100000500679016
],
[
0.8619999885559082,
0.2370000034570694
],
[
0.8080000281333923,
0.22300000488758087
],
[
0.7630000114440918,
0.20999999344348907
],
[
0.8659999966621399,
0.2720000147819519
],
[
0.8209999799728394,
0.20100000500679016
],
[
0.7950000166893005,
0.11599999666213989
],
[
0.7590000033378601,
0.18299999833106995
],
[
0.7860000133514404,
0.14300000667572021
],
[
0.7950000166893005,
0.17900000512599945
],
[
0.7860000133514404,
0.18799999356269836
],
[
0.8790000081062317,
0.18799999356269836
],
[
0.9110000133514404,
0.20999999344348907
],
[
0.8259999752044678,
0.18299999833106995
],
[
0.8930000066757202,
0.20100000500679016
]
] |
openx_train
|
|
5,712,152
|
06779
|
pick bin
|
[
[
0.5720000267028809,
0.1940000057220459
],
[
0.578000009059906,
0.21199999749660492
],
[
0.5830000042915344,
0.22300000488758087
],
[
0.5809999704360962,
0.24199999868869781
],
[
0.5879999995231628,
0.2540000081062317
],
[
0.5920000076293945,
0.2669999897480011
],
[
0.5920000076293945,
0.2849999964237213
],
[
0.5950000286102295,
0.3269999921321869
],
[
0.593999981880188,
0.3580000102519989
],
[
0.5920000076293945,
0.3790000081062317
],
[
0.5910000205039978,
0.3959999978542328
],
[
0.5889999866485596,
0.3959999978542328
],
[
0.5920000076293945,
0.3919999897480011
],
[
0.5889999866485596,
0.3959999978542328
],
[
0.5889999866485596,
0.3959999978542328
],
[
0.5889999866485596,
0.3919999897480011
],
[
0.5910000205039978,
0.3959999978542328
],
[
0.5910000205039978,
0.38499999046325684
],
[
0.5879999995231628,
0.375
],
[
0.5889999866485596,
0.33799999952316284
],
[
0.597000002861023,
0.3100000023841858
],
[
0.5979999899864197,
0.27300000190734863
],
[
0.6019999980926514,
0.23999999463558197
],
[
0.609000027179718,
0.19200000166893005
],
[
0.609000027179718,
0.1599999964237213
],
[
0.6079999804496765,
0.13099999725818634
],
[
0.6060000061988831,
0.11299999803304672
],
[
0.6050000190734863,
0.08699999749660492
],
[
0.5910000205039978,
0.07699999958276749
],
[
0.5699999928474426,
0.06199999898672104
]
] |
openx_train
|
|
20,030,376
|
22405
|
pick orange from white bowl
|
[
[
0.6620000004768372,
0.2070000022649765
],
[
0.531000018119812,
0.1679999977350235
],
[
0.5220000147819519,
0.18000000715255737
],
[
0.5220000147819519,
0.1720000058412552
],
[
0.48399999737739563,
0.1599999964237213
],
[
0.4659999907016754,
0.15199999511241913
],
[
0.4749999940395355,
0.2070000022649765
],
[
0.49399998784065247,
0.23399999737739563
],
[
0.4909999966621399,
0.22699999809265137
],
[
0.48399999737739563,
0.23000000417232513
],
[
0.4749999940395355,
0.2150000035762787
],
[
0.4749999940395355,
0.23000000417232513
],
[
0.48399999737739563,
0.23399999737739563
],
[
0.49399998784065247,
0.2619999945163727
],
[
0.5059999823570251,
0.2809999883174896
],
[
0.5090000033378601,
0.2849999964237213
],
[
0.5059999823570251,
0.2770000100135803
],
[
0.4970000088214874,
0.2619999945163727
],
[
0.48100000619888306,
0.2619999945163727
],
[
0.46299999952316284,
0.27300000190734863
],
[
0.45899999141693115,
0.2930000126361847
],
[
0.4560000002384186,
0.3050000071525574
],
[
0.45899999141693115,
0.3160000145435333
],
[
0.4659999907016754,
0.31200000643730164
],
[
0.4440000057220459,
0.2809999883174896
],
[
0.43799999356269836,
0.2540000081062317
],
[
0.42500001192092896,
0.23800000548362732
],
[
0.4339999854564667,
0.2540000081062317
],
[
0.44699999690055847,
0.2770000100135803
],
[
0.44699999690055847,
0.289000004529953
],
[
0.44699999690055847,
0.3050000071525574
],
[
0.453000009059906,
0.3050000071525574
],
[
0.453000009059906,
0.3089999854564667
],
[
0.44699999690055847,
0.3089999854564667
],
[
0.46299999952316284,
0.2619999945163727
],
[
0.4779999852180481,
0.2150000035762787
],
[
0.5249999761581421,
0.15199999511241913
],
[
0.546999990940094,
0.11299999803304672
],
[
0.5879999995231628,
0.12099999934434891
],
[
0.6620000004768372,
0.12099999934434891
],
[
0.656000018119812,
0.14499999582767487
],
[
0.671999990940094,
0.14100000262260437
],
[
0.6940000057220459,
0.1289999932050705
],
[
0.675000011920929,
0.17599999904632568
],
[
0.6589999794960022,
0.210999995470047
],
[
0.656000018119812,
0.18799999356269836
]
] |
openx_train
|
|
31,714,129
|
06816
|
Pick up a designated object from a clutter of objects
|
[
[
0.2770000100135803,
0.3089999854564667
],
[
0.26600000262260437,
0.2849999964237213
],
[
0.2460000067949295,
0.2770000100135803
],
[
0.23399999737739563,
0.2619999945163727
],
[
0.21899999678134918,
0.257999986410141
],
[
0.210999995470047,
0.22300000488758087
],
[
0.19900000095367432,
0.19499999284744263
],
[
0.22699999809265137,
0.2540000081062317
],
[
0.210999995470047,
0.23000000417232513
],
[
0.2150000035762787,
0.2150000035762787
],
[
0.210999995470047,
0.21899999678134918
],
[
0.2029999941587448,
0.21899999678134918
],
[
0.15600000321865082,
0.17599999904632568
],
[
0.17599999904632568,
0.19099999964237213
],
[
0.15600000321865082,
0.18400000035762787
],
[
0.164000004529953,
0.1720000058412552
],
[
0.1720000058412552,
0.1599999964237213
],
[
0.14100000262260437,
0.14100000262260437
],
[
0.1289999932050705,
0.13699999451637268
],
[
0.1289999932050705,
0.13699999451637268
],
[
0.13300000131130219,
0.13300000131130219
],
[
0.15199999511241913,
0.14499999582767487
],
[
0.13699999451637268,
0.12099999934434891
],
[
0.14800000190734863,
0.125
],
[
0.14800000190734863,
0.1289999932050705
]
] |
openx_train
|
|
17,914,247
|
81608
|
place brown chip bag into bottom drawer
|
[
[
0.5720000267028809,
0.8199999928474426
],
[
0.5659999847412109,
0.8360000252723694
],
[
0.5809999704360962,
0.8399999737739563
],
[
0.5720000267028809,
0.8320000171661377
],
[
0.597000002861023,
0.8320000171661377
],
[
0.5879999995231628,
0.843999981880188
],
[
0.5879999995231628,
0.8519999980926514
],
[
0.5879999995231628,
0.8550000190734863
],
[
0.593999981880188,
0.859000027179718
],
[
0.6029999852180481,
0.8870000243186951
],
[
0.640999972820282,
0.9100000262260437
]
] |
openx_train
|
|
3,467,879
|
02431
|
destack yellow blue cube
|
[
[
0.20900000631809235,
0.3149999976158142
],
[
0.21899999678134918,
0.40799999237060547
],
[
0.2199999988079071,
0.46700000762939453
],
[
0.22699999809265137,
0.492000013589859
],
[
0.23000000417232513,
0.4869999885559082
],
[
0.23000000417232513,
0.49000000953674316
],
[
0.22200000286102295,
0.4749999940395355
],
[
0.2199999988079071,
0.4350000023841858
],
[
0.2160000056028366,
0.37299999594688416
],
[
0.2329999953508377,
0.367000013589859
],
[
0.2630000114440918,
0.3790000081062317
],
[
0.28700000047683716,
0.40400001406669617
],
[
0.32499998807907104,
0.4189999997615814
],
[
0.35600000619888306,
0.4350000023841858
],
[
0.3889999985694885,
0.4399999976158142
],
[
0.421999990940094,
0.4690000116825104
],
[
0.45500001311302185,
0.4790000021457672
],
[
0.4560000002384186,
0.550000011920929
],
[
0.44999998807907104,
0.5920000076293945
],
[
0.4480000138282776,
0.6290000081062317
],
[
0.4519999921321869,
0.6349999904632568
],
[
0.44999998807907104,
0.6439999938011169
],
[
0.453000009059906,
0.6349999904632568
],
[
0.453000009059906,
0.625
],
[
0.4580000042915344,
0.5669999718666077
],
[
0.45500001311302185,
0.49399998784065247
],
[
0.453000009059906,
0.39399999380111694
],
[
0.4580000042915344,
0.28700000047683716
],
[
0.44999998807907104,
0.20000000298023224
],
[
0.4659999907016754,
0.15800000727176666
],
[
0.453000009059906,
0.16300000250339508
],
[
0.4519999921321869,
0.16300000250339508
]
] |
openx_train
|
|
18,196,854
|
66409
|
knock pepsi can over
|
[
[
0.921999990940094,
0.3400000035762787
],
[
0.921999990940094,
0.328000009059906
],
[
0.906000018119812,
0.35199999809265137
],
[
0.8339999914169312,
0.367000013589859
],
[
0.75,
0.3319999873638153
],
[
0.6499999761581421,
0.35499998927116394
],
[
0.5690000057220459,
0.382999986410141
],
[
0.503000020980835,
0.4180000126361847
],
[
0.4659999907016754,
0.421999990940094
],
[
0.4410000145435333,
0.4410000145435333
],
[
0.4339999854564667,
0.4410000145435333
],
[
0.3970000147819519,
0.48399999737739563
],
[
0.3659999966621399,
0.515999972820282
],
[
0.33399999141693115,
0.5199999809265137
],
[
0.33399999141693115,
0.4880000054836273
],
[
0.35600000619888306,
0.4880000054836273
],
[
0.3970000147819519,
0.460999995470047
],
[
0.46299999952316284,
0.39800000190734863
],
[
0.48399999737739563,
0.4020000100135803
],
[
0.5059999823570251,
0.4410000145435333
],
[
0.5440000295639038,
0.4650000035762787
],
[
0.5720000267028809,
0.4729999899864197
],
[
0.593999981880188,
0.4690000116825104
],
[
0.609000027179718,
0.460999995470047
],
[
0.609000027179718,
0.4650000035762787
],
[
0.6029999852180481,
0.4650000035762787
],
[
0.6129999756813049,
0.5199999809265137
],
[
0.6129999756813049,
0.5199999809265137
]
] |
openx_train
|
|
12,518,650
|
02605
|
assemble one_leg
|
[
[
0.2590000033378601,
0.5709999799728394
],
[
0.43799999356269836,
0.43799999356269836
],
[
0.4869999885559082,
0.23199999332427979
],
[
0.6700000166893005,
0.19599999487400055
],
[
0.7630000114440918,
0.21400000154972076
],
[
0.7369999885559082,
0.23199999332427979
],
[
0.781000018119812,
0.32100000977516174
],
[
0.7860000133514404,
0.3569999933242798
],
[
0.7950000166893005,
0.3970000147819519
],
[
0.7860000133514404,
0.375
],
[
0.7590000033378601,
0.3970000147819519
],
[
0.7860000133514404,
0.3970000147819519
],
[
0.7900000214576721,
0.41100001335144043
],
[
0.8529999852180481,
0.4909999966621399
],
[
0.7950000166893005,
0.3840000033378601
],
[
0.7950000166893005,
0.4020000100135803
],
[
0.8389999866485596,
0.3930000066757202
],
[
0.8790000081062317,
0.4690000116825104
],
[
0.8080000281333923,
0.41999998688697815
],
[
0.8080000281333923,
0.4020000100135803
],
[
0.8840000033378601,
0.5040000081062317
],
[
0.8299999833106995,
0.4020000100135803
],
[
0.7720000147819519,
0.4020000100135803
],
[
0.8209999799728394,
0.4690000116825104
],
[
0.8389999866485596,
0.531000018119812
],
[
0.8040000200271606,
0.41999998688697815
],
[
0.8040000200271606,
0.42399999499320984
],
[
0.8529999852180481,
0.45500001311302185
],
[
0.8880000114440918,
0.531000018119812
],
[
0.8259999752044678,
0.4059999883174896
],
[
0.7770000100135803,
0.41100001335144043
],
[
0.843999981880188,
0.46399998664855957
],
[
0.8299999833106995,
0.5270000100135803
]
] |
openx_train
|
|
7,370,831
|
01184
|
destack purple white cube
|
[
[
0.5580000281333923,
0.08699999749660492
],
[
0.5220000147819519,
0.09799999743700027
],
[
0.48100000619888306,
0.11299999803304672
],
[
0.421999990940094,
0.1420000046491623
],
[
0.3619999885559082,
0.17100000381469727
],
[
0.3479999899864197,
0.25200000405311584
],
[
0.3479999899864197,
0.32899999618530273
],
[
0.3529999852180481,
0.36500000953674316
],
[
0.3499999940395355,
0.3619999885559082
],
[
0.3499999940395355,
0.36500000953674316
],
[
0.3499999940395355,
0.35199999809265137
],
[
0.3449999988079071,
0.2919999957084656
],
[
0.3330000042915344,
0.2460000067949295
],
[
0.3050000071525574,
0.25999999046325684
],
[
0.2720000147819519,
0.2809999883174896
],
[
0.23399999737739563,
0.30399999022483826
],
[
0.2029999941587448,
0.31700000166893005
],
[
0.1720000058412552,
0.3330000042915344
],
[
0.15199999511241913,
0.36000001430511475
],
[
0.15800000727176666,
0.42899999022483826
],
[
0.16300000250339508,
0.4580000042915344
],
[
0.164000004529953,
0.46700000762939453
],
[
0.16599999368190765,
0.4650000035762787
],
[
0.16699999570846558,
0.4560000002384186
],
[
0.164000004529953,
0.4169999957084656
],
[
0.15299999713897705,
0.33799999952316284
],
[
0.1420000046491623,
0.2370000034570694
],
[
0.12999999523162842,
0.13300000131130219
],
[
0.11599999666213989,
0.09799999743700027
],
[
0.11100000143051147,
0.07900000363588333
],
[
0.10899999737739563,
0.07699999958276749
]
] |
openx_train
|
|
8,344,482
|
06401
|
pick bin
|
[
[
0.4449999928474426,
0.20200000703334808
],
[
0.4449999928474426,
0.1979999989271164
],
[
0.4440000057220459,
0.19599999487400055
],
[
0.4449999928474426,
0.19599999487400055
],
[
0.4449999928474426,
0.19200000166893005
],
[
0.4440000057220459,
0.1809999942779541
],
[
0.44999998807907104,
0.1850000023841858
],
[
0.44699999690055847,
0.1770000010728836
],
[
0.44999998807907104,
0.17499999701976776
],
[
0.4480000138282776,
0.16500000655651093
],
[
0.4449999928474426,
0.15800000727176666
],
[
0.44999998807907104,
0.1599999964237213
],
[
0.44699999690055847,
0.15600000321865082
],
[
0.44699999690055847,
0.15199999511241913
],
[
0.4410000145435333,
0.1420000046491623
],
[
0.4480000138282776,
0.14399999380111694
],
[
0.4480000138282776,
0.14000000059604645
],
[
0.4449999928474426,
0.13099999725818634
],
[
0.4480000138282776,
0.14000000059604645
],
[
0.4480000138282776,
0.13500000536441803
],
[
0.453000009059906,
0.14000000059604645
],
[
0.44999998807907104,
0.12700000405311584
],
[
0.44999998807907104,
0.13500000536441803
],
[
0.4519999921321869,
0.12700000405311584
],
[
0.44999998807907104,
0.1289999932050705
],
[
0.45500001311302185,
0.12300000339746475
],
[
0.453000009059906,
0.12099999934434891
],
[
0.46299999952316284,
0.10999999940395355
],
[
0.46399998664855957,
0.1080000028014183
],
[
0.460999995470047,
0.11699999868869781
],
[
0.46299999952316284,
0.10599999874830246
],
[
0.4560000002384186,
0.10599999874830246
],
[
0.46399998664855957,
0.10199999809265137
],
[
0.46299999952316284,
0.1080000028014183
],
[
0.460999995470047,
0.10400000214576721
],
[
0.46700000762939453,
0.10199999809265137
],
[
0.46399998664855957,
0.10199999809265137
],
[
0.4659999907016754,
0.10000000149011612
],
[
0.46700000762939453,
0.09600000083446503
],
[
0.46399998664855957,
0.08699999749660492
],
[
0.4659999907016754,
0.09000000357627869
],
[
0.46399998664855957,
0.09000000357627869
],
[
0.46299999952316284,
0.09000000357627869
],
[
0.45899999141693115,
0.09200000017881393
],
[
0.4580000042915344,
0.09200000017881393
],
[
0.4560000002384186,
0.09200000017881393
],
[
0.453000009059906,
0.09399999678134918
],
[
0.4519999921321869,
0.09399999678134918
],
[
0.4480000138282776,
0.09600000083446503
],
[
0.44699999690055847,
0.09600000083446503
]
] |
openx_train
|
|
30,839,558
|
12620
|
Turn on the faucet by rotating a designated handle
|
[
[
0.421999990940094,
0.03099999949336052
],
[
0.4099999964237213,
0.06599999964237213
],
[
0.4410000145435333,
0.0860000029206276
],
[
0.4490000009536743,
0.10499999672174454
],
[
0.453000009059906,
0.13699999451637268
],
[
0.4490000009536743,
0.2029999941587448
],
[
0.4410000145435333,
0.19499999284744263
],
[
0.4410000145435333,
0.2460000067949295
],
[
0.4410000145435333,
0.26600000262260437
],
[
0.4449999928474426,
0.3009999990463257
],
[
0.4449999928474426,
0.3050000071525574
],
[
0.43799999356269836,
0.289000004529953
],
[
0.4410000145435333,
0.31200000643730164
],
[
0.4339999854564667,
0.296999990940094
],
[
0.43799999356269836,
0.3009999990463257
],
[
0.421999990940094,
0.3009999990463257
],
[
0.421999990940094,
0.3089999854564667
],
[
0.4180000126361847,
0.3089999854564667
],
[
0.414000004529953,
0.3089999854564667
],
[
0.4099999964237213,
0.31200000643730164
],
[
0.4099999964237213,
0.31200000643730164
],
[
0.4180000126361847,
0.31200000643730164
],
[
0.4259999990463257,
0.3199999928474426
],
[
0.4339999854564667,
0.3160000145435333
],
[
0.4449999928474426,
0.3160000145435333
],
[
0.4569999873638153,
0.31200000643730164
],
[
0.4729999899864197,
0.3199999928474426
],
[
0.5,
0.328000009059906
],
[
0.5389999747276306,
0.3319999873638153
],
[
0.546999990940094,
0.3199999928474426
],
[
0.5619999766349792,
0.328000009059906
],
[
0.5820000171661377,
0.3319999873638153
],
[
0.6050000190734863,
0.335999995470047
],
[
0.6209999918937683,
0.3199999928474426
],
[
0.6330000162124634,
0.3199999928474426
]
] |
openx_train
|
|
20,227,782
|
43369
|
move white bowl near green rice chip bag
|
[
[
0.49399998784065247,
0.3160000145435333
]
] |
openx_train
|
|
10,243,772
|
04753
|
assemble chair
|
[
[
0.6700000166893005,
0.19599999487400055
],
[
0.6470000147819519,
0.2370000034570694
],
[
0.6650000214576721,
0.2770000100135803
],
[
0.7229999899864197,
0.2630000114440918
],
[
0.7009999752044678,
0.2590000033378601
],
[
0.6959999799728394,
0.28600001335144043
],
[
0.6159999966621399,
0.3440000116825104
],
[
0.3619999885559082,
0.375
],
[
0.2630000114440918,
0.41999998688697815
],
[
0.625,
0.16500000655651093
],
[
0.6700000166893005,
0.17900000512599945
],
[
0.3659999966621399,
0.1379999965429306
],
[
0.6610000133514404,
0.17000000178813934
],
[
0.7860000133514404,
0.2809999883174896
],
[
0.7459999918937683,
0.17900000512599945
],
[
0.7590000033378601,
0.15600000321865082
],
[
0.7319999933242798,
0.19200000166893005
],
[
0.7319999933242798,
0.20999999344348907
],
[
0.7590000033378601,
0.19599999487400055
],
[
0.7950000166893005,
0.18299999833106995
],
[
0.8349999785423279,
0.10700000077486038
],
[
0.6380000114440918,
0.30799999833106995
],
[
0.8080000281333923,
0.17000000178813934
],
[
0.7459999918937683,
0.1379999965429306
],
[
0.7950000166893005,
0.17000000178813934
],
[
0.8080000281333923,
0.17399999499320984
],
[
0.8569999933242798,
0.23199999332427979
],
[
0.7950000166893005,
0.17000000178813934
],
[
0.843999981880188,
0.23199999332427979
],
[
0.781000018119812,
0.19599999487400055
],
[
0.781000018119812,
0.19599999487400055
]
] |
openx_train
|
|
31,178,193
|
17076
|
Pick up the object and move it to a goal position
|
[
[
0.414000004529953,
0.6290000081062317
],
[
0.421999990940094,
0.625
],
[
0.421999990940094,
0.625
],
[
0.421999990940094,
0.6290000081062317
],
[
0.4259999990463257,
0.625
],
[
0.421999990940094,
0.625
],
[
0.421999990940094,
0.6209999918937683
],
[
0.421999990940094,
0.6290000081062317
],
[
0.4259999990463257,
0.6330000162124634
],
[
0.4259999990463257,
0.6290000081062317
],
[
0.421999990940094,
0.6290000081062317
],
[
0.421999990940094,
0.6290000081062317
],
[
0.421999990940094,
0.625
],
[
0.421999990940094,
0.6209999918937683
],
[
0.4259999990463257,
0.6169999837875366
],
[
0.4259999990463257,
0.609000027179718
],
[
0.4339999854564667,
0.6019999980926514
],
[
0.4300000071525574,
0.5899999737739563
],
[
0.43799999356269836,
0.5820000171661377
],
[
0.43799999356269836,
0.5619999766349792
],
[
0.4410000145435333,
0.5509999990463257
],
[
0.4410000145435333,
0.531000018119812
],
[
0.4449999928474426,
0.5120000243186951
],
[
0.4569999873638153,
0.4959999918937683
],
[
0.4569999873638153,
0.47699999809265137
],
[
0.4650000035762787,
0.4650000035762787
],
[
0.4690000116825104,
0.4449999928474426
],
[
0.47699999809265137,
0.4300000071525574
],
[
0.47699999809265137,
0.4180000126361847
],
[
0.47699999809265137,
0.4059999883174896
],
[
0.48399999737739563,
0.39800000190734863
],
[
0.48399999737739563,
0.3869999945163727
],
[
0.48399999737739563,
0.382999986410141
],
[
0.48399999737739563,
0.375
],
[
0.48399999737739563,
0.375
],
[
0.48399999737739563,
0.375
]
] |
openx_train
|
|
20,227,460
|
76192
|
move blue plastic bottle near rxbar blueberry
|
[
[
0.2750000059604645,
0.3400000035762787
],
[
0.2720000147819519,
0.3400000035762787
],
[
0.26600000262260437,
0.35499998927116394
],
[
0.25600001215934753,
0.382999986410141
],
[
0.24699999392032623,
0.39800000190734863
]
] |
openx_train
|
|
3,160,746
|
14134
|
pick red purple cube
|
[
[
0.21699999272823334,
0.4480000138282776
],
[
0.2160000056028366,
0.43299999833106995
],
[
0.2160000056028366,
0.4269999861717224
],
[
0.21400000154972076,
0.41499999165534973
],
[
0.210999995470047,
0.4020000100135803
],
[
0.20900000631809235,
0.3919999897480011
],
[
0.20600000023841858,
0.382999986410141
],
[
0.20499999821186066,
0.36899998784065247
],
[
0.20200000703334808,
0.3580000102519989
],
[
0.20200000703334808,
0.3440000116825104
],
[
0.2029999941587448,
0.3269999921321869
],
[
0.1940000057220459,
0.31700000166893005
],
[
0.19499999284744263,
0.3019999861717224
],
[
0.19499999284744263,
0.2849999964237213
],
[
0.1979999989271164,
0.26499998569488525
],
[
0.19099999964237213,
0.25
],
[
0.1889999955892563,
0.23100000619888306
],
[
0.1889999955892563,
0.22100000083446503
],
[
0.19499999284744263,
0.20600000023841858
],
[
0.19200000166893005,
0.1940000057220459
],
[
0.1889999955892563,
0.1850000023841858
],
[
0.18299999833106995,
0.16500000655651093
],
[
0.18000000715255737,
0.1599999964237213
],
[
0.18000000715255737,
0.15199999511241913
],
[
0.18000000715255737,
0.14800000190734863
],
[
0.18000000715255737,
0.14000000059604645
],
[
0.1770000010728836,
0.13099999725818634
],
[
0.1720000058412552,
0.1289999932050705
],
[
0.1809999942779541,
0.125
],
[
0.17499999701976776,
0.11900000274181366
],
[
0.18000000715255737,
0.11299999803304672
],
[
0.1889999955892563,
0.11299999803304672
],
[
0.1889999955892563,
0.10999999940395355
],
[
0.1809999942779541,
0.10199999809265137
],
[
0.1809999942779541,
0.09799999743700027
],
[
0.18799999356269836,
0.09799999743700027
],
[
0.18799999356269836,
0.09399999678134918
],
[
0.19099999964237213,
0.09399999678134918
],
[
0.1860000044107437,
0.09399999678134918
],
[
0.1889999955892563,
0.09399999678134918
],
[
0.18400000035762787,
0.09399999678134918
],
[
0.18000000715255737,
0.09399999678134918
],
[
0.18000000715255737,
0.09600000083446503
],
[
0.17800000309944153,
0.09399999678134918
]
] |
openx_train
|
|
32,747,269
|
00613
|
Lift up the red cube by 0.2 meters
|
[
[
0.5899999737739563,
0.6330000162124634
],
[
0.593999981880188,
0.6330000162124634
],
[
0.5899999737739563,
0.6330000162124634
],
[
0.5899999737739563,
0.6370000243186951
],
[
0.5899999737739563,
0.6370000243186951
],
[
0.593999981880188,
0.6370000243186951
],
[
0.593999981880188,
0.6370000243186951
],
[
0.593999981880188,
0.6370000243186951
],
[
0.593999981880188,
0.6330000162124634
],
[
0.5979999899864197,
0.6330000162124634
],
[
0.5979999899864197,
0.6330000162124634
],
[
0.5979999899864197,
0.6330000162124634
],
[
0.5979999899864197,
0.6290000081062317
],
[
0.5979999899864197,
0.625
],
[
0.6019999980926514,
0.6209999918937683
],
[
0.6019999980926514,
0.6169999837875366
],
[
0.6019999980926514,
0.6129999756813049
],
[
0.6019999980926514,
0.609000027179718
],
[
0.6019999980926514,
0.6050000190734863
],
[
0.6019999980926514,
0.5979999899864197
],
[
0.6050000190734863,
0.593999981880188
],
[
0.609000027179718,
0.5860000252723694
],
[
0.6129999756813049,
0.5860000252723694
],
[
0.6129999756813049,
0.5740000009536743
],
[
0.6169999837875366,
0.5699999928474426
],
[
0.6169999837875366,
0.5619999766349792
],
[
0.6169999837875366,
0.5550000071525574
],
[
0.6209999918937683,
0.5509999990463257
],
[
0.6209999918937683,
0.5429999828338623
],
[
0.6290000081062317,
0.5429999828338623
],
[
0.6330000162124634,
0.5350000262260437
],
[
0.625,
0.5230000019073486
],
[
0.625,
0.5230000019073486
],
[
0.6290000081062317,
0.5230000019073486
],
[
0.6330000162124634,
0.5199999809265137
],
[
0.6330000162124634,
0.515999972820282
],
[
0.6370000243186951,
0.515999972820282
],
[
0.6330000162124634,
0.5120000243186951
],
[
0.6330000162124634,
0.5120000243186951
],
[
0.6330000162124634,
0.5120000243186951
],
[
0.6370000243186951,
0.5120000243186951
],
[
0.6330000162124634,
0.515999972820282
],
[
0.6330000162124634,
0.515999972820282
],
[
0.6330000162124634,
0.5120000243186951
]
] |
openx_train
|
|
4,569,697
|
14006
|
pick red purple cube
|
[
[
0.3059999942779541,
0.38999998569488525
],
[
0.30799999833106995,
0.37700000405311584
],
[
0.3089999854564667,
0.367000013589859
],
[
0.3050000071525574,
0.35600000619888306
],
[
0.30799999833106995,
0.34599998593330383
],
[
0.30799999833106995,
0.32899999618530273
],
[
0.3059999942779541,
0.3190000057220459
],
[
0.3059999942779541,
0.30799999833106995
],
[
0.3050000071525574,
0.28700000047683716
],
[
0.30799999833106995,
0.27300000190734863
],
[
0.3019999861717224,
0.25999999046325684
],
[
0.30300000309944153,
0.2329999953508377
],
[
0.30000001192092896,
0.22300000488758087
],
[
0.3019999861717224,
0.20600000023841858
],
[
0.30000001192092896,
0.1850000023841858
],
[
0.2980000078678131,
0.16500000655651093
],
[
0.2939999997615814,
0.14800000190734863
],
[
0.2919999957084656,
0.14000000059604645
],
[
0.28700000047683716,
0.12700000405311584
],
[
0.29100000858306885,
0.11900000274181366
],
[
0.28700000047683716,
0.10599999874830246
],
[
0.29100000858306885,
0.09799999743700027
],
[
0.2840000092983246,
0.09399999678134918
],
[
0.28700000047683716,
0.08500000089406967
],
[
0.3059999942779541,
0.07100000232458115
],
[
0.3059999942779541,
0.0729999989271164
],
[
0.3310000002384186,
0.05000000074505806
],
[
0.3160000145435333,
0.06199999898672104
],
[
0.3230000138282776,
0.05400000140070915
],
[
0.3109999895095825,
0.0560000017285347
],
[
0.3089999854564667,
0.05400000140070915
],
[
0.3089999854564667,
0.05400000140070915
],
[
0.3160000145435333,
0.057999998331069946
],
[
0.2980000078678131,
0.057999998331069946
],
[
0.3140000104904175,
0.05999999865889549
]
] |
openx_train
|
|
18,621,921
|
01067
|
move sponge near 7up can
|
[
[
0.3779999911785126,
0.5429999828338623
],
[
0.3779999911785126,
0.546999990940094
]
] |
openx_train
|
|
18,601,916
|
12023
|
knock redbull can over
|
[
[
0.5809999704360962,
0.47999998927116394
],
[
0.5720000267028809,
0.47999998927116394
],
[
0.5720000267028809,
0.47999998927116394
],
[
0.5839999914169312,
0.48399999737739563
],
[
0.5339999794960022,
0.5199999809265137
],
[
0.46299999952316284,
0.4959999918937683
],
[
0.42500001192092896,
0.4690000116825104
],
[
0.3840000033378601,
0.453000009059906
],
[
0.3659999966621399,
0.4410000145435333
],
[
0.3659999966621399,
0.4180000126361847
],
[
0.3619999885559082,
0.3869999945163727
],
[
0.3619999885559082,
0.3400000035762787
],
[
0.33799999952316284,
0.3089999854564667
],
[
0.32499998807907104,
0.3199999928474426
],
[
0.33799999952316284,
0.3630000054836273
],
[
0.3440000116825104,
0.39800000190734863
],
[
0.3659999966621399,
0.4259999990463257
],
[
0.3779999911785126,
0.4339999854564667
],
[
0.3840000033378601,
0.4339999854564667
],
[
0.39399999380111694,
0.43799999356269836
],
[
0.3970000147819519,
0.4650000035762787
],
[
0.3970000147819519,
0.4690000116825104
],
[
0.4090000092983246,
0.453000009059906
],
[
0.4659999907016754,
0.39100000262260437
],
[
0.5440000295639038,
0.367000013589859
],
[
0.6470000147819519,
0.335999995470047
],
[
0.753000020980835,
0.35199999809265137
],
[
0.8119999766349792,
0.35199999809265137
]
] |
openx_train
|
|
33,225,874
|
26576
|
Pick up the object and move it to a goal position
|
[
[
0.5590000152587891,
0.6019999980926514
],
[
0.5619999766349792,
0.6019999980926514
],
[
0.5590000152587891,
0.6050000190734863
],
[
0.5550000071525574,
0.6050000190734863
],
[
0.5550000071525574,
0.6019999980926514
],
[
0.5590000152587891,
0.609000027179718
],
[
0.5590000152587891,
0.609000027179718
],
[
0.5590000152587891,
0.6129999756813049
],
[
0.5590000152587891,
0.609000027179718
],
[
0.5550000071525574,
0.609000027179718
],
[
0.5590000152587891,
0.609000027179718
],
[
0.5550000071525574,
0.609000027179718
],
[
0.5590000152587891,
0.609000027179718
],
[
0.5590000152587891,
0.609000027179718
],
[
0.5550000071525574,
0.609000027179718
],
[
0.5550000071525574,
0.609000027179718
],
[
0.5550000071525574,
0.609000027179718
],
[
0.5550000071525574,
0.609000027179718
],
[
0.5590000152587891,
0.609000027179718
],
[
0.5590000152587891,
0.609000027179718
],
[
0.5590000152587891,
0.609000027179718
],
[
0.5619999766349792,
0.6050000190734863
],
[
0.5659999847412109,
0.6050000190734863
],
[
0.5659999847412109,
0.6050000190734863
],
[
0.5659999847412109,
0.6050000190734863
],
[
0.5740000009536743,
0.5979999899864197
],
[
0.5740000009536743,
0.593999981880188
],
[
0.578000009059906,
0.593999981880188
],
[
0.5820000171661377,
0.5860000252723694
],
[
0.5899999737739563,
0.5860000252723694
],
[
0.593999981880188,
0.578000009059906
],
[
0.6019999980926514,
0.5740000009536743
],
[
0.609000027179718,
0.5659999847412109
],
[
0.6169999837875366,
0.5619999766349792
],
[
0.6209999918937683,
0.5550000071525574
],
[
0.6370000243186951,
0.5429999828338623
],
[
0.6449999809265137,
0.5389999747276306
],
[
0.656000018119812,
0.531000018119812
],
[
0.6639999747276306,
0.5199999809265137
],
[
0.6800000071525574,
0.5120000243186951
],
[
0.6880000233650208,
0.5080000162124634
],
[
0.6990000009536743,
0.4959999918937683
],
[
0.7070000171661377,
0.4880000054836273
],
[
0.718999981880188,
0.47999998927116394
],
[
0.7300000190734863,
0.4690000116825104
],
[
0.7379999756813049,
0.4650000035762787
],
[
0.75,
0.4569999873638153
],
[
0.7580000162124634,
0.4490000009536743
],
[
0.765999972820282,
0.4449999928474426
],
[
0.7770000100135803,
0.43799999356269836
],
[
0.7850000262260437,
0.4339999854564667
],
[
0.7889999747276306,
0.4339999854564667
],
[
0.7929999828338623,
0.4300000071525574
],
[
0.796999990940094,
0.4259999990463257
],
[
0.8009999990463257,
0.4259999990463257
],
[
0.8009999990463257,
0.421999990940094
]
] |
openx_train
|
|
11,055,635
|
01481
|
assemble square_table
|
[
[
0.7459999918937683,
0.3569999933242798
],
[
0.7990000247955322,
0.3529999852180481
],
[
0.7860000133514404,
0.3709999918937683
],
[
0.7680000066757202,
0.3659999966621399
],
[
0.7680000066757202,
0.3930000066757202
],
[
0.7590000033378601,
0.3790000081062317
],
[
0.7860000133514404,
0.3659999966621399
],
[
0.7770000100135803,
0.3569999933242798
],
[
0.7540000081062317,
0.375
],
[
0.625,
0.20100000500679016
],
[
0.28999999165534973,
0.20499999821186066
],
[
0.10300000011920929,
0.3619999885559082
],
[
0.10300000011920929,
0.43799999356269836
],
[
0.12099999934434891,
0.3709999918937683
],
[
0.17399999499320984,
0.17000000178813934
],
[
0.5849999785423279,
0.2370000034570694
],
[
0.5130000114440918,
0.28999999165534973
],
[
0.5090000033378601,
0.33500000834465027
],
[
0.41999998688697815,
0.3569999933242798
],
[
0.45500001311302185,
0.3790000081062317
],
[
0.5360000133514404,
0.3569999933242798
],
[
0.5669999718666077,
0.32600000500679016
],
[
0.5490000247955322,
0.3840000033378601
],
[
0.593999981880188,
0.375
],
[
0.5360000133514404,
0.44600000977516174
],
[
0.4869999885559082,
0.375
],
[
0.4729999899864197,
0.5360000133514404
],
[
0.5490000247955322,
0.3930000066757202
],
[
0.5709999799728394,
0.46399998664855957
],
[
0.5360000133514404,
0.375
],
[
0.5130000114440918,
0.44200000166893005
]
] |
openx_train
|
|
4,832,190
|
08692
|
pick bin
|
[
[
0.5550000071525574,
0.1080000028014183
],
[
0.550000011920929,
0.12099999934434891
],
[
0.5440000295639038,
0.1459999978542328
],
[
0.5389999747276306,
0.16500000655651093
],
[
0.5370000004768372,
0.21699999272823334
],
[
0.5299999713897705,
0.2709999978542328
],
[
0.531000018119812,
0.3059999942779541
],
[
0.527999997138977,
0.3479999899864197
],
[
0.5339999794960022,
0.39399999380111694
],
[
0.527999997138977,
0.42899999022483826
],
[
0.531000018119812,
0.46299999952316284
],
[
0.5329999923706055,
0.46700000762939453
],
[
0.5339999794960022,
0.46299999952316284
],
[
0.531000018119812,
0.46299999952316284
],
[
0.5360000133514404,
0.46700000762939453
],
[
0.5329999923706055,
0.4650000035762787
],
[
0.5329999923706055,
0.46299999952316284
],
[
0.5360000133514404,
0.4580000042915344
],
[
0.5360000133514404,
0.4269999861717224
],
[
0.5329999923706055,
0.39800000190734863
],
[
0.5329999923706055,
0.36000001430511475
],
[
0.5329999923706055,
0.31700000166893005
],
[
0.5339999794960022,
0.25999999046325684
],
[
0.5370000004768372,
0.21199999749660492
],
[
0.5370000004768372,
0.17499999701976776
],
[
0.5329999923706055,
0.14000000059604645
],
[
0.5360000133514404,
0.10999999940395355
],
[
0.5440000295639038,
0.10199999809265137
],
[
0.546999990940094,
0.10000000149011612
],
[
0.546999990940094,
0.10000000149011612
]
] |
openx_train
|
|
12,384,327
|
00463
|
assemble square_table
|
[
[
0.5979999899864197,
0.3479999899864197
],
[
0.5450000166893005,
0.41999998688697815
],
[
0.5540000200271606,
0.3930000066757202
],
[
0.5849999785423279,
0.3479999899864197
],
[
0.5889999866485596,
0.32100000977516174
],
[
0.6919999718666077,
0.42399999499320984
],
[
0.44600000977516174,
0.41999998688697815
],
[
0.656000018119812,
0.45100000500679016
],
[
0.375,
0.2590000033378601
],
[
0.19200000166893005,
0.44200000166893005
],
[
0.23199999332427979,
0.41499999165534973
],
[
0.5490000247955322,
0.21899999678134918
],
[
0.781000018119812,
0.31700000166893005
],
[
0.8040000200271606,
0.28999999165534973
],
[
0.8529999852180481,
0.31700000166893005
],
[
0.8299999833106995,
0.31200000643730164
],
[
0.8119999766349792,
0.32600000500679016
],
[
0.7950000166893005,
0.32100000977516174
],
[
0.8040000200271606,
0.32600000500679016
],
[
0.6650000214576721,
0.2409999966621399
],
[
0.14300000667572021,
0.3659999966621399
],
[
0.30399999022483826,
0.07100000232458115
],
[
0.3709999918937683,
0.2409999966621399
],
[
0.5130000114440918,
0.21400000154972076
],
[
0.5090000033378601,
0.2770000100135803
],
[
0.531000018119812,
0.30399999022483826
],
[
0.5180000066757202,
0.30799999833106995
],
[
0.5400000214576721,
0.3440000116825104
],
[
0.5360000133514404,
0.31700000166893005
],
[
0.5450000166893005,
0.3440000116825104
],
[
0.5490000247955322,
0.33899998664855957
]
] |
openx_train
|
|
33,479,311
|
09448
|
Insert a designated object into the corresponding slot on a board
|
[
[
0.515999972820282,
0.3709999918937683
],
[
0.5199999809265137,
0.3869999945163727
],
[
0.5230000019073486,
0.39100000262260437
],
[
0.531000018119812,
0.39100000262260437
],
[
0.5270000100135803,
0.39500001072883606
],
[
0.531000018119812,
0.39500001072883606
],
[
0.5270000100135803,
0.39100000262260437
],
[
0.5230000019073486,
0.39800000190734863
],
[
0.5270000100135803,
0.4099999964237213
],
[
0.5199999809265137,
0.414000004529953
],
[
0.5199999809265137,
0.4059999883174896
],
[
0.5230000019073486,
0.4099999964237213
],
[
0.5199999809265137,
0.4099999964237213
],
[
0.5199999809265137,
0.414000004529953
],
[
0.5199999809265137,
0.4099999964237213
],
[
0.5230000019073486,
0.414000004529953
],
[
0.5270000100135803,
0.421999990940094
],
[
0.5270000100135803,
0.4339999854564667
],
[
0.5270000100135803,
0.4449999928474426
],
[
0.5389999747276306,
0.4690000116825104
],
[
0.5659999847412109,
0.5
],
[
0.5979999899864197,
0.531000018119812
],
[
0.625,
0.5550000071525574
],
[
0.656000018119812,
0.5699999928474426
],
[
0.6909999847412109,
0.5899999737739563
],
[
0.7229999899864197,
0.5860000252723694
],
[
0.7300000190734863,
0.5979999899864197
],
[
0.7379999756813049,
0.5820000171661377
],
[
0.75,
0.593999981880188
],
[
0.7419999837875366,
0.593999981880188
],
[
0.7379999756813049,
0.593999981880188
],
[
0.7419999837875366,
0.593999981880188
],
[
0.7379999756813049,
0.5979999899864197
],
[
0.7379999756813049,
0.5979999899864197
]
] |
openx_train
|
|
265,215
|
01433
|
Smooth extension of your directing tool towards the grip of the higher drawer.
Look into correctly lingering your directing tool with drawer
|
[
[
0.6169999837875366,
0.421999990940094
],
[
0.593999981880188,
0.414000004529953
],
[
0.578000009059906,
0.4059999883174896
],
[
0.546999990940094,
0.382999986410141
],
[
0.5230000019073486,
0.39100000262260437
],
[
0.5,
0.39100000262260437
],
[
0.492000013589859,
0.39100000262260437
],
[
0.48399999737739563,
0.39800000190734863
],
[
0.48399999737739563,
0.414000004529953
],
[
0.47699999809265137,
0.4300000071525574
],
[
0.48399999737739563,
0.43799999356269836
],
[
0.47699999809265137,
0.460999995470047
],
[
0.47699999809265137,
0.4690000116825104
],
[
0.47699999809265137,
0.492000013589859
],
[
0.48399999737739563,
0.5080000162124634
],
[
0.48399999737739563,
0.5230000019073486
],
[
0.48399999737739563,
0.5389999747276306
],
[
0.48399999737739563,
0.546999990940094
],
[
0.47699999809265137,
0.546999990940094
],
[
0.47699999809265137,
0.546999990940094
],
[
0.47699999809265137,
0.546999990940094
],
[
0.4690000116825104,
0.5550000071525574
],
[
0.4690000116825104,
0.5389999747276306
],
[
0.47699999809265137,
0.546999990940094
],
[
0.4690000116825104,
0.546999990940094
],
[
0.47699999809265137,
0.531000018119812
],
[
0.4690000116825104,
0.515999972820282
],
[
0.47699999809265137,
0.4690000116825104
],
[
0.48399999737739563,
0.43799999356269836
],
[
0.492000013589859,
0.382999986410141
],
[
0.5,
0.35899999737739563
],
[
0.5080000162124634,
0.31200000643730164
],
[
0.515999972820282,
0.2809999883174896
],
[
0.5230000019073486,
0.23399999737739563
],
[
0.5389999747276306,
0.18799999356269836
],
[
0.5389999747276306,
0.15600000321865082
],
[
0.546999990940094,
0.11699999868869781
],
[
0.5860000252723694,
0.09399999678134918
],
[
0.5619999766349792,
0.0860000029206276
]
] |
openx_train
|
|
31,628,773
|
15540
|
Pick up the object and move it to a goal position
|
[
[
0.47699999809265137,
0.47699999809265137
],
[
0.47999998927116394,
0.4650000035762787
],
[
0.48399999737739563,
0.460999995470047
],
[
0.4880000054836273,
0.453000009059906
],
[
0.4959999918937683,
0.4410000145435333
],
[
0.5,
0.4339999854564667
],
[
0.5040000081062317,
0.4300000071525574
],
[
0.5080000162124634,
0.414000004529953
],
[
0.5120000243186951,
0.414000004529953
],
[
0.515999972820282,
0.4020000100135803
],
[
0.5270000100135803,
0.39500001072883606
],
[
0.531000018119812,
0.382999986410141
],
[
0.5350000262260437,
0.3709999918937683
],
[
0.546999990940094,
0.367000013589859
],
[
0.5590000152587891,
0.35899999737739563
],
[
0.5619999766349792,
0.35499998927116394
],
[
0.5699999928474426,
0.3440000116825104
],
[
0.5740000009536743,
0.328000009059906
],
[
0.5820000171661377,
0.3160000145435333
],
[
0.5899999737739563,
0.3050000071525574
],
[
0.5979999899864197,
0.2930000126361847
],
[
0.6019999980926514,
0.2770000100135803
],
[
0.6129999756813049,
0.27000001072883606
],
[
0.6209999918937683,
0.257999986410141
],
[
0.6330000162124634,
0.23000000417232513
],
[
0.6480000019073486,
0.23000000417232513
],
[
0.6639999747276306,
0.21899999678134918
],
[
0.6679999828338623,
0.2029999941587448
],
[
0.6600000262260437,
0.19900000095367432
],
[
0.6840000152587891,
0.1720000058412552
],
[
0.6880000233650208,
0.1720000058412552
],
[
0.6909999847412109,
0.1679999977350235
],
[
0.6990000009536743,
0.1679999977350235
],
[
0.7070000171661377,
0.1679999977350235
],
[
0.7149999737739563,
0.1679999977350235
],
[
0.7149999737739563,
0.19900000095367432
],
[
0.7269999980926514,
0.164000004529953
],
[
0.7229999899864197,
0.1679999977350235
],
[
0.7300000190734863,
0.14800000190734863
],
[
0.7540000081062317,
0.1289999932050705
],
[
0.7699999809265137,
0.11699999868869781
],
[
0.7620000243186951,
0.12099999934434891
],
[
0.7620000243186951,
0.11699999868869781
],
[
0.7580000162124634,
0.12099999934434891
],
[
0.7730000019073486,
0.11299999803304672
],
[
0.7620000243186951,
0.10499999672174454
],
[
0.7540000081062317,
0.10499999672174454
],
[
0.7850000262260437,
0.09799999743700027
],
[
0.781000018119812,
0.09799999743700027
],
[
0.7620000243186951,
0.10899999737739563
],
[
0.7730000019073486,
0.09799999743700027
],
[
0.7850000262260437,
0.10199999809265137
]
] |
openx_train
|
|
12,844,061
|
04320
|
assemble one_leg
|
[
[
0.7900000214576721,
0.42899999022483826
],
[
0.7540000081062317,
0.41100001335144043
],
[
0.8209999799728394,
0.29499998688697815
],
[
0.7990000247955322,
0.19200000166893005
],
[
0.7900000214576721,
0.21899999678134918
],
[
0.8040000200271606,
0.2540000081062317
],
[
0.8080000281333923,
0.32600000500679016
],
[
0.7900000214576721,
0.33899998664855957
],
[
0.7950000166893005,
0.33899998664855957
],
[
0.8169999718666077,
0.32100000977516174
],
[
0.8169999718666077,
0.3619999885559082
],
[
0.8259999752044678,
0.31700000166893005
],
[
0.843999981880188,
0.30799999833106995
],
[
0.8529999852180481,
0.3659999966621399
],
[
0.8389999866485596,
0.375
],
[
0.8169999718666077,
0.3569999933242798
],
[
0.8299999833106995,
0.31700000166893005
],
[
0.8209999799728394,
0.33899998664855957
],
[
0.8209999799728394,
0.3529999852180481
],
[
0.8080000281333923,
0.3529999852180481
],
[
0.8529999852180481,
0.33500000834465027
],
[
0.8209999799728394,
0.3479999899864197
],
[
0.8259999752044678,
0.3659999966621399
],
[
0.8209999799728394,
0.3479999899864197
],
[
0.875,
0.33500000834465027
],
[
0.8299999833106995,
0.33899998664855957
],
[
0.8169999718666077,
0.3479999899864197
],
[
0.8299999833106995,
0.3440000116825104
],
[
0.8479999899864197,
0.32100000977516174
],
[
0.8040000200271606,
0.3440000116825104
],
[
0.8040000200271606,
0.3569999933242798
],
[
0.7990000247955322,
0.3479999899864197
]
] |
openx_train
|
|
8,321,922
|
01123
|
destack purple white cube
|
[
[
0.22200000286102295,
0.24199999868869781
],
[
0.21199999749660492,
0.23499999940395355
],
[
0.21699999272823334,
0.2669999897480011
],
[
0.22300000488758087,
0.2980000078678131
],
[
0.22499999403953552,
0.3149999976158142
],
[
0.21899999678134918,
0.3540000021457672
],
[
0.2199999988079071,
0.3619999885559082
],
[
0.22499999403953552,
0.38499999046325684
],
[
0.2280000001192093,
0.4020000100135803
],
[
0.22699999809265137,
0.41499999165534973
],
[
0.22699999809265137,
0.42100000381469727
],
[
0.22699999809265137,
0.4350000023841858
],
[
0.23100000619888306,
0.4269999861717224
],
[
0.22699999809265137,
0.4269999861717224
],
[
0.23000000417232513,
0.42899999022483826
],
[
0.23000000417232513,
0.4309999942779541
],
[
0.23100000619888306,
0.4269999861717224
],
[
0.23000000417232513,
0.4269999861717224
],
[
0.23000000417232513,
0.42500001192092896
],
[
0.2280000001192093,
0.39800000190734863
],
[
0.22300000488758087,
0.36899998784065247
],
[
0.22300000488758087,
0.3310000002384186
],
[
0.22200000286102295,
0.2980000078678131
],
[
0.21400000154972076,
0.25200000405311584
],
[
0.20499999821186066,
0.21199999749660492
],
[
0.20900000631809235,
0.16899999976158142
],
[
0.20200000703334808,
0.1420000046491623
],
[
0.2029999941587448,
0.12300000339746475
],
[
0.20800000429153442,
0.11299999803304672
],
[
0.2029999941587448,
0.09600000083446503
],
[
0.20000000298023224,
0.07500000298023224
]
] |
openx_train
|
|
11,193,284
|
01163
|
assemble desk
|
[
[
0.531000018119812,
0.29499998688697815
],
[
0.18299999833106995,
0.33000001311302185
],
[
0.18799999356269836,
0.4819999933242798
],
[
0.15600000321865082,
0.21400000154972076
],
[
0.6290000081062317,
0.1379999965429306
],
[
0.7630000114440918,
0.19200000166893005
],
[
0.7459999918937683,
0.19599999487400055
],
[
0.8529999852180481,
0.2370000034570694
],
[
0.7860000133514404,
0.20999999344348907
],
[
0.8119999766349792,
0.22300000488758087
],
[
0.8619999885559082,
0.20999999344348907
],
[
0.8389999866485596,
0.2370000034570694
],
[
0.8080000281333923,
0.2409999966621399
],
[
0.8349999785423279,
0.2460000067949295
],
[
0.7630000114440918,
0.2630000114440918
],
[
0.21400000154972076,
0.20100000500679016
],
[
0.12099999934434891,
0.3840000033378601
],
[
0.17900000512599945,
0.21400000154972076
],
[
0.3840000033378601,
0.17000000178813934
],
[
0.3709999918937683,
0.17399999499320984
],
[
0.30799999833106995,
0.20999999344348907
],
[
0.3619999885559082,
0.19599999487400055
],
[
0.31700000166893005,
0.22300000488758087
],
[
0.3479999899864197,
0.20499999821186066
],
[
0.3479999899864197,
0.20999999344348907
],
[
0.3619999885559082,
0.21400000154972076
],
[
0.3659999966621399,
0.21400000154972076
],
[
0.3930000066757202,
0.2409999966621399
],
[
0.3790000081062317,
0.21899999678134918
],
[
0.3930000066757202,
0.2280000001192093
]
] |
openx_train
|
|
3,686,843
|
19790
|
stack red gray cube
|
[
[
0.28600001335144043,
0.40400001406669617
],
[
0.28700000047683716,
0.40400001406669617
],
[
0.289000004529953,
0.4020000100135803
],
[
0.28700000047683716,
0.4020000100135803
],
[
0.28700000047683716,
0.4020000100135803
],
[
0.28700000047683716,
0.40400001406669617
],
[
0.289000004529953,
0.38999998569488525
],
[
0.289000004529953,
0.3790000081062317
],
[
0.289000004529953,
0.367000013589859
],
[
0.2840000092983246,
0.35199999809265137
],
[
0.28700000047683716,
0.33500000834465027
],
[
0.28600001335144043,
0.31200000643730164
],
[
0.2809999883174896,
0.2919999957084656
],
[
0.27300000190734863,
0.2669999897480011
],
[
0.27000001072883606,
0.2329999953508377
],
[
0.26899999380111694,
0.20800000429153442
],
[
0.26899999380111694,
0.1770000010728836
],
[
0.26600000262260437,
0.15399999916553497
],
[
0.26600000262260437,
0.1420000046491623
],
[
0.2639999985694885,
0.12099999934434891
],
[
0.27000001072883606,
0.11699999868869781
],
[
0.2669999897480011,
0.09399999678134918
],
[
0.2630000114440918,
0.08100000023841858
],
[
0.26600000262260437,
0.0729999989271164
],
[
0.328000009059906,
0.07100000232458115
],
[
0.3269999921321869,
0.0560000017285347
],
[
0.328000009059906,
0.04800000041723251
],
[
0.3230000138282776,
0.03999999910593033
],
[
0.32199999690055847,
0.032999999821186066
],
[
0.3199999928474426,
0.028999999165534973
],
[
0.3199999928474426,
0.028999999165534973
],
[
0.3199999928474426,
0.028999999165534973
],
[
0.3199999928474426,
0.028999999165534973
],
[
0.3199999928474426,
0.03099999949336052
],
[
0.32199999690055847,
0.03099999949336052
],
[
0.3199999928474426,
0.028999999165534973
]
] |
openx_train
|
|
8,894,653
|
18146
|
stack boston blue white cube
|
[
[
0.6809999942779541,
0.5419999957084656
],
[
0.6840000152587891,
0.5230000019073486
],
[
0.6909999847412109,
0.46700000762939453
],
[
0.671999990940094,
0.44600000977516174
],
[
0.652999997138977,
0.42899999022483826
],
[
0.6230000257492065,
0.40799999237060547
],
[
0.6019999980926514,
0.3919999897480011
],
[
0.5799999833106995,
0.37299999594688416
],
[
0.5580000281333923,
0.3580000102519989
],
[
0.531000018119812,
0.34599998593330383
],
[
0.503000020980835,
0.32100000977516174
],
[
0.47999998927116394,
0.30799999833106995
],
[
0.460999995470047,
0.28999999165534973
],
[
0.43799999356269836,
0.27900001406669617
],
[
0.414000004529953,
0.26499998569488525
],
[
0.3919999897480011,
0.2460000067949295
],
[
0.37700000405311584,
0.23499999940395355
],
[
0.367000013589859,
0.23499999940395355
],
[
0.367000013589859,
0.2849999964237213
],
[
0.36899998784065247,
0.3310000002384186
],
[
0.36899998784065247,
0.33500000834465027
],
[
0.36899998784065247,
0.3400000035762787
],
[
0.3700000047683716,
0.3479999899864197
],
[
0.36899998784065247,
0.3479999899864197
],
[
0.36899998784065247,
0.3310000002384186
],
[
0.36899998784065247,
0.2770000100135803
],
[
0.3619999885559082,
0.20800000429153442
],
[
0.3659999966621399,
0.1420000046491623
],
[
0.3659999966621399,
0.09399999678134918
],
[
0.3659999966621399,
0.06199999898672104
]
] |
openx_train
|
|
32,169,935
|
16463
|
Pick up a designated object from a clutter of objects
|
[
[
0.2460000067949295,
0.6949999928474426
],
[
0.25,
0.703000009059906
],
[
0.2460000067949295,
0.7110000252723694
],
[
0.2460000067949295,
0.7110000252723694
],
[
0.24199999868869781,
0.7110000252723694
],
[
0.2460000067949295,
0.7110000252723694
],
[
0.2460000067949295,
0.7110000252723694
],
[
0.24199999868869781,
0.7110000252723694
],
[
0.24199999868869781,
0.7110000252723694
],
[
0.24199999868869781,
0.7110000252723694
],
[
0.2460000067949295,
0.7110000252723694
],
[
0.2460000067949295,
0.7110000252723694
],
[
0.2460000067949295,
0.7070000171661377
],
[
0.257999986410141,
0.7070000171661377
],
[
0.257999986410141,
0.7070000171661377
],
[
0.26600000262260437,
0.6990000009536743
],
[
0.27300000190734863,
0.6949999928474426
],
[
0.2770000100135803,
0.6949999928474426
],
[
0.2849999964237213,
0.6800000071525574
],
[
0.3009999990463257,
0.6759999990463257
],
[
0.31200000643730164,
0.6759999990463257
],
[
0.328000009059906,
0.6679999828338623
],
[
0.3479999899864197,
0.6600000262260437
],
[
0.367000013589859,
0.6449999809265137
],
[
0.3869999945163727,
0.6370000243186951
],
[
0.4099999964237213,
0.6330000162124634
],
[
0.43799999356269836,
0.6209999918937683
],
[
0.47699999809265137,
0.5979999899864197
],
[
0.5040000081062317,
0.5899999737739563
],
[
0.531000018119812,
0.593999981880188
],
[
0.5619999766349792,
0.5699999928474426
],
[
0.5860000252723694,
0.5550000071525574
],
[
0.6330000162124634,
0.5350000262260437
],
[
0.6840000152587891,
0.4959999918937683
],
[
0.7419999837875366,
0.4569999873638153
],
[
0.7770000100135803,
0.4650000035762787
],
[
0.8009999990463257,
0.4410000145435333
],
[
0.8119999766349792,
0.4569999873638153
]
] |
openx_train
|
|
7,878,098
|
01374
|
destack purple yellow cube
|
[
[
0.6909999847412109,
0.4690000116825104
],
[
0.6880000233650208,
0.492000013589859
],
[
0.6859999895095825,
0.5099999904632568
],
[
0.6840000152587891,
0.5230000019073486
],
[
0.6880000233650208,
0.5370000004768372
],
[
0.6830000281333923,
0.5400000214576721
],
[
0.6830000281333923,
0.5419999957084656
],
[
0.6769999861717224,
0.5440000295639038
],
[
0.6830000281333923,
0.5440000295639038
],
[
0.6830000281333923,
0.5519999861717224
],
[
0.6840000152587891,
0.550000011920929
],
[
0.6840000152587891,
0.5540000200271606
],
[
0.6859999895095825,
0.5540000200271606
],
[
0.6859999895095825,
0.5519999861717224
],
[
0.6840000152587891,
0.5440000295639038
],
[
0.6909999847412109,
0.5230000019073486
],
[
0.6919999718666077,
0.5120000243186951
],
[
0.6919999718666077,
0.48100000619888306
],
[
0.6949999928474426,
0.4480000138282776
],
[
0.699999988079071,
0.41499999165534973
],
[
0.703000009059906,
0.3790000081062317
],
[
0.7049999833106995,
0.34200000762939453
],
[
0.7059999704360962,
0.29600000381469727
],
[
0.7139999866485596,
0.25
],
[
0.7200000286102295,
0.20800000429153442
],
[
0.7170000076293945,
0.16899999976158142
],
[
0.722000002861023,
0.1599999964237213
],
[
0.7329999804496765,
0.13300000131130219
],
[
0.734000027179718,
0.1289999932050705
],
[
0.7279999852180481,
0.12700000405311584
],
[
0.7269999980926514,
0.125
],
[
0.7279999852180481,
0.12300000339746475
],
[
0.7269999980926514,
0.125
],
[
0.7329999804496765,
0.11900000274181366
]
] |
openx_train
|
|
12,366,371
|
02366
|
assemble chair
|
[
[
0.593999981880188,
0.18799999356269836
],
[
0.6209999918937683,
0.18799999356269836
],
[
0.6119999885559082,
0.18299999833106995
],
[
0.6029999852180481,
0.18799999356269836
],
[
0.6159999966621399,
0.18799999356269836
],
[
0.625,
0.19200000166893005
],
[
0.6209999918937683,
0.18799999356269836
],
[
0.6119999885559082,
0.19200000166893005
],
[
0.6119999885559082,
0.19200000166893005
],
[
0.6029999852180481,
0.18799999356269836
],
[
0.5849999785423279,
0.19200000166893005
],
[
0.5619999766349792,
0.19599999487400055
],
[
0.6159999966621399,
0.19200000166893005
],
[
0.6069999933242798,
0.19200000166893005
],
[
0.6290000081062317,
0.19200000166893005
],
[
0.6029999852180481,
0.17900000512599945
],
[
0.6029999852180481,
0.18299999833106995
],
[
0.593999981880188,
0.18299999833106995
],
[
0.6069999933242798,
0.18299999833106995
],
[
0.6029999852180481,
0.18799999356269836
],
[
0.5709999799728394,
0.19200000166893005
],
[
0.5849999785423279,
0.19200000166893005
],
[
0.625,
0.18299999833106995
],
[
0.6209999918937683,
0.18799999356269836
],
[
0.6159999966621399,
0.19200000166893005
],
[
0.6209999918937683,
0.19200000166893005
],
[
0.5979999899864197,
0.17900000512599945
],
[
0.6029999852180481,
0.19200000166893005
],
[
0.6029999852180481,
0.17900000512599945
],
[
0.6029999852180481,
0.17399999499320984
],
[
0.6069999933242798,
0.17900000512599945
],
[
0.6119999885559082,
0.18799999356269836
],
[
0.6119999885559082,
0.18299999833106995
],
[
0.6069999933242798,
0.18299999833106995
],
[
0.5979999899864197,
0.17900000512599945
],
[
0.6029999852180481,
0.17900000512599945
],
[
0.6029999852180481,
0.17900000512599945
],
[
0.6029999852180481,
0.17900000512599945
],
[
0.6029999852180481,
0.17900000512599945
],
[
0.6069999933242798,
0.17900000512599945
],
[
0.6069999933242798,
0.17900000512599945
]
] |
openx_train
|
End of preview. Expand
in Data Studio
README.md exists but content is empty.
- Downloads last month
- -