Bridge Augmented
Collection
6 items
•
Updated
observation.panda.joints
listlengths 8
8
| observation.panda.ee_pose
listlengths 7
7
| observation.panda.base_position
listlengths 3
3
| observation.panda.base_orientation
float32 0
0
| observation.panda.ee_error
listlengths 7
7
| observation.sawyer.joints
listlengths 8
8
| observation.sawyer.ee_pose
listlengths 7
7
| observation.sawyer.base_position
listlengths 3
3
| observation.sawyer.base_orientation
float32 0
0
| observation.sawyer.ee_error
listlengths 7
7
| observation.ur5e.joints
listlengths 7
7
| observation.ur5e.ee_pose
listlengths 7
7
| observation.ur5e.base_position
listlengths 3
3
| observation.ur5e.base_orientation
float32 0
0
| observation.ur5e.ee_error
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7
| observation.google_robot.joints
listlengths 8
8
| observation.google_robot.ee_pose
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7
| observation.google_robot.base_position
listlengths 3
3
| observation.google_robot.base_orientation
float32 0
0
| observation.google_robot.ee_error
listlengths 7
7
| observation.jaco.joints
listlengths 7
7
| observation.jaco.ee_pose
listlengths 7
7
| observation.jaco.base_position
listlengths 3
3
| observation.jaco.base_orientation
float32 0
0
| observation.jaco.ee_error
listlengths 7
7
| observation.kinova3.joints
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8
| observation.kinova3.ee_pose
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7
| observation.kinova3.base_position
listlengths 3
3
| observation.kinova3.base_orientation
float32 0
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| observation.kinova3.ee_error
listlengths 7
7
| observation.kuka_iiwa.joints
listlengths 8
8
| observation.kuka_iiwa.ee_pose
listlengths 7
7
| observation.kuka_iiwa.base_position
listlengths 3
3
| observation.kuka_iiwa.base_orientation
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| observation.kuka_iiwa.ee_error
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7
| observation.xarm7.joints
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8
| observation.xarm7.ee_pose
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| observation.xarm7.base_position
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| observation.xarm7.base_orientation
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| observation.xarm7.ee_error
listlengths 7
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| natural_language_instruction
stringlengths 9
158
| observation.state
listlengths 7
7
| observation.joints
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7
| observation.ee_pose
listlengths 7
7
| timestamp
float64 0
15.6
| frame_index
int64 0
78
| episode_index
int64 0
5.46k
| index
int64 0
185k
| task_index
int64 0
2.95k
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[
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[
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put brush into pot or pan
|
[
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[
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[
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put brush into pot or pan
|
[
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[
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[
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| 3
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| 3
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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put brush into pot or pan
|
[
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[
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[
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| 4
| 0
| 4
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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|
[
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put brush into pot or pan
|
[
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[
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[
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[
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put brush into pot or pan
|
[
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[
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| 6
| 0
| 6
| 0
|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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put brush into pot or pan
|
[
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[
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[
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] | 1.4
| 7
| 0
| 7
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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put brush into pot or pan
|
[
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[
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[
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[
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put brush into pot or pan
|
[
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[
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| 9
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| 9
| 0
|
[
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[
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[
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[
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[
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[
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put brush into pot or pan
|
[
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[
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[
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| 0
| 10
| 0
|
[
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put brush into pot or pan
|
[
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| 11
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| 11
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[
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put brush into pot or pan
|
[
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[
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[
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| 12
| 0
| 12
| 0
|
[
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[
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[
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[
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[
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|
[
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put brush into pot or pan
|
[
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| 13
| 0
|
[
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[
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[
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[
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[
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put brush into pot or pan
|
[
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[
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[
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| 14
| 0
| 14
| 0
|
[
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[
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[
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[
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[
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[
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|
[
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[
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|
[
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put brush into pot or pan
|
[
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| 15
| 0
| 15
| 0
|
[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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put brush into pot or pan
|
[
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[
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[
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[
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[
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|
[
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5.587935447692871e-7
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put brush into pot or pan
|
[
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[
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[
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| 17
| 0
| 17
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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put brush into pot or pan
|
[
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[
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[
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] | 3.6
| 18
| 0
| 18
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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put brush into pot or pan
|
[
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[
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put brush into pot or pan
|
[
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[
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| 20
| 0
| 20
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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put brush into pot or pan
|
[
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[
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[
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] | 4.2
| 21
| 0
| 21
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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] | 0
|
[
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[
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[
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] |
[
0.25,
0,
0.05000000074505806
] | 0
|
[
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[
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[
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0.6632026433944702,
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[
0,
0,
0
] | 0
|
[
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0.00004750490188598633,
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[
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1.246751070022583,
0.8547739386558533,
1.1397275924682617,
0.9648716449737549,
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] |
[
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0.6633031368255615,
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] |
[
0.30000001192092896,
0,
0
] | 0
|
[
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0.0000330805778503418,
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0.0000470280647277832,
0.00005179643630981445
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[
0.21389830112457275,
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0.529549777507782
] |
[
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0.2881881594657898,
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0.6797382831573486,
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] |
[
0.30000001192092896,
0,
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] | 0
|
[
0.000002384185791015625,
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0.00001329183578491211,
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[
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[
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0.6632204651832581,
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[
0,
0,
0
] | 0
|
[
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0.000125885009765625,
0.00002968311309814453,
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] |
put brush into pot or pan
|
[
0.35376212000846863,
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0.1661192625761032,
0.2057064175605774,
-0.6366273760795593,
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[
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1.1742914915084839,
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0.529549777507782
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[
0.3475053906440735,
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0.17145390808582306,
0.28811225295066833,
0.6631976962089539,
0.6798543334007263,
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] | 4.4
| 22
| 0
| 22
| 0
|
[
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[
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[
0.30000001192092896,
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0
] | 0
|
[
4.172325134277344e-7,
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0.00015169382095336914,
0.000025510787963867188,
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[
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[
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] |
[
0.30000001192092896,
0,
0
] | 0
|
[
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[
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[
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[
0,
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|
[
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0.000020444393157958984,
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[
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[
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[
0.25,
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] | 0
|
[
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[
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0.8186774849891663
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[
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[
0,
0,
0
] | 0
|
[
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[
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1.1850008964538574,
0.8576571941375732,
1.1871742010116577,
1.032758116722107,
0.8186774849891663
] |
[
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0.6439422965049744,
0.6914492845535278,
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] |
[
0.30000001192092896,
0,
0
] | 0
|
[
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0.000026285648345947266,
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0.000039577484130859375
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[
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0.8186774849891663
] |
[
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0.6439117789268494,
0.691483199596405,
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] |
[
0.30000001192092896,
0,
-0.20000000298023224
] | 0
|
[
0.0000032186508178710938,
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8.940696716308594e-8,
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0.0000133514404296875,
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] |
[
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0.3717566132545471,
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] |
[
0.3536965548992157,
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0.2890584468841553,
0.6438601613044739,
0.6915920972824097,
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] |
[
0,
0,
0
] | 0
|
[
0.000007152557373046875,
5.066394805908203e-7,
-0.000010728836059570312,
0.0001188516616821289,
0.000029027462005615234,
-0.00009554624557495117,
-0.00008481740951538086
] |
put brush into pot or pan
|
[
0.35346993803977966,
-0.08529825508594513,
0.1666853129863739,
0.18047389388084412,
-0.657115638256073,
-1.5339914560317993,
0.8186774849891663
] |
[
0.03240160644054413,
0.11820890754461288,
0.12681105732917786,
-0.6887844800949097,
1.1937845945358276,
1.7508372068405151,
0.8186774849891663
] |
[
0.35369905829429626,
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0.16623635590076447,
0.28909170627593994,
0.6438379287719727,
0.6915954947471619,
-0.15360455214977264
] | 4.6
| 23
| 0
| 23
| 0
|
[
-0.5249735713005066,
1.0096774101257324,
0.7735303044319153,
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2.5233187675476074,
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] |
[
0.628828227519989,
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0.8258839249610901,
0.07044027000665665
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
0.000013768672943115234,
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] |
[
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1.7583143711090088,
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0.9988223910331726
] |
[
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0.0726877972483635,
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0.8257492780685425,
0.07069553434848785
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000018477439880371094,
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0.00008682906627655029,
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0.00004972517490386963
] |
[
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1.2495040893554688,
0.9988223910331726
] |
[
0.32884252071380615,
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0.02057785354554653,
0.07275469601154327,
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0.8256757259368896,
0.07083519548177719
] |
[
0,
-0.20000000298023224,
0
] | 0
|
[
-5.066394805908203e-7,
0.0000027045607566833496,
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0.00001993030309677124,
0.0000559687614440918,
0.00004363059997558594,
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] |
[
-3.5758285522460938,
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0.025706717744469643,
-1.410402774810791,
0.6344143152236938,
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0.9077208042144775,
0.9988223910331726
] |
[
0.5788407325744629,
0.15733851492404938,
0.07057499885559082,
0.07279098778963089,
-0.5549106597900391,
0.8256948590278625,
0.07073644548654556
] |
[
0.25,
0,
0.05000000074505806
] | 0
|
[
0.0000013113021850585938,
6.705522537231445e-7,
-0.0000018402934074401855,
-0.000016361474990844727,
0.00003540515899658203,
0.000024497509002685547,
0.000008814036846160889
] |
[
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5.138080596923828,
2.199307680130005,
0.23243826627731323,
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0.9988223910331726
] |
[
0.328814297914505,
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0.07367432117462158,
-0.5548600554466248,
0.8256229162216187,
0.07105737924575806
] |
[
0,
0,
0
] | 0
|
[
0.00002771615982055664,
0.000015348196029663086,
0.000024551525712013245,
-0.0008996948599815369,
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0.00009644031524658203,
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] |
[
-0.3506176769733429,
1.0506702661514282,
0.35338959097862244,
1.135569453239441,
-0.6017114520072937,
0.9904561638832092,
-1.8002123832702637,
0.9988223910331726
] |
[
0.6288440227508545,
0.15733547508716583,
0.020574364811182022,
0.0727660283446312,
-0.554953396320343,
0.8256586194038391,
0.07084960490465164
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000020265579223632812,
0.0000037103891372680664,
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0.000008597970008850098,
0.00007814168930053711,
0.00006073713302612305,
-0.00010434538125991821
] |
[
0.2409418672323227,
1.5094155073165894,
-0.1115470603108406,
-1.0828430652618408,
0.6004571914672852,
0.5397877097129822,
1.6793692111968994,
0.9988223910331726
] |
[
0.6288350820541382,
0.15733443200588226,
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0.07291542738676071,
-0.5549333095550537,
0.8256645798683167,
0.07078401744365692
] |
[
0.30000001192092896,
0,
-0.20000000298023224
] | 0
|
[
0.0000069141387939453125,
0.000004753470420837402,
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-0.0001408010721206665,
0.00005805492401123047,
0.000054776668548583984,
-0.000038757920265197754
] |
[
0.0749703124165535,
0.07990080863237381,
0.36133575439453125,
0.4358597993850708,
0.5170658826828003,
0.2734309136867523,
-1.2424876689910889,
0.9988223910331726
] |
[
0.32884734869003296,
0.15734414756298065,
0.020580820739269257,
0.07247800379991531,
-0.5548496246337891,
0.8257763981819153,
0.07058477401733398
] |
[
0,
0,
0
] | 0
|
[
-0.000005334615707397461,
-0.0000049620866775512695,
-0.000007664784789085388,
0.00029662251472473145,
-0.00002562999725341797,
-0.00005704164505004883,
0.00016048550605773926
] |
put green squash in pot or pan
|
[
0.32884201407432556,
0.1573391854763031,
0.02057315595448017,
0.036811891943216324,
-0.20002366602420807,
1.1796636581420898,
0.9988223910331726
] |
[
0.3718434274196625,
0.3936130702495575,
0.22317974269390106,
0.22579069435596466,
0.8542579412460327,
-0.9515817761421204,
0.9988223910331726
] |
[
0.32883644104003906,
0.15733852982521057,
0.02057666890323162,
0.07277383655309677,
-0.554838240146637,
0.8257496356964111,
0.0706828236579895
] | 0
| 0
| 1
| 24
| 1
|
[
-0.5244677066802979,
1.011149287223816,
0.7732688784599304,
-1.7971148490905762,
-0.8082469701766968,
2.5215208530426025,
-2.8973000049591064,
0.9988223910331726
] |
[
0.6286709308624268,
0.15728439390659332,
0.019906623288989067,
0.07193712890148163,
-0.5546249747276306,
0.825969934463501,
0.07063891738653183
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
0.000013828277587890625,
-0.000006720423698425293,
-0.0000019297003746032715,
-0.00005631148815155029,
-0.00021374225616455078,
-0.00016480684280395508,
0.0003051683306694031
] |
[
-0.37692809104919434,
-0.7084815502166748,
0.4744076132774353,
1.7568448781967163,
-0.28839442133903503,
0.5701279640197754,
-0.8257652521133423,
0.9988223910331726
] |
[
0.6286865472793579,
0.1572798788547516,
0.019905248656868935,
0.07179421931505203,
-0.5548118948936462,
0.8258349299430847,
0.07089447975158691
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000017881393432617188,
-0.000002205371856689453,
-5.550682544708252e-7,
0.00008659809827804565,
-0.00002682209014892578,
-0.000029802322387695312,
0.00004960596561431885
] |
[
-2.2698135375976562,
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2.565225124359131,
-2.3763911724090576,
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1.250509262084961,
0.9988223910331726
] |
[
0.3286852538585663,
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0.01990940421819687,
0.0718608871102333,
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0.8257614970207214,
0.07103414088487625
] |
[
0,
-0.20000000298023224,
0
] | 0
|
[
-5.066394805908203e-7,
0.0000027045607566833496,
-0.00000471062958240509,
0.00001993030309677124,
0.0000559687614440918,
0.00004363059997558594,
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[
-3.5737133026123047,
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0.023455651476979256,
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0.630882740020752,
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0.9137005805969238,
0.9988223910331726
] |
[
0.5786833763122559,
0.1572769731283188,
0.0699065551161766,
0.07189969718456268,
-0.5548741221427917,
0.8257805109024048,
0.07093462347984314
] |
[
0.25,
0,
0.05000000074505806
] | 0
|
[
0.0000013709068298339844,
7.003545761108398e-7,
-0.000001862645149230957,
-0.00001887977123260498,
0.00003540515899658203,
0.000024616718292236328,
0.000009462237358093262
] |
[
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2.257859706878662,
5.137306213378906,
2.200829029083252,
0.23307347297668457,
-1.6538069248199463,
0.9988223910331726
] |
[
0.3286570608615875,
0.15726235508918762,
0.01988028921186924,
0.07277816534042358,
-0.5548239350318909,
0.8257095217704773,
0.07125648856163025
] |
[
0,
0,
0
] | 0
|
[
0.000027686357498168945,
0.00001531839370727539,
0.000024404376745224,
-0.0008973479270935059,
-0.000014781951904296875,
0.00009560585021972656,
-0.0003124028444290161
] |
[
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1.0523793697357178,
0.35323160886764526,
1.1337467432022095,
-0.6007752418518066,
0.9920088648796082,
-1.8014822006225586,
0.9988223910331726
] |
[
0.6286867260932922,
0.15727396309375763,
0.019905904307961464,
0.07187237590551376,
-0.5549167990684509,
0.8257443904876709,
0.07104825228452682
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000019669532775878906,
0.0000037103891372680664,
-0.000001210719347000122,
0.000008441507816314697,
0.00007808208465576172,
0.00006073713302612305,
-0.00010416656732559204
] |
[
0.24120719730854034,
1.5112135410308838,
-0.11206939816474915,
-1.0804985761642456,
0.5987077355384827,
0.5418345928192139,
1.6818081140518188,
0.9988223910331726
] |
[
0.6286778450012207,
0.15727292001247406,
-0.1800907999277115,
0.07202188670635223,
-0.554896891117096,
0.8257504105567932,
0.07098278403282166
] |
[
0.30000001192092896,
0,
-0.20000000298023224
] | 0
|
[
0.0000069141387939453125,
0.000004753470420837402,
-0.000004500150680541992,
-0.00014106929302215576,
0.00005817413330078125,
0.000054717063903808594,
-0.00003869831562042236
] |
[
0.06936343759298325,
0.08267837762832642,
0.36617323756217957,
0.4364945888519287,
0.5130956172943115,
0.27303019165992737,
-1.239598035812378,
0.9988223910331726
] |
[
0.3286901116371155,
0.15728265047073364,
0.01991221308708191,
0.07158515602350235,
-0.5548131465911865,
0.8258617520332336,
0.07078340649604797
] |
[
0,
0,
0
] | 0
|
[
-0.000005364418029785156,
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0.00029566138982772827,
-0.000025570392608642578,
-0.000056624412536621094,
0.00016067922115325928
] |
put green squash in pot or pan
|
[
0.32805556058883667,
0.15703165531158447,
0.017230845987796783,
0.04358506575226784,
-0.19365257024765015,
1.1783390045166016,
0.9988223910331726
] |
[
0.3718436658382416,
0.3954445719718933,
0.2231924682855606,
0.22578924894332886,
0.8542542457580566,
-0.9515812993049622,
0.9988223910331726
] |
[
0.3286791741847992,
0.15727701783180237,
0.019908219575881958,
0.07188005745410919,
-0.5548017621040344,
0.8258353471755981,
0.07088162750005722
] | 0.2
| 1
| 1
| 25
| 1
|
[
-0.5283170938491821,
1.0266587734222412,
0.7791090607643127,
-1.788944125175476,
-0.8171393871307373,
2.5082802772521973,
-2.8973000049591064,
0.9988223910331726
] |
[
0.6275545954704285,
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0.015490593388676643,
0.06741409003734589,
-0.5552816987037659,
0.8256754875183105,
0.07333192974328995
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
0.000014185905456542969,
-0.000006839632987976074,
-0.0000020926818251609802,
-0.000058241188526153564,
-0.00021827220916748047,
-0.0001696944236755371,
0.000310458242893219
] |
[
-0.3741894066333771,
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0.4702672064304352,
1.7493782043457031,
-0.28856730461120605,
0.5767368674278259,
-0.8294510245323181,
0.9988223910331726
] |
[
0.6275705695152283,
0.15707337856292725,
0.01548908930271864,
0.06727024167776108,
-0.5554731488227844,
0.8255351781845093,
0.07359341531991959
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000017881393432617188,
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0.00008560717105865479,
-0.00002682209014892578,
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0.00004897266626358032
] |
[
-2.2666759490966797,
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2.5657408237457275,
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1.2519314289093018,
0.9988223910331726
] |
[
0.3275693655014038,
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0.015493282116949558,
0.06733597815036774,
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0.8254619240760803,
0.07373300939798355
] |
[
0,
-0.20000000298023224,
0
] | 0
|
[
-5.662441253662109e-7,
0.0000026971101760864258,
-0.000004781410098075867,
0.00001987069845199585,
0.00005549192428588867,
0.0000438690185546875,
-0.00009062141180038452
] |
[
-3.5647196769714355,
-1.5474625825881958,
0.013017796911299229,
-1.386871337890625,
0.6109921932220459,
-0.31629878282546997,
0.9421783685684204,
0.9988223910331726
] |
[
0.5775669813156128,
0.15707039833068848,
0.06549045443534851,
0.06738676130771637,
-0.5555353164672852,
0.825480580329895,
0.07362965494394302
] |
[
0.25,
0,
0.05000000074505806
] | 0
|
[
0.0000017881393432617188,
8.046627044677734e-7,
-0.000001952052116394043,
-0.00003091245889663696,
0.00003534555435180664,
0.000025212764739990234,
0.000012733042240142822
] |
[
-0.49589651823043823,
2.244844913482666,
5.130905628204346,
2.1964375972747803,
0.2400849163532257,
-1.64888596534729,
0.9988223910331726
] |
[
0.3275412917137146,
0.15705639123916626,
0.015465146861970425,
0.06823602318763733,
-0.5554850101470947,
0.8254168629646301,
0.07394062727689743
] |
[
0,
0,
0
] | 0
|
[
0.000027507543563842773,
0.00001481175422668457,
0.00002335384488105774,
-0.0008801743388175964,
-0.000014960765838623047,
0.00008893013000488281,
-0.0002982392907142639
] |
[
-0.34672945737838745,
1.0628877878189087,
0.3494601845741272,
1.1235963106155396,
-0.5970751047134399,
1.0005838871002197,
-1.803946614265442,
0.9988223910331726
] |
[
0.6275706887245178,
0.15706750750541687,
0.015489711426198483,
0.06734859198331833,
-0.5555773973464966,
0.8254450559616089,
0.07374511659145355
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000019073486328125,
0.0000036954879760742188,
-0.000001210719347000122,
0.000007256865501403809,
0.00007742643356323242,
0.00006073713302612305,
-0.00010272860527038574
] |
[
0.23981350660324097,
1.5229169130325317,
-0.11160820722579956,
-1.0657514333724976,
0.588819682598114,
0.5541892647743225,
1.6906343698501587,
0.9988223910331726
] |
[
0.6275617480278015,
0.1570664346218109,
-0.1845068633556366,
0.06749823689460754,
-0.5555581450462341,
0.825451672077179,
0.07367949187755585
] |
[
0.30000001192092896,
0,
-0.20000000298023224
] | 0
|
[
0.000007033348083496094,
0.00000476837158203125,
-0.000004634261131286621,
-0.00014238804578781128,
0.00005817413330078125,
0.00005412101745605469,
-0.000037103891372680664
] |
[
0.029661009088158607,
0.10146955400705338,
0.4011213779449463,
0.44040045142173767,
0.49792417883872986,
0.2693440318107605,
-1.2334672212600708,
0.9988223910331726
] |
[
0.3275745213031769,
0.15707629919052124,
0.015495245344936848,
0.0670604407787323,
-0.5554754137992859,
0.8255607485771179,
0.07348082214593887
] |
[
0,
0,
0
] | 0
|
[
-0.0000057220458984375,
-0.0000050961971282958984,
-0.000006744638085365295,
0.00029540807008743286,
-0.000024557113647460938,
-0.000054955482482910156,
0.0001615658402442932
] |
put green squash in pot or pan
|
[
0.3256216049194336,
0.15722937881946564,
0.008519119583070278,
0.06398563832044601,
-0.1966618299484253,
1.1865960359573364,
0.9988223910331726
] |
[
0.3708977699279785,
0.4070104956626892,
0.22484710812568665,
0.2309594452381134,
0.8520178198814392,
-0.9585577845573425,
0.9988223910331726
] |
[
0.32756325602531433,
0.1570705622434616,
0.015492167323827744,
0.06735406070947647,
-0.5554631948471069,
0.82553631067276,
0.07357905060052872
] | 0.4
| 2
| 1
| 26
| 1
|
[
-0.5539687275886536,
1.0680115222930908,
0.80768883228302,
-1.7747366428375244,
-0.8540061712265015,
2.4844937324523926,
-2.8973000049591064,
0.9988223910331726
] |
[
0.6264669299125671,
0.1562616229057312,
0.008448409847915173,
0.06494716554880142,
-0.5583012104034424,
0.8231688737869263,
0.08046533167362213
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
0.0000152587890625,
-0.000007495284080505371,
-0.0000023990869522094727,
-0.00006190687417984009,
-0.0002364516258239746,
-0.0001881122589111328,
0.0003322288393974304
] |
[
-0.38255244493484497,
-0.6772253513336182,
0.4766422510147095,
1.7424867153167725,
-0.29104360938072205,
0.581219494342804,
-0.8428024649620056,
0.9988223910331726
] |
[
0.6264839172363281,
0.1562562733888626,
0.008446634747087955,
0.06479965150356293,
-0.5585110783576965,
0.8230103254318237,
0.08074906468391418
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000017285346984863281,
-0.0000021457672119140625,
-6.239861249923706e-7,
0.00008560717105865479,
-0.00002658367156982422,
-0.00002956390380859375,
0.0000484958291053772
] |
[
-2.2699050903320312,
-1.6158957481384277,
2.564871072769165,
-2.397982597351074,
-1.4020791053771973,
1.239490270614624,
0.9988223910331726
] |
[
0.3264828324317932,
-0.04374853894114494,
0.008450877852737904,
0.06486530601978302,
-0.5585920214653015,
0.822936475276947,
0.08088874071836472
] |
[
0,
-0.20000000298023224,
0
] | 0
|
[
-6.556510925292969e-7,
0.0000026673078536987305,
-0.000004867091774940491,
0.000019952654838562012,
0.00005435943603515625,
0.000044286251068115234,
-0.00009118020534515381
] |
[
-3.56592059135437,
-1.5657707452774048,
0.009332080371677876,
-1.36160147190094,
0.5899920463562012,
-0.3389149308204651,
0.955179750919342,
0.9988223910331726
] |
[
0.5764800310134888,
0.15625327825546265,
0.05844810605049133,
0.06492350995540619,
-0.5585725903511047,
0.8229556083679199,
0.08078128844499588
] |
[
0.25,
0,
0.05000000074505806
] | 0
|
[
0.0000021457672119140625,
8.493661880493164e-7,
-0.0000020936131477355957,
-0.000038251280784606934,
0.000034928321838378906,
0.000025153160095214844,
0.00001627206802368164
] |
[
-0.47807925939559937,
2.223735809326172,
5.117729663848877,
2.152297019958496,
0.2561941146850586,
-1.5885968208312988,
0.9988223910331726
] |
[
0.326454758644104,
0.15624070167541504,
0.008424348197877407,
0.06573890149593353,
-0.558516263961792,
0.8229042291641235,
0.08103469759225845
] |
[
0,
0,
0
] | 0
|
[
0.000027418136596679688,
0.000013425946235656738,
0.00002166256308555603,
-0.0008536428213119507,
-0.000021398067474365234,
0.00007653236389160156,
-0.0002371370792388916
] |
[
-0.3334331214427948,
1.0775717496871948,
0.33719602227211,
1.1129441261291504,
-0.5986518859863281,
1.0073179006576538,
-1.7907850742340088,
0.9988223910331726
] |
[
0.6264839768409729,
0.156250461935997,
0.008447210304439068,
0.06488023698329926,
-0.5586134791374207,
0.8229199051856995,
0.0808974951505661
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000017881393432617188,
0.0000036656856536865234,
-0.0000011995434761047363,
0.00000502169132232666,
0.00007581710815429688,
0.00006085634231567383,
-0.0000999346375465393
] |
[
0.22812199592590332,
1.5413930416107178,
-0.10107744485139847,
-1.0436466932296753,
0.5783212184906006,
0.5688520669937134,
1.6842235326766968,
0.9988223910331726
] |
[
0.6264748573303223,
0.15624943375587463,
-0.1915491372346878,
0.06502876430749893,
-0.558594286441803,
0.8229278922080994,
0.08082891255617142
] |
[
0.30000001192092896,
0,
-0.20000000298023224
] | 0
|
[
0.000007331371307373047,
0.000004693865776062012,
-0.000004857778549194336,
-0.00014350563287734985,
0.000056624412536621094,
0.000052869319915771484,
-0.00003135204315185547
] |
[
-0.05481109768152237,
0.134518101811409,
0.47464460134506226,
0.44504570960998535,
0.49510952830314636,
0.25640037655830383,
-1.25468909740448,
0.9988223910331726
] |
[
0.3264889419078827,
0.15625958144664764,
0.00845163781195879,
0.06457247585058212,
-0.5585165023803711,
0.8230357766151428,
0.08063377439975739
] |
[
0,
0,
0
] | 0
|
[
-0.000006765127182006836,
-0.000005453824996948242,
-0.000005627050995826721,
0.00031278282403945923,
-0.000021159648895263672,
-0.00005501508712768555,
0.00016378611326217651
] |
put green squash in pot or pan
|
[
0.3299243152141571,
0.15235310792922974,
0.008153577335178852,
0.052839864045381546,
-0.20512661337852478,
1.1856292486190796,
0.9988223910331726
] |
[
0.3637719750404358,
0.4244908392429352,
0.23102502524852753,
0.25223273038864136,
0.8409953117370605,
-0.9903619885444641,
0.9988223910331726
] |
[
0.3264768123626709,
0.1562536507844925,
0.008450031280517578,
0.06487790495157242,
-0.5585005879402161,
0.8230130672454834,
0.08073057979345322
] | 0.6
| 3
| 1
| 27
| 1
|
[
-0.5554346442222595,
1.0687618255615234,
0.800859808921814,
-1.7702559232711792,
-0.8643840551376343,
2.5026376247406006,
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0.9988223910331726
] |
[
0.631477415561676,
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0.07321086525917053,
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0.8233299851417542,
0.0753297284245491
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
0.000015437602996826172,
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0.0003382936120033264
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[
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0.5667514801025391,
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[
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0.07306233793497086,
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0.8231724500656128,
0.07561897486448288
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000017285346984863281,
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0.00008668750524520874,
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0.00004904717206954956
] |
[
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2.563460111618042,
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1.230412244796753,
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[
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0.07312741875648499,
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0.8230979442596436,
0.07576148211956024
] |
[
0,
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0
] | 0
|
[
-6.556510925292969e-7,
0.00000268593430519104,
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0.0000216066837310791,
0.00005513429641723633,
0.00004410743713378906,
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[
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0.026082372292876244,
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0.61125648021698,
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0.9127064943313599,
0.9988223910331726
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[
0.5814911723136902,
0.15209192037582397,
0.058455199003219604,
0.07317298650741577,
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0.8231176733970642,
0.07565480470657349
] |
[
0.25,
0,
0.05000000074505806
] | 0
|
[
0.0000016689300537109375,
6.854534149169922e-7,
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-0.00002396106719970703,
0.00003457069396972656,
0.000024378299713134766,
0.000013217329978942871
] |
[
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5.116015911102295,
2.1255009174346924,
0.24155251681804657,
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0.9988223910331726
] |
[
0.331464022397995,
0.15207912027835846,
0.0084304828196764,
0.07404330372810364,
-0.5579708814620972,
0.8230603337287903,
0.07587990164756775
] |
[
0,
0,
0
] | 0
|
[
0.000028818845748901367,
0.000013485550880432129,
0.000022660009562969208,
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0.00008171796798706055,
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] |
[
-0.32907435297966003,
1.074462890625,
0.33972781896591187,
1.1224292516708374,
-0.6074267029762268,
0.9853307604789734,
-1.7759114503860474,
0.9988223910331726
] |
[
0.6314947009086609,
0.1520889401435852,
0.008454359136521816,
0.07314322143793106,
-0.5580734610557556,
0.823081374168396,
0.07576995342969894
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000018477439880371094,
0.0000036656856536865234,
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0.000005804002285003662,
0.00007635354995727539,
0.000060677528381347656,
-0.00010193139314651489
] |
[
0.22043102979660034,
1.541344165802002,
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-1.0442548990249634,
0.5871869325637817,
0.5507321953773499,
1.6680197715759277,
0.9988223910331726
] |
[
0.6314855217933655,
0.1520879715681076,
-0.19154199957847595,
0.07329216599464417,
-0.5580534338951111,
0.8230882287025452,
0.07569940388202667
] |
[
0.30000001192092896,
0,
-0.20000000298023224
] | 0
|
[
0.000007331371307373047,
0.000004634261131286621,
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-0.00014314055442810059,
0.00005632638931274414,
0.000053822994232177734,
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] |
[
-0.09934694319963455,
0.1403544694185257,
0.5074551105499268,
0.4416552186012268,
0.49198731780052185,
0.23091007769107819,
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0.9988223910331726
] |
[
0.33150041103363037,
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0.008458278141915798,
0.07281267642974854,
-0.557976245880127,
0.8232020735740662,
0.07549285143613815
] |
[
0,
0,
0
] | 0
|
[
-0.000007569789886474609,
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0.0003363490104675293,
-0.00002086162567138672,
-0.00006002187728881836,
0.00017517060041427612
] |
put green squash in pot or pan
|
[
0.3377668261528015,
0.15105055272579193,
0.009651404805481434,
0.008009207434952259,
-0.2110302597284317,
1.1921778917312622,
0.9988223910331726
] |
[
0.35030266642570496,
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0.22961176931858063,
0.2493109405040741,
0.8247203826904297,
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0.9988223910331726
] |
[
0.3314874470233917,
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0.00845723319798708,
0.07313834875822067,
-0.5579591393470764,
0.8231750130653381,
0.07559935748577118
] | 0.8
| 4
| 1
| 28
| 1
|
[
-0.5131033658981323,
1.0420575141906738,
0.7475388646125793,
-1.767065167427063,
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2.5623250007629395,
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0.9988223910331726
] |
[
0.6395001411437988,
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0.008029398508369923,
0.087550587952137,
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0.8228970766067505,
0.05928296968340874
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
0.000015020370483398438,
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0.00032627955079078674
] |
[
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0.4802666902542114,
1.7335586547851562,
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0.5346933007240295,
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0.9988223910331726
] |
[
0.6395168304443359,
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0.008027606643736362,
0.08740413188934326,
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0.8227594494819641,
0.059559017419815063
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
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0.00008662045001983643,
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0.00005023181438446045
] |
[
-2.28225040435791,
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2.576188325881958,
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1.2301186323165894,
0.9988223910331726
] |
[
0.33951571583747864,
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0.00803228560835123,
0.08746486902236938,
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0.8226841688156128,
0.0597098208963871
] |
[
0,
-0.20000000298023224,
0
] | 0
|
[
-5.662441253662109e-7,
0.0000028274953365325928,
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0.00002588331699371338,
0.000057637691497802734,
0.00004369020462036133,
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] |
[
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0.06718380004167557,
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0.6637418866157532,
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0.8215981721878052,
0.9988223910331726
] |
[
0.5895150303840637,
0.15086281299591064,
0.058028917759656906,
0.08747120201587677,
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0.8227056860923767,
0.05961127579212189
] |
[
0.25,
0,
0.05000000074505806
] | 0
|
[
1.1920928955078125e-7,
3.427267074584961e-7,
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0.000019550323486328125,
0.00003552436828613281,
0.000022172927856445312,
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] |
[
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2.223433494567871,
5.113218784332275,
2.0887668132781982,
0.19560982286930084,
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0.9988223910331726
] |
[
0.3394820988178253,
0.1508474051952362,
0.008000665344297886,
0.08852410316467285,
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0.822625458240509,
0.05981495603919029
] |
[
0,
0,
0
] | 0
|
[
0.0000330507755279541,
0.000015750527381896973,
0.000026294030249118805,
-0.0010333508253097534,
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0.0001024007797241211,
-0.00020570680499076843
] |
[
-0.34317559003829956,
1.0673396587371826,
0.3543160855770111,
1.1478787660598755,
-0.6235272288322449,
0.932719349861145,
-1.7585418224334717,
0.9988223910331726
] |
[
0.6395171880722046,
0.15085946023464203,
0.008028227835893631,
0.08748184889554977,
-0.5585681796073914,
0.8226677179336548,
0.05971819534897804
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000020265579223632812,
0.0000036954879760742188,
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0.000008903443813323975,
0.00007826089859008789,
0.00006014108657836914,
-0.00010894611477851868
] |
[
0.2266450673341751,
1.540958285331726,
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0.6068569421768188,
0.506581723690033,
1.6505398750305176,
0.9988223910331726
] |
[
0.6395078301429749,
0.15085840225219727,
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0.08763471245765686,
-0.5585470795631409,
0.8226709961891174,
0.059646837413311005
] |
[
0.30000001192092896,
0,
-0.20000000298023224
] | 0
|
[
0.000007331371307373047,
0.000004753470420837402,
-0.000004857778549194336,
-0.0001439601182937622,
0.00005716085433959961,
0.000056862831115722656,
-0.00003758817911148071
] |
[
-0.31627610325813293,
0.17330347001552582,
0.693825364112854,
0.4244545102119446,
0.29854482412338257,
0.15428605675697327,
-1.1223869323730469,
0.9988223910331726
] |
[
0.3395250737667084,
0.15087202191352844,
0.008023303933441639,
0.08717233687639236,
-0.5584656596183777,
0.8227951526641846,
0.05937354266643524
] |
[
0,
0,
0
] | 0
|
[
-0.000009924173355102539,
-0.000008866190910339355,
0.000003655441105365753,
0.00031841546297073364,
-0.000024259090423583984,
-0.00006729364395141602,
0.00023570656776428223
] |
put green squash in pot or pan
|
[
0.3465085029602051,
0.1501135379076004,
0.0015291761374101043,
-0.030226077884435654,
-0.21649828553199768,
1.1949211359024048,
0.9988223910331726
] |
[
0.35013633966445923,
0.4312034249305725,
0.22214485704898834,
0.22366665303707123,
0.78794926404953,
-0.9903299808502197,
0.9988223910331726
] |
[
0.33950966596603394,
0.15086296200752258,
0.008031065575778484,
0.08747825771570206,
-0.5584511756896973,
0.8227604627609253,
0.059540197253227234
] | 1
| 5
| 1
| 29
| 1
|
[
-0.46263059973716736,
1.0377223491668701,
0.686384916305542,
-1.7481166124343872,
-0.8410195112228394,
2.6195552349090576,
-2.8973000049591064,
0.9988223910331726
] |
[
0.6477482914924622,
0.14942523837089539,
-0.0003297653456684202,
0.0993153378367424,
-0.5582144856452942,
0.8224950432777405,
0.04511108621954918
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
0.000014960765838623047,
-0.000006258487701416016,
-0.0000029078510124236345,
-0.00005729496479034424,
-0.00020933151245117188,
-0.000152587890625,
0.0003152713179588318
] |
[
-0.38002100586891174,
-0.6594864130020142,
0.47243866324424744,
1.712603211402893,
-0.36185717582702637,
0.5027522444725037,
-0.801435112953186,
0.9988223910331726
] |
[
0.6477647423744202,
0.14942122995853424,
-0.00033193573472090065,
0.0991726964712143,
-0.5583955645561218,
0.8223747611045837,
0.04537548869848251
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000014901161193847656,
-0.000002250075340270996,
-7.374619599431753e-7,
0.00008534640073776245,
-0.000028252601623535156,
-0.00003230571746826172,
0.000050868839025497437
] |
[
-2.2808144092559814,
-1.5580500364303589,
2.5920658111572266,
-2.5680675506591797,
-1.3550662994384766,
1.2343710660934448,
0.9988223910331726
] |
[
0.34776386618614197,
-0.050584062933921814,
-0.0003267192223574966,
0.09922578930854797,
-0.5584846138954163,
0.8222988843917847,
0.04553821310400963
] |
[
0,
-0.20000000298023224,
0
] | 0
|
[
-6.258487701416016e-7,
0.000003043562173843384,
-0.000005953974323347211,
0.00003225356340408325,
0.00006079673767089844,
0.00004357099533081055,
-0.00011185556650161743
] |
[
-3.6573455333709717,
-1.6285905838012695,
0.1234288290143013,
-1.3918572664260864,
0.6904889345169067,
-0.15003564953804016,
0.7404993176460266,
0.9988223910331726
] |
[
0.5977656245231628,
0.14941908419132233,
0.04966925457119942,
0.09916925430297852,
-0.5584641098976135,
0.8223240971565247,
0.04545743018388748
] |
[
0.25,
0,
0.05000000074505806
] | 0
|
[
-0.000002384185791015625,
-1.043081283569336e-7,
-0.0000019259750843048096,
0.00008878856897354126,
0.00004029273986816406,
0.000018358230590820312,
-0.000031072646379470825
] |
[
-0.4420548975467682,
2.1993870735168457,
5.09433650970459,
1.9969069957733154,
0.15595078468322754,
-1.3390079736709595,
0.9988223910331726
] |
[
0.3477235734462738,
0.14940112829208374,
-0.00036252016434445977,
0.10047495365142822,
-0.5583719611167908,
0.8222224712371826,
0.04556101933121681
] |
[
0,
0,
0
] | 0
|
[
0.00003966689109802246,
0.000017851591110229492,
0.000029846967663615942,
-0.0012169107794761658,
-0.000051856040954589844,
0.00011998414993286133,
-0.00013466179370880127
] |
[
-0.3533109724521637,
1.0772560834884644,
0.3647724390029907,
1.1636935472488403,
-0.6433215737342834,
0.8787345886230469,
-1.739723563194275,
0.9988223910331726
] |
[
0.6477653980255127,
0.1494152545928955,
-0.000331356015522033,
0.09924793988466263,
-0.5585036873817444,
0.8222830295562744,
0.04554140195250511
] |
[
0.30000001192092896,
0,
0
] | 0
|
[
-0.0000021457672119140625,
0.000003725290298461914,
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0.000010102987289428711,
0.00007987022399902344,
0.00005942583084106445,
-0.00011504441499710083
] |
[
0.2301517128944397,
1.5620520114898682,
-0.1116180494427681,
-1.0278295278549194,
0.6181270480155945,
0.47126317024230957,
1.6426384449005127,
0.9988223910331726
] |
[
0.6477556228637695,
0.1494140774011612,
-0.200327530503273,
0.09940608590841293,
-0.5584819316864014,
0.8222827315330505,
0.04546871781349182
] |
[
0.30000001192092896,
0,
-0.20000000298023224
] | 0
|
[
0.00000762939453125,
0.000004902482032775879,
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[
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[
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[
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|
[
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put green squash in pot or pan
|
[
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put green squash in pot or pan
|
[
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] | 1.4
| 7
| 1
| 31
| 1
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[
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[
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put green squash in pot or pan
|
[
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[
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0.13891933858394623,
0.6491547226905823,
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[
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0.10448559373617172,
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0.8164076805114746,
0.014602115377783775
] | 1.6
| 8
| 1
| 32
| 1
|
End of preview. Expand
in Data Studio
bridge_train_20000_25460_augmented
Overview
- Codebase version:
v3.0 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
- FPS: 5
- Episodes: 5,460
- Frames: 185,428
- Splits:
train:0:5460
Data Layout
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
Features
| Feature | dtype | shape | description |
|---|---|---|---|
observation.images.google_robot |
video |
480×640×3 |
Augmented image for google_robot robot |
observation.images.image |
video |
480×640×3 |
Source robot's image from original dataset |
observation.images.jaco |
video |
480×640×3 |
Augmented image for jaco robot |
observation.images.kinova3 |
video |
480×640×3 |
Augmented image for kinova3 robot |
observation.images.kuka_iiwa |
video |
480×640×3 |
Augmented image for kuka_iiwa robot |
observation.images.panda |
video |
480×640×3 |
Augmented image for panda robot |
observation.images.sawyer |
video |
480×640×3 |
Augmented image for sawyer robot |
observation.images.ur5e |
video |
480×640×3 |
Augmented image for ur5e robot |
observation.images.xarm7 |
video |
480×640×3 |
Augmented image for xarm7 robot |
episode_index |
int64 |
1 |
Index of the current episode within the dataset. |
frame_index |
int64 |
1 |
Index of the current frame within its episode. |
index |
int64 |
1 |
Global frame index across the whole dataset. |
natural_language_instruction |
string |
1 |
Natural language command describing the task |
observation.ee_pose |
float32 |
7 |
Source robot's eef position |
observation.google_robot.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.google_robot.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.google_robot.ee_error |
float32 |
7 |
The eef difference between the augmented google_robot robot and the original robot |
observation.google_robot.ee_pose |
float32 |
7 |
The eef position of google_robot robot |
observation.google_robot.joints |
float32 |
8 |
The joint position of google_robot robot |
observation.jaco.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.jaco.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.jaco.ee_error |
float32 |
7 |
The eef difference between the augmented jaco robot and the original robot |
observation.jaco.ee_pose |
float32 |
7 |
The eef position of jaco robot |
observation.jaco.joints |
float32 |
7 |
The joint position of jaco robot |
observation.joints |
float32 |
7 |
Joint angle of source robot |
observation.kinova3.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kinova3.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kinova3.ee_error |
float32 |
7 |
The eef difference between the augmented kinova3 robot and the original robot |
observation.kinova3.ee_pose |
float32 |
7 |
The eef position of kinova3 robot |
observation.kinova3.joints |
float32 |
8 |
The joint position of kinova3 robot |
observation.kuka_iiwa.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kuka_iiwa.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kuka_iiwa.ee_error |
float32 |
7 |
The eef difference between the augmented kuka_iiwa robot and the original robot |
observation.kuka_iiwa.ee_pose |
float32 |
7 |
The eef position of kuka_iiwa robot |
observation.kuka_iiwa.joints |
float32 |
8 |
The joint position of kuka_iiwa robot |
observation.panda.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.panda.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.panda.ee_error |
float32 |
7 |
The eef difference between the augmented panda robot and the original robot |
observation.panda.ee_pose |
float32 |
7 |
The eef position of panda robot |
observation.panda.joints |
float32 |
8 |
The joint position of panda robot |
observation.sawyer.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.sawyer.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.sawyer.ee_error |
float32 |
7 |
The eef difference between the augmented sawyer robot and the original robot |
observation.sawyer.ee_pose |
float32 |
7 |
The eef position of sawyer robot |
observation.sawyer.joints |
float32 |
8 |
The joint position of sawyer robot |
observation.state |
float32 |
7 |
Copy of the state field in source robot's RLDS dataset |
observation.ur5e.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.ur5e.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.ur5e.ee_error |
float32 |
7 |
The eef difference between the augmented ur5e robot and the original robot |
observation.ur5e.ee_pose |
float32 |
7 |
The eef position of ur5e robot |
observation.ur5e.joints |
float32 |
7 |
The joint position of ur5e robot |
observation.xarm7.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.xarm7.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.xarm7.ee_error |
float32 |
7 |
The eef difference between the augmented xarm7 robot and the original robot |
observation.xarm7.ee_pose |
float32 |
7 |
The eef position of xarm7 robot |
observation.xarm7.joints |
float32 |
8 |
The joint position of xarm7 robot |
task_index |
int64 |
1 |
Integer ID of the high-level task this episode/frame belongs to. |
timestamp |
float32 |
1 |
Time stamp of the current frame within the episode (in second). |
Website
- Website page: https://oxe-auge.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-auge
Paper
Citation Policy
If you use OXE-AugE datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@article{walke2023bridgedatav2,
title = {BridgeData V2: A Dataset for Robot Learning at Scale},
author = {Walke, Homer and Black, Kevin and Lee, Abraham and Kim, Moo Jin and Du, Max and Zheng, Chongyi and Zhao, Tony and Hansen-Estruch, Philippe and Vuong, Quan and He, Andre and Myers, Vivek and Fang, Kuan and Finn, Chelsea and Levine, Sergey},
journal = {arXiv preprint arXiv:2308.12952},
year = {2023},
doi = {10.48550/arXiv.2308.12952},
url = {https://arxiv.org/abs/2308.12952},
note = {Version v3, last revised 2024-01-17}
}
OXE-AugE Dataset Citation (ours)
@misc{
ji2025oxeaug,
title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
year = {2025},
note = {Manuscript}
}
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