taskvar string | task_instruction string | episode_id int64 | images list | failure_mode string | detailed_subtask_name string | failure_reason string | plan list | reward int64 | execution_reward int64 | planning_reward int64 |
|---|---|---|---|---|---|---|---|---|---|---|
real_put_fruit_in_box+1 | put the lemon in the box | 0 | [
"records/real_put_fruit_in_box+4/0/1_img_viewpoint_0.png",
"records/real_put_fruit_in_box+4/0/1_img_viewpoint_1.png",
"records/real_put_fruit_in_box+4/0/1_img_viewpoint_2.png",
"records/real_put_fruit_in_box+4/0/6_img_viewpoint_0.png",
"records/real_put_fruit_in_box+4/0/6_img_viewpoint_1.png",
"records/re... | no_grasp | grasp lemon | [
"grasp lemon",
"move grasped object to box",
"release"
] | 0 | 0 | 1 | |
real_put_fruit_in_box+1 | put the lemon in the box | 0 | [
"records/real_put_fruit_in_box+4/0/7_img_viewpoint_0.png",
"records/real_put_fruit_in_box+4/0/7_img_viewpoint_1.png",
"records/real_put_fruit_in_box+4/0/7_img_viewpoint_2.png",
"records/real_put_fruit_in_box+4/0/8_img_viewpoint_0.png",
"records/real_put_fruit_in_box+4/0/8_img_viewpoint_1.png",
"records/re... | no_grasp | grasp lemon | [
"grasp lemon",
"move grasped object to box",
"release"
] | 0 | 0 | 1 | |
real_put_fruits_in_plate+0 | put the grapes in the blue plate, then put the banana in the pink plate | 0 | [
"records/real_put_fruits_in_plate+0/0/0_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/0_img_viewpoint_1.png",
"records/real_put_fruits_in_plate+0/0/0_img_viewpoint_2.png",
"records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/2_img_viewpoint_1.png"... | ground_truth | grasp grapes | [
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 1 | 1 | 1 | |
real_put_fruits_in_plate+0 | put the grapes in the blue plate, then put the banana in the pink plate | 0 | [
"records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/2_img_viewpoint_1.png",
"records/real_put_fruits_in_plate+0/0/2_img_viewpoint_2.png",
"records/real_put_fruits_in_plate+0/0/4_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/4_img_viewpoint_1.png"... | ground_truth | move grasped object to blue plate | [
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 1 | 1 | 1 | |
real_put_fruits_in_plate+0 | put the grapes in the blue plate, then put the banana in the pink plate | 0 | [
"records/real_put_fruits_in_plate+0/0/6_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/6_img_viewpoint_1.png",
"records/real_put_fruits_in_plate+0/0/6_img_viewpoint_2.png",
"records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png"... | ground_truth | grasp banana | [
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 1 | 1 | 1 | |
real_put_fruits_in_plate+0 | put the grapes in the blue plate, then put the strawberry in the pink plate | 0 | [
"records/real_put_fruits_in_plate+0/0/6_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/6_img_viewpoint_1.png",
"records/real_put_fruits_in_plate+0/0/6_img_viewpoint_2.png",
"records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png"... | wrong_object | grasp strawberry | wrong object: banana | [
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp strawberry",
"move grasped object to pink plate",
"release"
] | 0 | 0 | 1 |
real_put_fruits_in_plate+0 | put the grapes in the blue plate, then put the banana in the pink plate | 0 | [
"records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png",
"records/real_put_fruits_in_plate+0/0/8_img_viewpoint_2.png",
"records/real_put_fruits_in_plate+0/0/10_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/10_img_viewpoint_1.pn... | ground_truth | move grasped object to pink plate | [
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 1 | 1 | 1 | |
real_put_fruits_in_plate+0 | put the grapes in the blue plate, then put the banana in the pink plate | 0 | [
"records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png",
"records/real_put_fruits_in_plate+0/0/8_img_viewpoint_2.png",
"records/real_put_fruits_in_plate+0/0/11_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/11_img_viewpoint_1.pn... | translation_target | move grasped object to pink plate | [
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 0 | 0 | 1 | |
real_put_fruits_in_plate+0 | put the grapes in the blue plate, then put the banana in the pink plate | 0 | [
"records/real_put_fruits_in_plate+0/0/9_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/9_img_viewpoint_1.png",
"records/real_put_fruits_in_plate+0/0/9_img_viewpoint_2.png",
"records/real_put_fruits_in_plate+0/0/12_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/12_img_viewpoint_1.pn... | ground_truth | move grasped object to pink plate | [
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 1 | 1 | 1 | |
real_put_fruits_in_plate+0 | put the grapes in the blue plate, then put the banana in the pink plate | 0 | [
"records/real_put_fruits_in_plate+0/0/14_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/14_img_viewpoint_1.png",
"records/real_put_fruits_in_plate+0/0/14_img_viewpoint_2.png",
"records/real_put_fruits_in_plate+0/0/15_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/15_img_viewpoint_1... | wrong_target | move grasped object to pink plate | wrong target: blue plate | [
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 0 | 0 | 1 |
real_put_fruits_in_plate+0 | put the grapes in the blue plate, then put the banana in the pink plate | 0 | [
"records/real_put_fruits_in_plate+0/0/14_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/14_img_viewpoint_1.png",
"records/real_put_fruits_in_plate+0/0/14_img_viewpoint_2.png",
"records/real_put_fruits_in_plate+0/0/16_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/16_img_viewpoint_1... | translation_target | move grasped object to pink plate | [
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 0 | 0 | 1 | |
real_put_fruits_in_plate+0 | put the grapes in the blue plate, then put the banana in the pink plate | 0 | [
"records/real_put_fruits_in_plate+0/0/14_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/14_img_viewpoint_1.png",
"records/real_put_fruits_in_plate+0/0/14_img_viewpoint_2.png",
"records/real_put_fruits_in_plate+0/0/17_img_viewpoint_0.png",
"records/real_put_fruits_in_plate+0/0/17_img_viewpoint_1... | ground_truth | move grasped object to pink plate | [
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 1 | 1 | 1 | |
real_put_item_in_drawer+0 | put the frog toy in the top part of the drawer | 0 | [
"records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/0_img_viewpoint_1.png",
"records/real_put_item_in_drawer+0/0/0_img_viewpoint_2.png",
"records/real_put_item_in_drawer+0/0/2_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/2_img_viewpoint_1.png",
"... | ground_truth | grasp top part of the drawer | [
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 1 | 1 | 1 | |
real_put_item_in_drawer+0 | put the frog toy in the top part of the drawer | 0 | [
"records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/0_img_viewpoint_1.png",
"records/real_put_item_in_drawer+0/0/0_img_viewpoint_2.png",
"records/real_put_item_in_drawer+0/0/1_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/1_img_viewpoint_1.png",
"... | no_grasp | grasp top part of the drawer | [
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 0 | 0 | 1 | |
real_put_item_in_drawer+0 | put the frog toy in the top part of the drawer | 0 | [
"records/real_put_item_in_drawer+0/0/1_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/1_img_viewpoint_1.png",
"records/real_put_item_in_drawer+0/0/1_img_viewpoint_2.png",
"records/real_put_item_in_drawer+0/0/3_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/3_img_viewpoint_1.png",
"... | ground_truth | grasp top part of the drawer | [
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 1 | 1 | 1 | |
real_put_item_in_drawer+0 | put the frog toy in the top part of the drawer | 0 | [
"records/real_put_item_in_drawer+0/0/2_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/2_img_viewpoint_1.png",
"records/real_put_item_in_drawer+0/0/2_img_viewpoint_2.png",
"records/real_put_item_in_drawer+0/0/4_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/4_img_viewpoint_1.png",
"... | ground_truth | move grasped object out | [
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 1 | 1 | 1 | |
real_put_item_in_drawer+0 | put the frog toy in the top part of the drawer | 0 | [
"records/real_put_item_in_drawer+0/0/3_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/3_img_viewpoint_1.png",
"records/real_put_item_in_drawer+0/0/3_img_viewpoint_2.png",
"records/real_put_item_in_drawer+0/0/4_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/4_img_viewpoint_1.png",
"... | ground_truth | move grasped object out | [
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 1 | 1 | 1 | |
real_put_item_in_drawer+0 | put the frog toy in the top part of the drawer | 0 | [
"records/real_put_item_in_drawer+0/0/4_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/4_img_viewpoint_1.png",
"records/real_put_item_in_drawer+0/0/4_img_viewpoint_2.png",
"records/real_put_item_in_drawer+0/0/7_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/7_img_viewpoint_1.png",
"... | ground_truth | grasp frog toy | [
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 1 | 1 | 1 | |
real_put_item_in_drawer+0 | put the frog toy in the top part of the drawer | 0 | [
"records/real_put_item_in_drawer+0/0/7_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/7_img_viewpoint_1.png",
"records/real_put_item_in_drawer+0/0/7_img_viewpoint_2.png",
"records/real_put_item_in_drawer+0/0/8_img_viewpoint_0.png",
"records/real_put_item_in_drawer+0/0/8_img_viewpoint_1.png",
"... | translation_target | move grasped object to drawer | [
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 0 | 0 | 1 | |
real_stack_cup+0 | stack a yellow cup onto a pink cup onto a navy cup | 0 | [
"records/real_stack_cup+0/episode0/0_img_viewpoint_0.png",
"records/real_stack_cup+0/episode0/0_img_viewpoint_1.png",
"records/real_stack_cup+0/episode0/0_img_viewpoint_2.png",
"records/real_stack_cup+0/episode0/2_img_viewpoint_0.png",
"records/real_stack_cup+0/episode0/2_img_viewpoint_1.png",
"records/re... | ground_truth | grasp yellow cup | [
"grasp yellow cup",
"move grasped object to pink cup",
"release",
"grasp pink cup",
"move grasped object to navy cup",
"release"
] | 1 | 1 | 1 | |
real_stack_cups+0 | stack cyan cup onto yellow cup onto black cup | 0 | [
"records/real_stack_cups+0/episode0/0_img_viewpoint_0.png",
"records/real_stack_cups+0/episode0/0_img_viewpoint_1.png",
"records/real_stack_cups+0/episode0/0_img_viewpoint_2.png",
"records/real_stack_cups+0/episode0/2_img_viewpoint_0.png",
"records/real_stack_cups+0/episode0/2_img_viewpoint_1.png",
"recor... | no_grasp | grasp cyan cup | [
"grasp cyan cup",
"move grasped object to yellow cup",
"release",
"grasp yellow cup",
"move grasped object to black cup",
"release"
] | 0 | 0 | 1 | |
real_stack_cups+0 | stack cyan cup onto yellow cup onto black cup | 0 | [
"records/real_stack_cups+0/0/13_img_viewpoint_0.png",
"records/real_stack_cups+0/0/13_img_viewpoint_1.png",
"records/real_stack_cups+0/0/13_img_viewpoint_2.png",
"records/real_stack_cups+0/0/14_img_viewpoint_0.png",
"records/real_stack_cups+0/0/14_img_viewpoint_1.png",
"records/real_stack_cups+0/0/14_img_... | translation_object | grasp yellow cup | [
"grasp cyan cup",
"move grasped object to yellow cup",
"release",
"grasp yellow cup",
"move grasped object to black cup",
"release"
] | 0 | 0 | 1 | |
real_stack_cups+0 | stack cyan cup onto yellow cup onto black cup | 0 | [
"records/real_stack_cups+0/0/12_img_viewpoint_0.png",
"records/real_stack_cups+0/0/12_img_viewpoint_1.png",
"records/real_stack_cups+0/0/12_img_viewpoint_2.png",
"records/real_stack_cups+0/0/15_img_viewpoint_0.png",
"records/real_stack_cups+0/0/15_img_viewpoint_1.png",
"records/real_stack_cups+0/0/15_img_... | translation_object | grasp yellow cup | [
"grasp cyan cup",
"move grasped object to yellow cup",
"release",
"grasp yellow cup",
"move grasped object to black cup",
"release"
] | 0 | 0 | 1 | |
real_stack_cups+0 | stack red cup onto yellow cup onto black cup | 0 | [
"records/real_stack_cups+0/0/18_img_viewpoint_0.png",
"records/real_stack_cups+0/0/18_img_viewpoint_1.png",
"records/real_stack_cups+0/0/18_img_viewpoint_2.png",
"records/real_stack_cups+0/0/19_img_viewpoint_0.png",
"records/real_stack_cups+0/0/19_img_viewpoint_1.png",
"records/real_stack_cups+0/0/19_img_... | ground_truth | move grasped object to black cup | [
"grasp red cup",
"move grasped object to yellow cup",
"release",
"grasp yellow cup",
"move grasped object to black cup",
"release"
] | 1 | 1 | 1 | |
real_stack_cups+0 | stack cyan cup onto black cup onto yellow cup | 0 | [
"records/real_stack_cups+0/0/2_img_viewpoint_0.png",
"records/real_stack_cups+0/0/2_img_viewpoint_1.png",
"records/real_stack_cups+0/0/2_img_viewpoint_2.png",
"records/real_stack_cups+0/0/4_img_viewpoint_0.png",
"records/real_stack_cups+0/0/4_img_viewpoint_1.png",
"records/real_stack_cups+0/0/4_img_viewpo... | ground_truth | move grasped object to black cup | [
"grasp cyan cup",
"move grasped object to black cup",
"release",
"grasp black cup",
"move grasped object to yellow cup",
"release"
] | 0 | 0 | 1 | |
real_stack_cups+0 | stack cyan cup onto yellow cup onto black cup | 0 | [
"records/real_stack_cups+0/0/0_img_viewpoint_0.png",
"records/real_stack_cups+0/0/0_img_viewpoint_1.png",
"records/real_stack_cups+0/0/0_img_viewpoint_2.png",
"records/real_stack_cups+0/0/2_img_viewpoint_0.png",
"records/real_stack_cups+0/0/2_img_viewpoint_1.png",
"records/real_stack_cups+0/0/2_img_viewpo... | ground_truth | grasp cyan cup | [
"grasp cyan cup",
"move grasped object to yellow cup",
"release",
"grasp yellow cup",
"move grasped object to black cup",
"release"
] | 1 | 1 | 1 | |
real_hungry+0 | i'm hungry, give me some food | 0 | [
"records/real_hungry+0/episode0/0_img_viewpoint_left.png",
"records/real_hungry+0/episode0/0_img_viewpoint_right.png",
"records/real_hungry+0/episode0/0_img_viewpoint_wrist.png",
"records/real_hungry+0/episode0/1_img_viewpoint_left.png",
"records/real_hungry+0/episode0/1_img_viewpoint_right.png",
"records... | wrong_object | grasp squash | wrong object: screwdriver | [
"grasp squash"
] | 0 | 0 | 1 |
real_pick_item_in_box+0 | put the rubik's cube in the box | 1 | [
"records/real_pick_item_in_box+0/episode1/2_img_viewpoint_left.png",
"records/real_pick_item_in_box+0/episode1/2_img_viewpoint_right.png",
"records/real_pick_item_in_box+0/episode1/2_img_viewpoint_wrist.png",
"records/real_pick_item_in_box+0/episode1/5_img_viewpoint_left.png",
"records/real_pick_item_in_box... | wrong_target | move grasped object to box | wrong target: table | [
"grasp rubik's cube",
"move grasped object to box",
"release"
] | 0 | 0 | 1 |
real_pick_item_in_box+0 | store the food in the container | 2 | [
"records/real_pick_item_in_box+0/episode2/0_img_viewpoint_left.png",
"records/real_pick_item_in_box+0/episode2/0_img_viewpoint_right.png",
"records/real_pick_item_in_box+0/episode2/0_img_viewpoint_wrist.png",
"records/real_pick_item_in_box+0/episode2/2_img_viewpoint_left.png",
"records/real_pick_item_in_box... | ground_truth | grasp croissant | [
"grasp croissant",
"move grasped object to box",
"release"
] | 1 | 1 | 1 | |
real_hungry+0 | put the food in the box | 0 | [
"records/real_hungry+0/episode0/0_img_viewpoint_left.png",
"records/real_hungry+0/episode0/0_img_viewpoint_right.png",
"records/real_hungry+0/episode0/0_img_viewpoint_wrist.png",
"records/real_hungry+0/episode0/1_img_viewpoint_left.png",
"records/real_hungry+0/episode0/1_img_viewpoint_right.png",
"records... | no_grasp | grasp squash | [
"grasp squash",
"move grasped object to box",
"release"
] | 0 | 0 | 1 |
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