episode_index int32 0 102 | step_index int32 0 364 | task stringclasses 6
values | difficulty stringclasses 2
values | instruction stringclasses 6
values | image imagewidth (px) 224 224 | action listlengths 7 7 | proprio listlengths 25 25 | reward float32 0 1 | done bool 1
class |
|---|---|---|---|---|---|---|---|---|---|
1 | 147 | lift_cube | low | Lift the cube clearly off the table. | [
0.00048153847455978394,
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0.000006933539680176... | 0.553715 | false | |
1 | 148 | lift_cube | low | Lift the cube clearly off the table. | [
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0.0000073843211794155... | 0.553721 | false | |
1 | 149 | lift_cube | low | Lift the cube clearly off the table. | [
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0.00000786465716373... | 0.553727 | false | |
1 | 150 | lift_cube | low | Lift the cube clearly off the table. | [
0.0011586397886276245,
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1
] | [
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0.0000083705772340... | 0.55372 | false | |
1 | 151 | lift_cube | low | Lift the cube clearly off the table. | [
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1,
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1
] | [
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-0.0... | 0.553721 | false | |
1 | 152 | lift_cube | low | Lift the cube clearly off the table. | [
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1,
0,
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1
] | [
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0.00000... | 1 | false | |
2 | 0 | lift_cube | low | Lift the cube clearly off the table. | [
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] | [
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0.... | 0.015903 | false | |
2 | 1 | lift_cube | low | Lift the cube clearly off the table. | [
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] | [
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0.044222500175237... | 0.019714 | false | |
2 | 2 | lift_cube | low | Lift the cube clearly off the table. | [
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] | [
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0.08246429264545... | 0.025145 | false | |
2 | 3 | lift_cube | low | Lift the cube clearly off the table. | [
0.6890602707862854,
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] | [
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0.1041776612401008... | 0.030667 | false | |
2 | 4 | lift_cube | low | Lift the cube clearly off the table. | [
0.5993549227714539,
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] | [
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0.114626996219158... | 0.036084 | false | |
2 | 5 | lift_cube | low | Lift the cube clearly off the table. | [
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] | [
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0.11739117652177... | 0.041194 | false | |
2 | 6 | lift_cube | low | Lift the cube clearly off the table. | [
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] | [
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0.11479696631... | 0.045858 | false | |
2 | 7 | lift_cube | low | Lift the cube clearly off the table. | [
0.38632309436798096,
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] | [
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0.1084788143634796... | 0.050001 | false | |
2 | 8 | lift_cube | low | Lift the cube clearly off the table. | [
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-1
] | [
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0.09967274218797... | 0.053601 | false | |
2 | 9 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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0,
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] | [
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0.089357510... | 0.056676 | false | |
2 | 10 | lift_cube | low | Lift the cube clearly off the table. | [
0.24172472953796387,
0.06294897198677063,
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0,
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-1
] | [
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0.07841842621564865... | 0.059269 | false | |
2 | 11 | lift_cube | low | Lift the cube clearly off the table. | [
0.20529742538928986,
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-1
] | [
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0.06734620779... | 0.061437 | false | |
2 | 12 | lift_cube | low | Lift the cube clearly off the table. | [
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] | [
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0.056435387581... | 0.063243 | false | |
2 | 13 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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] | [
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0.04599277302... | 0.064746 | false | |
2 | 14 | lift_cube | low | Lift the cube clearly off the table. | [
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0,
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] | [
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0.03629013523459... | 0.066001 | false | |
2 | 15 | lift_cube | low | Lift the cube clearly off the table. | [
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] | [
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0.02748673409... | 0.067054 | false | |
2 | 16 | lift_cube | low | Lift the cube clearly off the table. | [
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-1
] | [
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0.0196593087... | 0.067944 | false | |
2 | 17 | lift_cube | low | Lift the cube clearly off the table. | [
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] | [
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0.01282471511... | 0.068704 | false | |
2 | 18 | lift_cube | low | Lift the cube clearly off the table. | [
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] | [
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0.0069565... | 0.069358 | false | |
2 | 19 | lift_cube | low | Lift the cube clearly off the table. | [
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] | [
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0.00271... | 0.069928 | false | |
2 | 20 | lift_cube | low | Lift the cube clearly off the table. | [
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-1
] | [
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0.00019... | 0.070428 | false | |
2 | 21 | lift_cube | low | Lift the cube clearly off the table. | [
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0.0000... | 0.070872 | false | |
2 | 22 | lift_cube | low | Lift the cube clearly off the table. | [
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] | [
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0.00003... | 0.071268 | false | |
2 | 23 | lift_cube | low | Lift the cube clearly off the table. | [
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-1
] | [
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0.00002529... | 0.071622 | false | |
2 | 24 | lift_cube | low | Lift the cube clearly off the table. | [
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-1
] | [
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0.00003648860365501605,
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-0.00000632059754934744,
-0.004058465827256441,
0.00001... | 0.071941 | false | |
2 | 25 | lift_cube | low | Lift the cube clearly off the table. | [
0.01695377752184868,
0.004442967474460602,
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0,
0,
0,
-1
] | [
0.03841419890522957,
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0.02149994857609272,
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0.0000... | 0.072228 | false | |
2 | 26 | lift_cube | low | Lift the cube clearly off the table. | [
0.014630025252699852,
0.004199575632810593,
-0.012601661495864391,
0,
0,
0,
-1
] | [
0.03843492642045021,
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0.... | 0.072478 | false | |
2 | 27 | lift_cube | low | Lift the cube clearly off the table. | [
0.01275678165256977,
0.004012063145637512,
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0,
0,
0,
-1
] | [
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0.014621000736951828,
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0.00000... | 0.072691 | false | |
2 | 28 | lift_cube | low | Lift the cube clearly off the table. | [
0.011189887300133705,
0.0038609467446804047,
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0,
0,
0,
-1
] | [
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0.000044780583266401663,
0.012360520660877228,
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0.000006239770300453529,
0... | 0.072873 | false | |
2 | 29 | lift_cube | low | Lift the cube clearly off the table. | [
0.009866813197731972,
0.0037336908280849457,
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0,
0,
0,
-1
] | [
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0.00005461254477268085,
0.01047496683895588,
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0.000010968674359901343,
0.... | 0.073027 | false | |
2 | 30 | lift_cube | low | Lift the cube clearly off the table. | [
0.008747018873691559,
0.0036238133907318115,
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0,
0,
0,
-1
] | [
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0.00007013556751189753,
0.008883551694452763,
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0.00001468645587010542,
0.00... | 0.073159 | false | |
2 | 31 | lift_cube | low | Lift the cube clearly off the table. | [
0.007798708975315094,
0.0035277381539344788,
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0,
0,
0,
-1
] | [
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0.0075352927669882774,
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0.00001776351928128861,
0.00... | 0.073271 | false | |
2 | 32 | lift_cube | low | Lift the cube clearly off the table. | [
0.006995527073740959,
0.003443527966737747,
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0,
0,
0,
-1
] | [
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0.006391744129359722,
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0.000020352532374090515,
0.... | 0.073366 | false | |
2 | 33 | lift_cube | low | Lift the cube clearly off the table. | [
0.0063152797520160675,
0.0033695437014102936,
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0,
0,
0,
-1
] | [
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0.00009916790440911427,
0.0054211425594985485,
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... | 0.073448 | false | |
2 | 34 | lift_cube | low | Lift the cube clearly off the table. | [
0.005739303305745125,
0.003303438425064087,
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0,
0,
0,
-1
] | [
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0.004597574006766081,
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0.000024387312805629335,
0... | 0.073517 | false | |
2 | 35 | lift_cube | low | Lift the cube clearly off the table. | [
0.005251718685030937,
0.0032436102628707886,
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0,
0,
0,
-1
] | [
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0.00008920742402551696,
0.003898540511727333,
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0.000025956465833587572,
... | 0.073576 | false | |
2 | 36 | lift_cube | low | Lift the cube clearly off the table. | [
0.004839068278670311,
0.0031894072890281677,
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0,
0,
0,
-1
] | [
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0.0033052547369152308,
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... | 0.073626 | false | |
2 | 37 | lift_cube | low | Lift the cube clearly off the table. | [
0.004489915445446968,
0.0031402334570884705,
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0,
0,
0,
-1
] | [
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0.00007829217793187127,
0.0028016490396112204,
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0.000028401034796843305,
0.0... | 0.073668 | false | |
2 | 38 | lift_cube | low | Lift the cube clearly off the table. | [
0.004194555804133415,
0.003095567226409912,
-0.0019318342674523592,
0,
0,
0,
-1
] | [
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0.002374345902353525,
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0.000029346285373321734,
... | 0.073705 | false | |
2 | 39 | lift_cube | low | Lift the cube clearly off the table. | [
0.003944775089621544,
0.0030549243092536926,
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0,
0,
0,
-1
] | [
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0.8540146350860596,
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0.0020119217224419117,
-0.00000578845765630831,
0.000030145556593197398,
0.... | 0.073736 | false | |
2 | 40 | lift_cube | low | Lift the cube clearly off the table. | [
0.0022401586174964905,
0.001810748130083084,
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0,
0,
0,
-1
] | [
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0.8540146946907043,
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0.00006296016363194212,
0.0017041759565472603,
-0.00000560734633836546,
0.00003081438262597658,
... | 0.079788 | false | |
2 | 41 | lift_cube | low | Lift the cube clearly off the table. | [
0.0008302163332700729,
0.0018591955304145813,
-0.6949639320373535,
0,
0,
0,
-1
] | [
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0.20141878724098206,
-0.0029585028532892466,
0.1361161321401596,
-0.0000070050... | 0.092137 | false | |
2 | 42 | lift_cube | low | Lift the cube clearly off the table. | [
-0.0027777962386608124,
0.002206563949584961,
-0.6471716165542603,
0,
0,
0,
-1
] | [
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0.22706110775470734,
-0.00641131354495883,
0.19575998187065125,
0.00002823527... | 0.106941 | false | |
2 | 43 | lift_cube | low | Lift the cube clearly off the table. | [
-0.005777701735496521,
0.0026537999510765076,
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0,
0,
0,
-1
] | [
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0.20934349298477173,
-0.006999482400715351,
0.21845082938671112,
0.0000498791669... | 0.123082 | false | |
2 | 44 | lift_cube | low | Lift the cube clearly off the table. | [
-0.00734950415790081,
0.0030868761241436005,
-0.5483672618865967,
0,
0,
0,
-1
] | [
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0.8540186285972595,
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0.4240255653858185,
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0.18592248857021332,
-0.005914114881306887,
0.22558361291885376,
0.000048484478... | 0.140043 | false | |
2 | 45 | lift_cube | low | Lift the cube clearly off the table. | [
-0.007675789296627045,
0.003469850867986679,
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0,
0,
0,
-1
] | [
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0.16519887745380402,
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0.2243608832359314,
0.0000328950... | 0.157479 | false | |
2 | 46 | lift_cube | low | Lift the cube clearly off the table. | [
-0.007104573771357536,
0.0037848539650440216,
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0,
0,
0,
-1
] | [
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0.1482619196176529,
-0.0018918585265055299,
0.21789197623729706,
0.00001096547... | 0.175097 | false | |
2 | 47 | lift_cube | low | Lift the cube clearly off the table. | [
-0.005947720259428024,
0.004021134227514267,
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0,
0,
0,
-1
] | [
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0.13458582758903503,
-0.00008456002251477912,
0.20798154175281525,
-0.00000574... | 0.192639 | false | |
2 | 48 | lift_cube | low | Lift the cube clearly off the table. | [
-0.004446962848305702,
0.004173204302787781,
-0.38541877269744873,
0,
0,
0,
-1
] | [
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0.12342726439237595,
8.732765763852512e-7,
0.19589662551879883,
0.00000589425917... | 0.209882 | false | |
2 | 49 | lift_cube | low | Lift the cube clearly off the table. | [
-0.0027811378240585327,
0.004235677421092987,
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0,
0,
0,
-1
] | [
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0.11415413022041321,
0.000033658896427368745,
0.1825529932975769,
0.000017224396... | 0.226638 | false | |
2 | 50 | lift_cube | low | Lift the cube clearly off the table. | [
-0.0010799411684274673,
0.004217091947793961,
-0.3216583728790283,
0,
0,
0,
-1
] | [
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0.8540224432945251,
0.009271521121263504,
0.26086345314979553,
-0.009572366252541542,
0.10627944767475128,
0.00006177512841532007,
0.16862307488918304,
0.000025123... | 0.242758 | false | |
2 | 51 | lift_cube | low | Lift the cube clearly off the table. | [
0.0005662702023983002,
0.0041288696229457855,
-0.2936514616012573,
0,
0,
0,
-1
] | [
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0.8540236353874207,
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0.09944002330303192,
0.00022203745902515948,
0.1546020358800888,
0.00002756074536... | 0.258132 | false | |
2 | 52 | lift_cube | low | Lift the cube clearly off the table. | [
0.002097180113196373,
0.003982275724411011,
-0.26799631118774414,
0,
0,
0,
-1
] | [
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0.22032731771469116,
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0.09337208420038223,
0.0009233865421265364,
0.14084099233150482,
0.000018120063... | 0.272685 | false | |
2 | 53 | lift_cube | low | Lift the cube clearly off the table. | [
0.003475271165370941,
0.003788463771343231,
-0.2445237636566162,
0,
0,
0,
-1
] | [
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0.8540248870849609,
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0.20224830508232117,
-0.007752435747534037,
0.0878855511546135,
0.0018060209695249796,
0.1275869458913803,
0.0000034879642... | 0.286372 | false | |
2 | 54 | lift_cube | low | Lift the cube clearly off the table. | [
0.0046804435551166534,
0.0035557039082050323,
-0.22306931018829346,
0,
0,
0,
-1
] | [
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0.08284371346235275,
0.002687421627342701,
0.11500782519578934,
-0.0000121904... | 0.299174 | false | |
2 | 55 | lift_cube | low | Lift the cube clearly off the table. | [
0.005705265328288078,
0.0032906904816627502,
-0.2034773826599121,
0,
0,
0,
-1
] | [
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0.17005161941051483,
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0.07814987003803253,
0.0034913804847747087,
0.10320820659399033,
-0.0000272049... | 0.311093 | false | |
2 | 56 | lift_cube | low | Lift the cube clearly off the table. | [
0.006551278755068779,
0.002999592572450638,
-0.1855984926223755,
0,
0,
0,
-1
] | [
0.04417617991566658,
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0.07373756915330887,
0.004188495222479105,
0.0922442376613617,
-0.0000409105778... | 0.322147 | false | |
2 | 57 | lift_cube | low | Lift the cube clearly off the table. | [
0.007226116955280304,
0.0026884451508522034,
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0,
0,
0,
-1
] | [
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0.004770659375935793,
0.08213568478822708,
-0.00005311585118... | 0.332366 | false | |
2 | 58 | lift_cube | low | Lift the cube clearly off the table. | [
0.007741386070847511,
0.0023630261421203613,
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0,
0,
0,
-1
] | [
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0.06558987498283386,
0.005239787511527538,
0.07287594676017761,
-0.00006382... | 0.341786 | false | |
2 | 59 | lift_cube | low | Lift the cube clearly off the table. | [
0.00811103917658329,
0.0020288117229938507,
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0,
0,
0,
-1
] | [
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0.06180395931005478,
0.005602583754807711,
0.06443977355957031,
-0.000073115450... | 0.350452 | false | |
2 | 60 | lift_cube | low | Lift the cube clearly off the table. | [
0.008350208401679993,
0.0016908645629882812,
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0,
0,
0,
-1
] | [
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0.0581902377307415,
0.005868087522685528,
0.05678927153348923,
-0.0000811064164... | 0.358409 | false | |
2 | 61 | lift_cube | low | Lift the cube clearly off the table. | [
0.00847434438765049,
0.0013536997139453888,
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0,
0,
0,
-1
] | [
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0.05474031716585159,
0.006046360358595848,
0.0498785525560379,
-0.000087918211... | 0.365704 | false | |
2 | 62 | lift_cube | low | Lift the cube clearly off the table. | [
0.008498607203364372,
0.0010213181376457214,
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0,
0,
0,
-1
] | [
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0.05144841596484184,
0.006147710606455803,
0.04365710914134979,
-0.0000936733... | 0.372384 | false | |
2 | 63 | lift_cube | low | Lift the cube clearly off the table. | [
0.008437469601631165,
0.0006971284747123718,
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0,
0,
0,
-1
] | [
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0.04831082746386528,
0.0061822435818612576,
0.038072504103183746,
-0.000098488... | 0.378494 | false | |
2 | 64 | lift_cube | low | Lift the cube clearly off the table. | [
0.008304448798298836,
0.0003840029239654541,
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0,
0,
0,
-1
] | [
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0.04532423987984657,
0.006159583106637001,
0.03307213634252548,
-0.0001024743... | 0.38408 | false | |
2 | 65 | lift_cube | low | Lift the cube clearly off the table. | [
0.008111938834190369,
0.00008425489068031311,
-0.0815960168838501,
0,
0,
0,
-1
] | [
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0.042485952377319336,
0.006088710855692625,
0.028604619204998016,
-0.0001057... | 0.389183 | false | |
2 | 66 | lift_cube | low | Lift the cube clearly off the table. | [
0.007871171459555626,
-0.00020029395818710327,
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0,
0,
0,
-1
] | [
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0.039793290197849274,
0.0059778750874102116,
0.024620717391371727,
-0.00010... | 0.393842 | false | |
2 | 67 | lift_cube | low | Lift the cube clearly off the table. | [
0.0075921714305877686,
-0.000468280166387558,
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0,
0,
0,
-1
] | [
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0.03724324703216553,
0.005834547337144613,
0.02107389271259308,
-0.000110... | 0.398094 | false | |
2 | 68 | lift_cube | low | Lift the cube clearly off the table. | [
0.00728379562497139,
-0.0007187537848949432,
-0.06237316131591797,
0,
0,
0,
-1
] | [
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0.03483254089951515,
0.005665415897965431,
0.017920680344104767,
-0.000111... | 0.401974 | false | |
2 | 69 | lift_cube | low | Lift the cube clearly off the table. | [
0.006953783333301544,
-0.0009511224925518036,
-0.05708026885986328,
0,
0,
0,
-1
] | [
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0.03255750983953476,
0.0054764035157859325,
0.015120903961360455,
-0.0001131... | 0.405514 | false | |
2 | 70 | lift_cube | low | Lift the cube clearly off the table. | [
0.0066088344901800156,
-0.0011651292443275452,
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0,
0,
0,
-1
] | [
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0.030413947999477386,
0.005272699519991875,
0.012637600302696228,
-0.00011395... | 0.408742 | false | |
2 | 71 | lift_cube | low | Lift the cube clearly off the table. | [
0.006254682317376137,
-0.0013607628643512726,
-0.04787635803222656,
0,
0,
0,
-1
] | [
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0.02839762531220913,
0.005058808717876673,
0.01043700985610485,
-0.0001144544... | 0.411686 | false | |
2 | 72 | lift_cube | low | Lift the cube clearly off the table. | [
0.005896193906664848,
-0.0015382803976535797,
-0.04388308525085449,
0,
0,
0,
-1
] | [
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0.026503967121243477,
0.004838596563786268,
0.008488469757139683,
-0.00011468... | 0.414371 | false | |
2 | 73 | lift_cube | low | Lift the cube clearly off the table. | [
0.005537454038858414,
-0.0016980841755867004,
-0.04024708271026611,
0,
0,
0,
-1
] | [
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0.024728043004870415,
0.004615347366780043,
0.006764229852706194,
-0.00011470... | 0.416819 | false | |
2 | 74 | lift_cube | low | Lift the cube clearly off the table. | [
0.0051818545907735825,
-0.0018407665193080902,
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0,
0,
0,
-1
] | [
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0.023064913228154182,
0.0043918173760175705,
0.0052392976358532906,
-0.00011452... | 0.41905 | false | |
2 | 75 | lift_cube | low | Lift the cube clearly off the table. | [
0.0048321448266506195,
-0.0019670091569423676,
-0.0339202880859375,
0,
0,
0,
-1
] | [
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0.021509557962417603,
0.004170289728790522,
0.0038912466261535883,
-0.000... | 0.421085 | false | |
2 | 76 | lift_cube | low | Lift the cube clearly off the table. | [
0.004490559920668602,
-0.0020775943994522095,
-0.0311737060546875,
0,
0,
0,
-1
] | [
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0.020056556910276413,
0.003952624276280403,
0.002699954202398658,
-0.00011371... | 0.422941 | false | |
2 | 77 | lift_cube | low | Lift the cube clearly off the table. | [
0.00415884330868721,
-0.0021734051406383514,
-0.02867138385772705,
0,
0,
0,
-1
] | [
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0.01870112679898739,
0.0037403146270662546,
0.001647511264309287,
-0.00011313... | 0.424632 | false | |
2 | 78 | lift_cube | low | Lift the cube clearly off the table. | [
0.00383833609521389,
-0.002255301922559738,
-0.02639186382293701,
0,
0,
0,
-1
] | [
0.0498557947576046,
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0.01743788830935955,
0.0035345242358744144,
0.0007179175736382604,
-0.0001124... | 0.426174 | false | |
2 | 79 | lift_cube | low | Lift the cube clearly off the table. | [
0.0035294629633426666,
-0.0023243017494678497,
-0.0243147611618042,
0,
0,
0,
-1
] | [
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0.016221296042203903,
0.0033358579967170954,
0.00008662306208861992,
-0.00011... | 0.427581 | false | |
2 | 80 | lift_cube | low | Lift the cube clearly off the table. | [
0.003234637901186943,
-0.0023811645805835724,
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0,
0,
0,
-1
] | [
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0.014862917363643646,
0.003142568515613675,
0.00006931627285666764,
-0.0... | 0.42887 | false | |
2 | 81 | lift_cube | low | Lift the cube clearly off the table. | [
0.0029706526547670364,
-0.0024252645671367645,
-0.020682334899902344,
0,
0,
0,
-1
] | [
0.05008063092827797,
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0.01612953469157219,
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0.01355886459350586,
0.002958121709525585,
0.00006564532668562606,
-0.00011... | 0.430052 | false | |
2 | 82 | lift_cube | low | Lift the cube clearly off the table. | [
0.0027396976947784424,
-0.0024574287235736847,
-0.01908552646636963,
0,
0,
0,
-1
] | [
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-0.00042843600385822356,
0.012358535081148148,
0.0027852836064994335,
0.00006293523620115593,
-0.... | 0.431136 | false | |
2 | 83 | lift_cube | low | Lift the cube clearly off the table. | [
0.002539023756980896,
-0.002478931099176407,
-0.01761782169342041,
0,
0,
0,
-1
] | [
0.050184186547994614,
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0.011261062696576118,
0.0026249585207551718,
0.00006048090654076077,
-0.0... | 0.432131 | false | |
2 | 84 | lift_cube | low | Lift the cube clearly off the table. | [
0.0023654960095882416,
-0.002491045743227005,
-0.016268491744995117,
0,
0,
0,
-1
] | [
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0.010258934460580349,
0.0024771259631961584,
0.00005818168574478477,
-0.00... | 0.433044 | false | |
2 | 85 | lift_cube | low | Lift the cube clearly off the table. | [
0.0022161975502967834,
-0.0024949125945568085,
-0.015027880668640137,
0,
0,
0,
-1
] | [
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0.009344132617115974,
0.002341335406526923,
0.000056015873269643635,
-0.0... | 0.433881 | false | |
2 | 86 | lift_cube | low | Lift the cube clearly off the table. | [
0.002088485285639763,
-0.0024916045367717743,
-0.013887405395507812,
0,
0,
0,
-1
] | [
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3.0991640090942383,
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-0.0... | 0.434649 | false | |
2 | 87 | lift_cube | low | Lift the cube clearly off the table. | [
0.0019799843430519104,
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0,
0,
0,
-1
] | [
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-0.0... | 0.435354 | false | |
2 | 88 | lift_cube | low | Lift the cube clearly off the table. | [
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-0.0... | 0.436 | false | |
2 | 89 | lift_cube | low | Lift the cube clearly off the table. | [
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... | 0.436592 | false | |
2 | 90 | lift_cube | low | Lift the cube clearly off the table. | [
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-0... | 0.437136 | false | |
2 | 91 | lift_cube | low | Lift the cube clearly off the table. | [
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-... | 0.437635 | false | |
2 | 92 | lift_cube | low | Lift the cube clearly off the table. | [
0.0016573704779148102,
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0.0000441497795691248,
-0... | 0.438093 | false | |
2 | 93 | lift_cube | low | Lift the cube clearly off the table. | [
0.0016259048134088516,
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0.0043911742977797985,
0.0016014287248253822,
0.000042851941543631256,
... | 0.438513 | false |
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