{ "texts": [ "pick up the blue bowl and place it on top of the other bowl" ], "episode_id": 0, "success": 0, "num_cameras": 3, "video_path": "videos/0.mp4", "video_length": 12, "raw_length": 36, "batch_idx": 1, "segment_in_batch": 0, "best_sample_idx": 2, "num_samples": 5, "num_chunks": 4, "open_loop_horizon": 9, "critic_values_per_step": [ -47.5, -46.5, -47.25, -47.0, -46.75, -45.75, -45.5, -45.75, -46.25, -45.25, -44.5, -44.0 ], "observation.state.cartesian_position": [ [ 0.5405023097991943, 0.05070785805583, 0.3218715786933899, 3.139875888824463, 0.057958606630563736, -0.006566602736711502 ], [ 0.5275740623474121, 0.048719633370637894, 0.3128036856651306, 3.1358747482299805, 0.06816373765468597, 0.005379439797252417 ], [ 0.5316683650016785, 0.04823426902294159, 0.31142657995224, -3.132157564163208, 0.0776912271976471, 0.03718062490224838 ], [ 0.527851939201355, 0.047832321375608444, 0.3105524182319641, -3.129169464111328, 0.08278170228004456, 0.05519919842481613 ], [ 0.539580225944519, 0.03998136147856712, 0.31753674149513245, -3.130608081817627, 0.06996507942676544, 0.020219091325998306 ], [ 0.5435320138931274, 0.04026423767209053, 0.3100298047065735, -3.0906789302825928, 0.01822919026017189, -0.0367124080657959 ], [ 0.5486515164375305, 0.04126551374793053, 0.2989234924316406, -3.061307430267334, -0.022517003118991852, -0.09877792000770569 ], [ 0.5441531538963318, 0.05314312502741814, 0.2938039004802704, -3.0563695430755615, -0.009600411169230938, -0.10050208866596222 ], [ 0.5435001254081726, 0.051647067070007324, 0.29109135270118713, -3.0619640350341797, -0.004707921762019396, -0.09903354942798615 ], [ 0.543167233467102, 0.052187997847795486, 0.28822198510169983, -3.057713270187378, 0.004186662845313549, -0.1118745356798172 ], [ 0.5583969354629517, 0.05141159147024155, 0.28600797057151794, -3.0446343421936035, -0.01995268277823925, -0.17499558627605438 ], [ 0.5617271661758423, 0.048153702169656754, 0.27777454257011414, -3.0554330348968506, -0.03450872749090195, -0.1973600685596466 ] ], "observation.state.joint_position": [ [ 0.08490082621574402, 0.13404597342014313, 0.00851050391793251, -2.1866819858551025, 0.0038103945553302765, 2.262878656387329, 0.0973682850599289 ], [ 0.06562820076942444, 0.11612385511398315, 0.026687197387218475, -2.2357423305511475, -0.003805268555879593, 2.283418893814087, 0.08925361931324005 ], [ 0.056227363646030426, 0.1304892897605896, 0.03379737585783005, -2.2182464599609375, 0.011925991624593735, 2.271540641784668, 0.04505179449915886 ], [ 0.047710176557302475, 0.12277914583683014, 0.042130231857299805, -2.230231761932373, 0.0132194384932518, 2.270557165145874, 0.026120860129594803 ], [ 0.04905741661787033, 0.13813301920890808, 0.02431846410036087, -2.191258668899536, 0.014677807688713074, 2.2600138187408447, 0.04369863122701645 ], [ 0.044547613710165024, 0.1524980068206787, 0.027708005160093307, -2.208047389984131, 0.06781000643968582, 2.346743583679199, 0.06130183860659599 ], [ 0.045936912298202515, 0.17970967292785645, 0.02863335609436035, -2.216643810272217, 0.10739021003246307, 2.4294254779815674, 0.09173107147216797 ], [ 0.05372137948870659, 0.18132945895195007, 0.04315789416432381, -2.2275640964508057, 0.1135522723197937, 2.4316246509552, 0.11085523664951324 ], [ 0.05439823865890503, 0.18487004935741425, 0.039855461567640305, -2.229318857192993, 0.10733470320701599, 2.4310758113861084, 0.11154866218566895 ], [ 0.053852468729019165, 0.19020435214042664, 0.041316814720630646, -2.2286949157714844, 0.11502660810947418, 2.4285776615142822, 0.11974745988845825 ], [ 0.053569089621305466, 0.22910453379154205, 0.03864385187625885, -2.187631845474243, 0.12602609395980835, 2.45745587348938, 0.16894477605819702 ], [ 0.055224720388650894, 0.25077149271965027, 0.03148943558335304, -2.1853365898132324, 0.1078467071056366, 2.490377426147461, 0.1973494291305542 ] ], "observation.state.gripper_position": [ [ 0.05726870894432068 ], [ 0.05700674653053284 ], [ 0.056840360164642334 ], [ 0.05535897612571716 ], [ 0.05787047743797302 ], [ 0.05716457962989807 ], [ 0.05703169107437134 ], [ 0.06133502721786499 ], [ 0.059914976358413696 ], [ 0.06060859560966492 ], [ 0.05949050188064575 ], [ 0.05788174271583557 ] ], "action.joint_position": [ [ -0.007300455951213813, 0.2516688190125822, 0.09359298284989614, -2.029739990183413, 0.12001330554276712, 2.15081063439548, -0.2540185772883296 ], [ -0.04823745745772118, 0.2700427963603137, 0.1404314435167316, -2.0402216984649897, 0.10493557788887631, 2.1300607114842833, -0.24964355841827396 ], [ -0.09729313190776101, 0.24665802451840024, 0.1820525454882984, -2.0140813950988052, 0.09444984795004141, 2.1109640286096036, -0.24254711362630127 ], [ -0.14811855690440523, 0.2419275835849939, 0.23303960135412277, -1.9842607216000556, 0.09854105175250782, 2.0972934913336037, -0.2366124466304183 ], [ -0.184308379954934, 0.23239574122616624, 0.281989710316778, -1.9750331521973012, 0.08379277835798282, 2.0694776006136237, -0.25736509696361426 ], [ -0.22652101715883594, 0.23213296508631087, 0.33328592323190065, -1.9518829828525184, 0.07131636260989327, 2.058905177048147, -0.25804700820115206 ], [ -0.2802626859724817, 0.23693811094614836, 0.38651994363051756, -1.9372143667209145, 0.05999421297875063, 2.0465724048666956, -0.25625992984655493 ], [ -0.3220778289935586, 0.2513148421572742, 0.4310192902609122, -1.9174379212934372, 0.05243122784420862, 2.0421438245918155, -0.2544781124398409 ], [ -0.36417295603504746, 0.3513100188423094, 0.479298847508253, -1.894531201754212, 0.05489170440664903, 2.0249859786286657, -0.2832216521801649 ], [ -0.39416170250162447, 0.5254080397693213, 0.5194838685642496, -2.034170008111208, 0.4251035794154705, 2.5864232571531836, -0.1455747856683431 ], [ -0.40998488767173846, 0.7086515693645175, 0.5634025185830609, -2.159277692603856, 0.7708239258213343, 3.1441127495347563, 0.005452454682439767 ], [ -0.42315370341756897, 0.8960702754691536, 0.6240478775790947, -2.2761475301678176, 1.0699401655482355, 3.629193234488756, 0.16030360162678386 ], [ -0.44399301255777435, 1.0738509301348622, 0.687316856201293, -2.371572240612119, 1.346024455837399, 4.04453441063419, 0.31282183027508886 ], [ -0.47235162264177155, 1.2325144755540782, 0.7412966099311135, -2.4549306943536098, 1.5908378564009371, 4.42196835490492, 0.45263897154161364 ], [ -0.4755287279448802, 1.3577918895356946, 0.8007864450991177, -2.535525587565302, 1.8142293643368186, 4.739349334857554, 0.5945085958314242 ], [ -0.49089102174073407, 1.4552153254841858, 0.8645367141225363, -2.571218970021426, 2.012450690262705, 5.029593853036315, 0.7387469841977659 ], [ -0.5065357825461918, 1.5649641427281193, 0.927600317273083, -2.6537578196766964, 2.2015955378455816, 5.299712177668244, 0.8912458632580939 ], [ -0.5293067763107413, 1.6811863256753972, 0.9912423226352958, -2.705639024033009, 2.400058198753923, 5.570696342156976, 1.0253738689849676 ], [ -0.5380276947652691, 1.6860191266774822, 1.0056612859801084, -2.7056316671776166, 2.3934833450120685, 5.5635063810071355, 1.024289361481458 ], [ -0.5506559205815785, 1.678009160858481, 1.0108823735641272, -2.690269737187623, 2.3912240219847556, 5.551806704001636, 1.0291030899038018 ], [ -0.5564600554388457, 1.6714543242529323, 1.0255207455707822, -2.6947104432144755, 2.391335165352702, 5.544707742238492, 1.0146599657017292 ], [ -0.561637532404273, 1.8073066896450807, 1.0644233037893807, -2.6012260553929796, 2.459648623709559, 5.5766190044876645, 1.1554642926295104 ], [ -0.5566791775977902, 2.092001936747818, 1.0842465393855012, -2.4701973576717364, 2.5656907071950434, 5.6369774629258815, 1.335846284639031 ], [ -0.5434497159025959, 2.42701660575953, 1.1244571189894117, -2.3290371264495837, 2.6627881248926517, 5.700125659098953, 1.5047345322216454 ], [ -0.5491667842040651, 2.7953556274334477, 1.150704941144172, -2.129508957964479, 2.7210134107662434, 5.764405009242982, 1.6486449584470693 ], [ -0.5371756324013464, 3.1586681629479214, 1.150105669719819, -1.9300395744513859, 2.750650412227332, 5.814178284842224, 1.8244169334132376 ], [ -0.530236661890029, 3.5035288125697654, 1.156945056259338, -1.7660057310305226, 2.7282207988183793, 5.856490858902127, 2.006690191602439 ], [ -0.4958004213300935, 3.713263812274603, 1.1188946418156367, -1.78021982337278, 2.6032827440171835, 6.064291336923629, 2.1477037080850305 ], [ -0.46906214897972265, 3.9474650819603485, 1.0887212224362535, -1.7875596646947254, 2.5526139682149287, 6.300733647627801, 2.2605971906264726 ], [ -0.4722010378404847, 4.186293760040967, 1.100039117539589, -1.799771169508754, 2.62340078234595, 6.625357913525493, 2.3018369196741286 ], [ -0.47579647284442106, 4.488575708942084, 1.1425126691175744, -1.8139869033161986, 2.800023822833418, 6.980921034773083, 2.3231864314734043 ], [ -0.49349639300849946, 4.793706324987201, 1.1993168291453764, -1.806170686199604, 3.002683583690702, 7.356984176452251, 2.371232667889923 ], [ -0.5031990907873503, 5.080472707878677, 1.2691321042380976, -1.7516834075599896, 3.179427253105163, 7.698375108603032, 2.4340788423877657 ], [ -0.48765251437377843, 5.381891253864197, 1.3291340708108592, -1.6742626032423362, 3.3186152194206113, 7.97602832287267, 2.511494989126414 ], [ -0.46303984270584486, 5.670328288586167, 1.3815553934155753, -1.5943211239467843, 3.388958313464045, 8.194695368034752, 2.653343034613043 ], [ -0.4334694512918582, 5.910096304040757, 1.4133649476857237, -1.497661013946174, 3.416100517436325, 8.35383500641683, 2.8314436477820575 ] ], "action.joint_velocity": [ [ -0.09220128216695783, 0.11762284559243907, 0.08508247893196363, 0.15694199567168965, 0.11620291098743685, -0.11206802199184895, -0.3513868623482585 ], [ -0.040937001506507364, 0.018373977347731496, 0.046838460666835446, -0.010481708281576574, -0.015077727653890816, -0.020749922911196927, 0.004375018870055647 ], [ -0.04905567445003983, -0.023384771841913454, 0.04162110197156682, 0.026140303366184225, -0.010485729938834898, -0.019096682874679582, 0.007096444791972689 ], [ -0.05082542499664422, -0.004730440933406355, 0.05098705586582436, 0.029820673498749728, 0.004091203802466414, -0.013670537275999761, 0.0059346669958829645 ], [ -0.03618982305052876, -0.009531842358827647, 0.048950108962655225, 0.009227569402754376, -0.014748273394525002, -0.02781589071997992, -0.020752650333195954 ], [ -0.04221263720390195, -0.00026277613985536963, 0.05129621291512265, 0.023150169344782867, -0.012476415748089553, -0.010572423565477052, -0.0006819112375378023 ], [ -0.05374166881364578, 0.00480514585983749, 0.05323402039861691, 0.014668616131603751, -0.011322149631142642, -0.012332772181451235, 0.001787078354597127 ], [ -0.04181514302107686, 0.014376731211125815, 0.04449934663039462, 0.019776445427477363, -0.007562985134542011, -0.004428580274879912, 0.0017818174067140147 ], [ -0.04209512704148888, 0.09999517668503521, 0.04827955724734084, 0.022906719539225184, 0.002460476562440417, -0.017157845963150176, -0.028743539740323953 ], [ -0.02998874646657701, 0.17409802092701188, 0.040185021055996584, -0.13963880635699621, 0.37021187500882147, 0.5614372785245181, 0.13764686651182179 ], [ -0.015823185170113996, 0.1832435295951962, 0.043918650018811345, -0.12510768449264764, 0.3457203464058638, 0.5576894923815727, 0.15102724035078285 ], [ -0.013168815745830509, 0.18741870610463618, 0.06064535899603385, -0.11686983756396174, 0.29911623972690105, 0.4850804849539996, 0.1548511469443441 ], [ -0.020839309140205375, 0.17778065466570847, 0.06326897862219827, -0.09542471044430134, 0.2760842902891636, 0.4153411761454344, 0.152518228648305 ], [ -0.028358610083997204, 0.15866354541921612, 0.053979753729820446, -0.08335845374149076, 0.24481340056353806, 0.37743394427072996, 0.13981714126652478 ], [ -0.0031771053031086627, 0.1252774139816164, 0.05948983516800421, -0.08059489321169255, 0.22339150793588158, 0.31738097995263337, 0.14186962428981065 ], [ -0.015362293795853799, 0.09742343594849101, 0.06375026902341863, -0.035693382456123746, 0.1982213259258867, 0.29024451817876096, 0.14423838836634162 ], [ -0.01564476080545779, 0.1097488172439336, 0.06306360315054671, -0.08253884965527059, 0.18914484758287675, 0.2701183246319294, 0.152498879060328 ], [ -0.02277099376454944, 0.11622218294727793, 0.06364200536221276, -0.051881204356312716, 0.19846266090834142, 0.27098416448873286, 0.1341280057268739 ], [ -0.008720918454527826, 0.004832801002085163, 0.014418963344812519, 7.356855392437467e-06, -0.006574853741854403, -0.007189961149841495, -0.0010845075035095242 ], [ -0.012628225816309402, -0.008009965819001263, 0.005221087584018846, 0.015361929989993639, -0.0022593230273126874, -0.011699677005499565, 0.004813728422343733 ], [ -0.005804134857267107, -0.006554836605548897, 0.014638372006654854, -0.004440706026852093, 0.00011114336794615376, -0.007098961763143508, -0.01444312420207261 ], [ -0.005177476965427363, 0.1358523653921484, 0.038902558218598504, 0.0934843878214956, 0.06831345835685732, 0.031911262249171735, 0.1408043269277811 ], [ 0.004958354806482823, 0.2846952471027374, 0.01982323559612048, 0.13102869772124304, 0.10604208348548416, 0.06035845843821763, 0.18038199200952054 ], [ 0.013229461695194289, 0.33501466901171206, 0.04021057960391061, 0.14116023122215282, 0.09709741769760849, 0.06314819617307188, 0.16888824758261445 ], [ -0.005717068301469064, 0.36833902167391763, 0.026247822154760514, 0.19952816848510502, 0.05822528587359188, 0.06427935014402875, 0.14391042622542383 ], [ 0.011991151802718647, 0.36331253551447384, -0.0005992714243530095, 0.19946938351309307, 0.02963700146108872, 0.04977327559924127, 0.17577197496616848 ], [ 0.006938970511317311, 0.34486064962184415, 0.006839386539518988, 0.16403384342086313, -0.022429613408952886, 0.04231257405990363, 0.18227325818920137 ], [ 0.034436240559935605, 0.20973499970483778, -0.038050414443701386, -0.014214092342257456, -0.1249380548011958, 0.20780047802150248, 0.14101351648259164 ], [ 0.026738272350370906, 0.23420126968574528, -0.03017341937938317, -0.007339841321945206, -0.050668775802254595, 0.23644231070417165, 0.11289348254144194 ], [ -0.003138888860762079, 0.23882867808061825, 0.011317895103335529, -0.012211504814028662, 0.0707868141310215, 0.3246242658976912, 0.04123972904765605 ], [ -0.003595435003936276, 0.3022819489011167, 0.042473551577985436, -0.014215733807444564, 0.17662304048746824, 0.3555631212475896, 0.02134951179927591 ], [ -0.017699920164078453, 0.3051306160451174, 0.056804160027802086, 0.007816217116594304, 0.2026597608572841, 0.37606314167916777, 0.04804623641651873 ], [ -0.009702697778850744, 0.28676638289147605, 0.06981527509272112, 0.05448727863961467, 0.17674366941446062, 0.3413909321507812, 0.0628461744978428 ], [ 0.015546576413571878, 0.30141854598551976, 0.06000196657276169, 0.0774208043176533, 0.13918796631544827, 0.27765321426963807, 0.07741614673864838 ], [ 0.024612671667933517, 0.2884370347219706, 0.05242132260471599, 0.07994147929555184, 0.07034309404343364, 0.21866704516208169, 0.141848045486629 ], [ 0.029570391413986707, 0.23976801545459037, 0.03180955427014842, 0.09666011000061048, 0.027142203972280066, 0.15913963838207723, 0.1781006131690145 ] ], "action.gripper_position": [ [ 0.028440983662337067 ], [ 0.1632197174678743 ], [ 0.16154456432506442 ], [ 0.13747757178246975 ], [ 0.07242635753479601 ], [ 0.018542354163587096 ], [ 0.007424962854087353 ], [ 0.018495037493526937 ], [ 0.00415427252715826 ], [ 0.021084671694785357 ], [ 0.03391931844860315 ], [ 0.009640056411355735 ], [ 0.024875696410417557 ], [ 0.01739444817236066 ], [ 0.013634501093298198 ], [ 0.03674127511614561 ], [ 0.021357696032166484 ], [ 0.06170144429710508 ], [ 0.010094093828469515 ], [ 0.01569438524606824 ], [ 0.02174615159109235 ], [ 0.005903648481756449 ], [ 0.022694034404665234 ], [ 0.028405645141750577 ], [ 0.08718963533583284 ], [ 0.1830436442359686 ], [ 0.12224824861845375 ], [ 0.0034392485149204732 ], [ 0.0013209932307600976 ], [ 0.028905777576863766 ], [ 0.030752945289105178 ], [ 0.044695541072845464 ], [ 0.048221556680470706 ], [ 0.2243114977938831 ], [ 0.15892060468053817 ], [ 0.11215537644204499 ] ], "action.cartesian_position": [ [ 0.574542224407196, 0.053410325199365616, 0.31395626068115234, -2.996504783630371, 0.10091903060674667, 0.2738492786884308 ], [ 0.5680856704711914, 0.05556910112500191, 0.29849785566329956, -2.983452796936035, 0.14745241403579712, 0.2881579101085663 ], [ 0.5748677849769592, 0.05060416832566261, 0.3222012519836426, -2.9906909465789795, 0.11693825572729111, 0.2794283628463745 ], [ 0.5820199847221375, 0.050194256007671356, 0.33809876441955566, -2.980908155441284, 0.09212601184844971, 0.27096280455589294 ], [ 0.5806416273117065, 0.05614445358514786, 0.34704482555389404, -2.9793312549591064, 0.09469911456108093, 0.3147999048233032 ], [ 0.5852356553077698, 0.05969388782978058, 0.3584696054458618, -2.98165225982666, 0.07782717794179916, 0.3299404978752136 ], [ 0.5878729820251465, 0.05745379626750946, 0.3637658953666687, -2.9781787395477295, 0.07451360672712326, 0.3332691192626953 ], [ 0.592797040939331, 0.05704877898097038, 0.36669427156448364, -2.970808267593384, 0.06618387997150421, 0.33626338839530945 ], [ 0.5979254245758057, 0.05836407467722893, 0.32488876581192017, -2.891566038131714, 0.12145079672336578, 0.3743789792060852 ], [ 0.6044471859931946, 0.06040603667497635, 0.22143705189228058, -2.6547298431396484, -0.0201619453728199, -0.16354727745056152 ], [ 0.5587790608406067, 0.03334955871105194, 0.12224892526865005, -2.644915819168091, 0.0086271483451128, -0.8018806576728821 ], [ 0.4583311676979065, 0.01978329010307789, 0.04817124083638191, -2.8505029678344727, -0.044497694820165634, -1.3241705894470215 ], [ 0.34814807772636414, 0.020402537658810616, 0.023861682042479515, -3.0786759853363037, -0.2803639769554138, -1.6681727170944214 ], [ 0.26183784008026123, 0.02868223749101162, 0.0424453467130661, 3.0267765522003174, -0.628312885761261, -1.7904248237609863 ], [ 0.2112068235874176, 0.0512433797121048, 0.08275053650140762, 2.8469114303588867, -0.9457886815071106, -1.6841685771942139 ], [ 0.20303185284137726, 0.0745139792561531, 0.12230116128921509, 2.6354963779449463, -1.202127456665039, -1.4410192966461182 ], [ 0.19551268219947815, 0.10002099722623825, 0.15638481080532074, 2.0460894107818604, -1.304295539855957, -0.702272891998291 ], [ 0.20419208705425262, 0.12989497184753418, 0.1762760579586029, 1.5967389345169067, -1.235548734664917, -0.04811045154929161 ], [ 0.2052556276321411, 0.12947379052639008, 0.178633913397789, 1.6609081029891968, -1.2408283948898315, -0.1252967268228531 ], [ 0.21056941151618958, 0.126607745885849, 0.17850066721439362, 1.6666412353515625, -1.2630128860473633, -0.16811278462409973 ], [ 0.21172523498535156, 0.1256517469882965, 0.1827356368303299, 1.7074528932571411, -1.257394552230835, -0.2169286459684372 ], [ 0.22288060188293457, 0.14592093229293823, 0.16620925068855286, 1.7497261762619019, -1.2761954069137573, -0.32993531227111816 ], [ 0.2148965299129486, 0.18419842422008514, 0.12361633032560349, 1.6831697225570679, -1.163000464439392, -0.3200848400592804 ], [ 0.18777211010456085, 0.23443150520324707, 0.08136915415525436, 1.659394383430481, -0.983213484287262, -0.3351621627807617 ], [ 0.13988903164863586, 0.29078757762908936, 0.03119981288909912, 1.570264220237732, -0.7703513503074646, -0.3201475739479065 ], [ 0.04771863669157028, 0.35335031151771545, 0.0034862703178077936, 1.4816265106201172, -0.6010860800743103, -0.23834256827831268 ], [ -0.05415040999650955, 0.4102185070514679, 0.02227790653705597, 1.4582844972610474, -0.49413397908210754, -0.18068283796310425 ], [ -0.1216367706656456, 0.45565423369407654, 0.07139157503843307, 1.8039852380752563, -0.5429334044456482, -0.3393504321575165 ], [ -0.1814870834350586, 0.5036836266517639, 0.14731979370117188, 2.132436752319336, -0.3999179005622864, -0.5327747464179993 ], [ -0.20545920729637146, 0.5644389986991882, 0.24214370548725128, 2.363011598587036, 0.003392987186089158, -0.7017272710800171 ], [ -0.19844909012317657, 0.6160615682601929, 0.3910391330718994, 2.3915622234344482, 0.5987105965614319, -0.8953186273574829 ], [ -0.1280728578567505, 0.6397114992141724, 0.5430998802185059, 1.844419002532959, 1.0708757638931274, -1.6210660934448242 ], [ -0.03950396552681923, 0.6368398666381836, 0.64955735206604, 0.8839033842086792, 0.8887978196144104, -2.655033826828003 ], [ 0.042642705142498016, 0.6130377650260925, 0.7291243076324463, 0.573920726776123, 0.4104056656360626, -2.887145757675171 ], [ 0.11574769765138626, 0.5846964120864868, 0.7795056104660034, 0.42651253938674927, -0.038810424506664276, -2.776557207107544 ], [ 0.1698470562696457, 0.554505467414856, 0.8234182596206665, 0.21492353081703186, -0.32252082228660583, -2.5000319480895996 ] ] }