{ "texts": [ "pick up the blue bowl and place it on top of the other bowl" ], "episode_id": 124, "success": 0, "num_cameras": 3, "video_path": "videos/124.mp4", "video_length": 12, "raw_length": 36, "batch_idx": 42, "segment_in_batch": 3, "best_sample_idx": 0, "num_samples": 5, "num_chunks": 4, "open_loop_horizon": 9, "critic_values_per_step": [ -33.25, -32.75, -32.5, -32.5, -32.75, -32.25, -32.25, -32.25, -31.75, -31.25, -31.375, -31.125 ], "observation.state.cartesian_position": [ [ 0.5507335662841797, -0.10364355146884918, 0.28088968992233276, 2.960967779159546, 0.12289242446422577, -0.5907901525497437 ], [ 0.5480668544769287, -0.10713253915309906, 0.2755291759967804, 2.9901814460754395, 0.13608652353286743, -0.5478163361549377 ], [ 0.5397096276283264, -0.11074735969305038, 0.2748997211456299, 3.0108144283294678, 0.11785590648651123, -0.552006721496582 ], [ 0.5310667157173157, -0.11582784354686737, 0.27590057253837585, 3.0242457389831543, 0.09555074572563171, -0.5617543458938599 ], [ 0.5297404527664185, -0.11732969433069229, 0.2790917158126831, 3.0395805835723877, 0.051176369190216064, -0.5376224517822266 ], [ 0.5347930192947388, -0.12507231533527374, 0.28003519773483276, 3.031569719314575, 0.06430037319660187, -0.5351390242576599 ], [ 0.5411542654037476, -0.13094931840896606, 0.27986884117126465, 3.011922836303711, 0.074917271733284, -0.5326935648918152 ], [ 0.5428898334503174, -0.12570525705814362, 0.2813720703125, 2.977106809616089, 0.07394462078809738, -0.5561308264732361 ], [ 0.5355393886566162, -0.1272686868906021, 0.2715021073818207, 2.987018346786499, 0.039347317069768906, -0.5514992475509644 ], [ 0.531035840511322, -0.12848064303398132, 0.2696608304977417, 2.993882179260254, 0.0007335039554163814, -0.5464454293251038 ], [ 0.534349262714386, -0.13372352719306946, 0.2711799144744873, 3.0009419918060303, -0.023708496242761612, -0.5359945893287659 ], [ 0.5290718078613281, -0.1355578452348709, 0.26789554953575134, 3.02599835395813, -0.043170128017663956, -0.539923906326294 ] ], "observation.state.joint_position": [ [ -0.025569092482328415, 0.2735254466533661, -0.1560068130493164, -2.086632013320923, -0.0906418040394783, 2.170748233795166, 0.45809096097946167 ], [ -0.042510345578193665, 0.27622923254966736, -0.14765016734600067, -2.0991547107696533, -0.0663963109254837, 2.191298484802246, 0.39273637533187866 ], [ -0.05092772841453552, 0.25350990891456604, -0.1491241157054901, -2.1399848461151123, -0.05684170871973038, 2.234459161758423, 0.38455069065093994 ], [ -0.05894991755485535, 0.2285768836736679, -0.15353943407535553, -2.1793453693389893, -0.05613487958908081, 2.274665355682373, 0.38446128368377686 ], [ -0.05939341336488724, 0.21285659074783325, -0.15675346553325653, -2.2038919925689697, -0.0655994862318039, 2.3322231769561768, 0.3682258725166321 ], [ -0.06916573643684387, 0.23013608157634735, -0.15873348712921143, -2.172640323638916, -0.06618909537792206, 2.304202079772949, 0.35277920961380005 ], [ -0.07255737483501434, 0.25237518548965454, -0.16251347959041595, -2.137288808822632, -0.08048658818006516, 2.275059461593628, 0.35114675760269165 ], [ -0.0623287558555603, 0.2535598874092102, -0.16070279479026794, -2.1275479793548584, -0.11690446734428406, 2.2507247924804688, 0.40891069173812866 ], [ -0.0658314973115921, 0.24838916957378387, -0.163913294672966, -2.1745407581329346, -0.12929069995880127, 2.3288381099700928, 0.41513288021087646 ], [ -0.06364812701940536, 0.2368144392967224, -0.17140129208564758, -2.2076597213745117, -0.14678239822387695, 2.389047861099243, 0.42494702339172363 ], [ -0.06388959288597107, 0.24223692715168, -0.18029765784740448, -2.2027132511138916, -0.14871656894683838, 2.416999340057373, 0.41086626052856445 ], [ -0.07321930676698685, 0.23432448506355286, -0.17790855467319489, -2.232431411743164, -0.1314903199672699, 2.466649293899536, 0.3987920880317688 ] ], "observation.state.gripper_position": [ [ 0.9295154809951782 ], [ 0.929457426071167 ], [ 0.9286991357803345 ], [ 0.9311575889587402 ], [ 0.9257917404174805 ], [ 0.9233852624893188 ], [ 0.9230155944824219 ], [ 0.9291176795959473 ], [ 0.9260870218276978 ], [ 0.9263601303100586 ], [ 0.9328540563583374 ], [ 0.9287614822387695 ] ], "action.joint_position": [ [ -0.10712898468667265, -0.020205449349284144, -0.18279329796499, -2.449189383858889, -0.06913460608130695, 2.393325171165824, 0.43282588864457605 ], [ -0.20609263394004101, -0.30454559650707247, -0.2367790935261247, -2.8178227403783795, -0.0216154459921718, 2.5983445706311468, 0.39713972565498945 ], [ -0.31076270514789217, -0.5408727606193424, -0.2867989921514388, -3.132114006893575, 0.005626099449396071, 2.798308023888767, 0.3786004630985558 ], [ -0.4100048270369469, -0.7772640471631289, -0.3328351455439026, -3.423696320686638, 0.03249503725266456, 3.0053236370756626, 0.33596400835940243 ], [ -0.499108904055029, -0.9976596931771042, -0.3661005889604383, -3.6603145317610797, 0.027741070993483108, 3.234709341245294, 0.2841208948247731 ], [ -0.5820663143392799, -1.1563507170768381, -0.4113337557400457, -3.8236443999799485, -0.00921079207158082, 3.4881181814076307, 0.27152231245169045 ], [ -0.6333631024472115, -1.2821025916346909, -0.43609604634743837, -3.9756004533260163, -0.06798222215533245, 3.7519238087648157, 0.25420577443504333 ], [ -0.6505798383123276, -1.3646943043877782, -0.4532852698423256, -4.116011620349317, -0.15922574075561746, 4.083175778815509, 0.29663465604150296 ], [ -0.6603191062037346, -1.439058987307161, -0.47652058394673347, -4.236504889722168, -0.28422812070074654, 4.422510117025853, 0.33060348760885006 ], [ -0.7524047674391863, -1.307832905354947, -0.5151158650126146, -3.8926816721359487, -0.32654318905183644, 4.237535009032428, 0.2687961387835741 ], [ -0.8167057796160575, -1.1605461229789555, -0.5545069026637063, -3.5299521611166, -0.3969934506187436, 4.040818132767379, 0.22155635464668277 ], [ -0.8730372601349946, -1.0242790241993367, -0.584710442711769, -3.2200351510261296, -0.4609911829543706, 3.837567594150156, 0.15512079838198423 ], [ -0.9231162230112846, -0.8648626964335144, -0.6193974002723082, -2.981297508800566, -0.5662679181470867, 3.655711974776775, 0.1386194843657017 ], [ -0.9264134294220503, -0.7582814710587562, -0.6599892894893271, -2.8022594424709677, -0.701460627233922, 3.5538694676664475, 0.13385998184430603 ], [ -0.9540358871886427, -0.6689105563090743, -0.6860170483672898, -2.700539310848057, -0.8019380433843727, 3.5125462333474164, 0.1386588191090823 ], [ -0.9850718073579365, -0.594967179845065, -0.7053658357655683, -2.66147821426183, -0.8895292204189296, 3.5204656418619757, 0.14366274417269242 ], [ -1.018705474002331, -0.530546921923727, -0.7212795063018776, -2.667974752843916, -0.9282843471112843, 3.577876703104973, 0.16577964101403964 ], [ -1.0499773591119044, -0.4873418142099085, -0.7233183002416765, -2.7150324091564415, -0.9957135636389549, 3.666752411267818, 0.1825087030428053 ], [ -1.068411866230636, -0.6184290688041749, -0.7882586281699215, -3.038979492043018, -1.1110374004046912, 4.129798562941909, 0.21117191325432072 ], [ -1.092023702693849, -0.7496908789064589, -0.8603376346124086, -3.3544690281447767, -1.2370173451421256, 4.564185563575983, 0.24929154353284844 ], [ -1.0893806813308888, -0.8770527046012284, -0.9293666365511092, -3.6655283522982, -1.3776866769300395, 4.96318289102161, 0.2893397124692798 ], [ -1.090178381273716, -0.9923673878554404, -1.0034054873879226, -3.970019456097126, -1.4790401182421142, 5.30494452963239, 0.3175731299893261 ], [ -1.075109078565269, -1.1246297047564984, -1.062222595518735, -4.252725033933222, -1.5805114118562633, 5.6136838833000064, 0.3604979673945309 ], [ -1.050774825554996, -1.2400423059635162, -1.1150837882925837, -4.516223622432232, -1.6856569515216047, 5.863775711955785, 0.40299827305614966 ], [ -1.0164768227194243, -1.3647223328302203, -1.1635727885917988, -4.77520484744063, -1.7587494802118533, 6.131437794247747, 0.4624870711184742 ], [ -0.9718171440515213, -1.4903461500175297, -1.200715501077589, -5.037412936527878, -1.8253759821885818, 6.37384315863371, 0.5127254285987022 ], [ -0.9472317852646999, -1.5740482401684224, -1.2273558380543554, -5.285156588274003, -1.8874853781945697, 6.624847009432555, 0.5434822285618784 ], [ -1.029185501146107, -1.7005055552192032, -1.1988608912923895, -5.590715157402396, -1.763384974655687, 6.918411425510765, 0.4383545852476659 ], [ -1.0843079008736005, -1.7986650975134673, -1.196852443815585, -5.943997377605021, -1.6660288680698865, 7.200045989715696, 0.34880599072882557 ], [ -1.122300347088515, -1.8805610725099746, -1.1923005739934402, -6.235462737003505, -1.6165423920978896, 7.516539988933863, 0.2870671233946386 ], [ -1.1540096161420634, -1.9528117307335737, -1.1871819873917655, -6.468065667751431, -1.6093749964001767, 7.821244633403005, 0.22477059558483992 ], [ -1.1529143067161134, -1.9758372669650024, -1.1985760902773692, -6.720735818186045, -1.6223950521686665, 8.196470097058715, 0.22486605627349054 ], [ -1.146651734847515, -1.991028101397664, -1.192991206911142, -6.938292104409307, -1.6732231753898255, 8.624070563920142, 0.20466897095361392 ], [ -1.11260710486558, -1.9820566849216528, -1.2091847142001342, -7.11882237336564, -1.7258212041750243, 9.023919143236878, 0.19139306383273047 ], [ -1.0764651047087601, -1.9323953670673077, -1.2285013266414353, -7.291512286447495, -1.7742745803708424, 9.392250964540484, 0.17546519313570896 ], [ -1.0277207468859246, -1.8960310165906256, -1.2599639853416926, -7.410088632256567, -1.805625142563163, 9.722773691327692, 0.13937714722901628 ] ], "action.joint_velocity": [ [ -0.08155989220434423, -0.29373089600265023, -0.026786484915673592, -0.36255737053796644, 0.021507197958171353, 0.22257693737065798, -0.02526507233488562 ], [ -0.09896364925336837, -0.2843401471577883, -0.0539857955611347, -0.3686333565194905, 0.04751916008913515, 0.20501939946532255, -0.0356861629895866 ], [ -0.10467007120785116, -0.23632716411226995, -0.050019898625314085, -0.31429126651519534, 0.02724154544156787, 0.19996345325762033, -0.018539262556433678 ], [ -0.09924212188905474, -0.2363912865437865, -0.04603615339246381, -0.2915823137930631, 0.02686893780326849, 0.20701561318689587, -0.04263645473915334 ], [ -0.0891040770180821, -0.2203956460139752, -0.0332654434165357, -0.2366182110744416, -0.0047539662591814524, 0.229385704169631, -0.05184311353462934 ], [ -0.08295741028425097, -0.158691023899734, -0.045233166779607425, -0.16332986821886897, -0.03695186306506393, 0.2534088401623369, -0.012598582373082645 ], [ -0.05129678810793159, -0.12575187455785275, -0.024762290607392656, -0.15195605334606765, -0.05877143008375163, 0.26380562735718494, -0.01731653801664712 ], [ -0.017216735865116073, -0.0825917127530873, -0.017189223494887218, -0.14041116702330114, -0.09124351860028501, 0.3312519700506925, 0.042428881606459634 ], [ -0.009739267891407, -0.07436468291938303, -0.023235314104407878, -0.12049326937285065, -0.12500237994512908, 0.3393343382103443, 0.03396883156734709 ], [ -0.09208566123545164, 0.1312260819522142, -0.038595281065881115, 0.34382321758621937, -0.04231506835108989, -0.18497510799342387, -0.06180734882527594 ], [ -0.06430101217687129, 0.14728678237599124, -0.0393910376510917, 0.362729511019349, -0.07045026156690715, -0.1967168762650489, -0.04723978413689134 ], [ -0.056331480518937105, 0.13626709877961873, -0.030203540048062694, 0.30991701009047035, -0.063997732335627, -0.20325053861722348, -0.06643555626469855 ], [ -0.050078962876290045, 0.15941632776582237, -0.03468695756053913, 0.23873764222556348, -0.10527673519271608, -0.18185561937338107, -0.01650131401628252 ], [ -0.0032972064107656407, 0.10658122537475823, -0.04059188921701895, 0.1790380663295984, -0.13519270908683534, -0.10184250711032738, -0.004759502521395675 ], [ -0.027622457766592445, 0.08937091474968195, -0.026027758877962714, 0.10172013162291049, -0.1004774161504507, -0.04132323431903118, 0.004798837264776257 ], [ -0.03103592016929385, 0.07394337646400928, -0.019348787398278555, 0.03906109658622747, -0.08759117703455688, 0.0079194085145593, 0.005003925063610137 ], [ -0.03363366664439438, 0.06442025792133799, -0.01591367053630932, -0.006496538582086542, -0.0387551266923547, 0.05741106124299766, 0.02211689684134721 ], [ -0.03127188510957357, 0.04320510771381847, -0.002038793939798944, -0.04705765631252523, -0.06742921652767064, 0.08887570816284418, 0.016729062028765673 ], [ -0.01843450711873168, -0.1310872545942664, -0.06494032792824495, -0.3239470828865766, -0.11532383676573632, 0.4630461516740918, 0.02866321021151541 ], [ -0.02361183646321291, -0.131261810102284, -0.0720790064424871, -0.31548953610175845, -0.12597994473743435, 0.4343870006340742, 0.038119630278527716 ], [ 0.0026430213629603516, -0.12736182569476961, -0.06902900193870054, -0.3110593241534233, -0.14066933178791396, 0.3989973274456262, 0.04004816893643137 ], [ -0.0007976999428271903, -0.11531468325421212, -0.07403885083681333, -0.30449110379892586, -0.10135344131207458, 0.34176163861078024, 0.028233417520046267 ], [ 0.01506930270844703, -0.13226231690105794, -0.058817108130812534, -0.2827055778360963, -0.10147129361414908, 0.30873935366761684, 0.04292483740520481 ], [ 0.024334253010273033, -0.1154126012070179, -0.05286119277384865, -0.26349858849900953, -0.10514553966534135, 0.2500918286557794, 0.042500305661618776 ], [ 0.03429800283557177, -0.12468002686670421, -0.04848900029921521, -0.25898122500839826, -0.07309252869024874, 0.26766208229196076, 0.059488798062324544 ], [ 0.04465967866790299, -0.1256238171873093, -0.0371427124857901, -0.2622080890872478, -0.06662650197672837, 0.2424053643859625, 0.05023835748022798 ], [ 0.024585358786821387, -0.0837020901508928, -0.026640336976766432, -0.247743651746124, -0.06210939600598808, 0.25100385079884535, 0.030756799963176262 ], [ -0.08195371588140721, -0.12645731505078084, 0.0284949467619659, -0.3055585691283941, 0.12410040353888274, 0.29356441607820993, -0.10512764331421254 ], [ -0.0551223997274935, -0.09815954229426382, 0.002008447476804398, -0.3532822202026248, 0.09735610658580063, 0.28163456420493127, -0.08954859451884034 ], [ -0.037992446214914266, -0.08189597499650725, 0.004551869822144672, -0.29146535939848417, 0.049486475971996846, 0.3164939992181659, -0.061738867334186986 ], [ -0.03170926905354854, -0.07225065822359922, 0.005118586601674691, -0.23260293074792615, 0.007167395697712964, 0.3047046444691419, -0.06229652780979866 ], [ 0.0010953094259500973, -0.023025536231428445, -0.011394102885603774, -0.25267015043461316, -0.013020055768489858, 0.3752254636557102, 9.546068865062818e-05 ], [ 0.0062625718685984655, -0.01519083443266156, 0.005584883366227311, -0.2175562862232625, -0.05082812322115893, 0.42760046686142683, -0.02019708531987663 ], [ 0.03404462998193508, 0.008971416476011185, -0.01619350728899227, -0.1805302689563334, -0.052598028785198925, 0.39984857931673523, -0.013275907120883446 ], [ 0.03614200015681984, 0.0496613178543448, -0.01931661244130123, -0.17268991308185455, -0.04845337619581813, 0.368331821303606, -0.015927870697021507 ], [ 0.04874435782283548, 0.03636435047668218, -0.031462658700257384, -0.11857634580907217, -0.0313505621923208, 0.3305227267872095, -0.03608804590669268 ] ], "action.gripper_position": [ [ 0.9490551228089333 ], [ 0.9567630917916299 ], [ 0.9405706598578693 ], [ 0.9387231643853188 ], [ 0.934660903115809 ], [ 0.925081243990481 ], [ 0.9343342750697137 ], [ 0.9415472663930655 ], [ 0.9394722456732989 ], [ 0.9523935105378628 ], [ 0.9532200624443293 ], [ 0.9593021019233465 ], [ 0.938147319318831 ], [ 0.9409103387235404 ], [ 0.9508848596320153 ], [ 0.947091778965354 ], [ 0.9641837639653087 ], [ 0.9559762882717252 ], [ 0.9476608304545284 ], [ 0.9654288359899521 ], [ 0.9455074452245236 ], [ 0.9643892994754315 ], [ 0.9499432936534882 ], [ 0.9527495178261995 ], [ 0.9520152155485153 ], [ 0.9643131994909645 ], [ 0.9411534176872373 ], [ 0.9764515939593316 ], [ 0.9580141826874018 ], [ 0.9568824561368824 ], [ 0.9697898358829022 ], [ 0.9697695147437454 ], [ 0.9643432938466072 ], [ 0.9631966691002251 ], [ 0.9658328750617504 ], [ 0.9712685116186739 ] ], "action.cartesian_position": [ [ 0.45382198691368103, -0.13585665822029114, 0.30376699566841125, 3.088406562805176, 0.016139674931764603, -0.6715547442436218 ], [ 0.3398694694042206, -0.1534132957458496, 0.2950271666049957, -3.0579373836517334, -0.04958333075046539, -0.8162127733230591 ], [ 0.24741265177726746, -0.1441175937652588, 0.27100062370300293, -2.9323251247406006, -0.11723347753286362, -0.9683178663253784 ], [ 0.17796756327152252, -0.11246754229068756, 0.24407465755939484, -2.795754909515381, -0.21261806786060333, -1.0950762033462524 ], [ 0.1400049924850464, -0.0790833979845047, 0.22775898873806, -2.6533803939819336, -0.38479164242744446, -1.198711633682251 ], [ 0.1219572052359581, -0.05624296888709068, 0.22732657194137573, -2.4645164012908936, -0.572005033493042, -1.3811477422714233 ], [ 0.10722684860229492, -0.02420533075928688, 0.22707559168338776, -2.245264768600464, -0.7543465495109558, -1.5574122667312622 ], [ 0.0854712575674057, 0.017735764384269714, 0.23401430249214172, -1.855338454246521, -0.8663336634635925, -1.8673193454742432 ], [ 0.05713668465614319, 0.06392882764339447, 0.24380654096603394, -1.3468174934387207, -0.8596009016036987, -2.237506151199341 ], [ 0.09219910949468613, -0.030831530690193176, 0.32641759514808655, -1.2959784269332886, -0.9645817279815674, -2.4508821964263916 ], [ 0.09416558593511581, -0.13569125533103943, 0.41558727622032166, -1.2469102144241333, -1.0988857746124268, -2.6481711864471436 ], [ 0.07265538722276688, -0.22642724215984344, 0.4862794578075409, -1.2936893701553345, -1.2799302339553833, -2.754958152770996 ], [ 0.04913602024316788, -0.2993636131286621, 0.5218082666397095, -1.9996106624603271, -1.430515170097351, -2.1728909015655518 ], [ 0.03287411853671074, -0.345125287771225, 0.5490937829017639, 2.881831645965576, -1.4444559812545776, -0.8262230157852173 ], [ 0.0169155765324831, -0.3742006719112396, 0.5546180605888367, 2.44309401512146, -1.3414065837860107, -0.4415915906429291 ], [ 0.008276237174868584, -0.3889422118663788, 0.5427793264389038, 2.3312301635742188, -1.2495046854019165, -0.34799596667289734 ], [ 0.0011905231513082981, -0.39375168085098267, 0.5217466950416565, 2.371286153793335, -1.2293521165847778, -0.3923274874687195 ], [ 0.00784408487379551, -0.382733017206192, 0.4947502911090851, 2.382237195968628, -1.2142990827560425, -0.3470603823661804 ], [ 0.030119819566607475, -0.2616731822490692, 0.4614238440990448, 0.635723888874054, -1.4882383346557617, 1.6646113395690918 ], [ 0.0373062938451767, -0.1352664679288864, 0.43979185819625854, -0.27174291014671326, -1.0802253484725952, 2.812288284301758 ], [ 0.03381723165512085, -0.01522459089756012, 0.4168263077735901, -0.2610228955745697, -0.6047569513320923, 3.086850166320801 ], [ 0.022371569648385048, 0.08394810557365417, 0.38607287406921387, -0.2190403789281845, -0.13382425904273987, -2.987903356552124 ], [ 0.008730942383408546, 0.16646656394004822, 0.34408077597618103, -0.08617892116308212, 0.3095855414867401, -2.7234878540039062 ], [ -0.001289602369070053, 0.2341313362121582, 0.30023184418678284, 0.1381978690624237, 0.655249297618866, -2.3437695503234863 ], [ -0.0137674231082201, 0.29770275950431824, 0.2461353838443756, 0.5778712034225464, 0.9166168570518494, -1.7345854043960571 ], [ -0.03652621805667877, 0.360405296087265, 0.18995720148086548, 1.1558021306991577, 0.9670385718345642, -0.9418407678604126 ], [ -0.06803128123283386, 0.4246063232421875, 0.14297433197498322, 1.6520345211029053, 0.902830958366394, -0.24083703756332397 ], [ -0.11233707517385483, 0.4991215169429779, 0.06358718872070312, 2.2149579524993896, 1.0576645135879517, 0.43000954389572144 ], [ -0.20926910638809204, 0.5608956813812256, 0.012226928025484085, 2.9204838275909424, 0.9909870624542236, 1.2872382402420044 ], [ -0.3106817901134491, 0.5915398597717285, -0.017784427851438522, -2.98936128616333, 0.7211094498634338, 1.744649052619934 ], [ -0.3952527940273285, 0.6003716588020325, -0.02788415551185608, -2.8149333000183105, 0.4187968969345093, 1.9554787874221802 ], [ -0.5122340321540833, 0.5905919075012207, 0.026412522420287132, -2.6916844844818115, 0.004604031797498465, 2.0544209480285645 ], [ -0.5994924306869507, 0.5602312684059143, 0.11365730315446854, -2.5139245986938477, -0.4573732912540436, 2.042405843734741 ], [ -0.6594861149787903, 0.4915052056312561, 0.2131403684616089, -2.20243763923645, -0.8562794923782349, 1.8897706270217896 ], [ -0.6823669672012329, 0.40069034695625305, 0.32744932174682617, -1.467695951461792, -1.1101408004760742, 1.337041974067688 ], [ -0.6750816702842712, 0.3108099102973938, 0.39166754484176636, -0.6598846316337585, -1.0327955484390259, 0.6932095885276794 ] ] }