{ "texts": [ "pick up the green bowl and place it on top of the other bowl" ], "episode_id": 131, "success": 0, "num_cameras": 3, "video_path": "videos/131.mp4", "video_length": 12, "raw_length": 36, "batch_idx": 45, "segment_in_batch": 1, "best_sample_idx": 3, "num_samples": 5, "num_chunks": 4, "open_loop_horizon": 9, "critic_values_per_step": [ -49.0, -50.25, -50.25, -49.75, -49.5, -48.75, -48.5, -48.75, -47.75, -46.25, -46.5, -46.5 ], "observation.state.cartesian_position": [ [ 0.5411051511764526, 0.050305046141147614, 0.3483305871486664, 3.088331699371338, -0.18772919476032257, -0.18278273940086365 ], [ 0.5430063605308533, 0.042920228093862534, 0.34920534491539, -3.1272494792938232, -0.2045791745185852, -0.1962435096502304 ], [ 0.5426788330078125, 0.04211485758423805, 0.3484223783016205, -3.124849796295166, -0.21204476058483124, -0.19864732027053833 ], [ 0.5403667688369751, 0.04060586169362068, 0.34616923332214355, -3.1395885944366455, -0.20892693102359772, -0.2486899197101593 ], [ 0.5362303853034973, 0.051099635660648346, 0.3379085063934326, 3.1211910247802734, -0.19651015102863312, -0.2203148752450943 ], [ 0.5363820791244507, 0.04619845002889633, 0.32932400703430176, 3.1056432723999023, -0.1875910609960556, -0.2841067910194397 ], [ 0.533013641834259, 0.04239961877465248, 0.31622523069381714, 3.085740089416504, -0.1469361037015915, -0.3387333154678345 ], [ 0.5301628708839417, 0.03436462953686714, 0.3009626269340515, 3.074287176132202, -0.0685446560382843, -0.43081897497177124 ], [ 0.5258406400680542, 0.04439925774931908, 0.2886813282966614, 3.1053545475006104, -0.009500022977590561, -0.4147596061229706 ], [ 0.5199745893478394, 0.052848931401968, 0.2782907485961914, -3.138519048690796, 0.054768819361925125, -0.3623061776161194 ], [ 0.5124768614768982, 0.06625321507453918, 0.27166178822517395, -3.1070709228515625, 0.0990249440073967, -0.2319597601890564 ], [ 0.5280628204345703, 0.07055335491895676, 0.27454835176467896, -3.0740959644317627, 0.09869460761547089, -0.2553432583808899 ] ], "observation.state.joint_position": [ [ 0.08038876205682755, 0.06626895070075989, 0.011009709909558296, -2.2588183879852295, -0.16854220628738403, 2.4848287105560303, 0.40448832511901855 ], [ 0.06707395613193512, 0.06551496684551239, 0.010324729606509209, -2.2698657512664795, -0.07330052554607391, 2.5350959300994873, 0.3281312584877014 ], [ 0.06323898583650589, 0.06536081433296204, 0.012472610920667648, -2.2749180793762207, -0.07457207143306732, 2.547774314880371, 0.3299374580383301 ], [ 0.06344714760780334, 0.06328800320625305, 0.009078726172447205, -2.280634880065918, -0.11358525604009628, 2.5400640964508057, 0.4082922339439392 ], [ 0.06449002027511597, 0.06992553174495697, 0.027543768286705017, -2.290466547012329, -0.1433946043252945, 2.536630868911743, 0.4249340295791626 ], [ 0.06229943409562111, 0.08539038896560669, 0.02018427476286888, -2.2893295288085938, -0.178618386387825, 2.5298585891723633, 0.508159339427948 ], [ 0.06392351537942886, 0.10262386500835419, 0.013386037200689316, -2.2906622886657715, -0.1866142600774765, 2.496974229812622, 0.5635251402854919 ], [ 0.07454099506139755, 0.12866833806037903, -0.009017725475132465, -2.2792043685913086, -0.13927991688251495, 2.4312353134155273, 0.6033462882041931 ], [ 0.08067774027585983, 0.1461099237203598, 0.004030387848615646, -2.2843754291534424, -0.05599018931388855, 2.4206831455230713, 0.5418456196784973 ], [ 0.07926321029663086, 0.15775087475776672, 0.021447956562042236, -2.290940761566162, 0.03530392050743103, 2.4007022380828857, 0.4362933039665222 ], [ 0.06993388384580612, 0.1604965329170227, 0.05659012123942375, -2.299922227859497, 0.08385508507490158, 2.377722978591919, 0.2968677282333374 ], [ 0.0719699040055275, 0.19298362731933594, 0.057949911803007126, -2.247079610824585, 0.12697523832321167, 2.3695363998413086, 0.2937486171722412 ] ], "observation.state.gripper_position": [ [ 0.05726870894432068 ], [ 0.058170855045318604 ], [ 0.05654105544090271 ], [ 0.05814319849014282 ], [ 0.05795198678970337 ], [ 0.05781155824661255 ], [ 0.058669209480285645 ], [ 0.06024596095085144 ], [ 0.060088664293289185 ], [ 0.06019964814186096 ], [ 0.05633321404457092 ], [ 0.05780830979347229 ] ], "action.joint_position": [ [ 0.03888966037747266, 0.04186745395970337, 0.019935559703946226, -2.2664766735534667, -0.12796954471528532, 2.493360970490992, 0.3533030529913008 ], [ 0.01021244499552254, 0.029776057876169548, 0.04241074809730078, -2.296011586402416, -0.1090424483336806, 2.5188564834381344, 0.3328795239909291 ], [ 0.005244294814586714, 0.0493977977436183, 0.03644172713667193, -2.2964267016495463, -0.3194827724964618, 2.388355800420523, 0.7612818596305252 ], [ 0.020036528316021096, 0.052628662912726165, 0.04347667125052268, -2.300830269526541, -0.49224256113162623, 2.3180118748491707, 1.1590026147215369 ], [ 0.038671403504193014, 0.074497312778115, 0.047353774064481935, -2.2697815748847123, -0.7121016983512638, 2.2239955880320372, 1.6069095133790974 ], [ 0.06861256997817777, 0.08498432479554385, 0.050635026555777396, -2.2606785516530272, -0.8828336638188956, 2.0937765233478847, 2.0175165590510966 ], [ 0.11189834595251114, 0.09852315206968754, 0.0598084047505269, -2.2591834117887015, -1.0413277320889829, 1.951455203323156, 2.3944958933599594 ], [ 0.16736469529837406, 0.10918443835639924, 0.06921703897398818, -2.306527503776371, -1.2222424295440315, 1.7415844885776346, 2.7670823361864096 ], [ 0.22867011759740152, 0.09286105553901158, 0.08341707388019681, -2.3359175573225612, -1.3492442493797538, 1.546114378020436, 3.0914484465824374 ], [ 0.2130952313464884, 0.23404167625296068, 0.0010994945610178775, -2.3199951695627563, -1.5629322605907021, 1.4794394088618463, 3.624589121086479 ], [ 0.20602493393537447, 0.3722642279551024, -0.09331939021873331, -2.3494087165794366, -1.7956065630411802, 1.360813307194174, 4.165951052096904 ], [ 0.2071867982672756, 0.5157355381633634, -0.15099343364664758, -2.3525475355297916, -1.9342911864762602, 1.1967789016172892, 4.613584738138975 ], [ 0.2206958121586745, 0.6191898575392359, -0.1961445356106145, -2.4143482166031593, -1.9721597985350785, 0.9715464138506062, 4.947638482803049 ], [ 0.25990225280264073, 0.7219153936071986, -0.212818799719451, -2.480873855217516, -1.9330727084225712, 0.7480449037019619, 5.203482797899308 ], [ 0.28645187195244487, 0.7714025309385055, -0.22084571065226, -2.581536891440063, -1.776009910683721, 0.5037933100835392, 5.340346050682368 ], [ 0.3151651462929553, 0.8020583913240427, -0.20977694469341424, -2.7070634573301366, -1.6315039363656338, 0.2984558313952097, 5.44610845212114 ], [ 0.35324555133834545, 0.7949686386450523, -0.20320952458128105, -2.8758611999745063, -1.4999693509942587, 0.14198213697081918, 5.542637800856413 ], [ 0.39364636376169393, 0.7754042606487268, -0.19508201924177765, -3.086726617616325, -1.3745983330415186, 0.01857944512096177, 5.64860529009402 ], [ 0.4487980212164826, 0.8689696636342996, -0.056570703169909586, -3.141268739632457, -0.8331677335484919, -0.07668212520226714, 5.308493307823868 ], [ 0.45233146409490776, 0.959032331925153, 0.14016725370112332, -3.2121559564320137, -0.1260003927009996, -0.19036403087350617, 4.678223954865368 ], [ 0.4349644534056492, 1.0803641539511077, 0.32348782664749315, -3.2797115631554714, 0.5376757465144697, -0.31254051281353723, 4.000402365273299 ], [ 0.40865263608625607, 1.1736318188628547, 0.48248487913289967, -3.301840903221368, 1.131367131800622, -0.4406562551966595, 3.328731447936865 ], [ 0.35900511957109055, 1.2609938453304164, 0.6286374006589981, -3.3950231157411923, 1.6717330498945417, -0.5816499125019599, 2.6245307077256164 ], [ 0.2903547469892212, 1.3215635699884287, 0.747650639444444, -3.4657510591218164, 2.129661591201276, -0.712651462696849, 1.933144878624501 ], [ 0.2273123944205948, 1.3642395738959898, 0.8318972631507849, -3.599861102954029, 2.465900072026104, -0.8175580318826423, 1.3042662884479186 ], [ 0.16948950104567495, 1.3920448922126283, 0.893603168489907, -3.750541789145528, 2.702188462806732, -0.8619209889641093, 0.7407798983452043 ], [ 0.0934376345615694, 1.389434897592782, 0.9344792307860592, -3.9602462805337897, 2.8037819304027862, -0.8496513182984877, 0.2823021171583554 ], [ 0.1367519649116108, 1.6788017075717439, 1.0008425011662583, -3.4508752459284056, 3.115433551835806, -0.9563880165986705, 0.33686818386841033 ], [ 0.17887672752657624, 1.9707686633994568, 1.0609219437548263, -2.8998267946737992, 3.418106185311825, -1.0433863901481315, 0.35485862502861243 ], [ 0.21147204751274085, 2.30395996794772, 1.1097074962210998, -2.3746098758850085, 3.7177282335446185, -1.1556213548639698, 0.3729132675867103 ], [ 0.2711425833629082, 2.6495887743003355, 1.152084522928153, -1.8279775815330734, 3.970981879702599, -1.2645559243350308, 0.3915483977841161 ], [ 0.32436242124828807, 2.9665170740283116, 1.1947439208994257, -1.2499510343794813, 4.222424703643234, -1.399920608433066, 0.41321008888066035 ], [ 0.37396654106786964, 3.303558536854921, 1.2125159096114984, -0.7043231115388862, 4.465185484236152, -1.5250981588739734, 0.44142326512664776 ], [ 0.42476217183146003, 3.6256155998955353, 1.2361796505200617, -0.17459893452954223, 4.67951825337711, -1.635519064662872, 0.4635469387822173 ], [ 0.46950022659298907, 3.961489172003089, 1.2639157378489727, 0.33815618574214046, 4.8994751534179155, -1.7549828443540019, 0.4843165871224425 ], [ 0.517454130204351, 4.296169166920482, 1.2894329270254727, 0.8689998420090683, 5.0847809314093295, -1.8644470669206363, 0.49968716540545444 ] ], "action.joint_velocity": [ [ -0.04149910167935489, -0.024401496741056516, 0.00892584979438793, -0.007658285568237222, 0.04057266157209871, 0.008532259934961872, -0.05118527212771773 ], [ -0.028677215381950116, -0.012091396083533823, 0.02247518839335455, -0.02953491284894938, 0.018927096381604724, 0.02549551294714214, -0.0204235290003717 ], [ -0.004968150180935826, 0.01962173986744875, -0.005969020960628846, -0.00041511524713033765, -0.2104403241627812, -0.13050068301761142, 0.42840233563959607 ], [ 0.014792233501434382, 0.003230865169107866, 0.00703494411385075, -0.004403567876994585, -0.17275978863516445, -0.07034392557135216, 0.39772075509101157 ], [ 0.018634875188171918, 0.021868649865388834, 0.0038771028139592545, 0.031048694641828578, -0.21985913721963762, -0.09401628681713337, 0.4479068986575605 ], [ 0.02994116647398476, 0.010487012017428854, 0.003281252491295461, 0.009103023231685214, -0.1707319654676318, -0.13021906468415256, 0.41060704567199946 ], [ 0.04328577597433336, 0.013538827274143683, 0.009173378194749504, 0.0014951398643255898, -0.15849406827008722, -0.14232132002472875, 0.37697933430886277 ], [ 0.05546634934586292, 0.010661286286711702, 0.009408634223461276, -0.04734409198766942, -0.1809146974550485, -0.2098707147455215, 0.3725864428264498 ], [ 0.06130542229902747, -0.016323382817387655, 0.014200034906208636, -0.029390053546190176, -0.12700181983572245, -0.19547011055719848, 0.3243661103960276 ], [ -0.015574886250913134, 0.1411806207139491, -0.08231757931917894, 0.015922387759804812, -0.21368801121094821, -0.06667496915858984, 0.5331406745040417 ], [ -0.007070297411113924, 0.1382225517021417, -0.09441888477975119, -0.029413547016680197, -0.23267430245047804, -0.1186261016676724, 0.5413619310104252 ], [ 0.0011618643319011301, 0.14347131020826098, -0.05767404342791427, -0.00313881895035506, -0.13868462343508003, -0.1640344055768847, 0.44763368604207043 ], [ 0.013509013891398913, 0.10345431937587257, -0.04515110196396693, -0.06180068107336756, -0.03786861205881831, -0.22523248776668303, 0.334053744664073 ], [ 0.03920644064396622, 0.10272553606796264, -0.01667426410883649, -0.06652563861435645, 0.03908709011250733, -0.2235015101486444, 0.25584431509625905 ], [ 0.026549619149804138, 0.04948713733130694, -0.008026910932808995, -0.10066303622254724, 0.15706279773885012, -0.2442515936184227, 0.1368632527830601 ], [ 0.02871327434051041, 0.030655860385537137, 0.011068765958845761, -0.12552656589007372, 0.1445059743180871, -0.2053374786883294, 0.10576240143877269 ], [ 0.038080405045390175, -0.007089752678990369, 0.006567420112133182, -0.16879774264436953, 0.13153458537137508, -0.15647369442439074, 0.09652934873527286 ], [ 0.040400812423348476, -0.019564377996325488, 0.008127505339503405, -0.21086541764181854, 0.1253710179527402, -0.12340269184985753, 0.10596748923760657 ], [ 0.05515165745478867, 0.09356540298557281, 0.13851131607186806, -0.054542122016131844, 0.5414305994930266, -0.0952615703232288, -0.3401119822701514 ], [ 0.0035334428784251637, 0.09006266829085341, 0.1967379568710329, -0.07088721679955723, 0.7071673408474923, -0.11368190567123881, -0.6302693529585004 ], [ -0.017367010689258555, 0.12133182202595472, 0.18332057294636983, -0.0675556067234575, 0.6636761392154693, -0.12217648194003106, -0.6778215895920694 ], [ -0.026311817319393138, 0.09326766491174698, 0.15899705248540652, -0.022129340065896508, 0.5936913852861523, -0.1281157423831224, -0.6716709173364341 ], [ -0.049647516515165524, 0.08736202646756164, 0.14615252152609837, -0.0931822125198245, 0.5403659180939198, -0.14099365730530022, -0.7042007402112485 ], [ -0.06865037258186935, 0.06056972465801236, 0.1190132387854459, -0.07072794338062405, 0.457928541306734, -0.13100155019488924, -0.6913858291011155 ], [ -0.06304235256862639, 0.04267600390756121, 0.08424662370634095, -0.1341100438322127, 0.3362384808248282, -0.10490656918579333, -0.6288785901765823 ], [ -0.05782289337491986, 0.02780531831663846, 0.061705905339122014, -0.1506806861914992, 0.2362883907806278, -0.04436295708146687, -0.5634863901027143 ], [ -0.07605186648410556, -0.0026099946198463453, 0.04087606229615226, -0.2097044913882613, 0.10159346759605414, 0.01226967066562179, -0.4584777811868489 ], [ 0.0433143303500414, 0.2893668099789618, 0.06636327038019907, 0.5093710346053838, 0.3116516214330196, -0.10673669830018273, 0.05456606671005493 ], [ 0.04212476261496545, 0.29196695582771304, 0.0600794425885679, 0.5510484512546062, 0.3026726334760189, -0.08699837354946127, 0.017990441160202097 ], [ 0.032595319986164606, 0.3331913045482634, 0.048785552466273474, 0.5252169187887906, 0.2996220482327938, -0.11223496471583838, 0.018054642558097855 ], [ 0.05967053585016735, 0.3456288063526153, 0.042377026707053345, 0.5466322943519354, 0.25325364615797996, -0.10893456947106117, 0.018635130197405814 ], [ 0.05321983788537987, 0.3169282997279762, 0.042659397971272606, 0.578026547153592, 0.2514428239406348, -0.13536468409803504, 0.021661691096544256 ], [ 0.04960411981958157, 0.3370414628266095, 0.01777198871207253, 0.5456279228405952, 0.2427607805929184, -0.1251775504409074, 0.028213176245987404 ], [ 0.050795630763590394, 0.322057063040614, 0.02366374090856327, 0.529724177009344, 0.21433276914095878, -0.1104209057888984, 0.022123673655569553 ], [ 0.044738054761529034, 0.33587357210755353, 0.027736087328910974, 0.5127551202716828, 0.21995690004080537, -0.11946377969112987, 0.02076964834022521 ], [ 0.04795390361136198, 0.33467999491739275, 0.025517189176499977, 0.5308436562669278, 0.18530577799141412, -0.10946422256663435, 0.015370578283011915 ] ], "action.gripper_position": [ [ 0.01010863446763158 ], [ 0.00996003986209631 ], [ 0.009729803143233061 ], [ 0.00553524589446187 ], [ 0.014311653891652823 ], [ 0.023179655997008088 ], [ 0.00798278110358119 ], [ 0.023216216169655326 ], [ 0.03523405443710089 ], [ 0.014415881669908762 ], [ 0.014638609698057175 ], [ 0.018210988491207364 ], [ 0.027986678077697755 ], [ 0.013288058446705341 ], [ 0.015485512540072204 ], [ 0.015023191726058722 ], [ 0.02681466680556536 ], [ 0.02375994072586298 ], [ 0.020724254540473223 ], [ 0.03180079499691725 ], [ 0.02158712824845314 ], [ 0.010161910416036845 ], [ 0.010161761434078218 ], [ 0.024176285707443953 ], [ 0.020899010377943516 ], [ 0.02129077333635092 ], [ 0.026893537854462864 ], [ 0.17759611891874671 ], [ 0.19991552329024673 ], [ 0.199629537522465 ], [ 0.20413856588950755 ], [ 0.21811328218352796 ], [ 0.20764274074199796 ], [ 0.21366974628549815 ], [ 0.2163504084634781 ], [ 0.2143143614240885 ] ], "action.cartesian_position": [ [ 0.5405142307281494, 0.03251022845506668, 0.35908594727516174, 3.1152231693267822, -0.20192596316337585, -0.19700150191783905 ], [ 0.5341329574584961, 0.029084330424666405, 0.3551872968673706, 3.1292057037353516, -0.20507140457630157, -0.1966754049062729 ], [ 0.522513747215271, 0.018945446237921715, 0.33195585012435913, 2.989145278930664, -0.1663905829191208, -0.4776078462600708 ], [ 0.5146957635879517, 0.023874564096331596, 0.32346025109291077, 2.9138283729553223, -0.2718140184879303, -0.7197755575180054 ], [ 0.5178973078727722, 0.02398034930229187, 0.3213961124420166, 2.904184103012085, -0.49232256412506104, -0.9828843474388123 ], [ 0.5129627585411072, 0.023503946140408516, 0.3182016909122467, 3.0037848949432373, -0.7189624905586243, -1.2860498428344727 ], [ 0.5070405602455139, 0.02950342744588852, 0.3156343102455139, -2.99308443069458, -0.9203214049339294, -1.6723041534423828 ], [ 0.4861108064651489, 0.02971980907022953, 0.30620160698890686, -2.406306743621826, -1.0677611827850342, -2.2851438522338867 ], [ 0.4729806184768677, 0.040629997849464417, 0.3225214183330536, -1.7891088724136353, -0.9120232462882996, -2.841171979904175 ], [ 0.4909181594848633, -0.010469178669154644, 0.2820410132408142, -1.4895453453063965, -0.49717843532562256, -3.023512601852417 ], [ 0.4861191511154175, -0.06590835750102997, 0.23811893165111542, -1.2517503499984741, -0.11629246920347214, -2.9409050941467285 ], [ 0.4767720699310303, -0.09743282943964005, 0.20295238494873047, -1.0344065427780151, 0.14696946740150452, -2.723846435546875 ], [ 0.438419371843338, -0.11878173053264618, 0.182511106133461, -0.7968502640724182, 0.2333947718143463, -2.504593849182129 ], [ 0.3946984112262726, -0.11456005275249481, 0.16692639887332916, -0.6140608787536621, 0.19506722688674927, -2.2915518283843994 ], [ 0.33470961451530457, -0.10983879864215851, 0.17905089259147644, -0.44640251994132996, 0.038314830511808395, -2.2629172801971436 ], [ 0.2785908579826355, -0.09206385910511017, 0.19605320692062378, -0.36026087403297424, -0.1630142629146576, -2.230924367904663 ], [ 0.22324787080287933, -0.07393795251846313, 0.22471724450588226, -0.3468562066555023, -0.3725410997867584, -2.1810686588287354 ], [ 0.16596579551696777, -0.05895194038748741, 0.2627967596054077, -0.4273745119571686, -0.5915708541870117, -2.0730948448181152 ], [ 0.12237077951431274, -0.013306526467204094, 0.27979427576065063, 0.3054235875606537, -0.887350857257843, -3.011660575866699 ], [ 0.07976306229829788, 0.04216062277555466, 0.2970737814903259, 1.2066384553909302, -0.19007490575313568, 2.1584396362304688 ], [ 0.05569509044289589, 0.08318644016981125, 0.29580381512641907, 1.480021357536316, 0.9287003874778748, 1.9084440469741821 ], [ 0.048042699694633484, 0.10600525885820389, 0.2791059613227844, -1.7811980247497559, 1.0974233150482178, -1.543939471244812 ], [ 0.04627958685159683, 0.0941426008939743, 0.27983739972114563, -1.7472350597381592, -0.03900768607854843, -1.5687702894210815 ], [ 0.052798107266426086, 0.070929154753685, 0.2878885567188263, -1.7791564464569092, -1.0725446939468384, -1.584274172782898 ], [ 0.06373032182455063, 0.033488236367702484, 0.3151497542858124, 1.6109098196029663, -1.1706048250198364, 1.2820645570755005 ], [ 0.07847116887569427, -0.0003150085685774684, 0.34475642442703247, 1.532213807106018, -0.43293365836143494, 1.39728844165802 ], [ 0.09974858909845352, -0.04032696783542633, 0.3783462941646576, 1.5919950008392334, 0.11372772604227066, 1.516526699066162 ], [ 0.05394522845745087, 0.04932432621717453, 0.29856985807418823, 1.3461822271347046, 0.17344115674495697, 1.1073631048202515 ], [ 0.012817231006920338, 0.16711348295211792, 0.23300251364707947, 1.0167657136917114, 0.3519470989704132, 0.6144439578056335 ], [ -0.011117439717054367, 0.2740175426006317, 0.16140040755271912, 0.4665738344192505, 0.5336277484893799, 0.032074324786663055 ], [ -0.042395543307065964, 0.3431681990623474, 0.04455336183309555, -0.251763254404068, 0.4496029317378998, -0.5324878692626953 ], [ -0.08105988055467606, 0.3321684002876282, -0.11062463372945786, -0.8909133672714233, 0.047556933015584946, -0.8049342632293701 ], [ -0.1643199920654297, 0.20183177292346954, -0.23671284317970276, -1.5140961408615112, -0.35437434911727905, -0.70777827501297 ], [ -0.23357507586479187, -0.005472524557262659, -0.26363810896873474, -2.210210084915161, -0.627467691898346, -0.2997966706752777 ], [ -0.2505515217781067, -0.2169429063796997, -0.17288540303707123, -2.9689958095550537, -0.6210481524467468, 0.29471227526664734 ], [ -0.17359760403633118, -0.34083592891693115, -0.010267595760524273, 2.8112106323242188, -0.4175330400466919, 0.8513290286064148 ] ] }