{ "texts": [ "pick up the green bowl and place it on top of the other bowl" ], "episode_id": 134, "success": 0, "num_cameras": 3, "video_path": "videos/134.mp4", "video_length": 12, "raw_length": 36, "batch_idx": 46, "segment_in_batch": 2, "best_sample_idx": 2, "num_samples": 5, "num_chunks": 4, "open_loop_horizon": 9, "critic_values_per_step": [ -39.5, -37.75, -37.0, -35.75, -35.25, -34.5, -34.25, -34.0, -33.75, -33.25, -33.5, -32.75 ], "observation.state.cartesian_position": [ [ 0.45941758155822754, -0.003772764466702938, 0.22037707269191742, -3.0008153915405273, 0.11855487525463104, 0.1611843705177307 ], [ 0.4630146026611328, -0.0026621294673532248, 0.22845610976219177, -3.0275187492370605, 0.03928016871213913, 0.1678166538476944 ], [ 0.4764818251132965, 0.008643417619168758, 0.21580591797828674, -3.049457550048828, 0.046405479311943054, 0.1507163643836975 ], [ 0.48328185081481934, 0.012336883693933487, 0.22220130264759064, -3.0452280044555664, 0.03302004933357239, 0.12482818961143494 ], [ 0.4860513210296631, 0.004391099791973829, 0.21816088259220123, -3.017280101776123, 0.014682122506201267, 0.13140474259853363 ], [ 0.4920347332954407, 0.007584788370877504, 0.21805143356323242, -3.012003183364868, -0.001705608912743628, 0.12984834611415863 ], [ 0.4963933229446411, 0.004481128882616758, 0.21638870239257812, -3.0082902908325195, -0.00541361840441823, 0.1421821117401123 ], [ 0.49526703357696533, 0.010344494134187698, 0.20763039588928223, -3.039393186569214, 0.0024965584743767977, 0.1537417322397232 ], [ 0.49503129720687866, 0.01018406730145216, 0.2122035026550293, -3.001579761505127, 0.03570501506328583, 0.15943902730941772 ], [ 0.49826979637145996, 0.010800761170685291, 0.22171205282211304, -2.9726619720458984, 0.05180550739169121, 0.15924598276615143 ], [ 0.4945499300956726, 0.006872482597827911, 0.23078015446662903, -2.921619415283203, 0.07705377042293549, 0.1813819706439972 ], [ 0.4912866950035095, -0.00029527797596529126, 0.24085469543933868, -2.8646769523620605, 0.10001416504383087, 0.17944636940956116 ] ], "observation.state.joint_position": [ [ -0.012889380566775799, 0.1476420760154724, 0.006025632843375206, -2.4810614585876465, 0.19286656379699707, 2.4792768955230713, -0.3208008408546448 ], [ -0.010802087374031544, 0.12965047359466553, 0.011127728968858719, -2.5005362033843994, 0.19216933846473694, 2.5639095306396484, -0.3298996090888977 ], [ -0.0003765961155295372, 0.19190703332424164, 0.023706283420324326, -2.456700325012207, 0.15379707515239716, 2.5854806900024414, -0.2588005065917969 ], [ -0.001599193550646305, 0.1902870535850525, 0.0322650708258152, -2.439140558242798, 0.16369333863258362, 2.5813045501708984, -0.23386026918888092 ], [ -0.023712020367383957, 0.2060541808605194, 0.040685903280973434, -2.432511806488037, 0.22095715999603271, 2.5986506938934326, -0.3059018850326538 ], [ -0.03137710690498352, 0.21914660930633545, 0.05559014901518822, -2.417480945587158, 0.2331666350364685, 2.6122255325317383, -0.30989348888397217 ], [ -0.041334670037031174, 0.23265674710273743, 0.05906868353486061, -2.402637004852295, 0.23747402429580688, 2.611100912094116, -0.33282262086868286 ], [ -0.03021010011434555, 0.2522096633911133, 0.05831431970000267, -2.406465530395508, 0.17933492362499237, 2.6359505653381348, -0.2851961851119995 ], [ -0.043820176273584366, 0.24168351292610168, 0.06925427913665771, -2.391897201538086, 0.21739628911018372, 2.5678746700286865, -0.3196865916252136 ], [ -0.05131938308477402, 0.22722868621349335, 0.07494974136352539, -2.3720505237579346, 0.24444380402565002, 2.509902238845825, -0.33651667833328247 ], [ -0.060489408671855927, 0.20132319629192352, 0.07117678225040436, -2.3666200637817383, 0.293232262134552, 2.432307004928589, -0.3988482356071472 ], [ -0.08159264177083969, 0.17610028386116028, 0.07028903067111969, -2.3586819171905518, 0.34259024262428284, 2.353109836578369, -0.44159966707229614 ] ], "observation.state.gripper_position": [ [ 0.05726870894432068 ], [ 0.061966925859451294 ], [ 0.20839975774288177 ], [ 0.4285460412502289 ], [ 0.5822015404701233 ], [ 0.7295242547988892 ], [ 0.865146279335022 ], [ 0.9192358255386353 ], [ 0.9629637002944946 ], [ 0.9847564697265625 ], [ 0.9799903631210327 ], [ 0.9790023565292358 ] ], "action.joint_position": [ [ -0.02778630281221861, 0.4075770649132727, 0.06736608829802293, -2.4078084369715453, 0.13924187794837362, 2.5755261673641803, -0.21702716688430312 ], [ -0.05743366525390736, 0.6145683932684063, 0.12260664146137268, -2.2984191748114826, 0.12910889506682766, 2.6626970314662457, -0.10678083281415707 ], [ -0.0973002825065552, 0.7976500230986474, 0.19060645928013364, -2.1895203003760577, 0.12683553465798514, 2.7496195877690317, -0.01256077269375333 ], [ -0.1405373956532775, 0.9957072405678628, 0.2665596810162669, -2.101721845371008, 0.14634047753641033, 2.8113444021935465, 0.06936757312506425 ], [ -0.1817877935782371, 1.178214862140536, 0.3421436110820182, -2.0212815658417345, 0.16903560818865926, 2.88839315448916, 0.14191226046115146 ], [ -0.22198607881110882, 1.3406161640904541, 0.4268914277749071, -1.971768952634692, 0.21658785639140044, 2.9739685454178453, 0.21008634846687302 ], [ -0.2702915396679935, 1.5377475436449641, 0.5114082037319552, -1.8957014337722062, 0.30359478775164517, 3.053704685516596, 0.22454241350430237 ], [ -0.34350675293430655, 1.7082283657122248, 0.6095020111613881, -1.8005940472469923, 0.4089244355602566, 3.14677697491169, 0.25478257055163367 ], [ -0.4254384727701541, 1.8720907028890246, 0.7140499655576957, -1.7007063037307262, 0.54201763305226, 3.2288520293799046, 0.2763585706157087 ], [ -0.5051067050563689, 2.042713269278585, 0.795267394433917, -1.5613334229141471, 0.5758271304803793, 3.2686543777517083, 0.20920672292143094 ], [ -0.5724689730168577, 2.1885995765019053, 0.8840270494191066, -1.4287881139516232, 0.6184769388765399, 3.2993452418821456, 0.14314473854073873 ], [ -0.6449914053095873, 2.3457095591505164, 0.9524288140884655, -1.3190200836996433, 0.6287086486851279, 3.3337899769837858, 0.06852198817798483 ], [ -0.7279605558144744, 2.5080569570096127, 1.014444516774537, -1.2004821153194305, 0.6432273131101434, 3.373617912838519, -0.0034774663161636354 ], [ -0.8220573303394014, 2.622570145912229, 1.0827552524611375, -1.0745690438536997, 0.6197408468417828, 3.4005888406168823, -0.09008666225036988 ], [ -0.928487759917348, 2.70283764405769, 1.1350437666613482, -0.9788901196686619, 0.6215468883367483, 3.423575298035205, -0.20130215853574884 ], [ -1.0408237903653972, 2.746295585394024, 1.1912054413542177, -0.8589294113375536, 0.6367740548866694, 3.4191113399447506, -0.32459857453295604 ], [ -1.1969592643582514, 2.7071732564345288, 1.2534551194736985, -0.7376883601605289, 0.6673170844841902, 3.367263810074628, -0.4863647356551589 ], [ -1.3572140983876875, 2.624627573087691, 1.3145702968713668, -0.6048064482430808, 0.7097388239947264, 3.2340070899094346, -0.6623779003193082 ], [ -1.5078100774711958, 2.4850155037127717, 1.4592563233434586, -0.45698740830641915, 1.001631519740552, 2.8740926624421186, -0.8607203111716213 ], [ -1.6454656884904197, 2.3236741328501385, 1.5843880864102273, -0.314017051349222, 1.2742675503954595, 2.50190228899172, -1.0811956189368668 ], [ -1.7558038572543553, 2.1765865504138153, 1.6719679396147757, -0.16189962963706162, 1.480470516033501, 2.112598102035076, -1.2482130085639063 ], [ -1.8507374531150154, 2.0404784344347995, 1.7197267214390666, -0.018916961690961465, 1.6526813452693527, 1.714790250572563, -1.3803331487687234 ], [ -1.939616603699117, 1.9180997841343266, 1.7335656818280847, 0.12209779467898674, 1.7665070796846454, 1.3617642387458988, -1.4765375557085876 ], [ -2.0037468294019987, 1.8574938157218974, 1.7305081476460131, 0.2793163772346978, 1.8393742029069964, 1.0601024855439374, -1.6112262868408864 ], [ -2.0693087682642033, 1.811185133993415, 1.6436115597108338, 0.4396234791314608, 1.8138293320327703, 0.7821425425963113, -1.7190683117569692 ], [ -2.139455168823271, 1.7868847894506137, 1.5471915846963857, 0.6222358359059101, 1.834564705392212, 0.4875416865129183, -1.8789148064977832 ], [ -2.254948158094882, 1.7735096322893182, 1.4343347954663372, 0.7940771033059364, 1.9187544422592824, 0.2044412338469339, -2.109188852616877 ], [ -2.529003271805434, 1.4468269780748466, 1.4108211386370995, 0.8700805024345524, 2.311970346199722, -0.2652447045513675, -2.4273827897355265 ], [ -2.7827795698837328, 1.106925118992863, 1.3314364427096583, 0.9504976988596328, 2.652584787895293, -0.7258814501873241, -2.6833742216481276 ], [ -2.9868533335253287, 0.8129173903290012, 1.1861480705394187, 1.0275037254428274, 2.924527973504693, -1.1326949254816459, -2.8374648827303655 ], [ -3.178198430920272, 0.563938701735256, 0.9979383324404398, 1.1738709920130974, 3.0837140408926316, -1.4562483695472466, -2.9041901478030687 ], [ -3.351805863197892, 0.38515110782223727, 0.7735037813987474, 1.3200782157276278, 3.1596319036151477, -1.7293101037581549, -2.912210367988706 ], [ -3.5281649872805168, 0.2954726008122541, 0.5575401014929455, 1.4685616386987572, 3.1906690181911297, -1.9871500550031351, -2.87617148718226 ], [ -3.701142064171522, 0.24903084628912586, 0.32963201573020645, 1.676935047527552, 3.2122234959013767, -2.160304877037226, -2.810082250404597 ], [ -3.8775466647409784, 0.2581411009538449, 0.10894371285087306, 1.8659151607205278, 3.231618376453192, -2.2832106022407404, -2.750146717615247 ], [ -4.054078545495539, 0.31283199859371547, -0.11164902560400516, 2.0764460703545815, 3.221343400058479, -2.3438108065115797, -2.6852215770174865 ] ], "action.joint_velocity": [ [ -0.014896922245442812, 0.2599349888978003, 0.061340455454647724, 0.07325302161610125, -0.053624685848623455, 0.09624927184110887, 0.10377367397034165 ], [ -0.02964736244168875, 0.20699132835513356, 0.05524055316334975, 0.10938926216006284, -0.01013298288154596, 0.08717086410206554, 0.11024633407014606 ], [ -0.03986661725264784, 0.18308162983024112, 0.06799981781876097, 0.10889887443542479, -0.0022733604088425174, 0.08692255630278589, 0.09422006012040374 ], [ -0.043237113146722295, 0.19805721746921534, 0.07595322173613328, 0.08779845500504979, 0.01950494287842519, 0.06172481442451483, 0.08192834581881758 ], [ -0.0412503979249596, 0.1825076215726733, 0.07558393006575126, 0.08044027952927346, 0.02269513065224893, 0.07704875229561337, 0.07254468733608721 ], [ -0.04019828523287172, 0.1624013019499182, 0.08474781669288889, 0.049512613207042255, 0.047552248202741176, 0.08557539092868571, 0.06817408800572156 ], [ -0.0483054608568847, 0.1971313795545101, 0.0845167759570481, 0.07606751886248586, 0.08700693136024473, 0.07973614009875063, 0.014456065037429355 ], [ -0.07321521326631303, 0.17048082206726067, 0.09809380742943297, 0.09510738652521378, 0.10532964780861143, 0.09307228939509393, 0.030240157047331295 ], [ -0.08193171983584757, 0.16386233717679977, 0.1045479543963076, 0.09988774351626628, 0.13309319749200343, 0.0820750544682145, 0.021576000064075007 ], [ -0.07966823228621478, 0.17062256638956064, 0.0812174288762213, 0.13937288081657895, 0.03380949742811923, 0.03980234837180374, -0.06715184769427773 ], [ -0.06736226796048878, 0.14588630722331997, 0.08875965498518956, 0.13254530896252403, 0.042649808396160616, 0.030690864130437423, -0.06606198438069222 ], [ -0.07252243229272959, 0.15710998264861098, 0.06840176466935888, 0.10976803025197979, 0.010231709808588008, 0.034444735101640256, -0.0746227503627539 ], [ -0.08296915050488707, 0.16234739785909647, 0.062015702686071594, 0.11853796838021291, 0.014518664425015482, 0.03982793585473299, -0.07199945449414846 ], [ -0.0940967745249271, 0.11451318890261641, 0.0683107356866004, 0.12591307146573072, -0.023486466268360595, 0.026970927778363296, -0.08660919593420624 ], [ -0.10643042957794663, 0.08026749814546108, 0.05228851420021069, 0.09567892418503765, 0.001806041494965549, 0.022986457418322614, -0.11121549628537897 ], [ -0.1123360304480493, 0.04345794133633374, 0.05616167469286937, 0.11996070833110817, 0.015227166549921067, -0.004463958090454301, -0.1232964159972072 ], [ -0.15613547399285432, -0.039122328959494856, 0.06224967811948079, 0.12124105117702488, 0.030543029597520865, -0.051847529870122644, -0.16176616112220288 ], [ -0.16025483402943608, -0.08254568334683776, 0.061115177397668474, 0.13288191191744814, 0.04242173951053618, -0.13325672016519308, -0.1760131646641493 ], [ -0.15059597908350825, -0.139612069374919, 0.14468602647209183, 0.1478190399366618, 0.29189269574582577, -0.35991442746731633, -0.19834241085231308 ], [ -0.1376556110192239, -0.161341370862633, 0.12513176306676876, 0.1429703569571973, 0.27263603065490727, -0.3721903734503984, -0.2204753077652455 ], [ -0.11033816876393554, -0.14708758243632325, 0.08757985320454853, 0.15211742171216025, 0.20620296563804152, -0.389304186956644, -0.16701738962703938 ], [ -0.09493359586066002, -0.13610811597901584, 0.047758781824290886, 0.14298266794610026, 0.17221082923585174, -0.39780785146251313, -0.1321201402048171 ], [ -0.08887915058410162, -0.12237865030047301, 0.013838960389018218, 0.1410147563699483, 0.11382573441529276, -0.35302601182666415, -0.0962044069398642 ], [ -0.0641302257028818, -0.060605968412429156, -0.003057534182071553, 0.1572185825557112, 0.07286712322235112, -0.3016617532019615, -0.13468873113229873 ], [ -0.06556193886220452, -0.04630868172848224, -0.08689658793517935, 0.1603071018967629, -0.025544870874226078, -0.27795994294762605, -0.10784202491608263 ], [ -0.07014640055906768, -0.02430034454280139, -0.09641997501444804, 0.18261235677444942, 0.020735373359441756, -0.29460085608339304, -0.15984649474081392 ], [ -0.11549298927161095, -0.013375157161295448, -0.11285678923004855, 0.17184126740002637, 0.08418973686707021, -0.28310045266598455, -0.23027404611909386 ], [ -0.2740551137105524, -0.32668265421447157, -0.023513656829237783, 0.07600339912861587, 0.39321590394043926, -0.46968593839830153, -0.3181939371186495 ], [ -0.25377629807829855, -0.33990185908198356, -0.07938469592744102, 0.08041719642508027, 0.340614441695571, -0.46063674563595647, -0.255991431912601 ], [ -0.2040737636415958, -0.2940077286638618, -0.1452883721702396, 0.07700602658319478, 0.27194318560940034, -0.4068134752943217, -0.154090661082238 ], [ -0.1913450973949432, -0.24897868859374528, -0.1882097380989789, 0.1463672665702701, 0.1591860673879385, -0.32355344406560055, -0.06672526507270338 ], [ -0.17360743227761982, -0.17878759391301868, -0.22443455104169238, 0.14620722371453054, 0.0759178627225161, -0.27306173421090835, -0.008020220185637417 ], [ -0.17635912408262489, -0.08967850700998314, -0.2159636799058019, 0.1484834229711295, 0.031037114575982128, -0.25783995124498005, 0.03603888080644613 ], [ -0.172977076891005, -0.046441754523128265, -0.22790808576273908, 0.20837340882879507, 0.0215544777102471, -0.17315482203409072, 0.06608923677766321 ], [ -0.17640460056945678, 0.009110254664719042, -0.2206883028793334, 0.18898011319297547, 0.01939488055181504, -0.12290572520351406, 0.0599355327893496 ], [ -0.17653188075456022, 0.05469089763987056, -0.22059273845487823, 0.21053090963405363, -0.010274976394712865, -0.060600204270839675, 0.06492514059776067 ] ], "action.gripper_position": [ [ 0.7744558355807662 ], [ 0.8142908104569913 ], [ 0.8712521553692222 ], [ 0.8863585088245869 ], [ 0.9619365796941519 ], [ 0.9422545135470629 ], [ 0.9465983507183791 ], [ 0.9717012148193122 ], [ 0.9469250979500413 ], [ 0.9423623764851093 ], [ 0.9474754373052121 ], [ 0.9654018404590488 ], [ 0.9772792185359002 ], [ 0.9706514879388214 ], [ 0.9878322661861182 ], [ 0.9991583514232636 ], [ 0.9869631650322677 ], [ 0.9830566197059155 ], [ 0.9495273360249996 ], [ 0.9541356459692717 ], [ 0.9527543448416591 ], [ 0.9674701867870689 ], [ 0.9531471208773852 ], [ 0.9461496170589925 ], [ 0.938452493962884 ], [ 0.9212754700609446 ], [ 0.9385357450813652 ], [ 0.9647903589080573 ], [ 0.9634487465742231 ], [ 0.9808390530481339 ], [ 0.9501728450553417 ], [ 0.9682785033017993 ], [ 0.9763252572584152 ], [ 0.9760678164339066 ], [ 0.9650106138356924 ], [ 0.9752697498779297 ] ], "action.cartesian_position": [ [ 0.4619038701057434, 0.018859051167964935, 0.12859737873077393, -3.016643762588501, 0.2233058661222458, 0.14174684882164001 ], [ 0.475372314453125, 0.03566121309995651, 0.06487354636192322, -3.0114705562591553, 0.2437552809715271, 0.05230092257261276 ], [ 0.4856283962726593, 0.0568854846060276, 0.00990111194550991, -2.9782021045684814, 0.24177424609661102, -0.03823846951127052 ], [ 0.46918314695358276, 0.08412069827318192, -0.05587606504559517, -2.9228501319885254, 0.3108416497707367, -0.14289279282093048 ], [ 0.44966694712638855, 0.11338651925325394, -0.1100056916475296, -2.8688228130340576, 0.36894598603248596, -0.26098909974098206 ], [ 0.4203655421733856, 0.14816763997077942, -0.1506291776895523, -2.8254621028900146, 0.4502324163913727, -0.40840163826942444 ], [ 0.3853910267353058, 0.17924921214580536, -0.19557176530361176, -2.8025553226470947, 0.558487057685852, -0.5873505473136902 ], [ 0.37890705466270447, 0.19704215228557587, -0.22204269468784332, -2.8228893280029297, 0.6389156579971313, -0.8726105093955994 ], [ 0.3772813081741333, 0.20657040178775787, -0.24282154440879822, -2.924839735031128, 0.7239936590194702, -1.2439829111099243 ], [ 0.3833954632282257, 0.20090194046497345, -0.27272018790245056, -2.933983564376831, 0.7524233460426331, -1.4348469972610474 ], [ 0.3910404443740845, 0.19014395773410797, -0.2966061532497406, -2.9658873081207275, 0.7687720060348511, -1.6415269374847412 ], [ 0.37296777963638306, 0.1813812553882599, -0.32757824659347534, -3.0225064754486084, 0.7610591650009155, -1.8229634761810303 ], [ 0.3407858610153198, 0.16922271251678467, -0.3624918460845947, -3.112724542617798, 0.7158181667327881, -2.036595344543457 ], [ 0.32765260338783264, 0.13238239288330078, -0.39009881019592285, -3.101970911026001, 0.6447703242301941, -2.159154176712036 ], [ 0.3109116852283478, 0.09483233094215393, -0.4100238084793091, -3.0896191596984863, 0.5754818320274353, -2.253387212753296 ], [ 0.2956111431121826, 0.032201655209064484, -0.4290764033794403, -3.0462076663970947, 0.4962861239910126, -2.34442400932312 ], [ 0.2913263440132141, -0.09083694964647293, -0.43410512804985046, -2.9046988487243652, 0.42427924275398254, -2.4221413135528564 ], [ 0.2619294226169586, -0.24259936809539795, -0.42297789454460144, -2.684386968612671, 0.36204880475997925, -2.4835174083709717 ], [ 0.22750099003314972, -0.43376392126083374, -0.36256176233291626, -2.232877731323242, 0.5041483044624329, -2.688277006149292 ], [ 0.11767936497926712, -0.6198081374168396, -0.24367812275886536, -1.6435129642486572, 0.48629388213157654, -2.831397294998169 ], [ -0.050606559962034225, -0.7218202948570251, -0.09826933592557907, -1.0895335674285889, 0.38855117559432983, -3.051069498062134 ], [ -0.22137390077114105, -0.7257911562919617, 0.051259126514196396, -0.5793032646179199, 0.3220800757408142, 2.935636043548584 ], [ -0.3561912775039673, -0.6547876596450806, 0.17860165238380432, -0.1435297131538391, 0.30710697174072266, 2.626192569732666 ], [ -0.43289509415626526, -0.5474410653114319, 0.24436305463314056, 0.159821555018425, 0.3297910988330841, 2.264876365661621 ], [ -0.4590642750263214, -0.4480957090854645, 0.30665096640586853, 0.504682719707489, 0.27191296219825745, 2.0067076683044434 ], [ -0.4565459191799164, -0.34037894010543823, 0.3473638892173767, 0.8738782405853271, 0.3577549457550049, 1.7251611948013306 ], [ -0.44119396805763245, -0.228912815451622, 0.37139150500297546, 1.2612143754959106, 0.6268683671951294, 1.5089079141616821 ], [ -0.41450026631355286, -0.06729869544506073, 0.452705442905426, -2.9611151218414307, 1.1694713830947876, 2.8793065547943115 ], [ -0.37157514691352844, 0.02996424213051796, 0.5422332882881165, -2.0599541664123535, 0.26607954502105713, 3.0490448474884033 ], [ -0.2996993660926819, 0.1004548892378807, 0.6606122255325317, -1.5547062158584595, -0.41265907883644104, 2.476771354675293 ], [ -0.1527947634458542, 0.155347540974617, 0.7516111135482788, -0.8363693952560425, -0.5586959719657898, 1.567323923110962 ], [ 0.011900115758180618, 0.14767956733703613, 0.7889724969863892, -0.3417510390281677, -0.29085442423820496, 0.8620123267173767 ], [ 0.13735976815223694, 0.0850721225142479, 0.7820833325386047, -0.08853217214345932, 0.0895426943898201, 0.42642053961753845 ], [ 0.20516148209571838, -0.027990296483039856, 0.7230237126350403, 0.14972662925720215, 0.43663573265075684, 0.13223929703235626 ], [ 0.1830788105726242, -0.13788610696792603, 0.6584337949752808, 0.4101645052433014, 0.6507239937782288, -0.07797332853078842 ], [ 0.10054868459701538, -0.20075900852680206, 0.5855904817581177, 0.6871405243873596, 0.7555443048477173, -0.23657701909542084 ] ] }