is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 299
values | language_instruction_2 stringclasses 284
values | language_instruction_3 stringclasses 292
values | observation.state.gripper_position float32 -0 1 | observation.state.cartesian_position listlengths 6 6 | observation.state.joint_position listlengths 7 7 | observation.state listlengths 8 8 | action.gripper_position float32 0 1 | action.gripper_velocity float32 -1 1 | action.cartesian_position listlengths 6 6 | action.cartesian_velocity listlengths 6 6 | action.joint_position listlengths 7 7 | action.joint_velocity listlengths 7 7 | action listlengths 8 8 | discount float32 1 1 | reward float32 0 1 | task_category stringclasses 40
values | building stringclasses 40
values | collector_id stringclasses 44
values | date stringclasses 44
values | camera_extrinsics.wrist_left listlengths 6 6 | camera_extrinsics.exterior_1_left listlengths 6 6 | camera_extrinsics.exterior_2_left listlengths 6 6 | is_episode_successful bool 1
class | timestamp float32 0 53 | frame_index int64 0 530 | episode_index int64 0 318 | index int64 0 50.8k | task_index int64 0 300 | prompt stringclasses 299
values |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.330396 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.480176 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.550661 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.61674 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 2.1 | 21 | 1 | 103 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.77533 | [
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] | true | 2.2 | 22 | 1 | 104 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.933921 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 2.3 | 23 | 1 | 105 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 2.4 | 24 | 1 | 106 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.982379 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.982379 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 2.7 | 27 | 1 | 109 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.973568 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 2.8 | 28 | 1 | 110 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 2.9 | 29 | 1 | 111 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.982379 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3 | 30 | 1 | 112 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.1 | 31 | 1 | 113 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.973568 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.2 | 32 | 1 | 114 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.973568 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.973568 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.4 | 34 | 1 | 116 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.973568 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.5 | 35 | 1 | 117 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.982379 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.6 | 36 | 1 | 118 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.982379 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.7 | 37 | 1 | 119 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.8 | 38 | 1 | 120 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.9 | 39 | 1 | 121 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 0.979292 | 0.005272 | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 4 | 40 | 1 | 122 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 4.2 | 42 | 1 | 124 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 4.3 | 43 | 1 | 125 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 4.4 | 44 | 1 | 126 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 4.5 | 45 | 1 | 127 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 4.6 | 46 | 1 | 128 | 2 | Push the top drawer on the light grey cabinet backwards |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 4.7 | 47 | 1 | 129 | 2 | Push the top drawer on the light grey cabinet backwards |
false | true | true | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 1 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0.53304 | [
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false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0.599119 | [
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false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0.837004 | [
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] | true | 6.2 | 62 | 2 | 193 | 3 | Move the cushions to the right shoulder of the couch |
false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0.982379 | [
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] | true | 6.3 | 63 | 2 | 194 | 3 | Move the cushions to the right shoulder of the couch |
false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0.951542 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 6.4 | 64 | 2 | 195 | 3 | Move the cushions to the right shoulder of the couch |
false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0.872247 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 6.5 | 65 | 2 | 196 | 3 | Move the cushions to the right shoulder of the couch |
false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0.718062 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 6.6 | 66 | 2 | 197 | 3 | Move the cushions to the right shoulder of the couch |
false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0.581498 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 6.7 | 67 | 2 | 198 | 3 | Move the cushions to the right shoulder of the couch |
false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0.497797 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | [
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] | true | 6.8 | 68 | 2 | 199 | 3 | Move the cushions to the right shoulder of the couch |
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