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 | 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. | 0.488987 | [
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] | true | 6.9 | 69 | 2 | 200 | 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. | 0.475771 | [
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] | true | 7 | 70 | 2 | 201 | 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. | 0.339207 | [
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] | true | 7.1 | 71 | 2 | 202 | 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. | 0.273128 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 7.2 | 72 | 2 | 203 | 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. | 0.202643 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 7.3 | 73 | 2 | 204 | 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. | 0.048458 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 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. | 0.004405 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 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 | [
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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. | 0.674009 | [
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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. | 0.819383 | [
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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. | 0.933921 | [
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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. | 0.947137 | [
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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. | 0.942731 | [
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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. | 0.933921 | [
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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. | 0.929515 | [
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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. | 0.929515 | [
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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. | 0.929515 | [
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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. | 0.938326 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 16.200001 | 162 | 2 | 293 | 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 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 16.299999 | 163 | 2 | 294 | 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 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 16.4 | 164 | 2 | 295 | 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 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 16.5 | 165 | 2 | 296 | 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 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 16.6 | 166 | 2 | 297 | 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 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 16.700001 | 167 | 2 | 298 | 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 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | [
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] | true | 16.799999 | 168 | 2 | 299 | 3 | Move the cushions to the right shoulder of the couch |
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