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. | 0.929515 | [
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] | true | 26.9 | 269 | 2 | 400 | 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. | 0.929515 | [
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] | true | 27 | 270 | 2 | 401 | 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. | 0.929515 | [
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] | true | 27.1 | 271 | 2 | 402 | 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. | 0.929515 | [
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] | true | 27.200001 | 272 | 2 | 403 | 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. | 0.929515 | [
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] | true | 27.299999 | 273 | 2 | 404 | 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. | 0.929515 | [
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] | true | 27.4 | 274 | 2 | 405 | 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. | 0.929515 | [
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] | true | 27.5 | 275 | 2 | 406 | 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. | 0.929515 | [
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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. | 0.929515 | [
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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. | 0.929515 | [
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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. | 0.929515 | [
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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. | 0.929515 | [
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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. | 0.9163 | [
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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. | 0.867841 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 36.299999 | 363 | 2 | 494 | 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 | 36.400002 | 364 | 2 | 495 | 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 | 36.5 | 365 | 2 | 496 | 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 | 36.599998 | 366 | 2 | 497 | 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 | 36.700001 | 367 | 2 | 498 | 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 | 36.799999 | 368 | 2 | 499 | 3 | Move the cushions to the right shoulder of the couch |
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