episode stringlengths 24 24 | task stringlengths 0 374 | length int64 1 4.5k | video_path null | subgoals listlengths 0 73 | source_episode stringlengths 23 27 | camera_view stringclasses 1
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chunk-000/episode_000000 | pulling the fabric to the left | 240 | null | [
{
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"end": 239,
"subtask": "pull the fabric to the left"
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] | 0_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-02-08/Thu_Feb__8_16:38:30_2024/trajectory.h5 |
chunk-000/episode_000001 | remove the toy from the bowl and put it in the toy sink | 286 | null | [
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"subtask": "pick up the gray toy from the bowl"
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"end": 256,
"subtask": "transfer the gray toy from the bowl to above the toy sink"
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"end": 285,
"subtask": "place the gray toy in the toy sink"
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] | 10000_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-10-22/Sun_Oct_22_11:27:25_2023/trajectory.h5 |
chunk-000/episode_000002 | pick the popcorn on the napkin using a fork | 447 | null | [
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"end": 249,
"subtask": "transfer the fork from the desktop to above the popcorn"
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"end": 352,
"subtask": "insert the popcorn with the fork"
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"start": 353,... | 10001_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-29/Wed_Nov_29_10:38:10_2023/trajectory.h5 |
chunk-000/episode_000003 | put the cloth on the plastic barrier | 154 | null | [
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"subtask": "place the cloth on the plastic barrier"
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] | 10002_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-06-25/Sun_Jun_25_18:54:45_2023/trajectory.h5 |
chunk-000/episode_000004 | put the paper cup on the table into another paper cup and rotate it clockwise to turn it over | 419 | null | [
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"end": 204,
"subtask": "place the cup into another cup"
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"start":... | 10005_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-18/Thu_Jan_18_17:09:47_2024/trajectory.h5 |
chunk-000/episode_000005 | pick up the pen in the cup and place it on the table | 126 | null | [
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"end": 101,
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"end": 125,
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] | 10006_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-04-29/Sat_Apr_29_18:02:38_2023/trajectory.h5 |
chunk-000/episode_000006 | move the ball on the table | 1,579 | null | [
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"end": 265,
"subtask": "place the ball on the towel"
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"start": 266,
"end": 289... | 10007_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/WEIRD/success/2024-01-19/Fri_Jan_19_21:50:26_2024/trajectory.h5 |
chunk-000/episode_000007 | put the object in the drawer and close the drawer | 285 | null | [
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"subtask": "place the object in the open drawer"
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"sta... | 10008_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-02-13/Tue_Feb_13_17:19:07_2024/trajectory.h5 |
chunk-000/episode_000008 | press a button on the machine | 174 | null | [
{
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"subtask": "press a button on the machine"
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] | 10009_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-10-31/Tue_Oct_31_18:23:14_2023/trajectory.h5 |
chunk-000/episode_000009 | put the red object into the silver bowl | 180 | null | [
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"end": 134,
"subtask": "transfer the red object from the left side of the table to the silver bowl"
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{
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"subtask": "place the red obje... | 1000_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/REAL/success/2023-07-25/Tue_Jul_25_14:33:12_2023/trajectory.h5 |
chunk-000/episode_000010 | move the bowl to the right | 104 | null | [
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"subtask": "pick up the bowl on the table"
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{
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"end": 103,
"subtask": "push the bowl to the right on the table"
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] | 10010_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-03-08/Wed_Mar__8_14_40_56_2023/trajectory.h5 |
chunk-000/episode_000011 | scoop some objects with a spoon twice from the right bowl into the left bowl | 1,073 | null | [
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"end": 345,
"subtask": "manipulate a scoop of object from the right bowl"
}... | 10011_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAD/success/2023-11-25/Sat_Nov_25_19:59:12_2023/trajectory.h5 |
chunk-000/episode_000012 | pick up a bottle from the tray and put it on the table | 232 | null | [
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"end": 210,
"subtask": "transfer the bottle from the tray to the table"
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{
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"end": 231,
"subtask": "place the bottle on the table"
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] | 10013_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-06-19/Mon_Jun_19_17:13:55_2023/trajectory.h5 |
chunk-000/episode_000013 | put the blue block inside the drawer | 152 | null | [
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"end": 66,
"subtask": "transfer the blue block from the table to the drawer"
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"end": 83,
"subtask": "place the blue block inside the drawer"
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{
"start": ... | 10014_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-10-21/Sat_Oct_21_19:40:59_2023/trajectory.h5 |
chunk-000/episode_000014 | move the object into the box | 745 | null | [
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"end": 142,
"subtask": "place the marker on the object"
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{
"start": 143,
"end... | 10016_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-11-28/Tue_Nov_28_10:39:22_2023/trajectory.h5 |
chunk-000/episode_000015 | put the rubber band around the jar | 165 | null | [
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"subtask": "put the rubber band around the jar"
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{
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"end": 164,
"subtask": "pull the rubber band"
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] | 10017_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-02/Sat_Dec__2_16:26:59_2023/trajectory.h5 |
chunk-000/episode_000016 | pick up the building block toys from the top of the cabinet and put them in a bowl | 431 | null | [
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"end": 90,
"subtask": "transfer the yellow object from the tabletop to the black bowl"
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{
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"end": 130,
"subtask": "place the yellow object in the black bowl"
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... | 10018_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-10-14/Sat_Oct_14_21:52:09_2023/trajectory.h5 |
chunk-000/episode_000017 | put the lid on the table | 181 | null | [
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"end": 146,
"subtask": "transfer the lid from the cup to the table"
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"end": 180,
"subtask": "place the lid on the table"
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] | 10019_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-16/Tue_Jan_16_11:53:05_2024/trajectory.h5 |
chunk-000/episode_000018 | cover the pot | 322 | null | [
{
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"end": 168,
"subtask": "transfer the lid from the table to the pot"
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{
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"end": 321,
"subtask": "place the lid on the pot"
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] | 1001_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/REAL/success/2023-06-17/Sat_Jun_17_13:49:45_2023/trajectory.h5 |
chunk-000/episode_000019 | take the black lid from the top of the can and put it on the table | 113 | null | [
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"subtask": "transfer the black lid from the top of the can to the top of the table"
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{
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"subtask": "place the black lid on the table"... | 10020_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-30/Tue_May_30_01:21:00_2023/trajectory.h5 |
chunk-000/episode_000020 | pick the stuffed pineapple and put it beside the oven | 187 | null | [
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"subtask": "transfer the soft pineapple from the table to beside the oven"
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{
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"subtask": "place the soft pineapple beside the oven"
... | 10021_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-16/Fri_Jun_16_16:48:43_2023/trajectory.h5 |
chunk-000/episode_000021 | moving the plug from the table and inserting it into the power strip | 759 | null | [
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"end": 570,
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"end": 645,
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"start"... | 10022_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-10-07/Sat_Oct__7_19:19:26_2023/trajectory.h5 |
chunk-000/episode_000022 | grab the spoon from the drawer and place it on the table | 277 | null | [
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"subtask": "transfer the spoon from the drawer to the table"
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"subtask": "place the spoon on the table"
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] | 10023_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-02-05/Mon_Feb__5_14:51:02_2024/trajectory.h5 |
chunk-000/episode_000023 | take the marker out of the container and place it on the right side of the table | 172 | null | [
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"subtask": "transfer the marker from the container to the right side of the table"
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{
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"subtask": "place the marker on the right side of th... | 10024_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-04-17/Mon_Apr_17_14:57:36_2023/trajectory.h5 |
chunk-000/episode_000024 | move the white plastic knife to the left | 290 | null | [
{
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"subtask": "move the empty space to the empty space"
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] | 10025_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-10-31/Tue_Oct_31_18:39:39_2023/trajectory.h5 |
chunk-000/episode_000025 | put half a spoon of the bowl's contents into the small crate | 647 | null | [
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"end": 372,
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"end": 466,
"subtask": "transfer the spoon from the bowl to the small box"
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"s... | 10026_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-14/Tue_Nov_14_15:05:54_2023/trajectory.h5 |
chunk-000/episode_000026 | pick up the solid glue from the table and put it in the cup | 138 | null | [
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"end": 114,
"subtask": "transfer the solid glue from the table to the top of the cup"
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"subtask": "place the solid glue in the cup"
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] | 10027_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-20/Sat_May_20_17:16:06_2023/trajectory.h5 |
chunk-000/episode_000027 | pick up the piece of paper from the edge of the table and place it on the object | 194 | null | [
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"subtask": "transfer the piece of paper from the edge of the table to above the object"
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{
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"subtask": "place the piece o... | 10028_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-07-21/Fri_Jul_21_12:49:52_2023/trajectory.h5 |
chunk-000/episode_000028 | clean the white lid | 277 | null | [
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"end": 99,
"subtask": "transfer the cleaning cloth from the table to the white lid"
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"subtask": "slide the cleaning cloth on the white lid to re... | 10029_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-07/Mon_Aug__7_16:15:36_2023/trajectory.h5 |
chunk-000/episode_000029 | put the desktop items into the drawer and close the drawer | 365 | null | [
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"subtask": "transfer the first object from the table to the drawer"
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"subtask": "put the first object into the drawer"
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{
"s... | 1002_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-02-15/Thu_Feb_15_11:52:41_2024/trajectory.h5 |
chunk-000/episode_000030 | place two clear objects on the black tray | 420 | null | [
{
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"end": 419,
"subtask": "manipulate an empty space"
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] | 10030_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-23/Mon_Oct_23_15:34:42_2023/trajectory.h5 |
chunk-000/episode_000031 | move the silver cup to the right | 164 | null | [
{
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"subtask": "pick up the silver cup on the left side of the countertop"
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{
"start": 90,
"end": 163,
"subtask": "place the silver cup on the right side of the countertop"
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] | 10031_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-07-30/Sun_Jul_30_10:42:19_2023/trajectory.h5 |
chunk-000/episode_000032 | put the cup on the table | 312 | null | [
{
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{
"start": 187,
"end": 246,
"subtask": "transfer the cup from the plate to the table"
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{
"start": 247,
"end": 311,
"subtask": "place the cup on the table"
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] | 10033_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-02/Thu_Nov__2_13:51:26_2023/trajectory.h5 |
chunk-000/episode_000033 | move the marker from the cup and place it on the table | 215 | null | [
{
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"subtask": "pick up the marker from the white cup"
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"end": 193,
"subtask": "transfer the marker from the cup to above the table"
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{
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"end": 214,
"subtask": "place the marker on the table"
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] | 10034_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-16/Tue_May_16_21:55:16_2023/trajectory.h5 |
chunk-000/episode_000034 | wipe the counter with the paper towel | 338 | null | [
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{
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"end": 307,
"subtask": "transfer the paper towel from the right side of the table to the left side of the table"
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{
"start": 308,
"end": 337,
"subtask": "place the paper towe... | 10035_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-22/Tue_Aug_22_16:47:37_2023/trajectory.h5 |
chunk-000/episode_000035 | move the small box to the upper left corner of the table | 201 | null | [
{
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{
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"end": 139,
"subtask": "transfer the small box from the lower left side of the table to the upper left side of the table"
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{
"start": 140,
"end": 200,
"su... | 10036_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/BVL/success/2024-01-30/Tue_Jan_30_23:16:20_2024/trajectory.h5 |
chunk-000/episode_000036 | push the lever on the toaster downwards | 112 | null | [
{
"start": 0,
"end": 111,
"subtask": "press the lever on the toaster downwards"
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] | 10037_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/REAL/success/2023-08-15/Tue_Aug_15_12:42:37_2023/trajectory.h5 |
chunk-000/episode_000037 | use the white and red towel to wipe the table | 263 | null | [
{
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"end": 44,
"subtask": "pick up the white towel from the table"
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{
"start": 45,
"end": 262,
"subtask": "wipe the table with the white towel"
}
] | 10038_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/REAL/success/2023-07-11/Tue_Jul_11_12:12:55_2023/trajectory.h5 |
chunk-000/episode_000038 | move the plate to another plate | 253 | null | [
{
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"subtask": "pick up the plate on the table"
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{
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"end": 123,
"subtask": "transfer the plate from above to another plate"
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{
"start": 124,
"end": 252,
"subtask": "place the plate on another plate"
}
] | 10039_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAD/success/2023-12-21/Thu_Dec_21_12:06:31_2023/trajectory.h5 |
chunk-000/episode_000039 | put the yellow square in the bowl | 119 | null | [
{
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{
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"subtask": "transfer the yellow square from the table to the bowl"
},
{
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"end": 118,
"subtask": "place the yellow square in the bowl"
}
] | 1003_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/BVL/success/2024-02-17/Sat_Feb_17_23:59:09_2024/trajectory.h5 |
chunk-000/episode_000040 | pick up the canned drink and put it on the shelf | 401 | null | [
{
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"subtask": "pick up the canned drink on the table"
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{
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"subtask": "transfer the canned drink from the table to the shelf"
},
{
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"end": 400,
"subtask": "place the canned drink on the shelf"
}
] | 10040_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RPL/success/2023-05-23/Tue_May_23_12:10:12_2023/trajectory.h5 |
chunk-000/episode_000041 | pick up the black cable and put it in the tool box | 159 | null | [
{
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"subtask": "pick up the black cable from the shelf"
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{
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"end": 120,
"subtask": "transfer the black cable from the shelf to the toolbox"
},
{
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"end": 158,
"subtask": "place the black cable in the toolbox"
}
] | 10041_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-10-15/Sun_Oct_15_18:44:31_2023/trajectory.h5 |
chunk-000/episode_000042 | take the marker out of the cup and put it on the table | 126 | null | [
{
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"subtask": "pick up the marker from the cup"
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{
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"subtask": "transfer the marker from the cup to the table"
},
{
"start": 108,
"end": 125,
"subtask": "place the marker on the table"
}
] | 10042_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-04-29/Sat_Apr_29_23:25:31_2023/trajectory.h5 |
chunk-000/episode_000043 | take out all the clothes from the box | 1,123 | null | [
{
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"subtask": "pick up the clothing from the storage box"
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"subtask": "transfer the clothing from the storage box to the windowsill"
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{
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"end": 161,
"subtask": "place the clothing on the windowsill"
},
... | 10043_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/AUTOLab/success/2023-12-17/Sun_Dec_17_14:23:29_2023/trajectory.h5 |
chunk-000/episode_000044 | take a box out of another box, and then place the other box inside the first box | 288 | null | [
{
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"subtask": "pick up a basket on two stacked baskets"
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"subtask": "transfer the basket from another basket to the tabletop"
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{
"start": 147,
"end": 169,
"subtask": "place the basket on the tabletop"
},
{
"star... | 10045_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-02-08/Thu_Feb__8_11:05:39_2024/trajectory.h5 |
chunk-000/episode_000045 | Put the blue marker on the table | 228 | null | [
{
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"subtask": "pick up the object from the box"
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{
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"end": 117,
"subtask": "transfer the object to the table"
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{
"start": 118,
"end": 227,
"subtask": "place the object on the table"
}
] | 10046_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-02-12/Mon_Feb_12_13:21:54_2024/trajectory.h5 |
chunk-000/episode_000046 | put the rabbit toy on the right side of the table | 175 | null | [
{
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"subtask": "pick up the rabbit toy on the left side of the table"
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{
"start": 113,
"end": 131,
"subtask": "transfer the rabbit toy from the left side of the table to the right side of the table"
},
{
"start": 132,
"end": 174,
"subtask": "place ... | 10047_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-08-07/Mon_Aug__7_15:30:08_2023/trajectory.h5 |
chunk-000/episode_000047 | pick up the bottle on the counter and put it on the stove | 242 | null | [
{
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"subtask": "pick up the bottle from the stove"
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{
"start": 179,
"end": 206,
"subtask": "transfer the bottle from the stove to the countertop"
},
{
"start": 207,
"end": 241,
"subtask": "place the bottle on the countertop"
}
] | 10048_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-11-14/Tue_Nov_14_14:06:06_2023/trajectory.h5 |
chunk-000/episode_000048 | close the top left drawer | 163 | null | [
{
"start": 0,
"end": 162,
"subtask": "push the drawer to the position of closing the drawer"
}
] | 10049_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-07-18/Tue_Jul_18_10:08:26_2023/trajectory.h5 |
chunk-000/episode_000049 | uncover the pan and put the lid on the rack | 107 | null | [
{
"start": 0,
"end": 70,
"subtask": "pick up the lid from the top of the pot"
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{
"start": 71,
"end": 89,
"subtask": "transfer the lid from the top of the pot to the rack on the left of the green object"
},
{
"start": 90,
"end": 106,
"subtask": "place the lid on the rack... | 1004_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-11-06/Mon_Nov__6_11:35:52_2023/trajectory.h5 |
chunk-000/episode_000050 | place the fabric on the seat cushion | 188 | null | [
{
"start": 0,
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"subtask": "pick up the fabric on the table"
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{
"start": 111,
"end": 138,
"subtask": "transfer the fabric from the tabletop to the seat cushion"
},
{
"start": 139,
"end": 187,
"subtask": "place the fabric on the seat cushion"
}
] | 10050_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/REAL/success/2023-07-15/Sat_Jul_15_11:52:40_2023/trajectory.h5 |
chunk-000/episode_000051 | move the screwdriver from the windowsill to the black bowl | 198 | null | [
{
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"subtask": "pick up the screwdriver from the windowsill"
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{
"start": 110,
"end": 168,
"subtask": "transfer the screwdriver from the windowsill to the black bowl"
},
{
"start": 169,
"end": 197,
"subtask": "place the screwdriver in the black bowl... | 10052_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-07-20/Thu_Jul_20_16:23:09_2023/trajectory.h5 |
chunk-000/episode_000052 | pick up the object and put it in the cup | 253 | null | [
{
"start": 0,
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"subtask": "pick up the green object on the table"
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{
"start": 136,
"end": 224,
"subtask": "transfer the green object from the table to above the cup"
},
{
"start": 225,
"end": 252,
"subtask": "place the green object in the cup"
}
] | 10053_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-20/Sat_May_20_16:48:58_2023/trajectory.h5 |
chunk-000/episode_000053 | no specific operation | 411 | null | [
{
"start": 0,
"end": 410,
"subtask": "manipulate the empty space"
}
] | 10054_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-07-13/Thu_Jul_13_12:54:38_2023/trajectory.h5 |
chunk-000/episode_000054 | open the top drawer | 158 | null | [
{
"start": 0,
"end": 157,
"subtask": "pull the handle of the top drawer to the outside of the sofa"
}
] | 10055_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-07-20/Thu_Jul_20_14:47:58_2023/trajectory.h5 |
chunk-000/episode_000055 | close the container lid | 140 | null | [
{
"start": 0,
"end": 139,
"subtask": "push the container lid to close it"
}
] | 10056_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-04/Sun_Jun__4_17:13:40_2023/trajectory.h5 |
chunk-000/episode_000056 | move the object on the right side of the sink backwards | 200 | null | [
{
"start": 0,
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"subtask": "pick up the yellow object on the left side of the countertop"
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{
"start": 112,
"end": 122,
"subtask": "transfer the yellow object from the left side of the countertop to the right side of the countertop"
},
{
"start": 123,
"end": 199,
... | 10057_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-06-02/Fri_Jun__2_12:25:12_2023/trajectory.h5 |
chunk-000/episode_000057 | put the bottle on the right on top of the bottle on the left | 291 | null | [
{
"start": 0,
"end": 117,
"subtask": "pick up the bottle on the right from the table"
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{
"start": 118,
"end": 169,
"subtask": "transfer the bottle from the right side to the bottle on the left side"
},
{
"start": 170,
"end": 290,
"subtask": "place the bottle on top of t... | 10058_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-07-11/Tue_Jul_11_23:13:19_2023/trajectory.h5 |
chunk-000/episode_000058 | pick up the lid and place it on the pot | 166 | null | [
{
"start": 0,
"end": 95,
"subtask": "pick up the lid on the table"
},
{
"start": 96,
"end": 116,
"subtask": "transfer the lid from the table to the pot"
},
{
"start": 117,
"end": 165,
"subtask": "place the lid on the pot"
}
] | 10059_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-06-29/Thu_Jun_29_15:29:27_2023/trajectory.h5 |
chunk-000/episode_000059 | press on the remote | 134 | null | [
{
"start": 0,
"end": 133,
"subtask": "press the button on the remote"
}
] | 1005_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-08/Tue_Aug__8_09:53:23_2023/trajectory.h5 |
chunk-000/episode_000060 | pour the contents of the left bowl into the right bowl | 278 | null | [
{
"start": 0,
"end": 106,
"subtask": "pick up the left bowl on the countertop"
},
{
"start": 107,
"end": 127,
"subtask": "transfer the left bowl from the countertop to the right bowl"
},
{
"start": 128,
"end": 201,
"subtask": "pour the contents of the left bowl into the r... | 10060_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-07-01/Sat_Jul__1_15:39:51_2023/trajectory.h5 |
chunk-000/episode_000061 | put the black lid on top of the grey pot, take the green block out of the silver pan in the sink and place it on the stove, then put it back in the pan | 893 | null | [
{
"start": 0,
"end": 181,
"subtask": "pick up the black lid on the countertop"
},
{
"start": 182,
"end": 204,
"subtask": "transfer the black lid from the countertop to the top of the grey pot"
},
{
"start": 205,
"end": 280,
"subtask": "place the black lid on the top of th... | 10061_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-05-18/Thu_May_18_12:11:34_2023/trajectory.h5 |
chunk-000/episode_000062 | close the brown box | 165 | null | [
{
"start": 0,
"end": 87,
"subtask": "pick up the brown box on the table"
},
{
"start": 88,
"end": 164,
"subtask": "push the lid of the brown box down to close the box"
}
] | 10063_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_09:28:16_2023/trajectory.h5 |
chunk-000/episode_000063 | open the third cabinet door from the right | 508 | null | [
{
"start": 0,
"end": 507,
"subtask": "pull the handle of the third cabinet door outward"
}
] | 10064_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-10-14/Sat_Oct_14_22:53:30_2023/trajectory.h5 |
chunk-000/episode_000064 | throw the soft toy onto the table | 119 | null | [
{
"start": 0,
"end": 75,
"subtask": "pick up the soft toy in the green bowl"
},
{
"start": 76,
"end": 83,
"subtask": "transfer the soft toy from the green bowl to the table"
},
{
"start": 84,
"end": 118,
"subtask": "throw the soft toy on the table"
}
] | 10065_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/BVL/success/2024-02-18/Sun_Feb_18_01:24:58_2024/trajectory.h5 |
chunk-000/episode_000065 | move the jar to the right | 297 | null | [
{
"start": 0,
"end": 135,
"subtask": "pick up the jar on the table"
},
{
"start": 136,
"end": 199,
"subtask": "transfer the jar from the table to the right side of the table"
},
{
"start": 200,
"end": 296,
"subtask": "place the jar on the right side of the table"
}
] | 10066_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/REAL/success/2023-06-01/Thu_Jun__1_18:52:01_2023/trajectory.h5 |
chunk-000/episode_000066 | take the green ball out of the bowl and put it on the plate | 329 | null | [
{
"start": 0,
"end": 238,
"subtask": "pick up the green ball from the bowl"
},
{
"start": 239,
"end": 263,
"subtask": "transfer the green ball from the bowl to the plate"
},
{
"start": 264,
"end": 328,
"subtask": "place the green ball on the plate"
}
] | 10067_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-08-23/Wed_Aug_23_20:58:39_2023/trajectory.h5 |
chunk-000/episode_000067 | take the black object out of the drawer on the right and put it on the counter | 163 | null | [
{
"start": 0,
"end": 93,
"subtask": "pick up the black object from the right drawer"
},
{
"start": 94,
"end": 139,
"subtask": "transfer the black object from the right drawer to the top of the counter"
},
{
"start": 140,
"end": 162,
"subtask": "place the black object on t... | 10068_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-31/Wed_May_31_09:38:18_2023/trajectory.h5 |
chunk-000/episode_000068 | put the purple plushie on the white plate | 146 | null | [
{
"start": 0,
"end": 78,
"subtask": "pick up the purple plush toy from the table"
},
{
"start": 79,
"end": 99,
"subtask": "transfer the purple plush toy from the table to the plate"
},
{
"start": 100,
"end": 145,
"subtask": "place the purple plush toy on the plate"
}
] | 10069_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-10-09/Mon_Oct__9_21:27:14_2023/trajectory.h5 |
chunk-000/episode_000069 | take the cloth and put it on the table | 140 | null | [
{
"start": 0,
"end": 101,
"subtask": "pick up the cloth from the rack"
},
{
"start": 102,
"end": 120,
"subtask": "transfer the cloth from the rack to the top of the table"
},
{
"start": 121,
"end": 139,
"subtask": "place the cloth on the table"
}
] | 1006_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-29/Mon_May_29_23:22:19_2023/trajectory.h5 |
chunk-000/episode_000070 | move the bowl to the left | 86 | null | [
{
"start": 0,
"end": 62,
"subtask": "pick up the bowl from the kitchen countertop"
},
{
"start": 63,
"end": 71,
"subtask": "transfer the bowl from the kitchen countertop to the left side"
},
{
"start": 72,
"end": 85,
"subtask": "place the bowl on the left side counter"
... | 10070_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-03-06/Mon_Mar__6_17_37_20_2023/trajectory.h5 |
chunk-000/episode_000071 | open the oven door | 147 | null | [
{
"start": 0,
"end": 146,
"subtask": "pull the handle of the oven door to open the oven door"
}
] | 10071_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-19/Thu_Oct_19_16:58:42_2023/trajectory.h5 |
chunk-000/episode_000072 | 289 | null | [] | 10072_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/REAL/success/2023-05-12/Fri_May_12_14:39:32_2023/trajectory.h5 | |
chunk-000/episode_000073 | put the glue stick in the left mug cup | 179 | null | [
{
"start": 0,
"end": 135,
"subtask": "pick up the glue stick from the table"
},
{
"start": 136,
"end": 157,
"subtask": "transfer the glue stick from the table to the left cup"
},
{
"start": 158,
"end": 178,
"subtask": "place the glue stick in the left cup"
}
] | 10073_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/CLVR/success/2023-05-20/Sat_May_20_17:34:36_2023/trajectory.h5 |
chunk-000/episode_000074 | pick up the blue block and put it on top of the green block | 186 | null | [
{
"start": 0,
"end": 102,
"subtask": "pick up the blue block"
},
{
"start": 103,
"end": 122,
"subtask": "transfer the blue block from the surface to on top of the green block"
},
{
"start": 123,
"end": 185,
"subtask": "place the blue block on top of the green block"
}
] | 10074_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-06-22/Thu_Jun_22_14:36:40_2023/trajectory.h5 |
chunk-000/episode_000075 | slide the black and white brush to the left | 141 | null | [
{
"start": 0,
"end": 140,
"subtask": "slide the black and white brush to the left"
}
] | 10075_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-22/Mon_May_22_16:12:16_2023/trajectory.h5 |
chunk-000/episode_000076 | take the cellar in the pot and put it on the table | 131 | null | [
{
"start": 0,
"end": 85,
"subtask": "pick up the salt cellar from the pot"
},
{
"start": 86,
"end": 99,
"subtask": "transfer the salt cellar from the pot to the table"
},
{
"start": 100,
"end": 130,
"subtask": "place the salt cellar on the table"
}
] | 10076_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-10-04/Wed_Oct__4_10:53:26_2023/trajectory.h5 |
chunk-000/episode_000077 | put the yellow object in the cup | 264 | null | [
{
"start": 0,
"end": 127,
"subtask": "pick up the yellow pen from the yellow table"
},
{
"start": 128,
"end": 189,
"subtask": "transfer the yellow pen from the yellow table to above the cup"
},
{
"start": 190,
"end": 263,
"subtask": "place the yellow pen in the cup"
}
] | 10077_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-04-24/Mon_Apr_24_15:23:24_2023/trajectory.h5 |
chunk-000/episode_000078 | Put the toy cart and the sunglasses on the table | 377 | null | [
{
"start": 0,
"end": 112,
"subtask": "pick up the small cart in the plate"
},
{
"start": 113,
"end": 136,
"subtask": "transfer the small cart from the plate to the countertop"
},
{
"start": 137,
"end": 376,
"subtask": "place the small cart on the countertop"
}
] | 10078_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-02-06/Tue_Feb__6_15:06:30_2024/trajectory.h5 |
chunk-000/episode_000079 | take the object from the stand and put it on the table | 241 | null | [
{
"start": 0,
"end": 158,
"subtask": "pick up the object on the stand"
},
{
"start": 159,
"end": 196,
"subtask": "transfer the object from the stand to the table"
},
{
"start": 197,
"end": 240,
"subtask": "throw the object on the table"
}
] | 10079_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-08-16/Wed_Aug_16_17:24:14_2023/trajectory.h5 |
chunk-000/episode_000080 | pick up the lid and put it on the jar | 211 | null | [
{
"start": 0,
"end": 85,
"subtask": "pick up the lid from the table"
},
{
"start": 86,
"end": 139,
"subtask": "transfer the lid from the table to the jar"
},
{
"start": 140,
"end": 210,
"subtask": "place the lid on the jar"
}
] | 1007_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-11-29/Wed_Nov_29_14:27:20_2023/trajectory.h5 |
chunk-000/episode_000081 | press the button on the wall | 293 | null | [
{
"start": 0,
"end": 292,
"subtask": "press the button on the wall"
}
] | 10080_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAD/success/2023-12-17/Sun_Dec_17_16:59:47_2023/trajectory.h5 |
chunk-000/episode_000082 | put the blue pen in the bowl | 151 | null | [
{
"start": 0,
"end": 99,
"subtask": "pick up the blue pen on the table"
},
{
"start": 100,
"end": 115,
"subtask": "transfer the blue pen from the table to above the bowl"
},
{
"start": 116,
"end": 150,
"subtask": "place the blue pen in the bowl"
}
] | 10081_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-02/Tue_May__2_11:09:18_2023/trajectory.h5 |
chunk-000/episode_000083 | place the silver jar on the microwave | 219 | null | [
{
"start": 0,
"end": 75,
"subtask": "pick up the silver jar from the countertop"
},
{
"start": 76,
"end": 122,
"subtask": "transfer the silver jar from the countertop to the top of the microwave"
},
{
"start": 123,
"end": 218,
"subtask": "place the silver jar on the micro... | 10082_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAD/success/2023-09-09/Sat_Sep__9_07:32:43_2023/trajectory.h5 |
chunk-000/episode_000084 | Fold the white napkin. | 239 | null | [
{
"start": 0,
"end": 238,
"subtask": "empty"
}
] | 10084_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-10-16/Mon_Oct_16_11:19:11_2023/trajectory.h5 |
chunk-000/episode_000085 | take the lid on the blue pot and place it on the black pot | 252 | null | [
{
"start": 0,
"end": 150,
"subtask": "take the lid on the blue pot"
},
{
"start": 151,
"end": 178,
"subtask": "transfer the lid from the blue pot to the black pot"
},
{
"start": 179,
"end": 251,
"subtask": "throw the lid on the black pot"
}
] | 10085_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/PennPAL/success/2023-06-23/Fri_Jun_23_20:40:02_2023/trajectory.h5 |
chunk-000/episode_000086 | move the box to the left | 135 | null | [
{
"start": 0,
"end": 88,
"subtask": "pick up the black box on the table"
},
{
"start": 89,
"end": 134,
"subtask": "place the black box to the left side of the table"
}
] | 10086_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-12-01/Fri_Dec__1_18:09:09_2023/trajectory.h5 |
chunk-000/episode_000087 | move the pump bottle to the left, open the right door of the cabinet above the microwave | 452 | null | [
{
"start": 0,
"end": 157,
"subtask": "push the pump bottle to the left"
},
{
"start": 158,
"end": 451,
"subtask": "pull the handle of the right door to open the cabinet above the microwave"
}
] | 10087_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-10-31/Tue_Oct_31_18:57:21_2023/trajectory.h5 |
chunk-000/episode_000088 | pick up the block from the desktop and place it on the green block | 532 | null | [
{
"start": 0,
"end": 259,
"subtask": "pick up the block from the desktop"
},
{
"start": 260,
"end": 364,
"subtask": "transfer the block from the desktop to the green block"
},
{
"start": 365,
"end": 531,
"subtask": "place the block on the green block"
}
] | 10088_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/BVL/success/2024-01-30/Tue_Jan_30_16:34:10_2024/trajectory.h5 |
chunk-000/episode_000089 | Take the thing in the box out | 412 | null | [
{
"start": 0,
"end": 317,
"subtask": "pick up the thing in the green bowl"
},
{
"start": 318,
"end": 364,
"subtask": "transfer the thing from the green bowl to the white bowl"
},
{
"start": 365,
"end": 411,
"subtask": "place the thing in the white bowl"
}
] | 1008_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-11-20/Mon_Nov_20_17:47:26_2023/trajectory.h5 |
chunk-000/episode_000090 | Close the lid of the toy box | 153 | null | [
{
"start": 0,
"end": 152,
"subtask": "push the lid of the toy box on the left"
}
] | 10090_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2023-08-09/Wed_Aug__9_09:34:19_2023/trajectory.h5 |
chunk-000/episode_000091 | press the switch | 103 | null | [
{
"start": 0,
"end": 102,
"subtask": "press the switch"
}
] | 10091_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-12-19/Tue_Dec_19_23:53:41_2023/trajectory.h5 |
chunk-000/episode_000092 | remove the marker from the blue cup and put it on the table | 238 | null | [
{
"start": 0,
"end": 165,
"subtask": "pick up the marker from the blue cup"
},
{
"start": 166,
"end": 212,
"subtask": "transfer the marker from the blue cup to the table"
},
{
"start": 213,
"end": 237,
"subtask": "place the marker on the table"
}
] | 10092_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-05-07/Sun_May__7_16:50:45_2023/trajectory.h5 |
chunk-000/episode_000093 | use the white towel to wipe the white plate, then put the white plate on top of the microwave | 351 | null | [
{
"start": 0,
"end": 67,
"subtask": "pick up the white towel from the table"
},
{
"start": 68,
"end": 97,
"subtask": "transfer the white towel from the table to the white plate"
},
{
"start": 98,
"end": 153,
"subtask": "slide the white towel on the white plate"
},
{
... | 10093_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-07-13/Thu_Jul_13_18:18:43_2023/trajectory.h5 |
chunk-000/episode_000094 | Press on the brown object | 505 | null | [
{
"start": 0,
"end": 156,
"subtask": "push the stick to the other side"
},
{
"start": 157,
"end": 245,
"subtask": "push the stick to the other side"
},
{
"start": 246,
"end": 305,
"subtask": "push the stick to the other side"
},
{
"start": 306,
"end": 504,
... | 10094_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/TRI/success/2024-01-16/Tue_Jan_16_10:53:36_2024/trajectory.h5 |
chunk-000/episode_000095 | remove the purple plush toy from the pot and put it in the sink | 184 | null | [
{
"start": 0,
"end": 106,
"subtask": "pick up the purple plush toy from the pot"
},
{
"start": 107,
"end": 142,
"subtask": "transfer the purple plush toy from the pot to above the sink"
},
{
"start": 143,
"end": 183,
"subtask": "place the purple plush toy in the sink"
}... | 10095_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-08-31/Thu_Aug_31_14:58:00_2023/trajectory.h5 |
chunk-000/episode_000096 | Move the jar with the orange label to the topmost shelf. | 329 | null | [
{
"start": 0,
"end": 212,
"subtask": "pick up the bottle from the first shelf"
},
{
"start": 213,
"end": 281,
"subtask": "transfer the bottle from the first shelf to the top of the shelf"
},
{
"start": 282,
"end": 328,
"subtask": "place the bottle on the top of the shelf"... | 10096_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IPRL/success/2023-12-18/Mon_Dec_18_22:42:31_2023/trajectory.h5 |
chunk-000/episode_000097 | place the spoon on the desk into the plate in the upper right corner, and move the plate to the left | 1,038 | null | [
{
"start": 0,
"end": 428,
"subtask": "pick up the spoon from the desktop"
},
{
"start": 429,
"end": 506,
"subtask": "transfer the spoon from the desktop to above the empty plate in the upper right corner"
},
{
"start": 507,
"end": 580,
"subtask": "slide the plate on the d... | 10097_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/RAD/success/2023-12-21/Thu_Dec_21_12:16:35_2023/trajectory.h5 |
chunk-000/episode_000098 | move the orange marker to the right | 129 | null | [
{
"start": 0,
"end": 84,
"subtask": "pick up the object on the table"
},
{
"start": 85,
"end": 98,
"subtask": "transfer the object from the original position to the specified position on the table"
},
{
"start": 99,
"end": 128,
"subtask": "place the object at the specifie... | 10098_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/IRIS/success/2023-05-05/Fri_May__5_11:18:32_2023/trajectory.h5 |
chunk-000/episode_000099 | press the button on the coffee machine | 123 | null | [
{
"start": 0,
"end": 122,
"subtask": "press the button on the coffee machine"
}
] | 10099_exterior_image_1_left | exterior_image_1_left | gs://xembodiment_data/r2d2/r2d2-data-full/REAL/success/2023-12-19/Tue_Dec_19_17:19:04_2023/trajectory.h5 |
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