Datasets:
is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 285
values | language_instruction_3 stringclasses 293
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.original 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 2
classes | timestamp float32 0 53 | frame_index int64 0 795 | episode_index int64 0 299 | index int64 0 74.3k | task_index int64 0 299 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
true | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 3.8 | 57 | 0 | 57 | 3 |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.017621 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.022026 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.044053 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.110132 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.202643 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.273128 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.343612 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.422907 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.480176 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.555066 | [
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] | true | 4.666667 | 70 | 0 | 70 | 3 |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.612335 | [
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] | true | 4.733333 | 71 | 0 | 71 | 3 |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.69163 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 4.8 | 72 | 0 | 72 | 3 |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.753304 | [
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] | 1 | 0.740088 | [
0.7695385813713074,
0.07311634719371796,
0.12668699026107788,
3.0187337398529053,
0.027907630428671837,
0.02417691983282566
] | [
-0.21183869242668152,
-0.08058857917785645,
0.3470039367675781,
-0.33548668026924133,
0.2707005441188812,
-0.09434640407562256
] | [
0.12850584089756012,
1.2669835090637207,
-0.05370745807886124,
-0.816408097743988,
-0.07744556665420532,
2.043412208557129,
0.12596052885055542
] | [
0.05372120067477226,
-0.3347046375274658,
-0.13535621762275696,
-0.28300943970680237,
-0.10242130607366562,
-0.29285842180252075,
0.11384855210781097
] | [
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0.12668699026107788,
3.0187337398529053,
0.027907630428671837,
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1
] | [
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-0.816408097743988,
-0.07744556665420532,
2.043412208557129,
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1
] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
0.2503410279750824,
0.023910652846097946,
0.41563311219215393,
2.827479124069214,
0.09855396300554276,
1.8117084503173828
] | [
0.40362119674682617,
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0.3649067282676697,
-2.4649388790130615,
0.019557587802410126,
-0.9014189839363098
] | [
0.34662994742393494,
0.3645763099193573,
0.49482160806655884,
-2.174315929412842,
-0.2022828459739685,
-1.9735503196716309
] | true | 4.866667 | 73 | 0 | 73 | 3 |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.837004 | [
0.7854058146476746,
0.07912376523017883,
0.10077863186597824,
3.0669188499450684,
-0.014168605208396912,
0.03743227571249008
] | [
0.11789346486330032,
1.3336727619171143,
-0.026926223188638687,
-0.7598652243614197,
-0.05721786990761757,
2.1013147830963135,
0.10353907197713852
] | [
0.11789346486330032,
1.3336727619171143,
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-0.05721786990761757,
2.1013147830963135,
0.10353907197713852,
0.8370044231414795
] | 1 | 0.488987 | [
0.7581265568733215,
0.06588640064001083,
0.138620987534523,
3.0048959255218506,
0.045085128396749496,
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] | [
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] | [
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0.138620987534523,
3.0048959255218506,
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1
] | [
0.12601427733898163,
1.2302883863449097,
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2.0266053676605225,
0.1204964742064476,
1
] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
0.2503410279750824,
0.023910652846097946,
0.41563311219215393,
2.827479124069214,
0.09855396300554276,
1.8117084503173828
] | [
0.40362119674682617,
-0.23938380181789398,
0.3649067282676697,
-2.4649388790130615,
0.019557587802410126,
-0.9014189839363098
] | [
0.34662994742393494,
0.3645763099193573,
0.49482160806655884,
-2.174315929412842,
-0.2022828459739685,
-1.9735503196716309
] | true | 4.933333 | 74 | 0 | 74 | 3 |
End of preview. Expand in Data Studio
DROID Skill Subset: moving
This is a skill-filtered subset of the local DROID 1.0.1 LeRobot-format dataset.
It was generated with droid_filter.py from /scratch/jellyho/prsl_skills.
Repository
- Hugging Face repo:
jellyho/droid_subsets_moving - Source dataset path used locally:
/scratch/jellyho/droid_1.0.1 - Output subset path used locally:
/scratch/jellyho/droid_subsets/moving
Filtering
{
"skills": [
"moving"
],
"skill_keywords": {
"moving": [
"move",
"slide",
"push",
"pull",
"drag",
"shift"
]
},
"queries": [],
"exclude": [],
"regex": false,
"match_all": false,
"min_length": null,
"max_length": null,
"max_episodes": 300,
"sample_mode": "balanced",
"seed": 0
}
Dataset Statistics
- Episodes:
300 - Frames:
74339 - Unique tasks:
300 - Sampling mode:
balanced - Max episodes:
300 - Seed:
0 - Mean episode length:
247.79666666666665 - Min/max episode length:
73/796 - Episode success rate:
0.9933333333333333
Preserved Action Fields
Filtering only selects episodes/rows. It does not drop action-space columns. The following action columns are preserved from the original DROID parquet files:
action.gripper_position
action.gripper_velocity
action.cartesian_position
action.cartesian_velocity
action.joint_position
action.joint_velocity
action.original
action
action is the compact 8D policy action used by LeRobot-style loaders. The
additional action.* columns remain available in the parquet files for
inspection or custom loaders.
Top Tasks
| task_text | episodes |
|---|---|
| Move the marker slightly forward | 1 |
| Move the green plushie to the left of the orange plushie | 1 |
| Move the can of fanta from the bottom shelf to the counter top to the left of the pink cup | 1 |
| Push the top drawer on the light grey cabinet backwards | 1 |
| Move the cushions to the right shoulder of the couch | 1 |
| Push the top of the bottle on the left of the tap | 1 |
| Move the mug to the right | 1 |
| Move the book forward | 1 |
| Move the green towel to the top third rack | 1 |
| Move the green cloth | 1 |
Files
This repository keeps the LeRobot-style layout:
meta/info.json
meta/tasks.parquet
meta/episodes/chunk-000/file-000.parquet
data/chunk-000/file-*.parquet
episodes.csv
episodes.jsonl
summary.json
stats.json
task_counts.csv
length_histogram.csv
source_episode_files.csv
The subset keeps compact episode_index, task_index, and index values for
loader compatibility. episodes.csv keeps original_episode_index for tracing
rows back to the original DROID dataset when available.
Notes
Video files are not included unless explicitly materialized with video symlinks or copies. These subsets are intended for lightweight skill-conditioned fine-tuning experiments.
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