RT-1 Robot Action Augmented
Collection
69 items
•
Updated
observation.sawyer.joints
listlengths 8
8
| observation.sawyer.ee_pose
listlengths 7
7
| observation.sawyer.base_position
listlengths 3
3
| observation.sawyer.base_orientation
float32 0
0
| observation.sawyer.ee_error
listlengths 7
7
| observation.ur5e.joints
listlengths 7
7
| observation.ur5e.ee_pose
listlengths 7
7
| observation.ur5e.base_position
listlengths 3
3
| observation.ur5e.base_orientation
float32 0
0
| observation.ur5e.ee_error
listlengths 7
7
| observation.panda.joints
listlengths 8
8
| observation.panda.ee_pose
listlengths 7
7
| observation.panda.base_position
listlengths 3
3
| observation.panda.base_orientation
float32 0
0
| observation.panda.ee_error
listlengths 7
7
| observation.kinova3.joints
listlengths 8
8
| observation.kinova3.ee_pose
listlengths 7
7
| observation.kinova3.base_position
listlengths 3
3
| observation.kinova3.base_orientation
float32 0
0
| observation.kinova3.ee_error
listlengths 7
7
| observation.kuka_iiwa.joints
listlengths 8
8
| observation.kuka_iiwa.ee_pose
listlengths 7
7
| observation.kuka_iiwa.base_position
listlengths 3
3
| observation.kuka_iiwa.base_orientation
float32 0
0
| observation.kuka_iiwa.ee_error
listlengths 7
7
| observation.xarm7.joints
listlengths 8
8
| observation.xarm7.ee_pose
listlengths 7
7
| observation.xarm7.base_position
listlengths 3
3
| observation.xarm7.base_orientation
float32 0
0
| observation.xarm7.ee_error
listlengths 7
7
| observation.jaco.joints
listlengths 7
7
| observation.jaco.ee_pose
listlengths 7
7
| observation.jaco.base_position
listlengths 3
3
| observation.jaco.base_orientation
float32 0
0
| observation.jaco.ee_error
listlengths 7
7
| natural_language_instruction
stringclasses 435
values | observation.state
listlengths 7
7
| observation.joints
listlengths 8
8
| observation.ee_pose
listlengths 7
7
| timestamp
float32 0
109
| frame_index
int64 0
327
| episode_index
int64 0
2.5k
| index
int64 0
106k
| task_index
int64 0
434
|
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pick banana from white bowl
|
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pick banana from white bowl
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-0.5911241173744202,
0.769797146320343,
-0.07335800677537918
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.0006564855575561523,
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0.0033231377601623535,
-0.03297288715839386,
-0.011838912963867188,
0.002802550792694092,
0.04237694665789604
] |
pick banana from white bowl
|
[
0.44756779074668884,
-0.20692332088947296,
0.97716224193573,
-0.6029630303382874,
0.7725996971130371,
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0.19638104736804962
] |
[
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1.0900830030441284,
0.09255797415971756,
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0
] |
[
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0.97716224193573,
0.19642286002635956,
-0.6029119491577148,
0.7726280093193054,
-0.031002717092633247
] | 0.666667
| 2
| 0
| 2
| 0
|
[
-1.4199270009994507,
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0.2027716338634491,
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0
] |
[
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[
-0.20000000298023224,
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] | 0
|
[
0.000007838010787963867,
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[
-1.852704644203186,
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0.8844018578529358,
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1.6185435056686401,
0
] |
[
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[
0,
0.30000001192092896,
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] | 0
|
[
0.0000017881393432617188,
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-0.0000514984130859375,
0.000050961971282958984,
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0.000031230971217155457
] |
[
1.6620758771896362,
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-1.0617542266845703,
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1.2697690725326538,
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0
] |
[
0.3441188633441925,
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0.8559578061103821,
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0.7603120803833008,
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] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
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-0.0003981590270996094,
-0.0001100301742553711,
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] |
[
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0.08192990720272064,
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2.0899999141693115,
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0
] |
[
0.4686700701713562,
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0.7573864459991455,
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[
0,
0.30000001192092896,
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] | 0
|
[
0.00047397613525390625,
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-0.014952629804611206,
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0.0028156042098999023,
0.005470048636198044
] |
[
0.7282153964042664,
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0.02909989468753338,
-0.9875144958496094,
-0.09455908834934235,
1.3200453519821167,
2.5726380348205566,
0
] |
[
0.4691462218761444,
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0.6809990406036377,
0.27106359601020813,
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0.7600889801979065,
-0.0179938655346632
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
-0.000002175569534301758,
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-0.00007709860801696777,
0.00011259317398071289,
0.00011307001113891602,
-0.00007675588130950928
] |
[
0.48222845792770386,
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1.8556054830551147,
0.0633152425289154,
1.9553771018981934,
-0.7921808958053589,
0
] |
[
0.16914477944374084,
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0.6809957027435303,
0.271079957485199,
-0.5901471376419067,
0.7602072358131409,
-0.01808210089802742
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
-7.301568984985352e-7,
-0.000002652406692504883,
0.00000768899917602539,
-0.0000934600830078125,
-0.000049948692321777344,
-0.000005185604095458984,
0.000011479482054710388
] |
[
0.5815221071243286,
3.129434585571289,
3.8362603187561035,
0.9528322815895081,
-3.123584747314453,
3.0539255142211914,
0
] |
[
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0.6811919212341309,
0.2786247730255127,
-0.5868090391159058,
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-0.025795845314860344
] |
[
-0.15000000596046448,
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] | 0
|
[
-0.0007949769496917725,
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-0.007638275623321533,
-0.003388047218322754,
0.00036132335662841797,
0.007725223898887634
] |
pick banana from white bowl
|
[
0.4691440463066101,
-0.190283864736557,
0.9810034036636353,
-0.5901970863342285,
0.7602020502090454,
-0.01807062141597271,
0.27098649740219116
] |
[
-0.12016559392213821,
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1.1161839962005615,
0.18220573663711548,
1.4595400094985962,
-1.0871282815933228,
0
] |
[
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0.9810044169425964,
0.2710053324699402,
-0.5901433825492859,
0.760236382484436,
-0.018096769228577614
] | 1
| 3
| 0
| 3
| 0
|
[
-1.4750882387161255,
-1.2474168539047241,
0.2422240972518921,
0.5683701038360596,
0.8409014940261841,
2.309375762939453,
-1.8197513818740845,
0
] |
[
0.3026728332042694,
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0.34348535537719727,
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-0.0038241641595959663
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.0000074803829193115234,
2.980232238769531e-7,
-0.000004649162292480469,
3.5762786865234375e-7,
-0.00006300210952758789,
-0.00004965066909790039,
-0.00004557240754365921
] |
[
-1.8530997037887573,
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0.9692274332046509,
-1.338090419769287,
-1.0249621868133545,
1.6637566089630127,
0
] |
[
0.5026636719703674,
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0.739644467830658,
-0.0038891425356268883
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000016689300537109375,
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-0.000021338462829589844,
0.00005936622619628906,
0.00005644559860229492,
0.000019405968487262726
] |
[
1.6352726221084595,
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-0.6054359674453735,
-1.1707310676574707,
-0.46744170784950256,
1.5136172771453857,
-2.8973000049591064,
0
] |
[
0.37764298915863037,
0.20591524243354797,
0.863768994808197,
0.34391969442367554,
-0.5782668590545654,
0.7398053407669067,
-0.003843694692477584
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.000022351741790771484,
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0.000033855438232421875,
-0.00043398141860961914,
-0.00039118528366088867,
-0.00010442733764648438,
-0.000026041874662041664
] |
[
-0.0821399837732315,
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0.23961332440376282,
-0.3337199091911316,
1.8781877756118774,
-2.1412150859832764,
0
] |
[
0.5026585459709167,
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0.6887862682342529,
0.3437151610851288,
-0.5786676406860352,
0.7395862936973572,
-0.0039703031070530415
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000006794929504394531,
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-0.0002294480800628662,
0.00000959634780883789,
0.00011461973190307617,
0.00010056653991341591
] |
[
0.7278860807418823,
0.30806663632392883,
-0.004654471296817064,
-0.9970267415046692,
-0.04888776317238808,
1.136784315109253,
2.5418810844421387,
0
] |
[
0.5026674866676331,
0.4309062361717224,
0.6887989640235901,
0.34355270862579346,
-0.5787762403488159,
0.7395777702331543,
-0.0037830143701285124
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
-0.0000021457672119140625,
0.000007569789886474609,
0.000003874301910400391,
-0.00006699562072753906,
0.00011819601058959961,
0.00012314319610595703,
-0.00008672219701111317
] |
[
0.5043133497238159,
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-0.01757972128689289,
1.702681064605713,
0.09622804820537567,
1.710030436515808,
-0.7929060459136963,
0
] |
[
0.20266567170619965,
0.13091625273227692,
0.6887980103492737,
0.34354934096336365,
-0.5786069631576538,
0.7397112846374512,
-0.003882430959492922
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
-3.2782554626464844e-7,
-0.0000024586915969848633,
0.000004827976226806641,
-0.00006362795829772949,
-0.000051081180572509766,
-0.000010371208190917969,
0.00001269439235329628
] |
[
0.4177149832248688,
3.1031768321990967,
3.813969850540161,
1.4419087171554565,
-3.7115275859832764,
3.440678358078003,
0
] |
[
0.35265323519706726,
-0.019114192575216293,
0.6888765096664429,
0.3425954580307007,
-0.5790047645568848,
0.7398470640182495,
-0.0028563188388943672
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
0.000012099742889404297,
0.00002798996865749359,
-0.00007367134094238281,
0.0008902549743652344,
0.00034672021865844727,
-0.0001461505889892578,
-0.0010134177282452583
] |
pick banana from white bowl
|
[
0.5026653409004211,
-0.16908620297908783,
0.9888028502464294,
-0.5786580443382263,
0.7397009134292603,
-0.0038697365671396255,
0.3434857130050659
] |
[
-0.15743719041347504,
0.09670625627040863,
0.37272924184799194,
1.105516791343689,
0.25871890783309937,
1.3076105117797852,
-1.1101161241531372,
0
] |
[
0.5026684403419495,
-0.16908389329910278,
0.9888047575950623,
0.34348297119140625,
-0.5786032676696777,
0.7397449016571045,
-0.003900249022990465
] | 1.333333
| 4
| 0
| 4
| 0
|
[
-1.368927240371704,
-1.2772009372711182,
0.16518189013004303,
0.6923234462738037,
0.9598737359046936,
2.2062103748321533,
-1.803200364112854,
0
] |
[
0.34632202982902527,
-0.34435591101646423,
0.8636951446533203,
0.3991369903087616,
-0.5747547149658203,
0.7143674492835999,
0.0050774808041751385
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000006705522537231445,
-6.258487701416016e-7,
-0.0000036954879760742188,
0.000013381242752075195,
-0.000059545040130615234,
-0.00005507469177246094,
-0.00003978889435529709
] |
[
-1.8158106803894043,
-1.6229772567749023,
1.0064204931259155,
-1.5219346284866333,
-0.9408614039421082,
1.7306981086730957,
0
] |
[
0.5463135242462158,
0.1556405872106552,
0.6949387788772583,
0.39914584159851074,
-0.5748847723007202,
0.7142581939697266,
0.005025053862482309
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000017881393432617188,
0.00000286102294921875,
0.000002682209014892578,
0.0000045299530029296875,
0.00007051229476928711,
0.00005418062210083008,
0.000012638047337532043
] |
[
1.8339794874191284,
-0.47562044858932495,
-0.7573922872543335,
-1.1804730892181396,
-0.543197512626648,
1.6834869384765625,
-2.8973000049591064,
0
] |
[
0.4212886691093445,
0.23064196109771729,
0.8699058294296265,
0.39960187673568726,
-0.5743779540061951,
0.7144108414649963,
0.0050451192073524
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.00002664327621459961,
0.0000014901161193847656,
0.000035643577575683594,
-0.000451505184173584,
-0.0004363059997558594,
-0.00009846687316894531,
-0.000007427297532558441
] |
[
-0.07542334496974945,
0.39024555683135986,
-0.04769051447510719,
0.3241710066795349,
-0.3959895074367523,
1.6875864267349243,
-2.0997352600097656,
0
] |
[
0.5463111996650696,
0.15563982725143433,
0.6949314475059509,
0.3992917239665985,
-0.5748436450958252,
0.7142101526260376,
0.004976247437298298
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000004112720489501953,
0.0000036209821701049805,
0.000010013580322265625,
-0.00014135241508483887,
0.000029385089874267578,
0.00010222196578979492,
0.0000614444725215435
] |
[
0.7413994669914246,
0.379974901676178,
-0.0757170021533966,
-0.9332146644592285,
0.03953253850340843,
1.0079344511032104,
2.462752342224121,
0
] |
[
0.5463165640830994,
0.4556356966495514,
0.6949372291564941,
0.39922454953193665,
-0.5749280452728271,
0.714178740978241,
0.005122445058077574
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
-0.0000012516975402832031,
0.000007748603820800781,
0.000004231929779052734,
-0.00007417798042297363,
0.0001137852668762207,
0.00013363361358642578,
-0.00008475314825773239
] |
[
0.5219316482543945,
-0.6945120096206665,
-0.03744484856724739,
1.5963696241378784,
0.12774783372879028,
1.4820325374603271,
-0.8289991617202759,
0
] |
[
0.24631504714488983,
0.1556456983089447,
0.6949382424354553,
0.39919233322143555,
-0.5747615098953247,
0.7143314480781555,
0.005020207725465298
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
2.682209014892578e-7,
-0.000002250075340270996,
0.0000032186508178710938,
-0.000041961669921875,
-0.0000527501106262207,
-0.000019073486328125,
0.000017484184354543686
] |
[
0.29081296920776367,
3.0580642223358154,
3.812872886657715,
1.6593905687332153,
-4.033355236053467,
3.620047092437744,
0
] |
[
0.39631059765815735,
0.0056221866980195045,
0.6949918866157532,
0.3984745740890503,
-0.5750991702079773,
0.7144546508789062,
0.005789344199001789
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
0.000004708766937255859,
0.000021264422684907913,
-0.00005042552947998047,
0.0006757974624633789,
0.0002849102020263672,
-0.00014227628707885742,
-0.0007516522891819477
] |
pick banana from white bowl
|
[
0.5463153123855591,
-0.14435654878616333,
0.9949414730072021,
-0.5748142600059509,
0.7143123745918274,
0.005037691909819841,
0.39915037155151367
] |
[
-0.17127111554145813,
0.16708675026893616,
0.4319273829460144,
1.055412769317627,
0.2839144468307495,
1.1903678178787231,
-1.1296592950820923,
0
] |
[
0.5463184118270874,
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0.9949437975883484,
0.3991353511810303,
-0.5747594833374023,
0.7143650650978088,
0.005005137529224157
] | 1.666667
| 5
| 0
| 5
| 0
|
[
-1.2528009414672852,
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0.09297262877225876,
0.8049320578575134,
1.0190001726150513,
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0
] |
[
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0.43071049451828003,
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0.010622279718518257
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[
-0.20000000298023224,
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] | 0
|
[
-0.000006139278411865234,
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0.000020682811737060547,
-0.000058650970458984375,
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[
-1.7525705099105835,
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1.0049514770507812,
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1.7791266441345215,
0
] |
[
0.5854812860488892,
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0.6871290802955627,
0.010575473308563232
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[
0,
0.30000001192092896,
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] | 0
|
[
0.0000019669532775878906,
0.0000030249357223510742,
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0.00002193450927734375,
0.00007784366607666016,
0.00005233287811279297,
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[
2.150470733642578,
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1.7586886882781982,
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0
] |
[
0.4604499042034149,
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0.8683452010154724,
0.4312574863433838,
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0.6872666478157043,
0.010596263222396374
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[
-0.125,
0.375,
-0.125
] | 0
|
[
0.000033348798751831055,
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0.0000426173210144043,
-0.0005263090133666992,
-0.00048828125,
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[
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0.26783856749534607,
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1.6047519445419312,
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0
] |
[
0.5854770541191101,
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0.693375825881958,
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0.6870672106742859,
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[
0,
0.30000001192092896,
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] | 0
|
[
0.000006198883056640625,
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-0.00017833709716796875,
0.000004172325134277344,
0.00011420249938964844,
0.00007470604032278061
] |
[
0.7384151816368103,
0.4895106256008148,
-0.11157184839248657,
-0.8103544116020203,
0.12636378407478333,
0.9554264545440674,
2.371809482574463,
0
] |
[
0.5854823589324951,
0.4872478246688843,
0.6933822631835938,
0.4308314919471741,
-0.5850222706794739,
0.6870368123054504,
0.010658401064574718
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
8.940696716308594e-7,
0.00000852346420288086,
0.000005543231964111328,
-0.00010031461715698242,
0.0000947117805480957,
0.00014460086822509766,
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] |
[
0.5410658121109009,
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1.5350430011749268,
0.16160091757774353,
1.3072460889816284,
-0.8834514021873474,
0
] |
[
0.28548237681388855,
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0.6933854222297668,
0.430757999420166,
-0.5848734378814697,
0.6872110366821289,
0.010563893243670464
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
8.642673492431641e-7,
-0.0000020712614059448242,
0.000002384185791015625,
-0.00002682209014892578,
-0.00005412101745605469,
-0.00002962350845336914,
0.000023377127945423126
] |
[
0.16535019874572754,
3.0054543018341064,
3.807288408279419,
1.800434947013855,
-4.240293502807617,
3.7338340282440186,
0
] |
[
0.43548333644866943,
0.03723783418536186,
0.6934309601783752,
0.43010392785072327,
-0.5852068662643433,
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0.011256291531026363
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[
-0.15000000596046448,
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-0.30000001192092896
] | 0
|
[
-8.940696716308594e-8,
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0.0006272494792938232,
0.00027930736541748047,
-0.00014448165893554688,
-0.0006690211594104767
] |
pick banana from white bowl
|
[
0.5854832530021667,
-0.11274364590644836,
0.9933878183364868,
-0.5849275588989258,
0.6871814131736755,
0.010587270371615887,
0.4307311773300171
] |
[
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1.0097627639770508,
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0
] |
[
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0.43071237206459045,
-0.5848731994628906,
0.6872400045394897,
0.010553906671702862
] | 2
| 6
| 0
| 6
| 0
|
[
-1.1479835510253906,
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0.051181476563215256,
0.8817671537399292,
1.0496761798858643,
2.0693278312683105,
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0
] |
[
0.41883260011672974,
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0.8581086993217468,
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0.02170737460255623
] |
[
-0.20000000298023224,
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-0.13124999403953552
] | 0
|
[
-0.000005602836608886719,
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0.000027120113372802734,
-0.000056743621826171875,
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] |
[
-1.6956394910812378,
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0.9731500744819641,
-1.7687956094741821,
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1.822633981704712,
0
] |
[
0.6188247203826904,
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0.6673110127449036,
0.021661007776856422
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000022649765014648438,
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0.000031888484954833984,
0.00008231401443481445,
0.000051081180572509766,
0.00001467578113079071
] |
[
2.449640989303589,
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-1.0316716432571411,
-0.8646432161331177,
1.7771944999694824,
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0
] |
[
0.4937847852706909,
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0.864302396774292,
0.4512679874897003,
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0.667435348033905,
0.021696222946047783
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.00004220008850097656,
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0.00005340576171875,
-0.0006389021873474121,
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] |
[
-0.1427757740020752,
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0.02808956615626812,
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1.6447430849075317,
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0
] |
[
0.6187455058097839,
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0.6892426609992981,
0.452486515045166,
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0.6668490767478943,
0.021000422537326813
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.00008147954940795898,
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-0.0018574297428131104,
-0.0008141994476318359,
0.0005130171775817871,
0.0006752610206604004
] |
[
0.7114154100418091,
0.6129090189933777,
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-0.6477551460266113,
0.1792505830526352,
0.9532972574234009,
2.319464683532715,
0
] |
[
0.6188225746154785,
0.5186018347740173,
0.6893479228019714,
0.45077329874038696,
-0.5925964117050171,
0.6672037243843079,
0.021728871390223503
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
0.000004410743713378906,
0.000010371208190917969,
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-0.00014421343803405762,
0.00006669759750366211,
0.0001583695411682129,
-0.00005318783223628998
] |
[
0.5515588521957397,
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1.5117138624191284,
0.2083810567855835,
1.1781548261642456,
-0.9308901429176331,
0
] |
[
0.31882551312446594,
0.2186141014099121,
0.689353883266449,
0.4506450593471527,
-0.5924741625785828,
0.6674015522003174,
0.021645562723279
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000014603137969970703,
-0.0000019222497940063477,
0.0000019073486328125,
-0.000015974044799804688,
-0.00005555152893066406,
-0.000039458274841308594,
0.000030120834708213806
] |
[
0.07255691289901733,
2.944517135620117,
3.780402660369873,
1.873737096786499,
-4.365457534790039,
3.7884654998779297,
0
] |
[
0.46883076429367065,
0.06859545409679413,
0.6893959045410156,
0.45000389218330383,
-0.5928165316581726,
0.6675086617469788,
0.02229956164956093
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.0000037848949432373047,
0.000016726553440093994,
-0.00004011392593383789,
0.0006251931190490723,
0.0002868175506591797,
-0.00014656782150268555,
-0.0006238780915737152
] |
pick banana from white bowl
|
[
0.6188269853591919,
-0.08138781785964966,
0.9893558025360107,
-0.5925297141075134,
0.6673620939254761,
0.021675683557987213,
0.4506290853023529
] |
[
-0.10977527499198914,
0.2908592224121094,
0.513104259967804,
0.9604628682136536,
0.25189903378486633,
1.070712685585022,
-1.1521878242492676,
0
] |
[
0.6188295483589172,
-0.08138513565063477,
0.989358127117157,
0.4506111145019531,
-0.5924753546714783,
0.6674236059188843,
0.02164124883711338
] | 2.333333
| 7
| 0
| 7
| 0
|
[
-1.1477398872375488,
-1.3334423303604126,
0.05118142440915108,
0.8819559216499329,
1.049608588218689,
2.069014549255371,
-1.8562766313552856,
0
] |
[
0.4189760088920593,
-0.2813650667667389,
0.8580509424209595,
0.4506396949291229,
-0.592624306678772,
0.6672734022140503,
0.021597882732748985
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000005602836608886719,
-0.0000019669532775878906,
-0.0000029206275939941406,
0.00002714991569519043,
-0.000056684017181396484,
-0.00006765127182006836,
-0.000031711533665657043
] |
[
-1.6955735683441162,
-1.476525068283081,
0.9730989336967468,
-1.7691214084625244,
-0.8888934254646301,
1.8222600221633911,
0
] |
[
0.61896812915802,
0.21862979233264923,
0.6892958879470825,
0.4506349265575409,
-0.5927633047103882,
0.6671546697616577,
0.02155149169266224
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000022649765014648438,
0.000003159046173095703,
0.0000021457672119140625,
0.00003191828727722168,
0.00008231401443481445,
0.000051081180572509766,
0.000014679506421089172
] |
[
2.4511804580688477,
-0.6031173467636108,
-1.0600805282592773,
-1.0314134359359741,
-0.8670541644096375,
1.7765374183654785,
-2.8973000049591064,
0
] |
[
0.49392810463905334,
0.2936202585697174,
0.8642445802688599,
0.45130661129951477,
-0.5921095609664917,
0.6672800183296204,
0.021586904302239418
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.00004228949546813965,
0.000012695789337158203,
0.00005346536636352539,
-0.0006397664546966553,
-0.0005714297294616699,
-0.00007426738739013672,
-0.000020733103156089783
] |
[
-0.14280849695205688,
0.6200535297393799,
-0.21865029633045197,
0.027737360447645187,
-0.27887749671936035,
1.644649624824524,
-2.1031134128570557,
0
] |
[
0.6188880205154419,
0.21862244606018066,
0.68918377161026,
0.45254310965538025,
-0.591857373714447,
0.6666884422302246,
0.020883547142148018
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.00008237361907958984,
0.000010505318641662598,
0.00011426210403442383,
-0.0018762648105621338,
-0.0008236169815063477,
0.0005173087120056152,
0.0006826240569353104
] |
[
0.7112308740615845,
0.6132522821426392,
-0.09507298469543457,
-0.6473777890205383,
0.17930816113948822,
0.9532649517059326,
2.3188741207122803,
0
] |
[
0.6189659833908081,
0.5186225771903992,
0.6892901659011841,
0.4508112072944641,
-0.5927475690841675,
0.667047381401062,
0.021619269624352455
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
0.000004410743713378906,
0.000010371208190917969,
0.000007867813110351562,
-0.0001443624496459961,
0.00006657838821411133,
0.0001583695411682129,
-0.00005309842526912689
] |
[
0.5516548156738281,
-0.5755106806755066,
-0.04072833061218262,
1.511526107788086,
0.20840531587600708,
1.1777549982070923,
-0.9315335154533386,
0
] |
[
0.31896892189979553,
0.21863487362861633,
0.6892961263656616,
0.45068278908729553,
-0.5926254391670227,
0.6672453284263611,
0.02153601683676243
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000014603137969970703,
-0.0000019222497940063477,
0.0000019073486328125,
-0.000015944242477416992,
-0.00005555152893066406,
-0.000039577484130859375,
0.000030154362320899963
] |
[
0.07243671268224716,
2.944255828857422,
3.7803452014923096,
1.873978614807129,
-4.365853309631348,
3.789203643798828,
0
] |
[
0.46897417306900024,
0.06861623376607895,
0.6893381476402283,
0.45004186034202576,
-0.5929678678512573,
0.6673522591590881,
0.022190159186720848
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.0000037848949432373047,
0.00001671910285949707,
-0.00004011392593383789,
0.0006249845027923584,
0.0002868771553039551,
-0.00014650821685791016,
-0.0006239879876375198
] |
pick banana from white bowl
|
[
0.6189703941345215,
-0.08136704564094543,
0.9892980456352234,
-0.5926809906959534,
0.6672057509422302,
0.021566171199083328,
0.4506668448448181
] |
[
-0.10971848666667938,
0.2911568582057953,
0.5131739377975464,
0.9602339267730713,
0.2517462968826294,
1.0706030130386353,
-1.1526741981506348,
0
] |
[
0.6189729571342468,
-0.08136436343193054,
0.9893003702163696,
0.45064887404441833,
-0.5926266312599182,
0.6672673225402832,
0.021531730890274048
] | 2.666667
| 8
| 0
| 8
| 0
|
[
-1.1227152347564697,
-1.3262790441513062,
0.05685802549123764,
0.9014533758163452,
1.0384141206741333,
2.0278546810150146,
-1.9175543785095215,
0
] |
[
0.4375891089439392,
-0.28200531005859375,
0.8496418595314026,
0.45474380254745483,
-0.6087242960929871,
0.6500725746154785,
0.008271846920251846
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.0000054836273193359375,
-0.0000019669532775878906,
-0.000003159046173095703,
0.000031322240829467773,
-0.000054836273193359375,
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] |
[
-1.693163514137268,
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0.969299852848053,
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1.7772367000579834,
0
] |
[
0.6375812292098999,
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0.45473963022232056,
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0.649949848651886,
0.008222527801990509
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[
0,
0.30000001192092896,
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] | 0
|
[
0.000002384185791015625,
0.000002995133399963379,
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0.00003549456596374512,
0.00007998943328857422,
0.00004988908767700195,
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[
2.648196220397949,
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1.6575320959091187,
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0
] |
[
0.5125119686126709,
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0.8558045029640198,
0.4557538628578186,
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0.6504067778587341,
0.00832767877727747
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[
-0.125,
0.375,
-0.125
] | 0
|
[
0.00007164478302001953,
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0.00008422136306762695,
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[
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0
] |
[
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[
0,
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] | 0
|
[
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[
0.6860331892967224,
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2.248339891433716,
0
] |
[
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0.6498395204544067,
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[
0,
0.6000000238418579,
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] | 0
|
[
0.000005781650543212891,
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0.000052869319915771484,
0.00016021728515625,
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[
0.5628464221954346,
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1.4841288328170776,
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1.1287137269973755,
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0
] |
[
0.3375818431377411,
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0.6500477194786072,
0.008202863857150078
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000017583370208740234,
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0.0000016093254089355469,
-0.00000858306884765625,
-0.00005710124969482422,
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0.00003457162529230118
] |
[
0.06695187836885452,
2.9099202156066895,
3.7735259532928467,
1.8978968858718872,
-4.412020683288574,
3.8794500827789307,
0
] |
[
0.48758867383003235,
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[
-0.15000000596046448,
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] | 0
|
[
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0.0005998313426971436,
0.00028759241104125977,
-0.00014162063598632812,
-0.0006386321038007736
] |
pick banana from white bowl
|
[
0.6375836133956909,
-0.0820072740316391,
0.9808887243270874,
-0.6087791323661804,
0.649999737739563,
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[
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0
] |
[
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0.4547562897205353,
-0.6087232232093811,
0.6500657796859741,
0.00820203684270382
] | 3
| 9
| 0
| 9
| 0
|
[
-1.077396035194397,
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0
] |
[
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[
-0.20000000298023224,
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] | 0
|
[
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[
-1.6795873641967773,
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0
] |
[
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[
0,
0.30000001192092896,
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] | 0
|
[
0.0000028014183044433594,
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[
2.803480625152588,
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0
] |
[
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[
-0.125,
0.375,
-0.125
] | 0
|
[
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1.2524993419647217,
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[
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0
] |
[
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[
0,
0.30000001192092896,
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] | 0
|
[
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] |
[
0.6363255977630615,
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0.9850452542304993,
2.1374340057373047,
0
] |
[
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] |
[
0,
0.6000000238418579,
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] | 0
|
[
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0.00021651387214660645,
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] |
[
0.5764674544334412,
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1.4627028703689575,
0.2550200819969177,
1.0800429582595825,
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0
] |
[
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0.6408849954605103,
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-0.002381223952397704
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000002384185791015625,
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0.0000011920928955078125,
-0.000001817941665649414,
0.00005930662155151367,
0.00006270408630371094,
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] |
[
0.053398698568344116,
2.8389346599578857,
3.7384347915649414,
1.8949153423309326,
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3.9837098121643066,
0
] |
[
0.5158287882804871,
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0.6412348747253418,
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-0.0030863715801388025
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.000007927417755126953,
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-0.0005896091461181641,
-0.0002905726432800293,
0.0001251697540283203,
0.0006619382183998823
] |
pick banana from white bowl
|
[
0.665820837020874,
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0.9620159268379211,
0.6409443020820618,
-0.6209791898727417,
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-0.45118656754493713
] |
[
-0.08182594180107117,
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0.8612999320030212,
0.2188567966222763,
1.0773006677627563,
-1.3050578832626343,
0
] |
[
0.6658227443695068,
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0.962017834186554,
-0.4511698782444,
0.6408863067626953,
-0.6210513114929199,
-0.0023866924457252026
] | 3.333333
| 10
| 0
| 10
| 0
|
[
-1.0455583333969116,
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0.08711306005716324,
0.9582351446151733,
0.9710450768470764,
1.966156005859375,
-2.063690423965454,
0.12581366300582886
] |
[
0.48776325583457947,
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0.8128722310066223,
-0.4453659653663635,
0.6599833369255066,
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-0.006494617089629173
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000005334615707397461,
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-0.00003999471664428711,
0.00004976987838745117,
0.0000833272933959961,
0.00003996165469288826
] |
[
-1.6701602935791016,
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0.8936234712600708,
-1.8069686889648438,
-0.8691942691802979,
1.6337350606918335,
0.12581366300582886
] |
[
0.6877546906471252,
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0.6600975394248962,
-0.6048681139945984,
-0.006435232702642679
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000032186508178710938,
0.000002816319465637207,
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] |
[
2.7995705604553223,
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-1.0879335403442383,
-1.5635802745819092,
1.6348148584365845,
-2.8973000049591064,
0.12581366300582886
] |
[
0.5600161552429199,
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-0.6093446016311646,
0.6362788677215576,
0.010298257693648338
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.0027417540550231934,
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0.0023614168167114258,
-0.9184199571609497,
1.2693777084350586,
-1.2411987781524658,
-0.01675291359424591
] |
[
-0.14874136447906494,
0.787414014339447,
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-0.09211242944002151,
-0.19321244955062866,
1.601891040802002,
-1.8734447956085205,
0.12581366300582886
] |
[
0.683235228061676,
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0.6385590434074402,
-0.4647815227508545,
0.6488951444625854,
-0.6023975610733032,
0.005510885734111071
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.00452268123626709,
-0.000007495284080505371,
0.005559682846069336,
0.01937556266784668,
0.011137962341308594,
-0.002522408962249756,
-0.011965541169047356
] |
[
0.6013162136077881,
0.8532069325447083,
0.0324539989233017,
-0.3411063849925995,
0.18592937290668488,
1.0461546182632446,
2.0789854526519775,
0.12581366300582886
] |
[
0.687738299369812,
0.5307100415229797,
0.6441020369529724,
-0.4457337260246277,
0.6599794626235962,
-0.604737401008606,
-0.006420288700610399
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
0.000019609928131103516,
0.000018417835235595703,
0.000016689300537109375,
0.00032776594161987305,
0.00005364418029785156,
-0.00018256902694702148,
-0.00003436673432588577
] |
[
0.5709307193756104,
-0.4598623514175415,
-0.12232358008623123,
1.4528487920761108,
0.30846282839775085,
1.0559358596801758,
-1.2513599395751953,
0.12581366300582886
] |
[
0.38775506615638733,
0.230730801820755,
0.6441178321838379,
-0.44539517164230347,
0.6599733829498291,
-0.6049936413764954,
-0.006404671352356672
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000028312206268310547,
-0.000002339482307434082,
8.940696716308594e-7,
-0.000010788440704345703,
0.000059723854064941406,
0.00007367134094238281,
-0.00004998408257961273
] |
[
0.04659028351306915,
2.7764716148376465,
3.7013933658599854,
1.8797470331192017,
-4.4212117195129395,
4.0331501960754395,
0.12581366300582886
] |
[
0.5377684831619263,
0.08071455359458923,
0.644158124923706,
-0.4448114037513733,
0.6603253483772278,
-0.6050308346748352,
-0.007132971193641424
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.00001055002212524414,
0.000013902783393859863,
-0.0000393986701965332,
-0.0005945563316345215,
-0.00029224157333374023,
0.00011086463928222656,
0.0006783157587051392
] |
pick banana from white bowl
|
[
0.6877579092979431,
-0.06927154213190079,
0.9441187381744385,
0.660033106803894,
-0.604919970035553,
-0.006454655434936285,
-0.4454059600830078
] |
[
-0.05748362839221954,
0.470356822013855,
0.5164116621017456,
0.8008205890655518,
0.21510420739650726,
1.1041042804718018,
-1.3598426580429077,
0.12581366300582886
] |
[
0.6877593398094177,
-0.06926857680082321,
0.9441204071044922,
-0.44539278745651245,
0.6599732041358948,
-0.6049954295158386,
-0.006413968279957771
] | 3.666667
| 11
| 0
| 11
| 0
|
[
-1.031567096710205,
-1.3000738620758057,
0.09094244986772537,
0.9807921648025513,
0.9432782530784607,
1.9655241966247559,
-2.092466115951538,
0.3121490776538849
] |
[
0.4961145222187042,
-0.26695486903190613,
0.7982001900672913,
-0.4372124969959259,
0.6694411635398865,
-0.6003633737564087,
-0.016050446778535843
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000005334615707397461,
-0.000001996755599975586,
-0.0000034570693969726562,
-0.000040918588638305664,
0.000050008296966552734,
0.0000845193862915039,
0.00003968179225921631
] |
[
-1.6673744916915894,
-1.2912845611572266,
0.881239652633667,
-1.7831382751464844,
-0.8626490831375122,
1.6018149852752686,
0.3121490776538849
] |
[
0.6961057186126709,
0.23304033279418945,
0.6294440627098083,
-0.43723422288894653,
0.669551432132721,
-0.6002261638641357,
-0.01599031500518322
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000034570693969726562,
0.000002816319465637207,
0.000002682209014892578,
-0.00001919269561767578,
-0.00006026029586791992,
-0.00005269050598144531,
-0.000020449981093406677
] |
[
2.8013381958007812,
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1.6361300945281982,
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0.3121490776538849
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[
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0.4667961597442627,
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0.6368627548217773,
0.019863152876496315
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[
-0.125,
0.375,
-0.125
] | 0
|
[
0.003083944320678711,
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0.002482593059539795,
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1.282771348953247,
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[
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[
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[
0,
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] | 0
|
[
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[
0.5856968760490417,
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0.18207038938999176,
1.0877940654754639,
2.0551724433898926,
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] |
[
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[
0,
0.6000000238418579,
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] | 0
|
[
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[
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1.4386029243469238,
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0.3121490776538849
] |
[
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[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000030100345611572266,
-0.000002384185791015625,
6.556510925292969e-7,
-0.000015944242477416992,
0.00005882978439331055,
0.00007861852645874023,
-0.00005307421088218689
] |
[
0.047147225588560104,
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3.696312427520752,
1.8621549606323242,
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0.3121490776538849
] |
[
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[
-0.15000000596046448,
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|
[
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-0.0005965828895568848,
-0.0002849102020263672,
0.00009775161743164062,
0.0006843172013759613
] |
pick banana from white bowl
|
[
0.6961091756820679,
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0.9294467568397522,
0.669491171836853,
-0.6002788543701172,
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[
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[
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0.6694307327270508,
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] | 4
| 12
| 0
| 12
| 0
|
[
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[
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[
-0.20000000298023224,
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|
[
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[
-1.6655278205871582,
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[
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[
0,
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] | 0
|
[
0.0000033974647521972656,
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[
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[
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[
-0.125,
0.375,
-0.125
] | 0
|
[
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1.2977983951568604,
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[
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[
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[
0,
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] | 0
|
[
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[
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0.20305509865283966,
1.094460368156433,
2.045529365539551,
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[
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[
0,
0.6000000238418579,
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] | 0
|
[
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[
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1.4093093872070312,
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1.0648795366287231,
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0.4224596619606018
] |
[
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
0.0000030100345611572266,
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3.5762786865234375e-7,
-0.000019490718841552734,
0.000056684017181396484,
0.00008022785186767578,
-0.00005418062210083008
] |
[
0.04751782864332199,
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3.7287204265594482,
1.8462915420532227,
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] |
[
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-0.03288034349679947
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[
-0.15000000596046448,
0.15000000596046448,
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] | 0
|
[
-0.000011622905731201172,
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-0.0005886256694793701,
-0.0002662539482116699,
0.00008296966552734375,
0.0006762370467185974
] |
pick banana from white bowl
|
[
0.6949469447135925,
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0.9144608974456787,
0.6737930774688721,
-0.6019591689109802,
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] |
[
-0.05308827385306358,
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0.5229734182357788,
0.7796093225479126,
0.2283720076084137,
1.1458566188812256,
-1.3860747814178467,
0.4224596619606018
] |
[
0.694948136806488,
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0.9144623875617981,
-0.42731863260269165,
0.6737338304519653,
-0.6020358800888062,
-0.03216100111603737
] | 4.333333
| 13
| 0
| 13
| 0
|
[
-1.0099835395812988,
-1.3181120157241821,
0.055120375007390976,
1.059082269668579,
0.8853009939193726,
2.005462408065796,
-2.138441562652588,
0.3840000033378601
] |
[
0.4897844195365906,
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0.767275333404541,
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0.6768473982810974,
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-0.05176977068185806
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000005364418029785156,
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0.000054776668548583984,
0.00008487701416015625,
0.00003429502248764038
] |
[
-1.6609184741973877,
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0.9118639826774597,
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1.5707776546478271,
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[
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] |
[
0,
0.30000001192092896,
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] | 0
|
[
0.000003337860107421875,
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] |
[
2.8313491344451904,
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-1.147246241569519,
-1.561933159828186,
1.5507644414901733,
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0.3840000033378601
] |
[
0.5625298023223877,
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] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.0022492408752441406,
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0.0015778541564941406,
0.01877686381340027,
0.03881186246871948,
0.027964890003204346,
0.004079297184944153
] |
[
-0.15213467180728912,
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-0.17099407315254211,
1.6723275184631348,
-1.8666876554489136,
0.3840000033378601
] |
[
0.6843616962432861,
0.24012325704097748,
0.5925620794296265,
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0.6645730137825012,
-0.6057739853858948,
-0.03786506503820419
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.005417346954345703,
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0.022643089294433594,
0.012329161167144775,
-0.0011892318725585938,
-0.01387041062116623
] |
[
0.5757966041564941,
0.9198319315910339,
0.09130069613456726,
-0.308450847864151,
0.22526884078979492,
1.1061021089553833,
2.046957492828369,
0.3840000033378601
] |
[
0.6897542476654053,
0.5400010943412781,
0.5985041260719299,
-0.4135824739933014,
0.6768125295639038,
-0.6067984104156494,
-0.0516720786690712
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
0.0000247955322265625,
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0.0003966689109802246,
0.0000896453857421875,
-0.00016480684280395508,
-0.00006339699029922485
] |
[
0.5716182589530945,
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1.379693865776062,
0.3906092643737793,
1.0833991765975952,
-1.3111010789871216,
0.3840000033378601
] |
[
0.3897761404514313,
0.24002429842948914,
0.5985221266746521,
-0.4131646454334259,
0.6768477559089661,
-0.6070429682731628,
-0.05168088898062706
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000028908252716064453,
-0.000002294778823852539,
1.7881393432617188e-7,
-0.000021159648895263672,
0.00005441904067993164,
0.00007975101470947266,
-0.00005458667874336243
] |
[
0.043883487582206726,
2.743579387664795,
3.7701969146728516,
1.8326971530914307,
-4.3784284591674805,
4.052126884460449,
0.3840000033378601
] |
[
0.5397905111312866,
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0.5985599160194397,
-0.41260120272636414,
0.6771460771560669,
-0.6070318222045898,
-0.05240021273493767
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.000011444091796875,
0.000013425946235656738,
-0.000037610530853271484,
-0.0005846023559570312,
-0.00024390220642089844,
0.00006860494613647461,
0.0006647370755672455
] |
pick banana from white bowl
|
[
0.6897790431976318,
-0.059977997094392776,
0.8985223174095154,
0.676902174949646,
-0.6069632172584534,
-0.05173547565937042,
-0.41318580508232117
] |
[
-0.057225603610277176,
0.5302499532699585,
0.5321564078330994,
0.7963375449180603,
0.23690170049667358,
1.1663382053375244,
-1.3777093887329102,
0.3840000033378601
] |
[
0.6897802948951721,
-0.059975020587444305,
0.8985238075256348,
-0.41317471861839294,
0.6768444776535034,
-0.6070388555526733,
-0.05169210955500603
] | 4.666667
| 14
| 0
| 14
| 0
|
[
-0.9966709017753601,
-1.325927495956421,
0.0414678119122982,
1.0913305282592773,
0.8469368815422058,
2.0159807205200195,
-2.1570558547973633,
0.3844173848628998
] |
[
0.48867127299308777,
-0.2557722330093384,
0.7515955567359924,
-0.3978548049926758,
0.6804328560829163,
-0.6118431091308594,
-0.06611137837171555
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.0000053942203521728516,
-0.0000024139881134033203,
-0.00000286102294921875,
-0.000038743019104003906,
0.00005698204040527344,
0.0000851750373840332,
0.00003133714199066162
] |
[
-1.652573823928833,
-1.2764744758605957,
0.9144323468208313,
-1.6811113357543945,
-0.8596258163452148,
1.560855507850647,
0.3844173848628998
] |
[
0.6886624693870544,
0.24422241747379303,
0.5828400254249573,
-0.3978891968727112,
0.6805441379547119,
-0.6117023229598999,
-0.06606179475784302
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000033974647521972656,
0.0000029355287551879883,
0.000002682209014892578,
-0.000004351139068603516,
-0.00005429983139038086,
-0.00005561113357543945,
-0.000018246471881866455
] |
[
2.849212646484375,
-1.1731863021850586,
-0.7118433117866516,
-1.1549625396728516,
-1.5602091550827026,
1.511658787727356,
-2.8973000049591064,
0.3844173848628998
] |
[
0.5617449283599854,
0.31938910484313965,
0.7565711140632629,
-0.41309958696365356,
0.6483685374259949,
-0.6356778144836426,
-0.0698617696762085
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.001920938491821289,
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0.0012716054916381836,
0.01520603895187378,
0.03212130069732666,
0.023919880390167236,
0.003781728446483612
] |
[
-0.15738742053508759,
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1.6940993070602417,
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[
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[
0,
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] | 0
|
[
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[
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0.22490353882312775,
1.1440666913986206,
2.055911064147949,
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] |
[
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[
0,
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] | 0
|
[
0.000029265880584716797,
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0.0004597902297973633,
0.00011336803436279297,
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[
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1.3613975048065186,
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0.3844173848628998
] |
[
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[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000028312206268310547,
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5.960464477539063e-8,
-0.000022411346435546875,
0.000052869319915771484,
0.00007927417755126953,
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] |
[
0.034135378897190094,
2.7347514629364014,
3.794257640838623,
1.8320614099502563,
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] |
[
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[
-0.15000000596046448,
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|
[
-0.000011861324310302734,
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-0.00058785080909729,
-0.00022602081298828125,
0.00005906820297241211,
0.0006587207317352295
] |
pick banana from white bowl
|
[
0.6886658668518066,
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0.8828427195549011,
0.6804898381233215,
-0.6117579340934753,
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[
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[
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0.6804326176643372,
-0.6118321418762207,
-0.0660356655716896
] | 5
| 15
| 0
| 15
| 0
|
[
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1.1098169088363647,
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[
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[
-0.20000000298023224,
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|
[
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[
-1.6468669176101685,
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[
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[
0,
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] | 0
|
[
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[
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[
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[
-0.125,
0.375,
-0.125
] | 0
|
[
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[
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[
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[
0,
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|
[
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[
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1.1820827722549438,
2.066702127456665,
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] |
[
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[
0,
0.6000000238418579,
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] | 0
|
[
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[
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1.351047158241272,
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0.3993043601512909
] |
[
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] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000028312206268310547,
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-5.960464477539063e-8,
-0.000025063753128051758,
0.000052034854888916016,
0.00007998943328857422,
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] |
[
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] |
[
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[
-0.15000000596046448,
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] | 0
|
[
-0.000012576580047607422,
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-0.0005893409252166748,
-0.00021713972091674805,
0.00005632638931274414,
0.0006567612290382385
] |
pick banana from white bowl
|
[
0.6938725709915161,
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0.8715393543243408,
0.6810736060142517,
-0.6155384182929993,
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[
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0.7977474331855774,
0.23357929289340973,
1.1933152675628662,
-1.3637068271636963,
0.3993043601512909
] |
[
0.6938735842704773,
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0.8715406060218811,
-0.3900696337223053,
0.6810158491134644,
-0.6156118512153625,
-0.07131005823612213
] | 5.333333
| 16
| 0
| 16
| 0
|
[
-0.9752787351608276,
-1.3187543153762817,
0.043808817863464355,
1.117010235786438,
0.8042246103286743,
1.9787697792053223,
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0.3915826082229614
] |
[
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0.6803596019744873,
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-0.06927557289600372
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000005245208740234375,
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-0.00004208087921142578,
0.00005745887756347656,
0.00008571147918701172,
0.00002944469451904297
] |
[
-1.642838716506958,
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0.9007118940353394,
-1.684091567993164,
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1.5702331066131592,
0.3915826082229614
] |
[
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] |
[
0,
0.30000001192092896,
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] | 0
|
[
0.000003635883331298828,
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0.000002682209014892578,
7.450580596923828e-7,
-0.0000527501106262207,
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] |
[
2.8489534854888916,
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1.5105775594711304,
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0.3915826082229614
] |
[
0.5765420794487,
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] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.0020017027854919434,
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0.0012467503547668457,
0.01547849178314209,
0.03291809558868408,
0.024610579013824463,
0.0031604915857315063
] |
[
-0.10361333936452866,
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0.1227770447731018,
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1.5322282314300537,
-1.8519446849822998,
0.3915826082229614
] |
[
0.6973020434379578,
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[
0,
0.30000001192092896,
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] | 0
|
[
0.006241738796234131,
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0.031430184841156006,
0.016135096549987793,
-0.0009405612945556641,
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] |
[
0.5754476189613342,
1.0810221433639526,
0.16538359224796295,
-0.0681876689195633,
0.15503059327602386,
1.2492903470993042,
2.0842061042785645,
0.3915826082229614
] |
[
0.7034024596214294,
0.5447882413864136,
0.5614627599716187,
-0.38557180762290955,
0.6797019243240356,
-0.6201635003089905,
-0.06882525980472565
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
0.00014132261276245117,
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0.001941293478012085,
0.0007151365280151367,
-0.0003727078437805176,
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] |
[
0.5262928605079651,
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1.3482224941253662,
0.43045419454574585,
1.0925874710083008,
-1.3386945724487305,
0.3915826082229614
] |
[
0.4035409390926361,
0.24488729238510132,
0.5615476369857788,
-0.383603036403656,
0.6803649663925171,
-0.6206167340278625,
-0.06918857246637344
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000028312206268310547,
-0.0000022798776626586914,
-1.7881393432617188e-7,
-0.000027477741241455078,
0.000052094459533691406,
0.00008052587509155273,
-0.00005755573511123657
] |
[
0.019326334819197655,
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3.788135290145874,
1.866822361946106,
-4.3818254470825195,
4.0479326248168945,
0.3915826082229614
] |
[
0.5535573959350586,
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0.56158447265625,
-0.3830375671386719,
0.680629551410675,
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-0.06990722566843033
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.000013589859008789062,
0.000011935830116271973,
-0.00003701448440551758,
-0.0005929470062255859,
-0.00021249055862426758,
0.00005918741226196289,
0.0006610974669456482
] |
pick banana from white bowl
|
[
0.7035437822341919,
-0.0551149882376194,
0.8615474700927734,
0.6804170608520508,
-0.620536208152771,
-0.06924612820148468,
-0.38363051414489746
] |
[
-0.025994542986154556,
0.5826317071914673,
0.5066955089569092,
0.78184574842453,
0.22298957407474518,
1.196165680885315,
-1.3592071533203125,
0.3915826082229614
] |
[
0.703544557094574,
-0.055112048983573914,
0.8615485429763794,
-0.38362711668014526,
0.680357813835144,
-0.6206086874008179,
-0.06919826567173004
] | 5.666667
| 17
| 0
| 17
| 0
|
[
-0.9689826369285583,
-1.3108360767364502,
0.05082179605960846,
1.12105131149292,
0.7781992554664612,
1.9504081010818481,
-2.1607391834259033,
0.38420870900154114
] |
[
0.5132096409797668,
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0.6786792874336243,
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-0.06570664793252945
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000005185604095458984,
-0.0000024437904357910156,
-0.0000025033950805664062,
-0.0000438690185546875,
0.000057816505432128906,
0.00008565187454223633,
0.000028565526008605957
] |
[
-1.6396597623825073,
-1.2169438600540161,
0.8892228603363037,
-1.6889517307281494,
-0.9075333476066589,
1.5804814100265503,
0.38420870900154114
] |
[
0.7132006287574768,
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-0.37445294857025146,
0.6787890195846558,
-0.6282671689987183,
-0.06565709412097931
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000003814697265625,
0.000002950429916381836,
0.0000027418136596679688,
0.000004231929779052734,
-0.000051915645599365234,
-0.00005638599395751953,
-0.000020988285541534424
] |
[
2.842189311981201,
-1.2017563581466675,
-0.7543113827705383,
-1.1516329050064087,
-1.5610339641571045,
1.508917212486267,
-2.8973000049591064,
0.38420870900154114
] |
[
0.5861243009567261,
0.316946804523468,
0.7242653369903564,
0.3906486928462982,
-0.6447179913520813,
0.6534883975982666,
0.0684487596154213
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.0020801424980163574,
-0.00018298625946044922,
0.0012720227241516113,
-0.7650973796844482,
1.3234550952911377,
-1.2818119525909424,
-0.13412684202194214
] |
[
-0.16079173982143402,
0.9206705689430237,
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1.663637638092041,
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0.38420870900154114
] |
[
0.7069276571273804,
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0.6611959934234619,
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[
0,
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] | 0
|
[
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[
0.5836286544799805,
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0.08320757001638412,
0.12765055894851685,
1.324378490447998,
2.1020150184631348,
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[
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[
0,
0.6000000238418579,
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] | 0
|
[
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[
0.5009735822677612,
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1.3461309671401978,
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0.38420870900154114
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[
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[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
0.0000028014183044433594,
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0.00005245208740234375,
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[
0.013181781396269798,
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] |
[
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[
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|
[
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-0.0005986392498016357,
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0.00006371736526489258,
0.0006672441959381104
] |
pick banana from white bowl
|
[
0.7132044434547424,
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0.6787371039390564,
-0.6283235549926758,
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[
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[
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0.6786760091781616,
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] | 6
| 18
| 0
| 18
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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|
[
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[
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[
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[
-0.125,
0.375,
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|
[
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1.3219292163848877,
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[
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[
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[
0,
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|
[
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[
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[
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[
0,
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] | 0
|
[
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[
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[
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[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
0.000002771615982055664,
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[
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] |
[
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[
-0.15000000596046448,
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] | 0
|
[
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-0.0006051063537597656,
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0.00006902217864990234,
0.0006745085120201111
] |
pick banana from white bowl
|
[
0.721370279788971,
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0.8404886722564697,
0.6792165040969849,
-0.6340914964675903,
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[
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1.2055662870407104,
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[
0.72137051820755,
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-0.3646007180213928,
0.6791539788246155,
-0.6341606378555298,
-0.060468897223472595
] | 6.333333
| 19
| 0
| 19
| 0
|
[
-0.9519699215888977,
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0.05122033506631851,
1.1297342777252197,
0.7439844608306885,
1.9116016626358032,
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0.5282981395721436
] |
[
0.5242103338241577,
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] |
[
-0.20000000298023224,
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] | 0
|
[
-0.000005066394805908203,
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0.00008660554885864258,
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] |
[
-1.6249557733535767,
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1.5877608060836792,
0.5282981395721436
] |
[
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[
0,
0.30000001192092896,
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] | 0
|
[
0.000004112720489501953,
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[
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1.5141347646713257,
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] |
[
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[
-0.125,
0.375,
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] | 0
|
[
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1.3240188360214233,
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] |
[
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1.6392128467559814,
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0.5282981395721436
] |
[
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] |
[
0,
0.30000001192092896,
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] | 0
|
[
0.006324708461761475,
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0.04383155703544617,
0.02056705951690674,
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] |
[
0.5623921751976013,
1.0626691579818726,
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-0.1675671935081482,
0.10896658152341843,
1.1810294389724731,
2.0880045890808105,
0.5282981395721436
] |
[
0.7168105840682983,
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0.6763574481010437,
-0.6311753392219543,
-0.05030933395028114
] |
[
0,
0.6000000238418579,
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] | 0
|
[
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0.005900442600250244,
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] |
[
0.46699708700180054,
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1.356610655784607,
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1.0869166851043701,
-1.3487281799316406,
0.5282981395721436
] |
[
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0.6822048425674438,
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] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000002771615982055664,
-0.000002339482307434082,
-1.1920928955078125e-7,
-0.000028461217880249023,
0.000053048133850097656,
0.00007843971252441406,
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] |
[
-0.00994850229471922,
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3.759582042694092,
1.9490009546279907,
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0.5282981395721436
] |
[
0.5742216110229492,
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[
-0.15000000596046448,
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] | 0
|
[
-0.00001633167266845703,
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-0.000037610530853271484,
-0.0006105899810791016,
-0.00019878149032592773,
0.00007390975952148438,
0.0006781816482543945
] |
pick banana from white bowl
|
[
0.7242052555084229,
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0.8384919166564941,
0.682257890701294,
-0.6334809064865112,
-0.055172331631183624,
-0.3608076274394989
] |
[
0.019508637487888336,
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0.7559693455696106,
0.18547916412353516,
1.2036526203155518,
-1.3430429697036743,
0.5282981395721436
] |
[
0.7242053747177124,
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0.8384925127029419,
-0.3608143925666809,
0.6821949481964111,
-0.6335494518280029,
-0.05511930212378502
] | 6.666667
| 20
| 0
| 20
| 0
|
[
-0.9519122838973999,
-1.3096028566360474,
0.051238059997558594,
1.129504680633545,
0.7441064119338989,
1.9118086099624634,
-2.1701295375823975,
0.714633584022522
] |
[
0.524172842502594,
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0.6822823286056519,
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] |
[
-0.20000000298023224,
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-0.13124999403953552
] | 0
|
[
-0.000005066394805908203,
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-0.00004604458808898926,
0.00005829334259033203,
0.00008666515350341797,
0.000027507543563842773
] |
[
-1.6248087882995605,
-1.1873111724853516,
0.8640689253807068,
-1.6938012838363647,
-0.9495267271995544,
1.5876617431640625,
0.714633584022522
] |
[
0.7241636514663696,
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-0.3608422577381134,
0.6823897361755371,
-0.6333246231079102,
-0.055108580738306046
] |
[
0,
0.30000001192092896,
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] | 0
|
[
0.000004112720489501953,
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0.00000286102294921875,
0.000011146068572998047,
-0.000049114227294921875,
-0.000057220458984375,
-0.000023890286684036255
] |
[
2.8405921459198,
-1.1945340633392334,
-0.7908960580825806,
-1.1400959491729736,
-1.562728762626648,
1.5142945051193237,
-2.8973000049591064,
0.714633584022522
] |
[
0.5966629981994629,
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0.3811121881008148,
-0.6417335867881775,
0.6630383133888245,
0.05754717066884041
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.0025047659873962402,
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0.0015311241149902344,
-0.7419432997703552,
1.3240742683410645,
-1.2964200973510742,
-0.11267964541912079
] |
[
-0.1719697117805481,
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-0.12165948748588562,
-0.14128203690052032,
1.6389495134353638,
-1.869705319404602,
0.714633584022522
] |
[
0.7178475260734558,
0.2425820529460907,
0.5330371260643005,
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0.6617314219474792,
-0.6303936243057251,
-0.02988351322710514
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.00632023811340332,
0.00040931999683380127,
0.005605340003967285,
0.04391863942146301,
0.02060920000076294,
-0.0029882192611694336,
-0.02524895779788494
] |
[
0.5622797012329102,
1.063045859336853,
0.17741583287715912,
-0.16710571944713593,
0.10610762238502502,
1.1780840158462524,
2.088103771209717,
0.714633584022522
] |
[
0.7172493934631348,
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0.5348318219184875,
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0.6758987903594971,
-0.6308593153953552,
-0.050052937120199203
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
0.006918370723724365,
0.004137098789215088,
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0.016888409852981567,
0.006441831588745117,
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] |
[
0.46693187952041626,
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1.3571399450302124,
0.4141835570335388,
1.0871689319610596,
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0.714633584022522
] |
[
0.4241649806499481,
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-0.05507363751530647
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000002771615982055664,
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-1.1920928955078125e-7,
-0.000028401613235473633,
0.000052988529205322266,
0.00007843971252441406,
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] |
[
-0.010120575316250324,
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3.759136199951172,
1.9488446712493896,
-4.406061172485352,
4.043516159057617,
0.714633584022522
] |
[
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[
-0.15000000596046448,
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] | 0
|
[
-0.00001633167266845703,
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-0.0006109178066253662,
-0.0001989603042602539,
0.00007396936416625977,
0.0006782896816730499
] |
pick banana from white bowl
|
[
0.7241677641868591,
-0.05700862035155296,
0.8386424779891968,
0.6823406219482422,
-0.6333818435668945,
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[
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[
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0.6822776794433594,
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] | 7
| 21
| 0
| 21
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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|
[
0.000004649162292480469,
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[
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[
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[
-0.125,
0.375,
-0.125
] | 0
|
[
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1.3285062313079834,
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[
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[
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[
0,
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|
[
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[
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0.12478391081094742,
0.08037108927965164,
1.3134751319885254,
2.0881659984588623,
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] |
[
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[
0,
0.6000000238418579,
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] | 0
|
[
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] |
[
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1.4352601766586304,
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1.127739429473877,
-1.3396648168563843,
0.800000011920929
] |
[
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-0.05080571398139
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000028908252716064453,
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4.76837158203125e-7,
-0.000017344951629638672,
0.0000553131103515625,
0.00007665157318115234,
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] |
[
-0.024990085512399673,
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0.800000011920929
] |
[
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[
-0.15000000596046448,
0.15000000596046448,
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] | 0
|
[
-0.000017881393432617188,
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-0.0006659030914306641,
-0.0002307891845703125,
0.00007802248001098633,
0.0006968341767787933
] |
pick banana from white bowl
|
[
0.717387318611145,
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0.8628617525100708,
0.6918400526046753,
-0.6201001405715942,
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[
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1.2265046834945679,
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0.800000011920929
] |
[
0.717387318611145,
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0.862862229347229,
-0.3664063811302185,
0.691776692867279,
-0.620168924331665,
-0.05081181973218918
] | 7.333333
| 22
| 0
| 22
| 0
|
[
-0.9847764372825623,
-1.3052036762237549,
0.1105145588517189,
0.9958809018135071,
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2.0088467597961426,
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] |
[
0.5080587863922119,
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-0.05489349365234375
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000005304813385009766,
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-0.00003409385681152344,
0.00005644559860229492,
0.00008273124694824219,
0.000029265880584716797
] |
[
-1.6136568784713745,
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0.7007097005844116,
-1.564537763595581,
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1.5523298978805542,
0.800000011920929
] |
[
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0.696610152721405,
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-0.054817646741867065
] |
[
0,
0.30000001192092896,
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] | 0
|
[
0.000005662441253662109,
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0.000005245208740234375,
0.000048786401748657227,
-0.000028192996978759766,
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] |
[
2.8973000049591064,
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1.5567749738693237,
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0.800000011920929
] |
[
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0.6547901630401611,
0.059876296669244766
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.004375934600830078,
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0.0033159852027893066,
-0.7900251746177673,
1.3247462511062622,
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-0.1147405207157135
] |
[
-0.16202595829963684,
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1.5367757081985474,
-1.8525421619415283,
0.800000011920929
] |
[
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0.6601346731185913,
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] |
[
0,
0.30000001192092896,
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] | 0
|
[
0.004142403602600098,
0.00048547983169555664,
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0.07251802086830139,
0.03644728660583496,
-0.00604480504989624,
-0.03777921199798584
] |
[
0.5802695155143738,
1.0071340799331665,
0.21574807167053223,
-0.17059578001499176,
0.07598230242729187,
1.1564816236495972,
2.067892074584961,
0.800000011920929
] |
[
0.6979474425315857,
0.5509025454521179,
0.5870776772499084,
-0.41143977642059326,
0.6811268329620361,
-0.6039637327194214,
-0.04484875127673149
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
0.010106027126312256,
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0.03743657469749451,
0.015455126762390137,
-0.005860090255737305,
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] |
[
0.44992595911026,
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1.5329036712646484,
0.42339983582496643,
1.1974636316299438,
-1.3333076238632202,
0.800000011920929
] |
[
0.4080503284931183,
0.2571280300617218,
0.5934702754020691,
-0.3740009367465973,
0.69652259349823,
-0.6098982095718384,
-0.054806746542453766
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000003129243850708008,
-0.0000022649765014648438,
0.0000013113021850585938,
-0.0000022649765014648438,
0.00005936622619628906,
0.0000743865966796875,
-0.000057481229305267334
] |
[
-0.005634884350001812,
2.6415772438049316,
3.5720202922821045,
1.7969509363174438,
-4.191394805908203,
3.876298189163208,
0.800000011920929
] |
[
0.5580750107765198,
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0.5935197472572327,
-0.37322571873664856,
0.6968732476234436,
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-0.05560239404439926
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.000021517276763916016,
0.000012092292308807373,
-0.000048160552978515625,
-0.0007774829864501953,
-0.000291287899017334,
0.00007665157318115234,
0.0007381662726402283
] |
pick banana from white bowl
|
[
0.708053469657898,
-0.04287423565983772,
0.8934715986251831,
0.6965819597244263,
-0.6098238229751587,
-0.05486422777175903,
-0.37400320172309875
] |
[
0.055527810007333755,
0.5758559703826904,
0.43222126364707947,
0.6909282207489014,
0.2169893980026245,
1.27945077419281,
-1.349432110786438,
0.800000011920929
] |
[
0.7080532312393188,
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0.893471896648407,
-0.3740195631980896,
0.6965168714523315,
-0.6098928451538086,
-0.054812368005514145
] | 7.666667
| 23
| 0
| 23
| 0
|
[
-1.046741247177124,
-1.2619386911392212,
0.20455850660800934,
0.8545186519622803,
0.8341120481491089,
2.082521438598633,
-1.981884241104126,
0.800000011920929
] |
[
0.49450305104255676,
-0.25284263491630554,
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-0.38703593611717224,
0.6920087337493896,
-0.6058604121208191,
-0.06527065485715866
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000005513429641723633,
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-0.000003159046173095703,
-0.00002720952033996582,
0.00005352497100830078,
0.00007486343383789062,
0.00003382563591003418
] |
[
-1.6429312229156494,
-1.1664592027664185,
0.610450804233551,
-1.4640227556228638,
-0.8756248950958252,
1.5309654474258423,
0.800000011920929
] |
[
0.6944906711578369,
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-0.38714131712913513,
0.6920743584632874,
-0.6057286858558655,
-0.06517287343740463
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000006854534149169922,
0.000002816319465637207,
0.000007331371307373047,
0.0000781714916229248,
-0.000012099742889404297,
-0.000056862831115722656,
-0.00006395578384399414
] |
[
2.8973000049591064,
-1.0366544723510742,
-0.7753801941871643,
-0.9703126549720764,
-1.5228521823883057,
1.566110610961914,
-2.8973000049591064,
0.800000011920929
] |
[
0.5646843314170837,
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0.43626001477241516,
-0.6177999973297119,
0.6502462029457092,
0.07197345793247223
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.004813194274902344,
0.00013649463653564453,
0.004070580005645752,
-0.823323130607605,
1.3098622560501099,
-1.2560317516326904,
-0.13721027970314026
] |
[
-0.13275504112243652,
0.7889742851257324,
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-0.008615802973508835,
-0.2665944993495941,
1.5401033163070679,
-1.86757493019104,
0.800000011920929
] |
[
0.6899712681770325,
0.24676711857318878,
0.6240114569664001,
-0.4689178168773651,
0.6489306092262268,
-0.5986905694007874,
-0.023973286151885986
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.004526257514953613,
0.00038814544677734375,
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0.0818546712398529,
0.04313164949417114,
-0.007094979286193848,
-0.04126354306936264
] |
[
0.6074972152709961,
1.1031118631362915,
0.2392607480287552,
0.12071527540683746,
0.06268888711929321,
1.325446605682373,
2.083339214324951,
0.800000011920929
] |
[
0.6878805756568909,
0.5430509448051453,
0.6236852407455444,
-0.4240621328353882,
0.6763424277305603,
-0.599621057510376,
-0.056451812386512756
] |
[
0,
0.6000000238418579,
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] | 0
|
[
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0.03699898719787598,
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] |
[
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] |
[
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[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
0.0000034570693969726562,
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[
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[
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[
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|
[
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-0.0009722113609313965,
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0.00007736682891845703,
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] |
pick banana from white bowl
|
[
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[
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[
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] | 8
| 24
| 0
| 24
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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|
[
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[
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0
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[
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[
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|
[
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[
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0
] |
[
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[
0,
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|
[
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[
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[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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[
-0.30000001192092896,
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-0.30000001192092896
] | 0
|
[
-8.642673492431641e-7,
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[
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] |
[
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[
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|
[
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-0.045142680406570435,
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] |
pick apple
|
[
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[
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0
] |
[
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-0.6032752394676208,
0.7807814478874207,
-0.03436560183763504
] | 0
| 0
| 1
| 25
| 1
|
[
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0
] |
[
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[
-0.20000000298023224,
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] | 0
|
[
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[
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0
] |
[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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[
-0.125,
0.375,
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] | 0
|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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[
0,
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] | 0
|
[
-0.000001430511474609375,
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[
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] |
[
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-0.03442385047674179
] |
[
-0.30000001192092896,
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-0.30000001192092896
] | 0
|
[
-8.791685104370117e-7,
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[
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] |
[
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[
-0.15000000596046448,
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|
[
-0.0008230805397033691,
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-0.04512931406497955,
-0.014252543449401855,
0.0046912431716918945,
0.06097889691591263
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pick apple
|
[
0.4381410777568817,
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0.9761800765991211,
-0.6033167243003845,
0.7807426452636719,
-0.03440309315919876,
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[
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1.7039128541946411,
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0
] |
[
0.4381432831287384,
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0.9761795401573181,
0.1590060591697693,
-0.6032674908638,
0.7807691693305969,
-0.03442305698990822
] | 0.333333
| 1
| 1
| 26
| 1
|
[
-1.5286799669265747,
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0
] |
[
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[
-0.20000000298023224,
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] | 0
|
[
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[
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] |
[
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0.1741698831319809,
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0.7816846966743469,
-0.004386124666780233
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[
0,
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] | 0
|
[
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[
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0
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[
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[
-0.125,
0.375,
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] | 0
|
[
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[
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0
] |
[
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[
0,
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] | 0
|
[
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0.009464025497436523,
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] |
[
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] |
[
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[
0,
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] | 0
|
[
-0.0000013709068298339844,
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[
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[
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[
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|
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pick apple
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End of preview. Expand
in Data Studio
fractal20220817_data_train_20000_22500_augmented
Overview
- Codebase version:
v3.0 - Robots: images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
- FPS: 3
- Episodes: 2,500
- Frames: 106,287
- Splits:
train:0:2500
Data Layout
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
Features
| Feature | dtype | shape | description |
|---|---|---|---|
observation.images.image |
video |
256×320×3 |
Source robot's image from original dataset |
observation.images.jaco |
video |
256×320×3 |
Augmented image for jaco robot |
observation.images.kinova3 |
video |
256×320×3 |
Augmented image for kinova3 robot |
observation.images.kuka_iiwa |
video |
256×320×3 |
Augmented image for kuka_iiwa robot |
observation.images.panda |
video |
256×320×3 |
Augmented image for panda robot |
observation.images.sawyer |
video |
256×320×3 |
Augmented image for sawyer robot |
observation.images.ur5e |
video |
256×320×3 |
Augmented image for ur5e robot |
observation.images.xarm7 |
video |
256×320×3 |
Augmented image for xarm7 robot |
episode_index |
int64 |
1 |
Index of the current episode within the dataset. |
frame_index |
int64 |
1 |
Index of the current frame within its episode. |
index |
int64 |
1 |
Global frame index across the whole dataset. |
natural_language_instruction |
string |
1 |
Natural language command describing the task |
observation.ee_pose |
float32 |
7 |
Source robot's eef position |
observation.jaco.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.jaco.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.jaco.ee_error |
float32 |
7 |
The eef difference between the augmented jaco robot and the original robot |
observation.jaco.ee_pose |
float32 |
7 |
The eef position of jaco robot |
observation.jaco.joints |
float32 |
7 |
The joint position of jaco robot |
observation.joints |
float32 |
8 |
Joint angle of source robot |
observation.kinova3.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kinova3.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kinova3.ee_error |
float32 |
7 |
The eef difference between the augmented kinova3 robot and the original robot |
observation.kinova3.ee_pose |
float32 |
7 |
The eef position of kinova3 robot |
observation.kinova3.joints |
float32 |
8 |
The joint position of kinova3 robot |
observation.kuka_iiwa.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kuka_iiwa.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kuka_iiwa.ee_error |
float32 |
7 |
The eef difference between the augmented kuka_iiwa robot and the original robot |
observation.kuka_iiwa.ee_pose |
float32 |
7 |
The eef position of kuka_iiwa robot |
observation.kuka_iiwa.joints |
float32 |
8 |
The joint position of kuka_iiwa robot |
observation.panda.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.panda.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.panda.ee_error |
float32 |
7 |
The eef difference between the augmented panda robot and the original robot |
observation.panda.ee_pose |
float32 |
7 |
The eef position of panda robot |
observation.panda.joints |
float32 |
8 |
The joint position of panda robot |
observation.sawyer.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.sawyer.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.sawyer.ee_error |
float32 |
7 |
The eef difference between the augmented sawyer robot and the original robot |
observation.sawyer.ee_pose |
float32 |
7 |
The eef position of sawyer robot |
observation.sawyer.joints |
float32 |
8 |
The joint position of sawyer robot |
observation.state |
float32 |
7 |
Copy of the state field in source robot's RLDS dataset |
observation.ur5e.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.ur5e.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.ur5e.ee_error |
float32 |
7 |
The eef difference between the augmented ur5e robot and the original robot |
observation.ur5e.ee_pose |
float32 |
7 |
The eef position of ur5e robot |
observation.ur5e.joints |
float32 |
7 |
The joint position of ur5e robot |
observation.xarm7.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.xarm7.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.xarm7.ee_error |
float32 |
7 |
The eef difference between the augmented xarm7 robot and the original robot |
observation.xarm7.ee_pose |
float32 |
7 |
The eef position of xarm7 robot |
observation.xarm7.joints |
float32 |
8 |
The joint position of xarm7 robot |
task_index |
int64 |
1 |
Integer ID of the high-level task this episode/frame belongs to. |
timestamp |
float32 |
1 |
Time stamp of the current frame within the episode (in second). |
Website
- Website page: https://oxe-auge.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-auge
Paper
Citation Policy
If you use OXE-AugE datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@misc{googleblog_rt1_2022,
author = {Keerthana Gopalakrishnan and Kanishka Rao},
title = {RT-1: Robotics Transformer for real-world control at scale},
howpublished = {Google Research Blog},
year = {2022},
month = {December},
url = {https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/}
}
OXE-AugE Dataset Citation (ours)
@misc{
ji2025oxeauge,
title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
journal={arXiv preprint arXiv:2512.13100},
year={2025}
}
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Size of downloaded dataset files:
80.1 MB
Size of the auto-converted Parquet files:
80.1 MB
Number of rows:
106,287