img
sequencelengths 64
64
| action
sequencelengths 3
3
| goal
stringclasses 93
values | goal_img
sequencelengths 64
64
| rotation_delta
sequencelengths 3
3
| open_gripper
sequencelengths 1
1
|
|---|---|---|---|---|---|
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] | [
0.0013242366258054972,
0.005818002857267857,
-0.004406986758112907
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] | [
0.005020547192543745,
-0.0067322696559131145,
-0.005883040837943554
] | [
true
] |
[[[191,164,147],[197,174,153],[194,169,149],[197,173,159],[197,171,154],[197,171,156],[196,169,148],(...TRUNCATED) | [
0.005162022542208433,
0.016438743099570274,
0.014585943892598152
] | close fridge | [[[145,128,115],[148,133,125],[146,130,118],[146,131,123],[147,131,119],[145,130,121],[147,130,119],(...TRUNCATED) | [
0.021273013204336166,
-0.02085118740797043,
-0.00807327963411808
] | [
true
] |
[[[98,117,144],[84,98,125],[86,102,127],[92,106,132],[90,102,124],[12,18,37],[19,32,66],[91,101,128](...TRUNCATED) | [
0.024963315576314926,
-0.01974613592028618,
0.023880112916231155
] | move red form above green cloth | [[[87,101,128],[75,85,115],[79,94,117],[81,95,122],[83,97,122],[79,91,117],[82,94,118],[86,98,121],[(...TRUNCATED) | [
-0.03184560686349869,
-0.08154425770044327,
0.07021784037351608
] | [
false
] |
[[[144,161,177],[137,157,176],[132,149,165],[134,150,166],[123,130,134],[92,96,99],[71,71,75],[58,57(...TRUNCATED) | [
0,
0,
0
] | Move the mushroom into the pot. | [[[147,166,183],[139,156,176],[136,148,165],[135,150,164],[82,88,91],[73,70,74],[64,66,71],[55,67,76(...TRUNCATED) | [
0,
0,
0
] | [
true
] |
[[[46,46,46],[83,81,80],[56,54,55],[33,33,31],[26,26,27],[34,33,33],[30,29,29],[26,22,19],[42,28,27](...TRUNCATED) | [
-0.004972147289663553,
-0.0025867850054055452,
-0.015532695688307285
] | Slide the cloth diagonally to the front of the spoon | [[[118,126,145],[115,121,137],[160,174,201],[181,196,224],[191,208,234],[209,225,251],[198,214,240],(...TRUNCATED) | [
0.05136610195040703,
0.021865347400307655,
-0.019463881850242615
] | [
true
] |
[[[13,13,15],[13,13,15],[49,47,50],[4,5,7],[74,69,73],[55,38,42],[23,23,27],[8,8,10],[8,8,10],[9,9,1(...TRUNCATED) | [
0.0013509885175153613,
0.0028797672130167484,
0.012865978293120861
] | put potato in pot cardboard fence | [[[69,7,7],[5,8,8],[7,9,8],[7,6,8],[37,32,38],[36,36,42],[11,11,13],[12,12,14],[11,11,13],[10,10,12](...TRUNCATED) | [
-0.012368458323180676,
-0.0023358622565865517,
-0.00895936880260706
] | [
false
] |
[[[85,92,111],[92,98,119],[84,92,110],[89,96,114],[73,80,96],[54,57,77],[40,39,53],[23,21,32],[17,17(...TRUNCATED) | [
-0.004895064979791641,
-0.0008500199764966965,
-0.01692621409893036
] | Hold the yellow capsicum from steel pan and place it on the corner of the table. | [[[100,106,122],[104,110,121],[97,102,118],[102,110,123],[88,96,109],[83,94,108],[5,5,13],[14,13,17](...TRUNCATED) | [
-0.005582814570516348,
0.038463350385427475,
-0.016020335257053375
] | [
false
] |
[[[90,105,128],[82,93,114],[81,94,111],[84,96,118],[87,96,118],[77,90,110],[86,99,116],[85,98,116],[(...TRUNCATED) | [
-0.012567633762955666,
0.007160357665270567,
0.002781040035188198
] | Put the napkin in the bottom right hand corner of the table. | [[[18,39,55],[18,40,60],[12,37,57],[8,28,47],[9,30,50],[7,29,46],[1,19,36],[6,15,25],[11,19,32],[10,(...TRUNCATED) | [
0.012631844729185104,
-0.0006412441143766046,
0.021255725994706154
] | [
true
] |
[[[82,94,116],[87,94,118],[89,97,124],[95,106,132],[84,93,114],[90,98,119],[55,62,83],[14,14,22],[86(...TRUNCATED) | [
-0.001727165188640356,
-0.002986806444823742,
-0.011546852067112923
] | Place the red fork on the green cloth. | [[[74,81,102],[77,83,104],[79,86,108],[87,95,116],[75,82,101],[82,90,108],[77,82,101],[95,102,120],[(...TRUNCATED) | [
-0.008318525739014149,
0.008679576218128204,
-0.015581654384732246
] | [
false
] |
[[[146,117,84],[143,116,87],[144,115,72],[147,118,80],[182,172,172],[185,173,175],[180,170,171],[179(...TRUNCATED) | [
-0.013443649746477604,
0.01764940470457077,
0.002687705447897315
] | open fridge | [[[125,120,124],[126,120,124],[125,119,122],[126,120,124],[125,119,123],[148,134,128],[128,119,122],(...TRUNCATED) | [
0.01618843898177147,
0.01055507455021143,
-0.011101854033768177
] | [
true
] |
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