Dataset Viewer
observation.sawyer.joints
list | observation.sawyer.ee_pose
list | observation.sawyer.base_position
list | observation.sawyer.base_orientation
float32 | observation.sawyer.ee_error
list | observation.ur5e.joints
list | observation.ur5e.ee_pose
list | observation.ur5e.base_position
list | observation.ur5e.base_orientation
float32 | observation.ur5e.ee_error
list | observation.panda.joints
list | observation.panda.ee_pose
list | observation.panda.base_position
list | observation.panda.base_orientation
float32 | observation.panda.ee_error
list | observation.kinova3.joints
list | observation.kinova3.ee_pose
list | observation.kinova3.base_position
list | observation.kinova3.base_orientation
float32 | observation.kinova3.ee_error
list | observation.kuka_iiwa.joints
list | observation.kuka_iiwa.ee_pose
list | observation.kuka_iiwa.base_position
list | observation.kuka_iiwa.base_orientation
float32 | observation.kuka_iiwa.ee_error
list | observation.xarm7.joints
list | observation.xarm7.ee_pose
list | observation.xarm7.base_position
list | observation.xarm7.base_orientation
float32 | observation.xarm7.ee_error
list | natural_language_instruction
string | observation.state
list | observation.joints
list | observation.ee_pose
list | timestamp
float64 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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pick banana from white bowl
|
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pick banana from white bowl
|
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[
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pick banana from white bowl
|
[
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-0.00006021745502948761
] |
[
-0.13073481619358063,
0.42013847827911377,
0.11134588718414307,
0.08192990720272064,
-0.3822613060474396,
2.0899999141693115,
-2.149496078491211,
0
] |
[
0.4686700701713562,
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0.6799449920654297,
0.28593912720680237,
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0.7573864459991455,
-0.023540670052170753
] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.00047397613525390625,
0.000012725591659545898,
0.0010583996772766113,
-0.014952629804611206,
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0.0028156042098999023,
0.005470048636198044
] |
[
0.7282153964042664,
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0.02909989468753338,
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1.3200453519821167,
2.5726380348205566,
0
] |
[
0.4691462218761444,
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0.7600889801979065,
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] |
[
0,
0.6000000238418579,
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] | 0 |
[
-0.000002175569534301758,
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-0.00007709860801696777,
0.00011259317398071289,
0.00011307001113891602,
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] |
[
0.48222845792770386,
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1.8556054830551147,
0.0633152425289154,
1.9553771018981934,
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0
] |
[
0.16914477944374084,
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0.6809957027435303,
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] |
[
-0.30000001192092896,
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] | 0 |
[
-7.301568984985352e-7,
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-0.0000934600830078125,
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0.000011479482054710388
] |
pick banana from white bowl
|
[
0.4691440463066101,
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0.9810034036636353,
-0.5901970863342285,
0.7602020502090454,
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[
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] |
[
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0.9810044169425964,
0.2710053324699402,
-0.5901433825492859,
0.760236382484436,
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] | 1 | 3 | 0 | 3 | 0 |
[
0.625704288482666,
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1.5511105060577393,
0.03719572722911835,
1.5550940036773682,
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0
] |
[
0.20266669988632202,
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0.34346485137939453,
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
-0.0000013560056686401367,
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0.00002086162567138672,
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] |
[
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0
] |
[
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0.739644467830658,
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.0000016689300537109375,
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0.00005936622619628906,
0.00005644559860229492,
0.000019405968487262726
] |
[
1.6352726221084595,
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1.5136172771453857,
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0
] |
[
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] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
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] |
[
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0.23961332440376282,
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1.8781877756118774,
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0
] |
[
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0.3437151610851288,
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0.7395862936973572,
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.000006794929504394531,
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] |
[
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1.136784315109253,
2.5418810844421387,
0
] |
[
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] |
[
0,
0.6000000238418579,
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] | 0 |
[
-0.0000021457672119140625,
0.000007569789886474609,
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0.00011819601058959961,
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] |
[
0.5043133497238159,
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1.702681064605713,
0.09622804820537567,
1.710030436515808,
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0
] |
[
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
-3.2782554626464844e-7,
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-0.00006362795829772949,
-0.000051081180572509766,
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0.00001269439235329628
] |
pick banana from white bowl
|
[
0.5026653409004211,
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0.9888028502464294,
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0.7397009134292603,
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[
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1.105516791343689,
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1.3076105117797852,
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0
] |
[
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0.9888047575950623,
0.34348297119140625,
-0.5786032676696777,
0.7397449016571045,
-0.003900249022990465
] | 1.333333 | 4 | 0 | 4 | 0 |
[
0.6388422250747681,
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1.6029547452926636,
0.1476096212863922,
1.3545663356781006,
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0
] |
[
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0.6949436664581299,
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0.00501750223338604
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-4.023313522338867e-7,
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0.00003591179847717285,
-0.000041484832763671875,
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0.00002018967643380165
] |
[
-1.8158106803894043,
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1.0064204931259155,
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1.7306981086730957,
0
] |
[
0.5463135242462158,
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0.6949387788772583,
0.39914584159851074,
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0.7142581939697266,
0.005025053862482309
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000017881393432617188,
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0.0000045299530029296875,
0.00007051229476928711,
0.00005418062210083008,
0.000012638047337532043
] |
[
1.8339794874191284,
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-1.1804730892181396,
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1.6834869384765625,
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0
] |
[
0.4212886691093445,
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0.8699058294296265,
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0.7144108414649963,
0.0050451192073524
] |
[
-0.125,
0.375,
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] | 0 |
[
0.00002664327621459961,
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] |
[
-0.07542334496974945,
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0.3241710066795349,
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1.6875864267349243,
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0
] |
[
0.5463111996650696,
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0.6949314475059509,
0.3992917239665985,
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0.7142101526260376,
0.004976247437298298
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.000004112720489501953,
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0.000010013580322265625,
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0.000029385089874267578,
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] |
[
0.7413994669914246,
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0.03953253850340843,
1.0079344511032104,
2.462752342224121,
0
] |
[
0.5463165640830994,
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0.6949372291564941,
0.39922454953193665,
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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
] |
pick banana from white bowl
|
[
0.5463153123855591,
-0.14435654878616333,
0.9949414730072021,
-0.5748142600059509,
0.7143123745918274,
0.005037691909819841,
0.39915037155151367
] |
[
-0.17127111554145813,
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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 |
[
0.6325939893722534,
-2.086428642272949,
-0.5047425627708435,
1.6616244316101074,
0.2624261975288391,
1.197605848312378,
-1.1474329233169556,
0
] |
[
0.2854827344417572,
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0.6933905482292175,
0.43067750334739685,
-0.5848843455314636,
0.687252402305603,
0.010553812608122826
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
5.066394805908203e-7,
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0.00005367398262023926,
-0.0000432133674621582,
-0.00007098913192749023,
0.000033457763493061066
] |
[
-1.7525705099105835,
-1.5542000532150269,
1.0049514770507812,
-1.6698073148727417,
-0.9088025093078613,
1.7791266441345215,
0
] |
[
0.5854812860488892,
0.18725332617759705,
0.6933855414390564,
0.43070924282073975,
-0.5850054025650024,
0.6871290802955627,
0.010575473308563232
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000019669532775878906,
0.0000030249357223510742,
0.0000022649765014648438,
0.00002193450927734375,
0.00007784366607666016,
0.00005233287811279297,
0.000011797063052654266
] |
[
2.150470733642578,
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-0.9363610744476318,
-1.1272059679031372,
-0.695356547832489,
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
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.000033348798751831055,
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0.0000426173210144043,
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-0.00048828125,
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-0.00000899285078048706
] |
[
-0.09900403767824173,
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0.26783856749534607,
-0.3895949125289917,
1.6047519445419312,
-2.075338840484619,
0
] |
[
0.5854770541191101,
0.1872526854276657,
0.693375825881958,
0.43090951442718506,
-0.5849317312240601,
0.6870672106742859,
0.010512564331293106
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.000006198883056640625,
0.0000036656856536865234,
0.000011980533599853516,
-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,
-0.00007113069295883179
] |
[
0.5410658121109009,
-0.6449034214019775,
-0.041668057441711426,
1.5350430011749268,
0.16160091757774353,
1.3072460889816284,
-0.8834514021873474,
0
] |
[
0.28548237681388855,
0.18725842237472534,
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
] |
pick banana from white bowl
|
[
0.5854832530021667,
-0.11274364590644836,
0.9933878183364868,
-0.5849275588989258,
0.6871814131736755,
0.010587270371615887,
0.4307311773300171
] |
[
-0.1485632359981537,
0.23094087839126587,
0.4821222424507141,
1.0097627639770508,
0.26986101269721985,
1.1148228645324707,
-1.1486191749572754,
0
] |
[
0.5854861736297607,
-0.11274102330207825,
0.9933902621269226,
0.43071237206459045,
-0.5848731994628906,
0.6872400045394897,
0.010553906671702862
] | 2 | 6 | 0 | 6 | 0 |
[
0.600897490978241,
-2.0207860469818115,
-0.47594448924064636,
1.7196763753890991,
0.38558879494667053,
1.0830919742584229,
-1.2405036687850952,
0
] |
[
0.3188258111476898,
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0.450554221868515,
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0.021631378680467606
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[
-0.30000001192092896,
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] | 0 |
[
0.0000011622905731201172,
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0.00007486343383789062,
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[
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[
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0.6673110127449036,
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[
0,
0.30000001192092896,
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] | 0 |
[
0.0000022649765014648438,
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0.000031888484954833984,
0.00008231401443481445,
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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,
0.30000001192092896,
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] | 0 |
[
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[
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] |
[
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[
0,
0.6000000238418579,
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] | 0 |
[
0.000004410743713378906,
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0.00006669759750366211,
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[
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] |
[
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[
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[
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0.000030120834708213806
] |
pick banana from white bowl
|
[
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0.9893558025360107,
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0.6673620939254761,
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[
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[
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] | 2.333333 | 7 | 0 | 7 | 0 |
[
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1.719893455505371,
0.385969877243042,
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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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0.00003191828727722168,
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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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] | 0 |
[
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[
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] |
[
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] |
[
0,
0.6000000238418579,
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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 |
[
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0.000030154362320899963
] |
pick banana from white bowl
|
[
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0.6672057509422302,
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[
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0
] |
[
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0.45064887404441833,
-0.5926266312599182,
0.6672673225402832,
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] | 2.666667 | 8 | 0 | 8 | 0 |
[
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1.7500660419464111,
0.4368944466114044,
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0
] |
[
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0.008190888911485672
] |
[
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] | 0 |
[
0.0000015497207641601562,
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0.00008890032768249512,
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] |
[
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0
] |
[
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0.008222527801990509
] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.000002384185791015625,
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0.00003549456596374512,
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0.00004988908767700195,
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] |
[
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0
] |
[
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] |
[
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0.375,
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] | 0 |
[
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] |
[
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1.6458626985549927,
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0
] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.0007071495056152344,
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] |
[
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0
] |
[
0.6375778317451477,
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] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.000005781650543212891,
0.000010848045349121094,
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-0.00015747547149658203,
0.000052869319915771484,
0.00016021728515625,
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] |
[
0.5628464221954346,
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1.4841288328170776,
0.2119833081960678,
1.1287137269973755,
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0
] |
[
0.3375818431377411,
0.2179947793483734,
0.6808871030807495,
0.45478370785713196,
-0.6087220311164856,
0.6500477194786072,
0.008202863857150078
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.0000017583370208740234,
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0.0000016093254089355469,
-0.00000858306884765625,
-0.00005710124969482422,
-0.00004798173904418945,
0.00003457162529230118
] |
pick banana from white bowl
|
[
0.6375836133956909,
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0.9808887243270874,
-0.6087791323661804,
0.649999737739563,
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] |
[
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0
] |
[
0.6375859975814819,
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0.9808909296989441,
0.4547562897205353,
-0.6087232232093811,
0.6500657796859741,
0.00820203684270382
] | 3 | 9 | 0 | 9 | 0 |
[
0.5055467486381531,
-1.9417462348937988,
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1.8075395822525024,
0.5386110544204712,
1.0103131532669067,
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0
] |
[
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.000001817941665649414,
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0.000034332275390625,
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] |
[
-1.6795873641967773,
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] |
[
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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,
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] | 0 |
[
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[
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0
] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.004776418209075928,
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] |
[
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0
] |
[
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] |
[
0,
0.6000000238418579,
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] | 0 |
[
0.000010669231414794922,
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0.00021651387214660645,
-0.000008761882781982422,
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0.000009438488632440567
] |
[
0.5764674544334412,
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-0.10064895451068878,
1.4627028703689575,
0.2550200819969177,
1.0800429582595825,
-1.150411605834961,
0
] |
[
0.36581844091415405,
0.22508090734481812,
0.6620147228240967,
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0.6408849954605103,
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.000002384185791015625,
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0.0000011920928955078125,
-0.000001817941665649414,
0.00005930662155151367,
0.00006270408630371094,
-0.00004320940934121609
] |
pick banana from white bowl
|
[
0.665820837020874,
-0.07492132484912872,
0.9620159268379211,
0.6409443020820618,
-0.6209791898727417,
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] |
[
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0.8612999320030212,
0.2188567966222763,
1.0773006677627563,
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0
] |
[
0.6658227443695068,
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0.962017834186554,
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0.6408863067626953,
-0.6210513114929199,
-0.0023866924457252026
] | 3.333333 | 10 | 0 | 10 | 0 |
[
0.44927340745925903,
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1.8532553911209106,
0.6159785389900208,
0.9957329630851746,
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0.15726707875728607
] |
[
0.3877561688423157,
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0.6441241502761841,
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0.6600064635276794,
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-0.006413581315428019
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000017285346984863281,
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0.00002664327621459961,
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] |
[
-1.6701602935791016,
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] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.0000032186508178710938,
0.000002816319465637207,
0.000002562999725341797,
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] |
[
2.7995705604553223,
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1.6348148584365845,
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[
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0.6362788677215576,
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] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
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1.2693777084350586,
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] |
[
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1.601891040802002,
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] |
[
0.683235228061676,
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0.6488951444625854,
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0.005510885734111071
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.00452268123626709,
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0.005559682846069336,
0.01937556266784668,
0.011137962341308594,
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] |
[
0.6013162136077881,
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0.18592937290668488,
1.0461546182632446,
2.0789854526519775,
0.15726707875728607
] |
[
0.687738299369812,
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0.6599794626235962,
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] |
[
0,
0.6000000238418579,
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] | 0 |
[
0.000019609928131103516,
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0.00032776594161987305,
0.00005364418029785156,
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] |
[
0.5709307193756104,
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1.4528487920761108,
0.30846282839775085,
1.0559358596801758,
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0.15726707875728607
] |
[
0.38775506615638733,
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0.6441178321838379,
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0.6599733829498291,
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.0000028312206268310547,
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8.940696716308594e-7,
-0.000010788440704345703,
0.000059723854064941406,
0.00007367134094238281,
-0.00004998408257961273
] |
pick banana from white bowl
|
[
0.6877579092979431,
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0.9441187381744385,
0.660033106803894,
-0.604919970035553,
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[
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0.470356822013855,
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0.21510420739650726,
1.1041042804718018,
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] |
[
0.6877593398094177,
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-0.44539278745651245,
0.6599732041358948,
-0.6049954295158386,
-0.006413968279957771
] | 3.666667 | 11 | 0 | 11 | 0 |
[
0.4219232499599457,
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1.8825161457061768,
0.6501442790031433,
1.0006717443466187,
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0.3901863396167755
] |
[
0.39610758423805237,
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0.6694685816764832,
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-0.015972571447491646
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000015795230865478516,
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0.000022590160369873047,
0.00012958049774169922,
-0.000038193538784980774
] |
[
-1.6673744916915894,
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-1.7831382751464844,
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] |
[
0.6961057186126709,
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0.669551432132721,
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] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000034570693969726562,
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] |
[
2.8013381958007812,
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1.6361300945281982,
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] |
[
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] |
[
-0.125,
0.375,
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] | 0 |
[
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1.282771348953247,
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] |
[
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0.12440972030162811,
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1.4743822813034058,
-1.8274869918823242,
0.3901863396167755
] |
[
0.6906359195709229,
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0.6233590841293335,
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0.6551744937896729,
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] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0054732561111450195,
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0.024466335773468018,
0.014316678047180176,
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] |
[
0.5856968760490417,
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0.18207038938999176,
1.0877940654754639,
2.0551724433898926,
0.3901863396167755
] |
[
0.6960815191268921,
0.5330199599266052,
0.6294252872467041,
-0.437683641910553,
0.6693859100341797,
-0.6000845432281494,
-0.015940990298986435
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.00002765655517578125,
0.000023186206817626953,
0.000021457672119140625,
0.00043022632598876953,
0.00010526180267333984,
-0.00019431114196777344,
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] |
[
0.5652400851249695,
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1.4386029243469238,
0.3441688120365143,
1.0568130016326904,
-1.2995902299880981,
0.3901863396167755
] |
[
0.39610615372657776,
0.2330455332994461,
0.6294460892677307,
-0.4372374713420868,
0.6694323420524597,
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-0.01595769077539444
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000030100345611572266,
-0.000002384185791015625,
6.556510925292969e-7,
-0.000015944242477416992,
0.00005882978439331055,
0.00007861852645874023,
-0.00005307421088218689
] |
pick banana from white bowl
|
[
0.6961091756820679,
-0.06695685535669327,
0.9294467568397522,
0.669491171836853,
-0.6002788543701172,
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-0.4372534155845642
] |
[
-0.04867265000939369,
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0.21949903666973114,
1.1283501386642456,
-1.3828622102737427,
0.3901863396167755
] |
[
0.6961103677749634,
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0.9294482469558716,
-0.4372422695159912,
0.6694307327270508,
-0.6003555059432983,
-0.015968190506100655
] | 4 | 12 | 0 | 12 | 0 |
[
0.4148866832256317,
-1.8729805946350098,
-0.4048791229724884,
1.9115206003189087,
0.6647188067436218,
1.01295006275177,
-1.732571005821228,
0.5280745625495911
] |
[
0.3949454724788666,
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0.6144667863845825,
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0.6737725734710693,
-0.6020865440368652,
-0.032166216522455215
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000014603137969970703,
-0.0000036209821701049805,
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-0.0001442432403564453,
0.000020503997802734375,
0.00012737512588500977,
-0.00003788992762565613
] |
[
-1.6655278205871582,
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0.895282506942749,
-1.7550305128097534,
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1.5841063261032104,
0.5280745625495911
] |
[
0.6949435472488403,
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0.6738519668579102,
-0.6019055843353271,
-0.03218499571084976
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000033974647521972656,
0.00000286102294921875,
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] |
[
2.811753988265991,
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1.6027573347091675,
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0.5280745625495911
] |
[
0.5671548247337341,
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0.4523907005786896,
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] |
[
-0.125,
0.375,
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] | 0 |
[
0.0027921199798583984,
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0.002098381519317627,
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1.2977983951568604,
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] |
[
-0.0914219319820404,
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0.1247943714261055,
-0.17522387206554413,
1.4956835508346558,
-1.828836441040039,
0.5280745625495911
] |
[
0.6894287467002869,
0.2362980991601944,
0.608477771282196,
-0.45134326815605164,
0.6599979996681213,
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-0.017085423693060875
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.005518198013305664,
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0.024013280868530273,
0.013795077800750732,
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] |
[
0.5788112282752991,
0.9163200259208679,
0.0812746211886406,
-0.28495973348617554,
0.20305509865283966,
1.094460368156433,
2.045529365539551,
0.5280745625495911
] |
[
0.6949203014373779,
0.5359073281288147,
0.6144408583641052,
-0.42774707078933716,
0.673692524433136,
-0.6017792224884033,
-0.03213474899530411
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.00002664327621459961,
0.000022232532501220703,
0.00002002716064453125,
0.0004170835018157959,
0.00010055303573608398,
-0.0001799464225769043,
-0.00006935745477676392
] |
[
0.5691657066345215,
-0.44135820865631104,
-0.1409538984298706,
1.4093093872070312,
0.3690999448299408,
1.0648795366287231,
-1.3129832744598389,
0.5280745625495911
] |
[
0.3949439227581024,
0.23593194782733917,
0.6144605278968811,
-0.4273104965686798,
0.6737363934516907,
-0.6020393967628479,
-0.03214992582798004
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000030100345611572266,
-0.0000023692846298217773,
3.5762786865234375e-7,
-0.000019490718841552734,
0.000056684017181396484,
0.00008022785186767578,
-0.00005418062210083008
] |
pick banana from white bowl
|
[
0.6949469447135925,
-0.06407042592763901,
0.9144608974456787,
0.6737930774688721,
-0.6019591689109802,
-0.03220410645008087,
-0.42732998728752136
] |
[
-0.05308827385306358,
0.5212268829345703,
0.5229734182357788,
0.7796093225479126,
0.2283720076084137,
1.1458566188812256,
-1.3860747814178467,
0.5280745625495911
] |
[
0.694948136806488,
-0.06406742334365845,
0.9144623875617981,
-0.42731863260269165,
0.6737338304519653,
-0.6020358800888062,
-0.03216100111603737
] | 4.333333 | 13 | 0 | 13 | 0 |
[
0.4147737920284271,
-1.8682301044464111,
-0.40348219871520996,
1.9380661249160767,
0.6664215922355652,
1.032319188117981,
-1.7276225090026855,
0.47999998927116394
] |
[
0.3897777497768402,
0.24002547562122345,
0.5985281467437744,
-0.41304293274879456,
0.6768823266029358,
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-0.05169636011123657
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000012814998626708984,
-0.000003471970558166504,
-0.000005841255187988281,
-0.00014287233352661133,
0.000019848346710205078,
0.0001227259635925293,
-0.0000391155481338501
] |
[
-1.6609184741973877,
-1.2870367765426636,
0.9118639826774597,
-1.715322494506836,
-0.8519847989082336,
1.5707776546478271,
0.47999998927116394
] |
[
0.6897757053375244,
0.2400190830230713,
0.5985196828842163,
-0.41317489743232727,
0.6769592761993408,
-0.6069085001945496,
-0.051717594265937805
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.000003337860107421875,
0.0000029206275939941406,
0.0000026226043701171875,
-0.000010907649993896484,
-0.00005710124969482422,
-0.000054717063903808594,
-0.000017881393432617188
] |
[
2.8313491344451904,
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1.5507644414901733,
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0.47999998927116394
] |
[
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0.6380903124809265,
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[
-0.125,
0.375,
-0.125
] | 0 |
[
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0.0015778541564941406,
0.01877686381340027,
0.03881186246871948,
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[
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[
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0.6645730137825012,
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.005417346954345703,
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0.022643089294433594,
0.012329161167144775,
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[
0.5757966041564941,
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0.22526884078979492,
1.1061021089553833,
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] |
[
0.6897542476654053,
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] |
[
0,
0.6000000238418579,
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] | 0 |
[
0.0000247955322265625,
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0.0003966689109802246,
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[
0.5716182589530945,
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1.379693865776062,
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[
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[
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[
0.0000028908252716064453,
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0.00005441904067993164,
0.00007975101470947266,
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] |
pick banana from white bowl
|
[
0.6897790431976318,
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0.8985223174095154,
0.676902174949646,
-0.6069632172584534,
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[
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[
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0.6768444776535034,
-0.6070388555526733,
-0.05169210955500603
] | 4.666667 | 14 | 0 | 14 | 0 |
[
0.40839776396751404,
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1.9595654010772705,
0.6655354499816895,
1.0453534126281738,
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[
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[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.0000011026859283447266,
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0.000019550323486328125,
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[
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[
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[
0,
0.30000001192092896,
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] | 0 |
[
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[
2.849212646484375,
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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,
0.30000001192092896,
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] | 0 |
[
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[
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1.1440666913986206,
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[
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[
0,
0.6000000238418579,
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] | 0 |
[
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] |
[
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1.3613975048065186,
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] |
[
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[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.0000028312206268310547,
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-0.000022411346435546875,
0.000052869319915771484,
0.00007927417755126953,
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] |
pick banana from white bowl
|
[
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0.6804898381233215,
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[
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] |
[
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0.882844090461731,
-0.39788463711738586,
0.6804326176643372,
-0.6118321418762207,
-0.0660356655716896
] | 5 | 15 | 0 | 15 | 0 |
[
0.39495277404785156,
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1.9761269092559814,
0.6735620498657227,
1.0403704643249512,
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] |
[
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
9.5367431640625e-7,
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0.000018537044525146484,
0.00011813640594482422,
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] |
[
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] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.000003516674041748047,
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[
2.853947401046753,
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] |
[
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[
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] | 0 |
[
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0.030708909034729004,
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] |
[
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1.6914012432098389,
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0.4991304278373718
] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.005801975727081299,
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] |
[
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0.20727592706680298,
1.1820827722549438,
2.066702127456665,
0.4991304278373718
] |
[
0.6938309669494629,
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0.5715122222900391,
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0.6808941960334778,
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] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.000041604042053222656,
0.00003170967102050781,
0.000027120113372802734,
0.0006232559680938721,
0.00017940998077392578,
-0.0001831650733947754,
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] |
[
0.5482958555221558,
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1.351047158241272,
0.42461955547332764,
1.099396824836731,
-1.3258744478225708,
0.4991304278373718
] |
[
0.3938697278499603,
0.24606892466545105,
0.5715394020080566,
-0.39005130529403687,
0.6810215711593628,
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-0.07129937410354614
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.0000028312206268310547,
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-5.960464477539063e-8,
-0.000025063753128051758,
0.000052034854888916016,
0.00007998943328857422,
-0.000056453049182891846
] |
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,
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1.1933152675628662,
-1.3637068271636963,
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] |
[
0.6938735842704773,
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-0.3900696337223053,
0.6810158491134644,
-0.6156118512153625,
-0.07131005823612213
] | 5.333333 | 16 | 0 | 16 | 0 |
[
0.37460359930992126,
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1.9864217042922974,
0.6779326796531677,
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] |
[
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
8.344650268554688e-7,
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-0.00015211105346679688,
0.00001823902130126953,
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] |
[
-1.642838716506958,
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] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.000003635883331298828,
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7.450580596923828e-7,
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] |
[
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[
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[
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] | 0 |
[
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0.03291809558868408,
0.024610579013824463,
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] |
[
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1.5322282314300537,
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] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
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0.031430184841156006,
0.016135096549987793,
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] |
[
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0.15503059327602386,
1.2492903470993042,
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] |
[
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0.6797019243240356,
-0.6201635003089905,
-0.06882525980472565
] |
[
0,
0.6000000238418579,
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] | 0 |
[
0.00014132261276245117,
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0.0007151365280151367,
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] |
[
0.5262928605079651,
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1.3482224941253662,
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0.4894782602787018
] |
[
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0.6803649663925171,
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.0000028312206268310547,
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-0.000027477741241455078,
0.000052094459533691406,
0.00008052587509155273,
-0.00005755573511123657
] |
pick banana from white bowl
|
[
0.7035437822341919,
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0.8615474700927734,
0.6804170608520508,
-0.620536208152771,
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[
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[
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0.680357813835144,
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] | 5.666667 | 17 | 0 | 17 | 0 |
[
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1.9938914775848389,
0.6730861663818359,
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[
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[
-0.30000001192092896,
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] | 0 |
[
6.556510925292969e-7,
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[
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[
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[
0,
0.30000001192092896,
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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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1.3234550952911377,
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[
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[
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[
0,
0.30000001192092896,
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] | 0 |
[
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[
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0.12765055894851685,
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2.1020150184631348,
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[
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[
0,
0.6000000238418579,
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] | 0 |
[
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[
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1.3461309671401978,
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[
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[
-0.30000001192092896,
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[
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0.00005245208740234375,
0.00007987022399902344,
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] |
pick banana from white bowl
|
[
0.7132044434547424,
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0.6787371039390564,
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[
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[
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0.8505381941795349,
-0.37444955110549927,
0.6786760091781616,
-0.6283943057060242,
-0.0656277984380722
] | 6 | 18 | 0 | 18 | 0 |
[
0.33575016260147095,
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1.9975502490997314,
0.6616827845573425,
1.005007266998291,
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0.5
] |
[
0.4213697612285614,
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0.5404948592185974,
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0.6791961789131165,
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] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
5.066394805908203e-7,
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0.000020325183868408203,
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[
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0.5
] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
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0.000008463859558105469,
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[
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0.5
] |
[
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[
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] | 0 |
[
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1.3219292163848877,
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] |
[
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1.650361180305481,
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0.5
] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
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] |
[
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1.3175495862960815,
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0.5
] |
[
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0.6762346029281616,
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] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.005115926265716553,
0.003075897693634033,
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0.008078992366790771,
0.002981901168823242,
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] |
[
0.4771389067173004,
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1.3475412130355835,
0.42268234491348267,
1.0883830785751343,
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0.5
] |
[
0.42136749625205994,
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0.6791636943817139,
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.000002771615982055664,
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-0.000029265880584716797,
0.000052809715270996094,
0.00007897615432739258,
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] |
pick banana from white bowl
|
[
0.721370279788971,
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0.8404886722564697,
0.6792165040969849,
-0.6340914964675903,
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] |
[
0.007044443394988775,
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0.7553858757019043,
0.19594725966453552,
1.2055662870407104,
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0.5
] |
[
0.72137051820755,
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0.8404893279075623,
-0.3646007180213928,
0.6791539788246155,
-0.6341606378555298,
-0.060468897223472595
] | 6.333333 | 19 | 0 | 19 | 0 |
[
0.3355473279953003,
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1.992847204208374,
0.6503357887268066,
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0.6603726744651794
] |
[
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
4.76837158203125e-7,
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-0.00015947222709655762,
0.00002092123031616211,
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] |
[
-1.6249557733535767,
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] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.000004112720489501953,
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0.000011056661605834961,
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] |
[
2.8403267860412598,
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[
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] |
[
-0.125,
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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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0.6603726744651794
] |
[
0.7178805470466614,
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0.6616908311843872,
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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,
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0.10896658152341843,
1.1810294389724731,
2.0880045890808105,
0.6603726744651794
] |
[
0.7168105840682983,
0.5384856462478638,
0.5344387292861938,
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0.6763574481010437,
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-0.05030933395028114
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.007394671440124512,
0.00440448522567749,
0.004053175449371338,
0.015526354312896729,
0.005900442600250244,
-0.0023055672645568848,
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] |
[
0.46699708700180054,
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1.356610655784607,
0.41423097252845764,
1.0869166851043701,
-1.3487281799316406,
0.6603726744651794
] |
[
0.42420247197151184,
0.24289250373840332,
0.5384920239448547,
-0.36077916622161865,
0.6822048425674438,
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-0.05511349067091942
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.000002771615982055664,
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-1.1920928955078125e-7,
-0.000028461217880249023,
0.000053048133850097656,
0.00007843971252441406,
-0.00005884096026420593
] |
pick banana from white bowl
|
[
0.7242052555084229,
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0.8384919166564941,
0.682257890701294,
-0.6334809064865112,
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] |
[
0.019508637487888336,
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0.7559693455696106,
0.18547916412353516,
1.2036526203155518,
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0.6603726744651794
] |
[
0.7242053747177124,
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0.8384925127029419,
-0.3608143925666809,
0.6821949481964111,
-0.6335494518280029,
-0.05511930212378502
] | 6.666667 | 20 | 0 | 20 | 0 |
[
0.33573758602142334,
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1.9924876689910889,
0.6501525640487671,
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0.8932919502258301
] |
[
0.424167275428772,
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0.682319700717926,
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
4.76837158203125e-7,
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-0.00015938282012939453,
0.00002092123031616211,
0.00011676549911499023,
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] |
[
-1.6248087882995605,
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0.8640689253807068,
-1.6938012838363647,
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1.5876617431640625,
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] |
[
0.7241636514663696,
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0.6823897361755371,
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.000004112720489501953,
0.0000029802322387695312,
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0.000011146068572998047,
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] |
[
2.8405921459198,
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1.5142945051193237,
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0.8932919502258301
] |
[
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0.7121113538742065,
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[
-0.125,
0.375,
-0.125
] | 0 |
[
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1.3240742683410645,
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] |
[
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1.6389495134353638,
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[
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[
0,
0.30000001192092896,
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] | 0 |
[
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0.04391863942146301,
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[
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[
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[
0,
0.6000000238418579,
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[
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[
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[
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[
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[
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0.000052988529205322266,
0.00007843971252441406,
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] |
pick banana from white bowl
|
[
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0.6823406219482422,
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[
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[
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0.6822776794433594,
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] | 7 | 21 | 0 | 21 | 0 |
[
0.36045151948928833,
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1.9389334917068481,
0.6281987428665161,
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1
] |
[
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[
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] | 0 |
[
5.066394805908203e-7,
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[
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1
] |
[
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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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[
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1
] |
[
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[
0,
0.30000001192092896,
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] | 0 |
[
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[
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1
] |
[
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[
0,
0.6000000238418579,
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] | 0 |
[
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[
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1
] |
[
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[
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] | 0 |
[
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0.0000553131103515625,
0.00007665157318115234,
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] |
pick banana from white bowl
|
[
0.717387318611145,
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0.6918400526046753,
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[
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1
] |
[
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0.691776692867279,
-0.620168924331665,
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] | 7.333333 | 22 | 0 | 22 | 0 |
[
0.37085044384002686,
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1.8761131763458252,
0.6206263303756714,
1.086955189704895,
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1
] |
[
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] |
[
-0.30000001192092896,
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] | 0 |
[
5.066394805908203e-7,
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0.000024318695068359375,
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[
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1
] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.000005662441253662109,
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0.000048786401748657227,
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] |
[
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1
] |
[
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[
-0.125,
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] | 0 |
[
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] |
[
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1.5367757081985474,
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1
] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
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] |
[
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1
] |
[
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] |
[
0,
0.6000000238418579,
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] | 0 |
[
0.010106027126312256,
0.006223201751708984,
0.006393909454345703,
0.03743657469749451,
0.015455126762390137,
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] |
[
0.44992595911026,
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1.5329036712646484,
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1.1974636316299438,
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1
] |
[
0.4080503284931183,
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0.5934702754020691,
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0.69652259349823,
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.000003129243850708008,
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-0.0000022649765014648438,
0.00005936622619628906,
0.0000743865966796875,
-0.000057481229305267334
] |
pick banana from white bowl
|
[
0.708053469657898,
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0.8934715986251831,
0.6965819597244263,
-0.6098238229751587,
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] |
[
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1
] |
[
0.7080532312393188,
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0.893471896648407,
-0.3740195631980896,
0.6965168714523315,
-0.6098928451538086,
-0.054812368005514145
] | 7.666667 | 23 | 0 | 23 | 0 |
[
0.3701554834842682,
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1.8148468732833862,
0.6314404606819153,
1.1657085418701172,
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1
] |
[
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
5.662441253662109e-7,
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0.00002676248550415039,
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] |
[
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1
] |
[
0.6944906711578369,
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.000006854534149169922,
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0.0000781714916229248,
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] |
[
2.8973000049591064,
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1.566110610961914,
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1
] |
[
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] |
[
-0.125,
0.375,
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] | 0 |
[
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1.3098622560501099,
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] |
[
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1.5401033163070679,
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1
] |
[
0.6899712681770325,
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0.6489306092262268,
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] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.004526257514953613,
0.00038814544677734375,
0.004484891891479492,
0.0818546712398529,
0.04313164949417114,
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] |
[
0.6074972152709961,
1.1031118631362915,
0.2392607480287552,
0.12071527540683746,
0.06268888711929321,
1.325446605682373,
2.083339214324951,
1
] |
[
0.6878805756568909,
0.5430509448051453,
0.6236852407455444,
-0.4240621328353882,
0.6763424277305603,
-0.599621057510376,
-0.056451812386512756
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.006616950035095215,
0.004104316234588623,
0.004811108112335205,
0.03699898719787598,
0.015719830989837646,
-0.006164491176605225,
-0.00878501683473587
] |
[
0.4505999684333801,
-0.31097641587257385,
-0.07911505550146103,
1.6257407665252686,
0.44978779554367065,
1.277544379234314,
-1.3189702033996582,
1
] |
[
0.39449405670166016,
0.24715766310691833,
0.6284940242767334,
-0.3870779871940613,
0.691996693611145,
-0.6058571338653564,
-0.06517919152975082
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000034570693969726562,
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0.0000023245811462402344,
0.000014841556549072266,
0.00006556510925292969,
0.00007158517837524414,
-0.000057637691497802734
] |
pick banana from white bowl
|
[
0.6944975256919861,
-0.052844732999801636,
0.9284963607788086,
0.692062258720398,
-0.6057855486869812,
-0.06523682922124863,
-0.3870631456375122
] |
[
0.04839834198355675,
0.5640235543251038,
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0.6236146092414856,
0.26226717233657837,
1.3434245586395264,
-1.3421128988265991,
1
] |
[
0.6944970488548279,
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0.9284964799880981,
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pick apple
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pick apple
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End of preview. Expand
in Data Studio
fractal20220817_data_train_20000_30000_augmented
Overview
- Codebase version:
v2.1 - Robots: images, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
- FPS: 3.0
- Episodes: 10,000
- Frames: 431,028
- Videos: 70,000
- Chunks: 10
- Splits:
train:0:10000
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
| Feature | dtype | shape | description |
|---|---|---|---|
observation.images.image |
video |
256×320×3 |
Source robot's image from original dataset |
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 |
- |
frame_index |
int64 |
1 |
- |
index |
int64 |
1 |
- |
natural_language_instruction |
string |
1 |
- |
observation.ee_pose |
float32 |
7 |
Source robot's eef position |
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 |
- |
timestamp |
float32 |
1 |
- |
Website
- Website page: https://oxe-aug.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-aug
Paper
Citation Policy
If you use OXE-Aug 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-Aug Dataset Citation (ours)
@misc{
ji2025oxeaug,
title = {OXE-Aug: 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},
year = {2025},
note = {Manuscript}
}
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