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 orange from white bowl
|
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pick orange from white bowl
|
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pick orange from white bowl
|
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] |
[
-0.3171835243701935,
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0.07378371804952621,
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2.0899999141693115,
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0
] |
[
0.4608554244041443,
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0.6768210530281067,
0.2719340920448303,
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0.7053444981575012,
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.003044635057449341,
0.0006372630596160889,
0.0068801045417785645,
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0.014367401599884033,
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] |
[
0.8294941186904907,
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1.6889876127243042,
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0
] |
[
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[
0,
0.6000000238418579,
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] | 0 |
[
0.0000036656856536865234,
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0.00007194280624389648,
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[
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2.238318920135498,
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0
] |
[
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[
-0.30000001192092896,
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] | 0 |
[
9.387731552124023e-7,
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-0.00021582841873168945,
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4.172325134277344e-7,
0.000009004026651382446
] |
pick orange from white bowl
|
[
0.46390005946159363,
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0.9837011694908142,
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0.7197118997573853,
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[
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1.0371794700622559,
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0
] |
[
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0.9837005734443665,
0.17393307387828827,
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0.7197432518005371,
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] | 1 | 3 | 0 | 3 | 0 |
[
0.6593597531318665,
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1.4582931995391846,
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1.8360049724578857,
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0
] |
[
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] |
[
-0.30000001192092896,
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] | 0 |
[
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] |
[
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] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
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0.0001923292875289917,
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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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0
] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
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[
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0
] |
[
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] |
[
0,
0.6000000238418579,
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] | 0 |
[
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0.0004017949104309082,
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] |
[
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0
] |
[
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] |
[
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] | 0 |
[
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0.00024902820587158203,
0.00006264448165893555,
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0.0000037420541048049927
] |
pick orange from white bowl
|
[
0.47039610147476196,
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0.7038100361824036,
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[
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0
] |
[
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0.703761875629425,
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] | 1.333333 | 4 | 0 | 4 | 0 |
[
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1.4581172466278076,
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1.8355129957199097,
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0
] |
[
0.17047536373138428,
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] |
[
-0.30000001192092896,
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] | 0 |
[
-0.0000012665987014770508,
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0.0000011920928955078125,
0.00003725290298461914,
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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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0.00019259750843048096,
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] |
[
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0
] |
[
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] |
[
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] | 0 |
[
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1.3839023113250732,
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] |
[
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0
] |
[
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0.04557567089796066
] |
[
0,
0.30000001192092896,
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] | 0 |
[
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] |
[
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1.756807565689087,
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0
] |
[
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] |
[
0,
0.6000000238418579,
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] | 0 |
[
0.00001290440559387207,
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0.000023186206817626953,
0.0004047900438308716,
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0.000008979812264442444
] |
[
0.43490391969680786,
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2.2820587158203125,
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2.172715425491333,
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0
] |
[
0.17047227919101715,
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0.7038843631744385,
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0.008084440603852272
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.000001817941665649414,
3.5762786865234375e-7,
0.00002288818359375,
0.00024978816509246826,
0.00006276369094848633,
-0.000004708766937255859,
0.0000038063153624534607
] |
pick orange from white bowl
|
[
0.47047409415245056,
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0.9878968000411987,
0.703947126865387,
-0.6844162940979004,
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] |
[
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1.0316720008850098,
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0
] |
[
0.4704757034778595,
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0.7038989663124084,
-0.6844505071640015,
0.008102699182927608
] | 1.666667 | 5 | 0 | 5 | 0 |
[
0.6569375395774841,
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1.449567198753357,
0.03753673657774925,
1.7880256175994873,
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0
] |
[
0.18278512358665466,
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0.7309415936470032,
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0.006117966957390308
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
-9.387731552124023e-7,
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-5.364418029785156e-7,
-0.0000012218952178955078,
0.00003713369369506836,
0.000041961669921875,
-0.0000018547289073467255
] |
[
-1.5071322917938232,
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0.3400544822216034,
-0.8991791009902954,
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1.5624666213989258,
0
] |
[
0.482774943113327,
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0.7309677600860596,
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0.00625677639618516
] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.000009238719940185547,
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0.00002276897430419922,
0.0003006458282470703,
0.000010967254638671875,
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] |
[
2.8973000049591064,
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0
] |
[
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] |
[
-0.125,
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] | 0 |
[
0.0037013590335845947,
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0.04295283555984497,
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] |
[
-0.39003729820251465,
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0
] |
[
0.4785827398300171,
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0.6994721293449402,
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0.04912075400352478
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.004201442003250122,
0.0013849586248397827,
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0.12488590180873871,
0.03150659799575806,
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] |
[
0.8375144600868225,
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0.08932200819253922,
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1.9065533876419067,
2.2894365787506104,
0
] |
[
0.47860971093177795,
0.5280252695083618,
0.6891184449195862,
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0.7290264964103699,
-0.65061354637146,
0.0062161278910934925
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.004174470901489258,
0.004615604877471924,
0.00537419319152832,
0.013373121619224548,
0.0019522309303283691,
-0.0020390748977661133,
-0.00010001566261053085
] |
[
0.40478160977363586,
-0.1677800863981247,
0.3428977429866791,
2.4139859676361084,
0.09477491676807404,
2.167689085006714,
-0.8597947955131531,
0
] |
[
0.1827802211046219,
0.23263700306415558,
0.6944569945335388,
-0.19958798587322235,
0.7308934926986694,
-0.652627170085907,
0.006098330020904541
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000039637088775634766,
0.000003874301910400391,
0.000035643577575683594,
0.00039651989936828613,
0.0000852346420288086,
-0.000025451183319091797,
0.00001778220757842064
] |
pick orange from white bowl
|
[
0.4827841818332672,
-0.06735912710428238,
0.9944926500320435,
0.7309787273406982,
-0.6526526212692261,
0.006116112228482962,
-0.19919146597385406
] |
[
0.15356911718845367,
0.07970833778381348,
0.40066444873809814,
0.9954931139945984,
0.07158121466636658,
1.6839911937713623,
-1.114692211151123,
0
] |
[
0.4827854335308075,
-0.0673571228981018,
0.9944919347763062,
-0.19924993813037872,
0.7309303879737854,
-0.6526888012886047,
0.006129434332251549
] | 2 | 6 | 0 | 6 | 0 |
[
0.6404760479927063,
-1.9844790697097778,
-0.20077164471149445,
1.4255081415176392,
0.0981195941567421,
1.7295969724655151,
-1.1443088054656982,
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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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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pick orange from white bowl
|
[
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[
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[
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] | 2.333333 | 7 | 0 | 7 | 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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[
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[
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[
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[
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[
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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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[
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pick orange from white bowl
|
[
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[
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[
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] | 2.666667 | 8 | 0 | 8 | 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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[
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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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[
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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,
0.6000000238418579,
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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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0.0007455945014953613,
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] |
pick orange from white bowl
|
[
0.52413010597229,
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[
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] |
[
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] | 3 | 9 | 0 | 9 | 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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[
0,
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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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[
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[
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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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] |
[
0.7018941044807434,
0.2067747265100479,
0.4654442071914673,
2.7438583374023438,
-0.10100057721138,
2.068539619445801,
-0.8802891373634338,
0
] |
[
0.22448298335075378,
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0.8022331595420837,
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
-0.0002513676881790161,
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0.0013874173164367676,
0.004157274961471558,
0.0017792582511901855,
0.0007188320159912109,
0.0014869645237922668
] |
pick orange from white bowl
|
[
0.5242316126823425,
0.05241124704480171,
0.9878953695297241,
0.8040124177932739,
-0.5456904768943787,
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] |
[
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0.8972392082214355,
0.10572107881307602,
1.6323978900909424,
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0
] |
[
0.5242317318916321,
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0.9878944754600525,
-0.23294994235038757,
0.8039630651473999,
-0.5457385778427124,
-0.039333999156951904
] | 3.333333 | 10 | 0 | 10 | 0 |
[
0.62840735912323,
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1.5129070281982422,
0.266826331615448,
1.545785903930664,
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0.00026086956495419145
] |
[
0.23265530169010162,
0.3633600175380707,
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-0.2346857488155365,
0.8076375722885132,
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] |
[
-0.30000001192092896,
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] | 0 |
[
-5.960464477539063e-8,
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0.00003170967102050781,
0.00006145238876342773,
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] |
[
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] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
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0.025059640407562256,
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] |
[
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[
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] |
[
-0.125,
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] | 0 |
[
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0.1653193235397339,
0.11310911178588867,
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] |
[
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] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
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0.05853152275085449,
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] |
[
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[
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] |
[
0,
0.6000000238418579,
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] | 0 |
[
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0.16207647323608398,
0.05099254846572876,
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] |
[
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2.6341896057128906,
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] |
[
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] |
[
-0.30000001192092896,
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] | 0 |
[
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0.0017710626125335693,
0.0004215836524963379,
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0.00015056505799293518
] |
pick orange from white bowl
|
[
0.5326552391052246,
0.06335654109716415,
0.9800449013710022,
0.8076692819595337,
-0.5385118126869202,
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] |
[
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] |
[
0.5326552391052246,
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0.8076197504997253,
-0.5385620594024658,
-0.0508279912173748
] | 3.666667 | 11 | 0 | 11 | 0 |
[
0.611946702003479,
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1.5407624244689941,
0.2994147539138794,
1.5164779424667358,
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] |
[
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] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-4.470348358154297e-8,
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] |
[
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] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
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0.007109880447387695,
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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,
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 |
[
0.009141325950622559,
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0.17502160370349884,
0.057178616523742676,
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] |
[
0.5333608388900757,
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2.5098586082458496,
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1.9154785871505737,
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] |
[
0.24512310326099396,
0.3729553818702698,
0.6676928400993347,
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0.8092747330665588,
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.000016629695892333984,
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0.0007276087999343872,
0.00019419193267822266,
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0.000059351325035095215
] |
pick orange from white bowl
|
[
0.545139729976654,
0.07297354191541672,
0.9677467942237854,
0.8094689249992371,
-0.5356355905532837,
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] |
[
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0.13095532357692719,
1.6158618927001953,
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] |
[
0.5451395511627197,
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-0.23165732622146606,
0.8094191551208496,
-0.5356879234313965,
-0.06491480022668839
] | 4 | 12 | 0 | 12 | 0 |
[
0.6021304726600647,
-1.8284858465194702,
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1.5704004764556885,
0.3105503022670746,
1.4833179712295532,
-1.2801820039749146,
0.010521738789975643
] |
[
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] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-1.1920928955078125e-7,
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-0.0000016093254089355469,
-0.00003661215305328369,
0.000030338764190673828,
0.00006437301635742188,
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] |
[
-1.3396875858306885,
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] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.0022158026695251465,
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0.007168173789978027,
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] |
[
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] |
[
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] |
[
-0.125,
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] | 0 |
[
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] |
[
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1.709915041923523,
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0.010521738789975643
] |
[
0.5495456457138062,
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.0068814754486083984,
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] |
[
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0.08506518602371216,
1.3044377565383911,
2.0870745182037354,
0.010521738789975643
] |
[
0.5467414259910583,
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0.6447128057479858,
-0.40890878438949585,
0.7460806965827942,
-0.5225748419761658,
-0.055432457476854324
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.009685695171356201,
0.010642826557159424,
0.009064972400665283,
0.18000376224517822,
0.059170424938201904,
-0.01979142427444458,
-0.015362586826086044
] |
[
0.46416985988616943,
0.08469339460134506,
0.47233736515045166,
2.3722763061523438,
0.12710048258304596,
1.8366926908493042,
-0.9676661491394043,
0.010521738789975643
] |
[
0.2564171254634857,
0.3779798746109009,
0.6537494659423828,
-0.22930335998535156,
0.8051307201385498,
-0.542373776435852,
-0.07081783562898636
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.00000998377799987793,
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0.00039833784103393555,
0.00012040138244628906,
0.000007510185241699219,
0.00002279132604598999
] |
pick orange from white bowl
|
[
0.5564271211624146,
0.07798905670642853,
0.9537777900695801,
0.8052511215209961,
-0.5423662662506104,
-0.07079504430294037,
-0.22890502214431763
] |
[
0.3301598131656647,
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0.4347756505012512,
0.8720303177833557,
0.1295430064201355,
1.5951941013336182,
-1.200439214706421,
0.010521738789975643
] |
[
0.5564268827438354,
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0.9537769556045532,
-0.22896254062652588,
0.8052014112472534,
-0.5424187183380127,
-0.07077279686927795
] | 4.333333 | 13 | 0 | 13 | 0 |
[
0.5929089188575745,
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1.5768219232559204,
0.3033048212528229,
1.4614660739898682,
-1.272068977355957,
0.06086956337094307
] |
[
0.26592183113098145,
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-0.06605622917413712
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
-1.7881393432617188e-7,
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-0.0000016093254089355469,
-0.00003802776336669922,
0.00003057718276977539,
0.00006407499313354492,
-0.00003072619438171387
] |
[
-1.331771969795227,
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0.2587704658508301,
-1.0557531118392944,
-1.1560328006744385,
1.5121229887008667,
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] |
[
0.5576073527336121,
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0.6351200342178345,
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0.7963823676109314,
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.008314311504364014,
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0.01210242509841919,
0.01747165620326996,
0.004640817642211914,
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] |
[
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1.7288105487823486,
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0.06086956337094307
] |
[
0.431405633687973,
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] |
[
-0.125,
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] | 0 |
[
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0.16654419898986816,
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] |
[
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1.6926517486572266,
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] |
[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
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0.0092543363571167,
0.1718619167804718,
0.05938762426376343,
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] |
[
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] |
[
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[
0,
0.6000000238418579,
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] | 0 |
[
0.010207712650299072,
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0.06111907958984375,
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] |
[
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[
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[
-0.30000001192092896,
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[
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0.0003672987222671509,
0.00011223554611206055,
0.000008761882781982422,
0.00001703202724456787
] |
pick orange from white bowl
|
[
0.5659216642379761,
0.08125042915344238,
0.9472224712371826,
0.8010231852531433,
-0.5493751168251038,
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[
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] |
[
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0.8009732365608215,
-0.549426257610321,
-0.06606465578079224
] | 4.666667 | 14 | 0 | 14 | 0 |
[
0.5846463441848755,
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1.5797317028045654,
0.2990219295024872,
1.4479836225509644,
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] |
[
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] |
[
-0.30000001192092896,
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] | 0 |
[
-2.086162567138672e-7,
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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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[
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[
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] |
[
0,
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] | 0 |
[
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0.1738378405570984,
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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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] |
[
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[
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] | 0 |
[
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0.0003699660301208496,
0.00011163949966430664,
0.000007808208465576172,
0.00001586228609085083
] |
pick orange from white bowl
|
[
0.5729973316192627,
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0.9421848058700562,
0.7992481589317322,
-0.5530304908752441,
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[
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] |
[
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-0.22664034366607666,
0.7991979718208313,
-0.5530808568000793,
-0.06339011341333389
] | 5 | 15 | 0 | 15 | 0 |
[
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1.5817147493362427,
0.29772207140922546,
1.4397684335708618,
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] |
[
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0.6380213499069214,
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] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-2.384185791015625e-7,
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0.00003057718276977539,
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[
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[
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.002260863780975342,
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0.02820141613483429,
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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,
0.30000001192092896,
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] | 0 |
[
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0.060361266136169434,
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] |
[
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0.07250967621803284,
1.2359429597854614,
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0.17052173614501953
] |
[
0.5665561556816101,
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0.733203113079071,
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] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.011290192604064941,
0.012316763401031494,
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0.20075182616710663,
0.06595134735107422,
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-0.017617423087358475
] |
[
0.4751792550086975,
0.11457127332687378,
0.4701124131679535,
2.3473732471466064,
0.0875394195318222,
1.7940549850463867,
-0.958834171295166,
0.17052173614501953
] |
[
0.2778360843658447,
0.38848310708999634,
0.6379934549331665,
-0.2243533730506897,
0.7990407943725586,
-0.5543045401573181,
-0.06281620264053345
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.000010251998901367188,
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0.00038407742977142334,
0.00011366605758666992,
0.000006735324859619141,
0.00001648813486099243
] |
pick orange from white bowl
|
[
0.577846348285675,
0.08849278837442398,
0.9380198121070862,
0.7991544604301453,
-0.5542978048324585,
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-0.22396929562091827
] |
[
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1.5708786249160767,
-1.1788043975830078,
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] |
[
0.5778459310531616,
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0.9380187392234802,
-0.2240307778120041,
0.7991042733192444,
-0.5543479323387146,
-0.06277711689472198
] | 5.333333 | 16 | 0 | 16 | 0 |
[
0.5736374258995056,
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1.5923627614974976,
0.29468488693237305,
1.3979837894439697,
-1.2615134716033936,
0.23086956143379211
] |
[
0.2876273989677429,
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0.7975707054138184,
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] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-2.384185791015625e-7,
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-0.0000016689300537109375,
-0.00004309415817260742,
0.000030159950256347656,
0.00006455183029174805,
-0.00003341957926750183
] |
[
-1.305981159210205,
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-0.893347442150116,
-1.1786350011825562,
1.5546702146530151,
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] |
[
0.5817700028419495,
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0.7923643589019775,
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.0058571696281433105,
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0.01964065432548523,
0.005236506462097168,
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] |
[
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] |
[
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] |
[
-0.125,
0.375,
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] | 0 |
[
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] |
[
-0.48692283034324646,
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1.638449788093567,
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0.23086956143379211
] |
[
0.5803476572036743,
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0.620621383190155,
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0.7374780178070068,
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] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.007279515266418457,
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0.17457011342048645,
0.06012284755706787,
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] |
[
0.8318266868591309,
1.059570074081421,
0.10414372384548187,
-0.0006014929967932403,
0.06637945771217346,
1.1844795942306519,
2.0975589752197266,
0.23086956143379211
] |
[
0.5754497647285461,
0.6854856610298157,
0.619536280632019,
-0.4385835826396942,
0.727105975151062,
-0.5267435908317566,
-0.03876195475459099
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.01217740774154663,
0.013370811939239502,
0.010138332843780518,
0.2102036476135254,
0.0704948902130127,
-0.0285375714302063,
-0.019016042351722717
] |
[
0.47938740253448486,
0.11850051581859589,
0.4711873531341553,
2.309514284133911,
0.072165347635746,
1.7433834075927734,
-0.9608965516090393,
0.23086956143379211
] |
[
0.28761765360832214,
0.398847371339798,
0.6296514868736267,
-0.22872674465179443,
0.7974948883056641,
-0.5552894473075867,
-0.05778941512107849
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.000009506940841674805,
0.00000908970832824707,
0.000023126602172851562,
0.00034680962562561035,
0.00010597705841064453,
0.000008285045623779297,
0.000011418014764785767
] |
pick orange from white bowl
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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pick orange from white bowl
|
[
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[
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[
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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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[
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[
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[
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[
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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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[
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] |
pick orange from white bowl
|
[
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[
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[
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] | 6.333333 | 19 | 0 | 19 | 0 |
[
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[
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[
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] | 0 |
[
-2.384185791015625e-7,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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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,
0.6000000238418579,
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] | 0 |
[
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] |
[
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] |
[
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[
-0.30000001192092896,
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] | 0 |
[
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] |
pick orange from white bowl
|
[
0.5890522599220276,
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[
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[
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] | 6.666667 | 20 | 0 | 20 | 0 |
[
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1.5965298414230347,
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[
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[
-0.30000001192092896,
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] | 0 |
[
-2.384185791015625e-7,
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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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[
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1.6321052312850952,
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0.8941614627838135
] |
[
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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,
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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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] |
pick orange from white bowl
|
[
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0.7975882291793823,
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[
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[
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0.7975381016731262,
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] | 7 | 21 | 0 | 21 | 0 |
[
0.5746257901191711,
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1.5927077531814575,
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1
] |
[
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[
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[
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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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[
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] | 0 |
[
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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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1
] |
[
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[
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[
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] |
pick orange from white bowl
|
[
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[
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1
] |
[
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] | 7.333333 | 22 | 0 | 22 | 0 |
[
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1.5610613822937012,
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1.375549554824829,
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1
] |
[
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[
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] | 0 |
[
-8.940696716308594e-8,
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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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1
] |
[
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[
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] | 0 |
[
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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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1
] |
[
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] |
[
0,
0.6000000238418579,
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] | 0 |
[
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0.18848103284835815,
0.06653916835784912,
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] |
[
0.5038029551506042,
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2.3319413661956787,
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1
] |
[
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.000008791685104370117,
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0.0003751814365386963,
0.00011932849884033203,
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0.00002006813883781433
] |
pick orange from white bowl
|
[
0.5729461908340454,
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-0.5485423803329468,
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] |
[
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1
] |
[
0.5729461908340454,
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0.7917979955673218,
-0.5485899448394775,
-0.03994451090693474
] | 7.666667 | 23 | 0 | 23 | 0 |
[
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1.5095770359039307,
0.21262924373149872,
1.378759503364563,
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1
] |
[
0.252924382686615,
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
-5.960464477539063e-8,
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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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[
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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 |
[
0.0049340128898620605,
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0.13346794247627258,
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] |
[
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1.217922568321228,
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1
] |
[
0.544760525226593,
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0.006347928661853075
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.008163809776306152,
0.009866595268249512,
0.008614540100097656,
0.15550756454467773,
0.0540887713432312,
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] |
[
0.5379590392112732,
0.04179295524954796,
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2.376523017883301,
-0.05987780541181564,
1.730069637298584,
-0.9038543701171875,
1
] |
[
0.2529163956642151,
0.3849428594112396,
0.6911287903785706,
-0.30040666460990906,
0.7788862586021423,
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
0.000007927417755126953,
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0.000032961368560791016,
0.00045937299728393555,
0.0001399517059326172,
-0.00005269050598144531,
0.00003589200787246227
] |
pick orange from white bowl
|
[
0.5529243350028992,
0.08495495468378067,
0.9911617636680603,
0.779026210308075,
-0.5505792498588562,
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] |
[
0.32606270909309387,
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0.9577471017837524,
0.039764150977134705,
1.4295405149459839,
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1
] |
[
0.5529248714447021,
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-0.2999981641769409,
0.7789762616157532,
-0.550622284412384,
-0.0034916172735393047
] | 8 | 24 | 0 | 24 | 0 |
[
0.6493151187896729,
-1.8833357095718384,
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1.4999967813491821,
0.2059195339679718,
1.382087230682373,
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1
] |
[
0.2505895495414734,
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0.7781838178634644,
-0.5497788786888123,
0.0004362683102954179
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-5.960464477539063e-8,
-0.000003337860107421875,
-0.0000014901161193847656,
-0.00003248453140258789,
0.00003141164779663086,
0.00006246566772460938,
-0.00002367113484069705
] |
[
-1.3072561025619507,
-0.9706889986991882,
-0.0902940183877945,
-1.0065393447875977,
-1.194017767906189,
1.5896190404891968,
1
] |
[
0.5506490468978882,
0.3840849995613098,
0.6960721611976624,
-0.30209317803382874,
0.7787618637084961,
-0.5497905611991882,
-0.00012726440036203712
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.000059545040130615234,
-0.00002631545066833496,
-0.00010347366333007812,
-0.0015393197536468506,
-0.0005466341972351074,
0.00007414817810058594,
0.0005398615612648427
] |
[
2.8973000049591064,
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-1.2364933490753174,
-0.9620932340621948,
-0.9925704002380371,
1.8245989084243774,
-2.8973000049591064,
1
] |
[
0.41706591844558716,
0.45139142870903015,
0.8580009341239929,
-0.46631765365600586,
0.6645960211753845,
-0.5836038589477539,
-0.016323454678058624
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.00852358341217041,
0.007667273283004761,
0.01296776533126831,
0.16268515586853027,
0.11361920833587646,
0.03388744592666626,
0.016736051067709923
] |
[
-0.5309982299804688,
0.6177165508270264,
-0.05153869837522507,
-0.0012002467410638928,
-0.19573678076267242,
1.64042067527771,
-1.9243392944335938,
1
] |
[
0.545738935470581,
0.38157349824905396,
0.6883177757263184,
-0.43619370460510254,
0.7266225814819336,
-0.529168963432312,
0.041651591658592224
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.004850566387176514,
0.0024851858615875244,
0.007650911808013916,
0.13256120681762695,
0.05159264802932739,
-0.020547449588775635,
-0.041238993406295776
] |
[
0.8828004598617554,
0.9724137783050537,
0.04311177134513855,
-0.000781319395173341,
-0.001554506248794496,
1.2187838554382324,
2.1250078678131104,
1
] |
[
0.5425745844841003,
0.6743008494377136,
0.6873668432235718,
-0.45742398500442505,
0.7246118187904358,
-0.5153653025627136,
0.009978963062167168
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
0.008014917373657227,
0.009757816791534424,
0.008601844310760498,
0.15379148721694946,
0.053603410720825195,
-0.03435111045837402,
-0.009566365741193295
] |
[
0.559604287147522,
0.05269474536180496,
0.5060940384864807,
2.4067816734313965,
-0.08611544221639633,
1.7437400817871094,
-0.896398663520813,
1
] |
[
0.25058090686798096,
0.3840447664260864,
0.6959308981895447,
-0.30415451526641846,
0.7780600786209106,
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0.0003700485685840249
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.00000858306884765625,
0.000013917684555053711,
0.000037789344787597656,
0.0005220174789428711,
0.0001551508903503418,
-0.00006890296936035156,
0.00004254860687069595
] |
pick orange from white bowl
|
[
0.5505895018577576,
0.08405869454145432,
0.9959686994552612,
0.778215229511261,
-0.5497164130210876,
0.00041259717545472085,
-0.3036324977874756
] |
[
0.32599759101867676,
0.16526205837726593,
0.46666866540908813,
0.9581590890884399,
0.036030031740665436,
1.4279630184173584,
-1.1414865255355835,
1
] |
[
0.5505900382995605,
0.08406051248311996,
0.9959682822227478,
-0.30368366837501526,
0.7781652212142944,
-0.5497589707374573,
0.0004241946735419333
] | 8.333333 | 25 | 0 | 25 | 0 |
[
0.5919241309165955,
-2.226041793823242,
-0.4081726372241974,
1.4080908298492432,
-0.19203276932239532,
2.0138461589813232,
-1.031101942062378,
0
] |
[
0.13816548883914948,
0.08339116722345352,
0.6763215661048889,
0.15921449661254883,
-0.6032510995864868,
0.7807329297065735,
-0.034568045288324356
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000026226043701171875,
-0.0000039711594581604,
-4.172325134277344e-7,
-0.000014528632164001465,
-0.00004029273986816406,
-0.000028789043426513672,
-0.000014059245586395264
] |
[
-1.8120774030685425,
-1.5775337219238281,
0.6932830810546875,
-0.943797767162323,
-1.3657954931259155,
1.6109545230865479,
0
] |
[
0.4381600320339203,
0.08338402956724167,
0.6763126850128174,
0.15930718183517456,
-0.6033397912979126,
0.7806423306465149,
-0.034639712423086166
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000028312206268310547,
0.000003166496753692627,
0.000008463859558105469,
-0.00010721385478973389,
0.00004839897155761719,
0.00006181001663208008,
0.00005760788917541504
] |
[
2.329071283340454,
-0.35774439573287964,
-0.8560755848884583,
-0.649440348148346,
-0.8301311135292053,
0.7911734580993652,
-2.8973000049591064,
0
] |
[
0.3130594789981842,
0.15836144983768463,
0.8510164618492126,
0.1622801423072815,
-0.6024652123451233,
0.7807108759880066,
-0.03451578691601753
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.00010338425636291504,
0.00002574920654296875,
0.0003046989440917969,
-0.0030801743268966675,
-0.0008261799812316895,
-0.000006735324859619141,
-0.000066317617893219
] |
[
-0.2239477038383484,
0.31264728307724,
0.1645602285861969,
0.25632911920547485,
-0.21555551886558533,
2.0899999141693115,
-2.0643808841705322,
0
] |
[
0.4364900588989258,
0.08331555873155594,
0.6711428165435791,
0.23375304043293,
-0.5909197330474854,
0.7691088914871216,
-0.06815335154533386
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0016728043556213379,
0.00007163733243942261,
0.005178332328796387,
-0.07455307245254517,
-0.012371659278869629,
0.01159524917602539,
0.03357124701142311
] |
[
0.7630030512809753,
0.3283767104148865,
-0.007908842526376247,
-0.8915684223175049,
-0.09620162099599838,
1.6087677478790283,
2.5625808238983154,
0
] |
[
0.43816429376602173,
0.38337916135787964,
0.6763152480125427,
0.15930204093456268,
-0.6033961176872253,
0.7806047201156616,
-0.03452849015593529
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
-0.000001430511474609375,
0.000008046627044677734,
0.000005900859832763672,
-0.00010207295417785645,
0.00010472536087036133,
0.00009942054748535156,
-0.00005361437797546387
] |
[
0.43127721548080444,
-0.48442912101745605,
0.04364714026451111,
2.149893283843994,
0.014730536378920078,
2.3063528537750244,
-0.8307739496231079,
0
] |
[
0.1381637454032898,
0.08338994532823563,
0.6763039827346802,
0.15936322510242462,
-0.6032434105873108,
0.7807070016860962,
-0.034602902829647064
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-8.791685104370117e-7,
-0.0000027492642402648926,
0.0000171661376953125,
-0.00016325712203979492,
-0.00004798173904418945,
-0.00000286102294921875,
0.000020798295736312866
] |
pick green can from top shelf of fridge
|
[
0.4381628632545471,
-0.2166128009557724,
0.9763211607933044,
-0.603291392326355,
0.780704140663147,
-0.03458210453391075,
0.15919996798038483
] |
[
-0.054199010133743286,
0.048018377274274826,
0.29629310965538025,
1.0709998607635498,
0.051758721470832825,
1.7035597562789917,
-1.0610297918319702,
0
] |
[
0.4381650686264038,
-0.21661122143268585,
0.9763206839561462,
0.1592523157596588,
-0.6032421588897705,
0.7807306051254272,
-0.034602049738168716
] | 0 | 0 | 1 | 26 | 1 |
[
0.5919103026390076,
-2.2260682582855225,
-0.40818214416503906,
1.4081246852874756,
-0.19198554754257202,
2.013766288757324,
-1.0310442447662354,
0
] |
[
0.1381710320711136,
0.08339386433362961,
0.6763211488723755,
0.15925775468349457,
-0.6032271385192871,
0.7807429432868958,
-0.034560397267341614
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000026226043701171875,
-0.0000039711594581604,
-4.172325134277344e-7,
-0.000014513731002807617,
-0.00004029273986816406,
-0.000028789043426513672,
-0.000014059245586395264
] |
[
-1.8121166229248047,
-1.577591061592102,
0.6933853030204773,
-0.943885862827301,
-1.3657156229019165,
1.6109811067581177,
0
] |
[
0.4381655752658844,
0.08338673412799835,
0.676312267780304,
0.1593504250049591,
-0.6033158302307129,
0.7806523442268372,
-0.03463204950094223
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000028312206268310547,
0.000003159046173095703,
0.000008463859558105469,
-0.00010718405246734619,
0.00004839897155761719,
0.00006181001663208008,
0.00005759298801422119
] |
[
2.3281168937683105,
-0.3576616644859314,
-0.8559318780899048,
-0.6497985124588013,
-0.8294007778167725,
0.7915209531784058,
-2.8973000049591064,
0
] |
[
0.3130652606487274,
0.15836423635482788,
0.8510168790817261,
0.16231536865234375,
-0.602442741394043,
0.7807212471961975,
-0.034507833421230316
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.00010314583778381348,
0.000025659799575805664,
0.0003038644790649414,
-0.0030721276998519897,
-0.0008246898651123047,
-0.000007092952728271484,
-0.00006662309169769287
] |
[
-0.22389286756515503,
0.31266605854034424,
0.16452814638614655,
0.25630033016204834,
-0.21561230719089508,
2.0899999141693115,
-2.0644490718841553,
0
] |
[
0.4364961087703705,
0.08331837505102158,
0.671144425868988,
0.2337687462568283,
-0.5908986330032349,
0.7691224813461304,
-0.06812911480665207
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.001672297716140747,
0.00007151812314987183,
0.0051763057708740234,
-0.07452550530433655,
-0.01236879825592041,
0.011591672897338867,
0.03355465829372406
] |
[
0.7630155682563782,
0.32833245396614075,
-0.007934221997857094,
-0.891646146774292,
-0.09619057178497314,
1.6086477041244507,
2.5626308917999268,
0
] |
[
0.43816983699798584,
0.38338184356689453,
0.6763148307800293,
0.15934528410434723,
-0.6033721566200256,
0.7806147933006287,
-0.03452082723379135
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
-0.000001430511474609375,
0.000008046627044677734,
0.000005900859832763672,
-0.00010204315185546875,
0.00010472536087036133,
0.00009936094284057617,
-0.000053629279136657715
] |
[
0.4312950074672699,
-0.4845238924026489,
0.0436197966337204,
2.149752140045166,
0.014750687405467033,
2.3062233924865723,
-0.8307168483734131,
0
] |
[
0.1381692886352539,
0.08339264243841171,
0.6763035655021667,
0.15940645337104797,
-0.6032194495201111,
0.7807170152664185,
-0.034595247358083725
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-8.791685104370117e-7,
-0.0000027492642402648926,
0.0000171661376953125,
-0.00016321241855621338,
-0.00004798173904418945,
-0.00000286102294921875,
0.000020790845155715942
] |
pick green can from top shelf of fridge
|
[
0.43816840648651123,
-0.2166101038455963,
0.976320743560791,
-0.6032674312591553,
0.7807141542434692,
-0.03457445651292801,
0.15924324095249176
] |
[
-0.05423826351761818,
0.048011209815740585,
0.29629987478256226,
1.0710288286209106,
0.05181070417165756,
1.7034635543823242,
-1.0609991550445557,
0
] |
[
0.4381706118583679,
-0.21660852432250977,
0.9763202667236328,
0.15929557383060455,
-0.6032181978225708,
0.7807406187057495,
-0.034594401717185974
] | 0.333333 | 1 | 1 | 27 | 1 |
[
0.5737495422363281,
-2.274258852005005,
-0.42693108320236206,
1.4698113203048706,
-0.12388254702091217,
1.8890048265457153,
-0.931729257106781,
0
] |
[
0.14529524743556976,
0.08560493588447571,
0.6733771562576294,
0.22525548934936523,
-0.5584406852722168,
0.7981915473937988,
-0.017152374610304832
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.000002592802047729492,
-0.0000033527612686157227,
-0.0000011920928955078125,
-0.0000012665987014770508,
-0.00003725290298461914,
-0.000025928020477294922,
-0.00001033581793308258
] |
[
-1.8813416957855225,
-1.6681092977523804,
0.8566573858261108,
-1.0739914178848267,
-1.2352383136749268,
1.6635570526123047,
0
] |
[
0.44529077410697937,
0.08559875935316086,
0.6733705401420593,
0.22531986236572266,
-0.5585334897041321,
0.7981075048446655,
-0.017195967957377434
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000018775463104248047,
0.000002823770046234131,
0.000005424022674560547,
-0.00006563961505889893,
0.00005555152893066406,
0.00005811452865600586,
0.00003325752913951874
] |
[
1.3404788970947266,
-0.37071850895881653,
-0.4484059512615204,
-1.0439883470535278,
-0.3365710973739624,
1.1717629432678223,
-2.8973000049591064,
0
] |
[
0.3202725648880005,
0.1606055647134781,
0.8483355045318604,
0.22574228048324585,
-0.5581523776054382,
0.7982564568519592,
-0.017116716131567955
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.00002008676528930664,
-0.000003978610038757324,
0.000040471553802490234,
-0.0004880577325820923,
-0.0003255605697631836,
-0.00009083747863769531,
-0.00004599429666996002
] |
[
-0.12625400722026825,
0.33934828639030457,
0.05032643675804138,
0.22166794538497925,
-0.2519342601299286,
2.0899999141693115,
-2.1871466636657715,
0
] |
[
0.44462764263153076,
0.08562695235013962,
0.6715090274810791,
0.25271251797676086,
-0.553076446056366,
0.7934155464172363,
-0.02710292860865593
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0006650090217590332,
-0.000025369226932525635,
0.0018669366836547852,
-0.027458295226097107,
-0.005401492118835449,
0.004750072956085205,
0.009940218180418015
] |
[
0.7069859504699707,
0.25547298789024353,
0.062432415783405304,
-1.0256829261779785,
-0.11719869822263718,
1.4160175323486328,
2.675917625427246,
0
] |
[
0.44529518485069275,
0.38559386134147644,
0.6733716726303101,
0.2253277599811554,
-0.5585988759994507,
0.7980619668960571,
-0.017083508893847466
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
-0.0000025331974029541016,
0.000007718801498413086,
0.000004291534423828125,
-0.00007353723049163818,
0.00012093782424926758,
0.0001036524772644043,
-0.00007920153439044952
] |
[
0.4507571756839752,
-0.6339513659477234,
0.006817169487476349,
1.9307135343551636,
0.04430150240659714,
2.1093976497650146,
-0.7322542667388916,
0
] |
[
0.14529390633106232,
0.08560436218976974,
0.673366367816925,
0.22536082565784454,
-0.5584326386451721,
0.7981670498847961,
-0.017172429710626602
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000012516975402832031,
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0.00000959634780883789,
-0.00010660290718078613,
-0.000045299530029296875,
-0.000001430511474609375,
0.000009719282388687134
] |
pick green can from top shelf of fridge
|
[
0.4452926516532898,
-0.21439841389656067,
0.9733759760856628,
-0.5584779381752014,
0.7981656193733215,
-0.017162710428237915,
0.22525422275066376
] |
[
-0.12210386246442795,
0.037600696086883545,
0.3066662847995758,
1.1271677017211914,
0.14123709499835968,
1.5479298830032349,
-1.011350393295288,
0
] |
[
0.44529539346694946,
-0.21439677476882935,
0.9733765125274658,
0.2252853810787201,
-0.5584271550178528,
0.7981918454170227,
-0.017185525968670845
] | 0.666667 | 2 | 1 | 28 | 1 |
[
0.5457065105438232,
-2.3452398777008057,
-0.4598357379436493,
1.5561481714248657,
-0.03408599644899368,
1.739823341369629,
-0.7821388840675354,
0
] |
[
0.14952200651168823,
0.08405645936727524,
0.6697312593460083,
0.3049481511116028,
-0.47905227541923523,
0.8227134943008423,
0.025652995333075523
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
-0.0000025779008865356445,
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0.000013977289199829102,
-0.00003167986869812012,
-0.000023484230041503906,
-0.000004718080163002014
] |
[
-1.993635892868042,
-1.7732212543487549,
1.0404151678085327,
-1.1894094944000244,
-1.046246886253357,
1.7591577768325806,
0
] |
[
0.44951802492141724,
0.08405106514692307,
0.6697259545326233,
0.3049868047237396,
-0.479155957698822,
0.8226392865180969,
0.025635812431573868
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000014007091522216797,
0.0000028386712074279785,
0.0000032186508178710938,
-0.00002467632293701172,
0.00007200241088867188,
0.00005072355270385742,
0.000012464821338653564
] |
[
0.6315749287605286,
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0.004758570343255997,
1.4885605573654175,
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0
] |
[
0.32451489567756653,
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0.8447155356407166,
0.3051420748233795,
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0.8226941227912903,
0.025645511224865913
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.0000045299530029296875,
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0.000013649463653564453,
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-0.00012153387069702148,
-0.000004112720489501953,
0.000002766028046607971
] |
[
-0.04648431017994881,
0.20091882348060608,
0.0682782381772995,
0.5471808910369873,
-0.3781306743621826,
1.846900224685669,
-2.2766919136047363,
0
] |
[
0.44951924681663513,
0.0840487852692604,
0.6697245836257935,
0.3050187826156616,
-0.47917360067367554,
0.8226171731948853,
0.025636062026023865
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
1.7881393432617188e-7,
0.00000511854887008667,
0.000004589557647705078,
-0.00005665421485900879,
0.0000896453857421875,
0.00007283687591552734,
0.000012215226888656616
] |
[
0.5995880365371704,
0.15967389941215515,
0.16607555747032166,
-1.2047388553619385,
-0.1194688230752945,
1.1637496948242188,
2.854199171066284,
0
] |
[
0.44952303171157837,
0.38404563069343567,
0.6697264313697815,
0.3049973249435425,
-0.4792391061782837,
0.8225829005241394,
0.02576507069170475
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
-0.000003606081008911133,
0.000008285045623779297,
0.0000027418136596679688,
-0.000035196542739868164,
0.0001551508903503418,
0.00010710954666137695,
-0.0001167934387922287
] |
[
0.4473816156387329,
-0.8094654679298401,
-0.03231678158044815,
1.6933989524841309,
0.09361259639263153,
1.888667106628418,
-0.5794256329536438,
0
] |
[
0.14952097833156586,
0.08405644446611404,
0.6697244644165039,
0.30502334237098694,
-0.47904521226882935,
0.8226900100708008,
0.025643881410360336
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000015497207641601562,
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0.000004708766937255859,
-0.00006121397018432617,
-0.000038743019104003906,
0,
0.000004395842552185059
] |
pick green can from top shelf of fridge
|
[
0.44951942563056946,
-0.21594609320163727,
0.9697291851043701,
-0.47908395528793335,
0.8226900100708008,
0.02564827725291252,
0.3049621284008026
] |
[
-0.21808166801929474,
0.03108884207904339,
0.3149501085281372,
1.2052338123321533,
0.28921452164649963,
1.359129548072815,
-0.9417116641998291,
0
] |
[
0.4495229423046112,
-0.21594437956809998,
0.9697310328483582,
0.30496206879615784,
-0.4790332019329071,
0.8227205276489258,
0.025617823004722595
] | 1 | 3 | 1 | 29 | 1 |
[
0.5377023816108704,
-2.3912034034729004,
-0.47906798124313354,
1.6285415887832642,
0.05797787383198738,
1.5502406358718872,
-0.6755815744400024,
0
] |
[
0.16382546722888947,
0.09089943766593933,
0.6807243227958679,
0.3916476368904114,
-0.41414549946784973,
0.8190904855728149,
0.06470256298780441
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000022649765014648438,
-0.0000019371509552001953,
-0.0000027418136596679688,
0.000027507543563842773,
-0.000026792287826538086,
-0.000026941299438476562,
0.0000027939677238464355
] |
[
-2.068310260772705,
-1.8447351455688477,
1.1825954914093018,
-1.3351963758468628,
-0.8514326810836792,
1.87002432346344,
0
] |
[
0.46382156014442444,
0.09089397639036179,
0.6807197332382202,
0.3916613459587097,
-0.41426846385002136,
0.8190211057662964,
0.06471029669046402
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000016391277313232422,
0.0000035241246223449707,
0.0000018477439880371094,
0.00001379847526550293,
0.00009617209434509277,
0.000042438507080078125,
-0.000004939734935760498
] |
[
0.40182003378868103,
-0.5560992956161499,
-0.021051935851573944,
-1.5085411071777344,
0.1748512089252472,
1.7496336698532104,
-2.8717191219329834,
0
] |
[
0.33882108330726624,
0.16589808464050293,
0.8557122945785522,
0.39179766178131104,
-0.4141139090061188,
0.8190351724624634,
0.0646962821483612
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.000002115964889526367,
-5.811452865600586e-7,
0.000009298324584960938,
-0.00012251734733581543,
-0.00005838274955749512,
0.000028371810913085938,
0.000009074807167053223
] |
[
0.06724878400564194,
0.07665730267763138,
0.009727894328534603,
0.8294771313667297,
-0.49500933289527893,
1.5575867891311646,
-2.2993123531341553,
0
] |
[
0.4638243019580841,
0.09089183807373047,
0.6807202696800232,
0.3916851580142975,
-0.41428932547569275,
0.8189978003501892,
0.06472775340080261
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000011026859283447266,
0.000005662441253662109,
0.0000013113021850585938,
-0.000010013580322265625,
0.00011703372001647949,
0.00006574392318725586,
-0.000022396445274353027
] |
[
0.5343126654624939,
0.10588350892066956,
0.21806924045085907,
-1.3136165142059326,
-0.1290236860513687,
0.9140765070915222,
2.9810972213745117,
0
] |
[
0.46382778882980347,
0.3908878266811371,
0.6807202100753784,
0.39166775345802307,
-0.41437578201293945,
0.8189516663551331,
0.06486351042985916
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
-0.000004589557647705078,
0.000009685754776000977,
0.0000013709068298339844,
0.0000073909759521484375,
0.0002034902572631836,
0.0001118779182434082,
-0.0001581534743309021
] |
[
0.43502938747406006,
-0.9296115636825562,
-0.048268042504787445,
1.5171411037445068,
0.13730120658874512,
1.6459968090057373,
-0.47810807824134827,
0
] |
[
0.16382470726966858,
0.09089962393045425,
0.6807194948196411,
0.39170703291893005,
-0.4141390025615692,
0.8190655708312988,
0.06469988822937012
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000015050172805786133,
-0.000002123415470123291,
0.000002086162567138672,
-0.000031888484954833984,
-0.000033289194107055664,
-0.0000020265579223632812,
0.00000546872615814209
] |
pick green can from top shelf of fridge
|
[
0.46382319927215576,
-0.20910249650478363,
0.9807215929031372,
-0.41417229175567627,
0.8190635442733765,
0.06470535695552826,
0.3916751444339752
] |
[
-0.2977660000324249,
0.036062322556972504,
0.3436925709247589,
1.255728006362915,
0.44332849979400635,
1.1680880784988403,
-0.923916220664978,
0
] |
[
0.4638274908065796,
-0.2091006338596344,
0.9807249307632446,
0.39164066314697266,
-0.41412216424942017,
0.8191085457801819,
0.06466514617204666
] | 1.333333 | 4 | 1 | 30 | 1 |
[
0.5551304817199707,
-2.3787002563476562,
-0.4797981381416321,
1.6584715843200684,
0.11384402960538864,
1.3999818563461304,
-0.6325389742851257,
0
] |
[
0.18553978204727173,
0.10524418950080872,
0.697641134262085,
0.44339215755462646,
-0.38601815700531006,
0.8047555088996887,
0.08223091065883636
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.000001862645149230957,
-0.0000017583370208740234,
-0.0000029802322387695312,
0.00003507733345031738,
-0.000025331974029541016,
-0.0000324249267578125,
0.000009410083293914795
] |
[
-2.0491437911987305,
-1.8456895351409912,
1.2360366582870483,
-1.504709243774414,
-0.7659249305725098,
2.0045270919799805,
0
] |
[
0.4855358600616455,
0.10523808002471924,
0.6976370215415955,
0.44338274002075195,
-0.3861631751060486,
0.8046888709068298,
0.08225300163030624
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000020563602447509766,
0.000004351139068603516,
0.0000011324882507324219,
0.0000444948673248291,
0.00011968612670898438,
0.00003421306610107422,
-0.000012680888175964355
] |
[
0.40596288442611694,
-0.5348507165908813,
-0.015116691589355469,
-1.5263214111328125,
0.19715924561023712,
1.9065340757369995,
-2.8347396850585938,
0
] |
[
0.3605354428291321,
0.18024280667304993,
0.8726295828819275,
0.4435347318649292,
-0.3859844505786896,
0.8046931624412537,
0.08223046362400055
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.000002473592758178711,
-3.725290298461914e-7,
0.00000858306884765625,
-0.00010749697685241699,
-0.000059038400650024414,
0.000029921531677246094,
0.000009857118129730225
] |
[
0.08161710947751999,
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-0.008920793421566486,
0.8969237208366394,
-0.5553818941116333,
1.4108401536941528,
-2.312317371368408,
0
] |
[
0.4855392277240753,
0.10523667931556702,
0.6976372599601746,
0.4434283971786499,
-0.38617220520973206,
0.8046575784683228,
0.08227041363716125
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000013113021850585938,
0.000005751848220825195,
8.940696716308594e-7,
-0.0000011622905731201172,
0.00012871623039245605,
0.0000655055046081543,
-0.000030092895030975342
] |
[
0.5933731198310852,
0.1234009638428688,
0.14933140575885773,
-1.3035557270050049,
-0.14083130657672882,
0.7867518067359924,
3.028334379196167,
0
] |
[
0.48554354906082153,
0.4052322804927826,
0.6976374983787537,
0.4433898329734802,
-0.3862827718257904,
0.8046103715896606,
0.08242086321115494
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
-0.000005632638931274414,
0.000010162591934204102,
6.556510925292969e-7,
0.00003740191459655762,
0.00023928284645080566,
0.00011271238327026367,
-0.0001805424690246582
] |
[
0.4311669170856476,
-0.9423797726631165,
-0.04290219023823738,
1.45078706741333,
0.16008812189102173,
1.4751145839691162,
-0.44211071729660034,
0
] |
[
0.1855391412973404,
0.10524427145719528,
0.6976369023323059,
0.4434471130371094,
-0.38601210713386536,
0.8047279715538025,
0.08223268389701843
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000012218952178955078,
-0.0000018402934074401855,
0.0000012516975402832031,
-0.000019878149032592773,
-0.000031381845474243164,
-0.000004887580871582031,
0.000007636845111846924
] |
pick green can from top shelf of fridge
|
[
0.48553791642189026,
-0.19475756585597992,
0.9976381659507751,
-0.3860434889793396,
0.8047230839729309,
0.08224032074213028,
0.4434272348880768
] |
[
-0.3287186920642853,
0.05822308734059334,
0.3927116096019745,
1.2440556287765503,
0.5020266175270081,
1.0571948289871216,
-0.9071290493011475,
0
] |
[
0.48554256558418274,
-0.19475562870502472,
0.9976422786712646,
0.4433768093585968,
-0.38599473237991333,
0.8047787547111511,
0.08219630271196365
] | 1.666667 | 5 | 1 | 31 | 1 |
[
0.5776668787002563,
-2.3583173751831055,
-0.46534231305122375,
1.6705904006958008,
0.140682652592659,
1.2918552160263062,
-0.6073495149612427,
0
] |
[
0.20208747684955597,
0.12180362641811371,
0.7128838300704956,
0.4760453402996063,
-0.3747906982898712,
0.7906992435455322,
0.0877920389175415
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000015497207641601562,
-0.0000017285346984863281,
-0.000003039836883544922,
0.00003972649574279785,
-0.000024825334548950195,
-0.00003719329833984375,
0.000014081597328186035
] |
[
-2.0042777061462402,
-1.8304357528686523,
1.2577009201049805,
-1.6611603498458862,
-0.7399981021881104,
2.1238324642181396,
0
] |
[
0.5020837783813477,
0.12179713696241379,
0.7128801345825195,
0.47601431608200073,
-0.3749525249004364,
0.7906385660171509,
0.087816022336483
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000021457672119140625,
0.000004760921001434326,
6.556510925292969e-7,
0.00007075071334838867,
0.00013700127601623535,
0.000023484230041503906,
-0.000009901821613311768
] |
[
0.4015715420246124,
-0.4924059808254242,
0.004473552107810974,
-1.5016443729400635,
0.20565810799598694,
2.0013909339904785,
-2.8194398880004883,
0
] |
[
0.3770830035209656,
0.19680196046829224,
0.8878721594810486,
0.4761873185634613,
-0.37475505471229553,
0.7906302213668823,
0.08779576420783997
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.0000029206275939941406,
-5.960464477539063e-8,
0.00000864267349243164,
-0.00010225176811218262,
-0.00006046891212463379,
0.000031828880310058594,
0.000010356307029724121
] |
[
0.05933842062950134,
0.06047337129712105,
-0.024373861029744148,
0.9126354455947876,
-0.5661922693252563,
1.3142726421356201,
-2.328653573989868,
0
] |
[
0.502087414264679,
0.12179596722126007,
0.7128801345825195,
0.4760812222957611,
-0.37495362758636475,
0.7905946969985962,
0.08784324675798416
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000014901161193847656,
0.000005930662155151367,
6.556510925292969e-7,
0.000003844499588012695,
0.00013810396194458008,
0.0000673532485961914,
-0.000037126243114471436
] |
[
0.6873965859413147,
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0.051087066531181335,
-1.261932373046875,
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0.7204415798187256,
3.0478761196136475,
0
] |
[
0.5020926594734192,
0.4217919409275055,
0.7128806710243225,
0.47602635622024536,
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0.7905511260032654,
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[
0,
0.6000000238418579,
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] | 0 |
[
-0.000006735324859619141,
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1.1920928955078125e-7,
0.000058710575103759766,
0.00026354193687438965,
0.00011092424392700195,
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] |
[
0.43235155940055847,
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1.4284056425094604,
0.1686442494392395,
1.3576362133026123,
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0
] |
[
0.2020869106054306,
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0.7128798365592957,
0.47609901428222656,
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0.7906690835952759,
0.08779715746641159
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[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
-9.834766387939453e-7,
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9.5367431640625e-7,
-0.000013947486877441406,
-0.00003045797348022461,
-0.000007033348083496094,
0.000008963048458099365
] |
pick green can from top shelf of fridge
|
[
0.5020859241485596,
-0.17819809913635254,
1.012880802154541,
-0.37481552362442017,
0.7906620502471924,
0.08780612051486969,
0.4760850667953491
] |
[
-0.328571617603302,
0.06640291959047318,
0.42902520298957825,
1.2330909967422485,
0.5159401297569275,
0.980887770652771,
-0.8891932368278503,
0
] |
[
0.5020907521247864,
-0.1781960427761078,
1.012885332107544,
0.4760272204875946,
-0.3747676908969879,
0.7907246351242065,
0.08776016533374786
] | 2 | 6 | 1 | 32 | 1 |
[
0.5875063538551331,
-2.3521640300750732,
-0.4546363055706024,
1.6910649538040161,
0.1417854279279709,
1.1951167583465576,
-0.5708009004592896,
0
] |
[
0.21672247350215912,
0.13035991787910461,
0.7198094725608826,
0.5027896761894226,
-0.3530378043651581,
0.7841751575469971,
0.08738519996404648
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000014007091522216797,
-0.0000016540288925170898,
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0.00004404783248901367,
-0.000024050474166870117,
-0.00004100799560546875,
0.000017210841178894043
] |
[
-1.9694815874099731,
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1.298675775527954,
-1.8313387632369995,
-0.744076669216156,
2.2555699348449707,
0
] |
[
0.5167190432548523,
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0.7198061943054199,
0.502736508846283,
-0.35321375727653503,
0.7841280698776245,
0.08740238845348358
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000020265579223632812,
0.00000476837158203125,
5.960464477539063e-8,
0.00009721517562866211,
0.000151902437210083,
0.000006079673767089844,
2.2351741790771484e-8
] |
[
0.3866565525531769,
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0.02515505999326706,
-1.5104033946990967,
0.19519390165805817,
2.0959315299987793,
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0
] |
[
0.3917180001735687,
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0.8947980403900146,
0.5029259920120239,
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0.7841019034385681,
0.08739208430051804
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.000003069639205932617,
2.086162567138672e-7,
0.000008225440979003906,
-0.00009226799011230469,
-0.00005728006362915039,
0.00003224611282348633,
0.000010326504707336426
] |
[
0.04702790826559067,
0.04790407419204712,
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0.9629595875740051,
-0.5542163848876953,
1.2015424966812134,
-2.355135202407837,
0
] |
[
0.5167227983474731,
0.13035178184509277,
0.7198061347007751,
0.5028213858604431,
-0.35321664810180664,
0.7840664982795715,
0.08745493739843369
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000017285346984863281,
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1.1920928955078125e-7,
0.00001233816146850586,
0.00015479326248168945,
0.00006765127182006836,
-0.00005252659320831299
] |
[
0.945018470287323,
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-1.246939778327942,
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0.6516336798667908,
3.0543301105499268,
0
] |
[
0.5167346000671387,
0.43034735321998596,
0.7198079228401184,
0.5027036666870117,
-0.3534686863422394,
0.7840037941932678,
0.08767537027597427
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
-0.000013530254364013672,
0.000010907649993896484,
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0.00013005733489990234,
0.0004068315029144287,
0.0001303553581237793,
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] |
[
0.41913560032844543,
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1.3839752674102783,
0.16370424628257751,
1.250168800354004,
-0.39523956179618835,
0
] |
[
0.21672195196151733,
0.1303597092628479,
0.7198057770729065,
0.5028397440910339,
-0.35303395986557007,
0.7841439843177795,
0.08739235252141953
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-8.791685104370117e-7,
-0.0000014454126358032227,
4.76837158203125e-7,
-0.000006020069122314453,
-0.000027894973754882812,
-0.000009834766387939453,
0.000010058283805847168
] |
pick green can from top shelf of fridge
|
[
0.5167210698127747,
-0.16964173316955566,
1.0198062658309937,
-0.35306185483932495,
0.7841341495513916,
0.08740241080522537,
0.5028337240219116
] |
[
-0.3310319781303406,
0.06854506582021713,
0.45756688714027405,
1.2463550567626953,
0.5137724280357361,
0.8914754390716553,
-0.8580346703529358,
0
] |
[
0.5167260766029358,
-0.16963961720466614,
1.0198111534118652,
0.5027689337730408,
-0.35301393270492554,
0.7842027544975281,
0.08735356479883194
] | 2.333333 | 7 | 1 | 33 | 1 |
[
0.5794048309326172,
-2.3434133529663086,
-0.46037083864212036,
1.6979947090148926,
0.14280760288238525,
1.1208608150482178,
-0.5355862975120544,
0
] |
[
0.23127220571041107,
0.1266103982925415,
0.7268483638763428,
0.5251089930534363,
-0.3202948570251465,
0.7837816476821899,
0.08577954024076462
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000012814998626708984,
-0.0000015944242477416992,
-0.0000032782554626464844,
0.0000470280647277832,
-0.00002428889274597168,
-0.00004363059997558594,
0.0000195428729057312
] |
[
-1.9594674110412598,
-1.8105806112289429,
1.3230314254760742,
-1.9700310230255127,
-0.7569798231124878,
2.3803794384002686,
0
] |
[
0.5312690138816833,
0.12660442292690277,
0.7268455028533936,
0.5250392556190491,
-0.32047978043556213,
0.7837522029876709,
0.0857844352722168
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000019073486328125,
0.000004380941390991211,
-4.172325134277344e-7,
0.00011676549911499023,
0.00016063451766967773,
-0.000014185905456542969,
0.000014647841453552246
] |
[
0.36091408133506775,
-0.45668694376945496,
0.03575598821043968,
-1.514379858970642,
0.17967233061790466,
2.1699838638305664,
-2.738438367843628,
0
] |
[
0.4062677323818207,
0.20160843431949615,
0.9018371105194092,
0.5252407193183899,
-0.3202664852142334,
0.7837038636207581,
0.0857892706990242
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.0000031888484954833984,
3.725290298461914e-7,
0.000007987022399902344,
-0.00008469820022583008,
-0.00005266070365905762,
0.00003415346145629883,
0.000009812414646148682
] |
[
0.04531002417206764,
0.04014061763882637,
-0.05617611110210419,
0.9986347556114197,
-0.5420972108840942,
1.1089023351669312,
-2.3969674110412598,
0
] |
[
0.5312727689743042,
0.12660175561904907,
0.7268452644348145,
0.5251380801200867,
-0.3204916715621948,
0.7836722135543823,
0.0858655571937561
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000018477439880371094,
0.000007048249244689941,
-1.7881393432617188e-7,
0.000017940998077392578,
0.00017252564430236816,
0.00006580352783203125,
-0.0000664740800857544
] |
[
1.1880522966384888,
0.21856030821800232,
-0.5868344902992249,
-1.2436739206314087,
-0.004612195771187544,
0.5969734191894531,
3.0543301105499268,
0
] |
[
0.5312898755073547,
0.4266001880168915,
0.7268476486206055,
0.5249915719032288,
-0.320777028799057,
0.7836287617683411,
0.08609218150377274
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
-0.00001895427703857422,
0.000008612871170043945,
-0.000002562999725341797,
0.00016444921493530273,
0.0004578828811645508,
0.00010925531387329102,
-0.0002930983901023865
] |
[
0.3924080431461334,
-0.9261767268180847,
-0.00426579499617219,
1.3542474508285522,
0.15508829057216644,
1.1680814027786255,
-0.36021703481674194,
0
] |
[
0.23127174377441406,
0.12661010026931763,
0.7268449068069458,
0.5251563787460327,
-0.3202935755252838,
0.7837494015693665,
0.08578832447528839
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-8.195638656616211e-7,
-0.000001296401023864746,
1.7881393432617188e-7,
-3.5762786865234375e-7,
-0.000025570392608642578,
-0.00001138448715209961,
0.000010758638381958008
] |
pick green can from top shelf of fridge
|
[
0.5312709212303162,
-0.173391193151474,
1.026845097541809,
-0.32031914591789246,
0.7837380170822144,
0.08579908311367035,
0.5251560211181641
] |
[
-0.3414756655693054,
0.08103737980127335,
0.4768785536289215,
1.2422667741775513,
0.49639007449150085,
0.8177624940872192,
-0.8050588965415955,
0
] |
[
0.5312759876251221,
-0.17338910698890686,
1.0268501043319702,
0.5250892639160156,
-0.32026979327201843,
0.7838084697723389,
0.08574818819761276
] | 2.666667 | 8 | 1 | 34 | 1 |
[
0.5510460734367371,
-2.347208261489868,
-0.45442530512809753,
1.6897118091583252,
0.11510194092988968,
1.0944328308105469,
-0.4992852210998535,
0
] |
[
0.23835985362529755,
0.11624140292406082,
0.7320683598518372,
0.5376896262168884,
-0.291115403175354,
0.788213312625885,
0.0697244331240654
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000014007091522216797,
-0.0000014975666999816895,
-0.000003337860107421875,
0.000047266483306884766,
-0.00002372264862060547,
-0.000042557716369628906,
0.000017523765563964844
] |
[
-1.9575027227401733,
-1.809813141822815,
1.33589506149292,
-2.0560197830200195,
-0.8007436990737915,
2.462310552597046,
0
] |
[
0.5383567214012146,
0.116236113011837,
0.7320656776428223,
0.5376150012016296,
-0.29129788279533386,
0.7881975769996643,
0.06971535831689835
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
0.0000017285346984863281,
0.0000037923455238342285,
-6.556510925292969e-7,
0.00012189149856567383,
0.00015875697135925293,
-0.00002682209014892578,
0.000026598572731018066
] |
[
0.3211440145969391,
-0.4548569619655609,
0.05275843292474747,
-1.5146819353103638,
0.1408614218235016,
2.2018682956695557,
-2.690493106842041,
0
] |
[
0.41335535049438477,
0.1912393718957901,
0.9070570468902588,
0.5378190875053406,
-0.291093111038208,
0.7881322503089905,
0.06973488628864288
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.0000030994415283203125,
5.364418029785156e-7,
0.000007987022399902344,
-0.00008219480514526367,
-0.00004601478576660156,
0.000038504600524902344,
0.000007070600986480713
] |
[
0.050124164670705795,
0.024860285222530365,
-0.07753030955791473,
1.0209548473358154,
-0.4809008538722992,
1.045985460281372,
-2.4597675800323486,
0
] |
[
0.5383603572845459,
0.1162320151925087,
0.732065737247467,
0.5377119183540344,
-0.2913322150707245,
0.7881089448928833,
0.06982649862766266
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000019073486328125,
0.000007890164852142334,
-7.152557373046875e-7,
0.000024974346160888672,
0.00019308924674987793,
0.00006181001663208008,
-0.00008454173803329468
] |
[
1.4118173122406006,
0.2640962600708008,
-0.9012721180915833,
-1.2458727359771729,
0.08185157179832458,
0.5849888324737549,
3.0543301105499268,
0
] |
[
0.5383797883987427,
0.41623544692993164,
0.7320680022239685,
0.5375720858573914,
-0.2915496826171875,
0.788110077381134,
0.06998248398303986
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
-0.000021338462829589844,
0.000004470348358154297,
-0.0000029802322387695312,
0.00016480684280395508,
0.0004105567932128906,
0.000060677528381347656,
-0.00024052709341049194
] |
[
0.354031503200531,
-0.9288728833198547,
0.002856822684407234,
1.3484216928482056,
0.12860701978206635,
1.137068271636963,
-0.32961270213127136,
0
] |
[
0.23835933208465576,
0.11624108254909515,
0.7320649027824402,
0.5377355813980103,
-0.2911156415939331,
0.7881811261177063,
0.06973239034414291
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-8.791685104370117e-7,
-0.0000011771917343139648,
1.1920928955078125e-7,
0.0000013113021850585938,
-0.000023484230041503906,
-0.000010371208190917969,
0.000009566545486450195
] |
pick green can from top shelf of fridge
|
[
0.5383584499359131,
-0.18376009166240692,
1.0320650339126587,
-0.2911391258239746,
0.7881707549095154,
0.06974195688962936,
0.5377368927001953
] |
[
-0.32086557149887085,
0.06617080420255661,
0.45272311568260193,
1.2598836421966553,
0.4526519477367401,
0.7615475058555603,
-0.7407037019729614,
0
] |
[
0.5383633375167847,
-0.18375805020332336,
1.0320699214935303,
0.5376743674278259,
-0.2910868525505066,
0.7882372736930847,
0.06969009339809418
] | 3 | 9 | 1 | 35 | 1 |
[
0.5511755347251892,
-2.3472273349761963,
-0.4544183611869812,
1.6897727251052856,
0.11502401530742645,
1.0941011905670166,
-0.49936676025390625,
0
] |
[
0.23839041590690613,
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0.7320881485939026,
0.5377956032752991,
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0.7881354093551636,
0.06966555118560791
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
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0.000047266483306884766,
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[
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0
] |
[
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0.06965643912553787
] |
[
0,
0.30000001192092896,
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] | 0 |
[
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0.00012195110321044922,
0.00015875697135925293,
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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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1.0212101936340332,
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1.0455645322799683,
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0
] |
[
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0.7320855259895325,
0.5378178954124451,
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0.7880309820175171,
0.06976768374443054
] |
[
0,
0.30000001192092896,
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] | 0 |
[
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0.000024974346160888672,
0.00019314885139465332,
0.00006181001663208008,
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] |
[
1.41181480884552,
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0.08168300986289978,
0.5847061276435852,
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0
] |
[
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[
0,
0.6000000238418579,
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] | 0 |
[
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[
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1.3482258319854736,
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] |
[
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[
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[
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0.0000013113021850585938,
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0.000009566545486450195
] |
pick green can from top shelf of fridge
|
[
0.5383890271186829,
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1.0320848226547241,
-0.2911684215068817,
0.7880927920341492,
0.06968308240175247,
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[
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] |
[
0.5383939146995544,
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1.0320897102355957,
0.5377802848815918,
-0.2911161482334137,
0.7881593704223633,
0.0696311965584755
] | 3.333333 | 10 | 1 | 36 | 1 |
[
0.5748160481452942,
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1.700461983680725,
0.10087185353040695,
1.0355325937271118,
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0
] |
[
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0.7354787588119507,
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0.7742864489555359,
0.059475213289260864
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[
-0.30000001192092896,
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] | 0 |
[
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[
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0
] |
[
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0.7742769718170166,
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] |
[
0,
0.30000001192092896,
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] | 0 |
[
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0.00013315677642822266,
0.00015908479690551758,
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0.000035878270864486694
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[
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] |
[
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[
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] | 0 |
[
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0.00003421306610107422,
0.0000092238187789917
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[
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1.0654425621032715,
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0.9719470739364624,
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0
] |
[
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0.7354761958122253,
0.5561707019805908,
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0.7741737961769104,
0.05958877503871918
] |
[
0,
0.30000001192092896,
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] | 0 |
[
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0.00002574920654296875,
0.0002008676528930664,
0.00006562471389770508,
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] |
[
1.4125022888183594,
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0.05383948236703873,
0.5349137783050537,
3.0543301105499268,
0
] |
[
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0.7354787588119507,
0.5560323596000671,
-0.29646942019462585,
0.7741872072219849,
0.059733521193265915
] |
[
0,
0.6000000238418579,
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] | 0 |
[
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0.0001640915870666504,
0.00039637088775634766,
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] |
[
0.3619571030139923,
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1.3137938976287842,
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1.0691584348678589,
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0
] |
[
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0.7354755997657776,
0.5561895370483398,
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0.7742541432380676,
0.059484176337718964
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0 |
[
-7.748603820800781e-7,
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0.0000069141387939453125,
-0.000023484230041503906,
-0.000014722347259521484,
0.000010155141353607178
] |
pick green can from top shelf of fridge
|
[
0.5436922907829285,
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1.0354753732681274,
-0.2960730493068695,
0.7742394208908081,
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0.5561964511871338
] |
[
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0
] |
[
0.5436975359916687,
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1.0354807376861572,
0.5561227798461914,
-0.2960180342197418,
0.7743176221847534,
0.05943842977285385
] | 3.666667 | 11 | 1 | 37 | 1 |
[
0.5952908992767334,
-2.350539445877075,
-0.46153950691223145,
1.7131441831588745,
0.08583693206310272,
0.9644598364830017,
-0.5173859000205994,
0.0008695652359165251
] |
[
0.25204986333847046,
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0.7384876012802124,
0.5767518281936646,
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0.7619689106941223,
0.0498960018157959
] |
[
-0.30000001192092896,
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] | 0 |
[
-0.0000010132789611816406,
-0.0000017136335372924805,
-0.000003516674041748047,
0.00005328655242919922,
-0.000026911497116088867,
-0.000052034854888916016,
0.000021498650312423706
] |
[
-1.9378584623336792,
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1.3892310857772827,
-2.259324312210083,
-0.8112205266952515,
2.525297164916992,
0.0008695652359165251
] |
[
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0.7384853959083557,
0.5766603946685791,
-0.2904798686504364,
0.7619693875312805,
0.04986842721700668
] |
[
0,
0.30000001192092896,
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] | 0 |
[
0.0000012516975402832031,
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0.00014472007751464844,
0.00015804171562194824,
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0.000049073249101638794
] |
[
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2.3400449752807617,
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] |
[
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] |
[
-0.125,
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] | 0 |
[
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] |
[
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1.116800308227539,
-0.5035727620124817,
0.8823283314704895,
-2.3863093852996826,
0.0008695652359165251
] |
[
0.5520508289337158,
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0.7384850382804871,
0.576780378818512,
-0.2905353009700775,
0.7618471384048462,
0.0500255711376667
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000019669532775878906,
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-9.5367431640625e-7,
0.00002473592758178711,
0.00021347403526306152,
0.00006973743438720703,
-0.00010807067155838013
] |
[
1.532633900642395,
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-1.1200724840164185,
-1.2637269496917725,
0.24405397474765778,
0.4842880368232727,
2.9308314323425293,
0.0008695652359165251
] |
[
0.552067756652832,
0.4185514450073242,
0.738486111164093,
0.5767018795013428,
-0.29065048694610596,
0.7618566155433655,
0.05011732503771782
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0 |
[
-0.000018894672393798828,
0.0000026226043701171875,
-0.0000020265579223632812,
0.00010323524475097656,
0.0003286600112915039,
0.00006026029586791992,
-0.00019982457160949707
] |
[
0.3614995777606964,
-0.9497882723808289,
0.010397295467555523,
1.2704190015792847,
0.09699331223964691,
0.9879088997840881,
-0.3505553901195526,
0.0008695652359165251
] |
[
0.2520495355129242,
0.1185552328824997,
0.7384846806526184,
0.5767917037010193,
-0.2902989983558655,
0.7619364261627197,
0.04990670457482338
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-6.854534149169922e-7,
-0.0000011622905731201172,
-5.960464477539062e-7,
0.00001341104507446289,
-0.00002282857894897461,
-0.000019550323486328125,
0.000010795891284942627
] |
pick green can from top shelf of fridge
|
[
0.5520488619804382,
-0.1814459264278412,
1.0384840965270996,
-0.29032182693481445,
0.7619168758392334,
0.04991750046610832,
0.5768051147460938
] |
[
-0.3775087893009186,
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0.5291110873222351,
1.2718943357467651,
0.46049344539642334,
0.6371210217475891,
-0.8019798398017883,
0.0008695652359165251
] |
[
0.5520545840263367,
-0.181443452835083,
1.0384899377822876,
0.5767205357551575,
-0.29026344418525696,
0.7620071172714233,
0.04985715448856354
] | 4 | 12 | 1 | 38 | 1 |
[
0.5926538109779358,
-2.3581221103668213,
-0.46109357476234436,
1.7211767435073853,
0.03560594469308853,
0.8769072890281677,
-0.48730817437171936,
0.18829813599586487
] |
[
0.26352304220199585,
0.10885027796030045,
0.7442150115966797,
0.6049407720565796,
-0.2636696398258209,
0.7509589195251465,
0.02420094609260559
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-9.5367431640625e-7,
-0.0000017657876014709473,
-0.000003635883331298828,
0.0000559687614440918,
-0.000028371810913085938,
-0.000055789947509765625,
0.00002148933708667755
] |
[
-1.9247288703918457,
-1.7890377044677734,
1.422760248184204,
-2.418645143508911,
-0.8712679743766785,
2.608182430267334,
0.18829813599586487
] |
[
0.5635213255882263,
0.10884711891412735,
0.7442132234573364,
0.6048463582992554,
-0.2638452351093292,
0.7509748339653015,
0.024152321740984917
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
7.748603820800781e-7,
0.0000013932585716247559,
-0.0000018477439880371094,
0.00015038251876831055,
0.00014722347259521484,
-0.00007170438766479492,
0.00007011368870735168
] |
[
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-1.582842469215393,
0.05659787729382515,
2.4381587505340576,
-2.6732864379882812,
0.18829813599586487
] |
[
0.4385189116001129,
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-0.2636600136756897,
0.7508755922317505,
0.02421354129910469
] |
[
-0.125,
0.375,
-0.125
] | 0 |
[
0.0000031888484954833984,
7.152557373046875e-7,
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-0.000051140785217285156,
-0.000037997961044311523,
0.00002753734588623047,
0.00000889413058757782
] |
[
0.11020125448703766,
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1.1877148151397705,
-0.4564330279827118,
0.739263653755188,
-2.4135653972625732,
0.18829813599586487
] |
[
0.5635237693786621,
0.10883809626102448,
0.7442125678062439,
0.6049746870994568,
-0.2639513313770294,
0.7508271932601929,
0.02436957322061062
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0 |
[
-0.0000016689300537109375,
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End of preview. Expand
in Data Studio
fractal20220817_data_train_30000_40000_augmented
Overview
- Codebase version:
v2.1 - Robots: images, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
- FPS: 3.0
- Episodes: 10,000
- Frames: 435,659
- 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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