RT-1 Robot Action Augmented
Collection
69 items
•
Updated
observation.sawyer.joints
listlengths 8
8
| observation.sawyer.ee_pose
listlengths 7
7
| observation.sawyer.base_position
listlengths 3
3
| observation.sawyer.base_orientation
float32 0
0
| observation.sawyer.ee_error
listlengths 7
7
| observation.ur5e.joints
listlengths 7
7
| observation.ur5e.ee_pose
listlengths 7
7
| observation.ur5e.base_position
listlengths 3
3
| observation.ur5e.base_orientation
float32 0
0
| observation.ur5e.ee_error
listlengths 7
7
| observation.panda.joints
listlengths 8
8
| observation.panda.ee_pose
listlengths 7
7
| observation.panda.base_position
listlengths 3
3
| observation.panda.base_orientation
float32 0
0
| observation.panda.ee_error
listlengths 7
7
| observation.kinova3.joints
listlengths 8
8
| observation.kinova3.ee_pose
listlengths 7
7
| observation.kinova3.base_position
listlengths 3
3
| observation.kinova3.base_orientation
float32 0
0
| observation.kinova3.ee_error
listlengths 7
7
| observation.kuka_iiwa.joints
listlengths 8
8
| observation.kuka_iiwa.ee_pose
listlengths 7
7
| observation.kuka_iiwa.base_position
listlengths 3
3
| observation.kuka_iiwa.base_orientation
float32 0
0
| observation.kuka_iiwa.ee_error
listlengths 7
7
| observation.xarm7.joints
listlengths 8
8
| observation.xarm7.ee_pose
listlengths 7
7
| observation.xarm7.base_position
listlengths 3
3
| observation.xarm7.base_orientation
float32 0
0
| observation.xarm7.ee_error
listlengths 7
7
| observation.jaco.joints
listlengths 7
7
| observation.jaco.ee_pose
listlengths 7
7
| observation.jaco.base_position
listlengths 3
3
| observation.jaco.base_orientation
float32 0
0
| observation.jaco.ee_error
listlengths 7
7
| natural_language_instruction
stringclasses 431
values | observation.state
listlengths 7
7
| observation.joints
listlengths 8
8
| observation.ee_pose
listlengths 7
7
| timestamp
float32 0
120
| frame_index
int64 0
359
| episode_index
int64 0
2.5k
| index
int64 0
110k
| task_index
int64 0
430
|
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0.21646061539649963,
-0.6204163432121277,
0.7490364909172058,
-0.08469213545322418
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.0005976259708404541,
-0.000991031527519226,
0.004641175270080566,
-0.04959568381309509,
-0.014592945575714111,
0.004676640033721924,
0.05578155815601349
] |
pick orange from white bowl
|
[
0.4508506953716278,
-0.18327179551124573,
0.9818252921104431,
-0.6350092887878418,
0.7537131309509277,
-0.028910579159855843,
0.16686493158340454
] |
[
-0.005132311023771763,
0.05320838838815689,
0.32121220231056213,
1.0509779453277588,
0.05522798001766205,
1.7069228887557983,
-1.070608377456665,
0
] |
[
0.4508526921272278,
-0.18327009677886963,
0.9818246960639954,
0.1669195145368576,
-0.6349602937698364,
0.7537416219711304,
-0.02892875112593174
] | 0.666667
| 2
| 0
| 2
| 0
|
[
-1.3853431940078735,
-1.0999263525009155,
-0.15112349390983582,
0.16511155664920807,
0.736886739730835,
2.591764211654663,
-2.2330288887023926,
0
] |
[
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0.8523766994476318,
0.17420445382595062,
-0.67168128490448,
0.7197886109352112,
-0.020033860579133034
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
0.000008553266525268555,
-0.000035315752029418945,
0.00007444620132446289,
-0.0003273487091064453,
-0.0001798868179321289,
-0.00007671117782592773,
0.0004357472062110901
] |
[
-1.6443085670471191,
-1.4566856622695923,
0.5450260639190674,
-0.9304277300834656,
-1.343511939048767,
1.5970381498336792,
0
] |
[
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0.17403657734394073,
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0.7196420431137085,
-0.01967593841254711
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000004410743713378906,
0.000003874301910400391,
0.000012218952178955078,
-0.00015947222709655762,
0.00003129243850708008,
0.00006985664367675781,
0.00007782503962516785
] |
[
2.8973000049591064,
-0.5055802464485168,
-0.7904207110404968,
-0.5921103358268738,
-1.321536660194397,
0.8202479481697083,
-2.8973000049591064,
0
] |
[
0.33738815784454346,
0.2319822460412979,
0.8547143936157227,
0.21637895703315735,
-0.658280074596405,
0.7208248972892761,
-0.016092609614133835
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.001511901617050171,
0.0005652457475662231,
0.003986775875091553,
-0.04250185191631317,
-0.01358109712600708,
-0.0011129975318908691,
-0.003505503758788109
] |
[
-0.3171835243701935,
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0.33429524302482605,
0.07378371804952621,
-0.4545336067676544,
2.0899999141693115,
-2.0388054847717285,
0
] |
[
0.4608554244041443,
0.1569102257490158,
0.6768210530281067,
0.2719340920448303,
-0.6520991325378418,
0.7053444981575012,
-0.05751267075538635
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.003044635057449341,
0.0006372630596160889,
0.0068801045417785645,
-0.09805698692798615,
-0.019762039184570312,
0.014367401599884033,
0.03791455924510956
] |
[
0.8294941186904907,
0.5397094488143921,
-0.08483432978391647,
-0.5648374557495117,
0.00047979431110434234,
1.6889876127243042,
2.403780698776245,
0
] |
[
0.46389639377593994,
0.45753562450408936,
0.6836895942687988,
0.1740829050540924,
-0.671933114528656,
0.7195956707000732,
-0.01957436464726925
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
0.0000036656856536865234,
0.000011861324310302734,
0.000011563301086425781,
-0.00020579993724822998,
0.00007194280624389648,
0.00011622905731201172,
-0.000023748725652694702
] |
[
0.4345962107181549,
-0.3479774594306946,
0.1506473571062088,
2.238318920135498,
0.08799085021018982,
2.228407144546509,
-0.8502662777900696,
0
] |
[
0.16389912366867065,
0.1575484722852707,
0.6836803555488586,
0.17409293353557587,
-0.6718054413795471,
0.7197114825248718,
-0.019607117399573326
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
9.387731552124023e-7,
-9.834766387939453e-7,
0.000020802021026611328,
-0.00021582841873168945,
-0.000055730342864990234,
4.172325134277344e-7,
0.000009004026651382446
] |
[
0.2291203886270523,
3.1555705070495605,
3.801152229309082,
1.2238504886627197,
-3.1343488693237305,
3.0487730503082275,
0
] |
[
0.31418314576148987,
0.008475501090288162,
0.6793818473815918,
0.22525572776794434,
-0.6578525304794312,
0.7155846953392029,
-0.06654661893844604
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.0002830922603607178,
-0.000928009394556284,
0.004319310188293457,
-0.05137862265110016,
-0.014008641242980957,
0.004127204418182373,
0.04694850742816925
] |
pick orange from white bowl
|
[
0.46390005946159363,
-0.14245250821113586,
0.9837011694908142,
-0.6718611717224121,
0.7197118997573853,
-0.019598113372921944,
0.17387710511684418
] |
[
0.050618965178728104,
0.06214318424463272,
0.35227686166763306,
1.0371794700622559,
0.06116513907909393,
1.7034863233566284,
-1.0847820043563843,
0
] |
[
0.4639018177986145,
-0.14245067536830902,
0.9837005734443665,
0.17393307387828827,
-0.6718126535415649,
0.7197432518005371,
-0.019614411517977715
] | 1
| 3
| 0
| 3
| 0
|
[
-1.4655518531799316,
-1.3774917125701904,
0.22980418801307678,
0.5213942527770996,
0.5403004884719849,
2.5232958793640137,
-2.230210065841675,
0
] |
[
0.27040690183639526,
-0.29968780279159546,
0.8565226793289185,
-0.18947933614253998,
0.7037267684936523,
-0.6846917271614075,
0.007966306991875172
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000010788440704345703,
-8.344650268554688e-7,
-0.000005245208740234375,
0.000059857964515686035,
0.0000832676887512207,
0.00006937980651855469,
0.000027601607143878937
] |
[
-1.567376732826233,
-1.4051481485366821,
0.48050907254219055,
-0.9311345815658569,
-1.3130371570587158,
1.5836259126663208,
0
] |
[
0.4703907072544098,
0.2003069818019867,
0.6877529621124268,
-0.18961180746555328,
0.7038283348083496,
-0.6845492720603943,
0.008082563057541847
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0000053942203521728516,
0.000004380941390991211,
0.000014483928680419922,
0.0001923292875289917,
-0.000018298625946044922,
-0.0000730752944946289,
-0.00008865445852279663
] |
[
2.8973000049591064,
-0.519896388053894,
-0.8609082698822021,
-0.6480486989021301,
-1.2032328844070435,
0.9622279405593872,
-2.8973000049591064,
0
] |
[
0.34307512640953064,
0.2742570638656616,
0.8572600483894348,
0.2508593201637268,
-0.6799465417861938,
0.6890147924423218,
0.000932909722905606
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.0023209750652313232,
0.0010542869567871094,
0.005507409572601318,
-0.4402787983417511,
1.3837566375732422,
-1.3736371994018555,
0.007060999050736427
] |
[
-0.35003310441970825,
0.47046539187431335,
0.23423336446285248,
0.006787945982068777,
-0.42120444774627686,
2.06724214553833,
-2.044999837875366,
0
] |
[
0.4667152762413025,
0.19926808774471283,
0.6802420616149902,
-0.29687145352363586,
0.6793460845947266,
-0.6695440411567688,
0.04546426981687546
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0036808252334594727,
0.001043274998664856,
0.007525384426116943,
0.10745197534561157,
0.024463951587677002,
-0.015078306198120117,
-0.037470363080501556
] |
[
0.8369595408439636,
0.6777188181877136,
-0.05772707238793373,
-0.3263426423072815,
0.02100466936826706,
1.7561591863632202,
2.3497347831726074,
0
] |
[
0.47038331627845764,
0.5002899765968323,
0.6877444386482239,
-0.1898212730884552,
0.7038425207138062,
-0.6844778060913086,
0.007984788157045841
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
0.000012785196304321289,
0.000021398067474365234,
0.00002300739288330078,
0.0004017949104309082,
-0.00003248453140258789,
-0.00014454126358032227,
0.000009120441973209381
] |
[
0.43522578477859497,
-0.2836737036705017,
0.22593404352664948,
2.281064510345459,
0.11802934110164642,
2.1729443073272705,
-0.84800124168396,
0
] |
[
0.17039428651332855,
0.20031102001667023,
0.6877446174621582,
-0.18966850638389587,
0.7037473917007446,
-0.684617817401886,
0.007990166544914246
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000001817941665649414,
3.427267074584961e-7,
0.00002282857894897461,
0.00024902820587158203,
0.00006264448165893555,
-0.0000045299530029296875,
0.0000037420541048049927
] |
[
0.11192937195301056,
3.129410743713379,
3.7654526233673096,
1.1914424896240234,
-3.1282715797424316,
3.0032575130462646,
0
] |
[
0.3204476833343506,
0.05115661025047302,
0.6839256882667542,
-0.2391553372144699,
0.6904202699661255,
-0.6812402606010437,
0.04512538015842438
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.000051587820053100586,
-0.0008452534675598145,
0.0038417577743530273,
0.04973585903644562,
0.013389766216278076,
-0.003382086753845215,
-0.037131473422050476
] |
pick orange from white bowl
|
[
0.47039610147476196,
-0.09968864172697067,
0.9877674579620361,
0.7038100361824036,
-0.6846223473548889,
0.00799390859901905,
-0.1894194781780243
] |
[
0.09625179320573807,
0.062437549233436584,
0.38846632838249207,
1.0318576097488403,
0.07898712903261185,
1.683609127998352,
-1.095151662826538,
0
] |
[
0.4703977108001709,
-0.09968665987253189,
0.9877669811248779,
-0.18947404623031616,
0.703761875629425,
-0.6846566200256348,
0.008008383214473724
] | 1.333333
| 4
| 0
| 4
| 0
|
[
-1.4652172327041626,
-1.3775510787963867,
0.22966009378433228,
0.5213725566864014,
0.5412399768829346,
2.523193359375,
-2.229757308959961,
0
] |
[
0.27048489451408386,
-0.2994551956653595,
0.8566520810127258,
-0.18971043825149536,
0.7038639187812805,
-0.6844856142997742,
0.00806041806936264
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000010788440704345703,
-8.344650268554688e-7,
-0.000005304813385009766,
0.000059664249420166016,
0.00008320808410644531,
0.0000693202018737793,
0.000027828849852085114
] |
[
-1.5669572353363037,
-1.4048455953598022,
0.47997650504112244,
-0.9314348101615906,
-1.3128960132598877,
1.5836405754089355,
0
] |
[
0.470468670129776,
0.20053957402706146,
0.6878822445869446,
-0.18984337151050568,
0.7039652466773987,
-0.684343159198761,
0.008177022449672222
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000005424022674560547,
0.000004380941390991211,
0.000014543533325195312,
0.00019259750843048096,
-0.00001811981201171875,
-0.0000731348991394043,
-0.00008877553045749664
] |
[
2.8973000049591064,
-0.5200892090797424,
-0.8608136773109436,
-0.6485694646835327,
-1.2034361362457275,
0.9633002877235413,
-2.8973000049591064,
0
] |
[
0.34314465522766113,
0.2744855582714081,
0.8573723435401917,
0.25129732489585876,
-0.679955244064331,
0.6888466477394104,
0.0008910386241041124
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.0023294389247894287,
0.0010583996772766113,
0.00552445650100708,
-0.44094809889793396,
1.3839023113250732,
-1.373262882232666,
0.007197208236902952
] |
[
-0.35028475522994995,
0.470093697309494,
0.17880557477474213,
0.005303596146404743,
-0.36625686287879944,
2.068192720413208,
-2.0457818508148193,
0
] |
[
0.46679288148880005,
0.1994989812374115,
0.6803692579269409,
-0.2971651554107666,
0.6794413924217224,
-0.6693094372749329,
0.04557567089796066
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.0036812126636505127,
0.0010449737310409546,
0.007527530193328857,
0.1075143814086914,
0.02450573444366455,
-0.01510685682296753,
-0.03748742491006851
] |
[
0.8370348811149597,
0.6788259744644165,
-0.0574997216463089,
-0.32410648465156555,
0.020711353048682213,
1.756807565689087,
2.349430561065674,
0
] |
[
0.4704611897468567,
0.5005224347114563,
0.6878736019134521,
-0.19005556404590607,
0.7039790749549866,
-0.6842712163925171,
0.008079267106950283
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
0.00001290440559387207,
0.000021517276763916016,
0.000023186206817626953,
0.0004047900438308716,
-0.000031948089599609375,
-0.00014507770538330078,
0.000008979812264442444
] |
[
0.43490391969680786,
-0.2829807996749878,
0.22680418193340302,
2.2820587158203125,
0.11781086027622223,
2.172715425491333,
-0.8480576276779175,
0
] |
[
0.17047227919101715,
0.2005435973405838,
0.687873899936676,
-0.18990056216716766,
0.7038843631744385,
-0.6844115853309631,
0.008084440603852272
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000001817941665649414,
3.5762786865234375e-7,
0.00002288818359375,
0.00024978816509246826,
0.00006276369094848633,
-0.000004708766937255859,
0.0000038063153624534607
] |
[
0.11130878329277039,
3.1291260719299316,
3.764759063720703,
1.191214680671692,
-3.1281983852386475,
3.0029096603393555,
0
] |
[
0.3205238878726959,
0.05138721689581871,
0.6840606927871704,
-0.23933635652065277,
0.6905654072761536,
-0.6810290813446045,
0.04513199254870415
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.00004979968070983887,
-0.0008432604372501373,
0.0038360953330993652,
0.049685582518577576,
0.013381719589233398,
-0.0033872127532958984,
-0.037043746560811996
] |
pick orange from white bowl
|
[
0.47047409415245056,
-0.09945604205131531,
0.9878968000411987,
0.703947126865387,
-0.6844162940979004,
0.008088246919214725,
-0.1896507740020752
] |
[
0.0965925008058548,
0.06236816942691803,
0.3886183798313141,
1.0316720008850098,
0.07887572795152664,
1.6833330392837524,
-1.0951894521713257,
0
] |
[
0.4704757034778595,
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-0.18970534205436707,
0.7038989663124084,
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] | 1.666667
| 5
| 0
| 5
| 0
|
[
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0.5526231527328491,
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[
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[
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|
[
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0.00005137920379638672,
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[
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[
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[
0,
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] | 0
|
[
0.000009238719940185547,
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[
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0
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[
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[
-0.125,
0.375,
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|
[
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0.09091444313526154,
0.04295283555984497,
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[
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0
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[
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[
0,
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] | 0
|
[
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[
0.8375144600868225,
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0
] |
[
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[
0,
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] | 0
|
[
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0.0019522309303283691,
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[
0.40478160977363586,
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2.4139859676361084,
0.09477491676807404,
2.167689085006714,
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0
] |
[
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0.006098330020904541
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
0.0000039637088775634766,
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0.00039651989936828613,
0.0000852346420288086,
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0.00001778220757842064
] |
[
0.015675432980060577,
3.08270263671875,
3.6958768367767334,
1.1777777671813965,
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2.977688789367676,
0
] |
[
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[
-0.15000000596046448,
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] | 0
|
[
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0.05071897804737091,
0.013536393642425537,
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] |
pick orange from white bowl
|
[
0.4827841818332672,
-0.06735912710428238,
0.9944926500320435,
0.7309787273406982,
-0.6526526212692261,
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[
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0
] |
[
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0.7309303879737854,
-0.6526888012886047,
0.006129434332251549
] | 2
| 6
| 0
| 6
| 0
|
[
-1.310521125793457,
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0
] |
[
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[
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] | 0
|
[
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[
-1.4343410730361938,
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0
] |
[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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[
-0.125,
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] | 0
|
[
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[
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0
] |
[
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[
0,
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] | 0
|
[
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] |
[
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0
] |
[
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0.0072831325232982635
] |
[
0,
0.6000000238418579,
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] | 0
|
[
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] |
[
0.5750490427017212,
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2.7674152851104736,
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2.228809118270874,
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0
] |
[
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0.760270357131958,
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0.0004551992751657963
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
-0.0008469671010971069,
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0.010687381029129028,
0.0032483339309692383,
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] |
[
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0
] |
[
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] |
[
-0.15000000596046448,
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] | 0
|
[
0.0005733370780944824,
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0.05526594817638397,
0.014976322650909424,
-0.0041312575340271,
-0.028439447283744812
] |
pick orange from white bowl
|
[
0.5000482201576233,
-0.022765349596738815,
1.0054330825805664,
0.7635186910629272,
-0.6095804572105408,
0.004250474739819765,
-0.21314965188503265
] |
[
0.2419418841600418,
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0.9323251843452454,
0.05686945095658302,
1.6901462078094482,
-1.1390491724014282,
0
] |
[
0.5000489354133606,
-0.022763408720493317,
1.0054320096969604,
-0.21321572363376617,
0.7634695768356323,
-0.6096187829971313,
0.004262303933501244
] | 2.333333
| 7
| 0
| 7
| 0
|
[
-1.2049669027328491,
-1.4684268236160278,
0.12067040055990219,
0.6373885869979858,
0.6692185997962952,
2.510068893432617,
-2.2617855072021484,
0
] |
[
0.3132174611091614,
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0.8723930716514587,
-0.21907734870910645,
0.787723958492279,
-0.5757015943527222,
-0.007987541146576405
] |
[
-0.20000000298023224,
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-0.13124999403953552
] | 0
|
[
-0.000010728836059570312,
-0.0000037103891372680664,
-0.000006020069122314453,
0.00003866851329803467,
0.00007045269012451172,
0.00008118152618408203,
0.00004058331251144409
] |
[
-1.3812932968139648,
-1.1445106267929077,
0.11887221038341522,
-0.927546501159668,
-1.2463233470916748,
1.520283579826355,
0
] |
[
0.5110087394714355,
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0.78114914894104,
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0.003429229836910963
] |
[
0,
0.30000001192092896,
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] | 0
|
[
0.0021979808807373047,
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0.026535019278526306,
0.006645262241363525,
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] |
[
2.8973000049591064,
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-0.8411592245101929,
-1.0463240146636963,
1.4616109132766724,
-2.8973000049591064,
0
] |
[
0.38068509101867676,
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0.8655871152877808,
-0.38145941495895386,
0.6884469389915466,
-0.6156156063079834,
-0.03933163359761238
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.007521629333496094,
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0.013049960136413574,
0.16242073476314545,
0.09934747219085693,
0.03999519348144531,
0.031384676694869995
] |
[
-0.47438502311706543,
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0.002208790509030223,
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1.816124677658081,
-1.9208043813705444,
0
] |
[
0.5075228214263916,
0.3149943947792053,
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0.7353320717811584,
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0.04792219027876854
] |
[
0,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.00568389892578125,
0.0024679899215698242,
0.010257959365844727,
0.16779308021068573,
0.05246233940124512,
-0.021227598190307617,
-0.055869147181510925
] |
[
0.8630601763725281,
0.8987414240837097,
0.03616916388273239,
-0.001058397931046784,
0.013464973308146,
1.525315523147583,
2.147063970565796,
0
] |
[
0.5071406364440918,
0.6103657484054565,
0.6962167620658875,
-0.3513106405735016,
0.7544060945510864,
-0.5544835329055786,
-0.0005294595030136406
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
0.006066083908081055,
0.007096648216247559,
0.00742030143737793,
0.13227196037769318,
0.03338831663131714,
-0.021136879920959473,
-0.007417498156428337
] |
[
0.5403906106948853,
0.10815832763910294,
0.6151304244995117,
2.667630910873413,
-0.15524013340473175,
2.090050458908081,
-0.8463319540023804,
0
] |
[
0.2135617733001709,
0.31737470626831055,
0.6995312571525574,
-0.24075324833393097,
0.781755805015564,
-0.5751293897628784,
-0.011041739024221897
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
-0.0003550499677658081,
0.00008767843246459961,
0.004105806350708008,
0.02171456813812256,
0.0060386061668396,
-0.000491023063659668,
0.0030947811901569366
] |
[
-0.1923951506614685,
2.9362473487854004,
3.4996960163116455,
1.1395156383514404,
-3.1049997806549072,
2.9256186485290527,
0
] |
[
0.36234772205352783,
0.16770915687084198,
0.6998023390769958,
-0.2749815285205841,
0.7725908160209656,
-0.5720311999320984,
0.016397519037127495
] |
[
-0.15000000596046448,
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] | 0
|
[
0.000858992338180542,
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0.0038347244262695312,
0.055942848324775696,
0.015203595161437988,
-0.0035892128944396973,
-0.02434447780251503
] |
pick orange from white bowl
|
[
0.5132067203521729,
0.017462383955717087,
1.0036370754241943,
0.7877944111824036,
-0.5756204128265381,
-0.00794695783406496,
-0.2190386801958084
] |
[
0.30786803364753723,
0.14401184022426605,
0.4112609922885895,
0.8969424366950989,
0.05860976502299309,
1.6853610277175903,
-1.1572153568267822,
0
] |
[
0.5132070183753967,
0.0174642913043499,
1.0036357641220093,
-0.21910807490348816,
0.7877450585365295,
-0.5756617188453674,
-0.00793522223830223
] | 2.666667
| 8
| 0
| 8
| 0
|
[
-1.0749194622039795,
-1.5151746273040771,
0.020308874547481537,
0.7759068608283997,
0.6624262928962708,
2.493649959564209,
-2.3289482593536377,
0
] |
[
0.32414013147354126,
-0.14775525033473969,
0.8567431569099426,
-0.2328833043575287,
0.8038819432258606,
-0.5458931922912598,
-0.03924103081226349
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000010013580322265625,
-0.0000053942203521728516,
-0.0000035762786865234375,
0.000037789344787597656,
0.0000730752944946289,
0.00008970499038696289,
0.0000254213809967041
] |
[
-1.3537989854812622,
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1.4892436265945435,
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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[
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[
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0.375,
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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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[
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0
] |
[
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] |
[
-0.30000001192092896,
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] | 0
|
[
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[
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0
] |
[
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[
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|
[
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0.04012909531593323,
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] |
pick orange from white bowl
|
[
0.52413010597229,
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0.8039550185203552,
-0.5458034873008728,
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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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|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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[
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|
[
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[
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0
] |
[
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[
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|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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0
] |
[
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
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] |
[
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0
] |
[
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[
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] | 0
|
[
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0.04005829989910126,
0.011281013488769531,
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] |
pick orange from white bowl
|
[
0.5242316126823425,
0.05241124704480171,
0.9878953695297241,
0.8040124177932739,
-0.5456904768943787,
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[
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0
] |
[
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-0.23294994235038757,
0.8039630651473999,
-0.5457385778427124,
-0.039333999156951904
] | 3.333333
| 10
| 0
| 10
| 0
|
[
-1.02143394947052,
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0.8163357377052307,
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2.478973150253296,
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] |
[
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] |
[
-0.20000000298023224,
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] | 0
|
[
-0.000009506940841674805,
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0.00003536045551300049,
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] |
[
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] |
[
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[
0,
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] | 0
|
[
0.0028665661811828613,
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] |
[
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] |
[
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] |
[
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] | 0
|
[
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0.11310911178588867,
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] |
[
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] |
[
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] |
[
0,
0.30000001192092896,
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] | 0
|
[
0.006301224231719971,
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0.16876894235610962,
0.05853152275085449,
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] |
[
0.851813554763794,
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0.06481742858886719,
1.3733004331588745,
2.0883591175079346,
0.00020869565196335316
] |
[
0.5245314836502075,
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] |
[
0,
0.6000000238418579,
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] | 0
|
[
0.00812375545501709,
0.009288132190704346,
0.008604824542999268,
0.16207647323608398,
0.05099254846572876,
-0.020321905612945557,
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] |
[
0.6368461847305298,
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2.6341896057128906,
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1.99381685256958,
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0.00020869565196335316
] |
[
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0.6799072623252869,
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0.8072476983070374,
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-0.05099663510918617
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
0.000035822391510009766,
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0.0017710626125335693,
0.0004215836524963379,
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0.00015056505799293518
] |
[
-0.235353022813797,
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1.0306634902954102,
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0.00020869565196335316
] |
[
0.38186773657798767,
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0.7975251078605652,
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[
-0.15000000596046448,
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] | 0
|
[
0.0007874965667724609,
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0.03579482436180115,
0.010144174098968506,
-0.0006179213523864746,
-0.012773137539625168
] |
pick orange from white bowl
|
[
0.5326552391052246,
0.06335654109716415,
0.9800449013710022,
0.8076692819595337,
-0.5385118126869202,
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-0.2347126305103302
] |
[
0.3212847113609314,
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0.4406464099884033,
0.8863106966018677,
0.11849398910999298,
1.6205226182937622,
-1.2005407810211182,
0.00020869565196335316
] |
[
0.5326552391052246,
0.06335873901844025,
0.9800440669059753,
-0.23477162420749664,
0.8076197504997253,
-0.5385620594024658,
-0.0508279912173748
] | 3.666667
| 11
| 0
| 11
| 0
|
[
-0.9624874591827393,
-1.5273431539535522,
-0.01660524494946003,
0.8592356443405151,
0.6197754144668579,
2.4569473266601562,
-2.332571029663086,
0.00800000037997961
] |
[
0.34514859318733215,
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] |
[
-0.20000000298023224,
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] | 0
|
[
-0.000008851289749145508,
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0.000032141804695129395,
0.00007265806198120117,
0.0000940561294555664,
0.000015832483768463135
] |
[
-1.3429937362670898,
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0.21682573854923248,
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1.4765141010284424,
0.00800000037997961
] |
[
0.5391740202903748,
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0.8023590445518494,
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] |
[
0,
0.30000001192092896,
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] | 0
|
[
0.005965709686279297,
0.0015819072723388672,
0.009502828121185303,
0.025791242718696594,
0.007109880447387695,
0.000011861324310302734,
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] |
[
2.8973000049591064,
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1.687575101852417,
-2.8973000049591064,
0.00800000037997961
] |
[
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[
-0.125,
0.375,
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] | 0
|
[
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[
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[
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[
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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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0.8094689249992371,
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[
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[
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| 12
| 0
| 12
| 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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|
[
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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
|
[
0.5564271211624146,
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[
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] |
[
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0.8052014112472534,
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-0.07077279686927795
] | 4.333333
| 13
| 0
| 13
| 0
|
[
-0.8764798045158386,
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0.9258872866630554,
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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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] | 0
|
[
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[
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[
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[
0,
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] | 0
|
[
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[
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] |
[
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[
0,
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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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[
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[
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[
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] | 0
|
[
0.0005456209182739258,
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0.019218310713768005,
0.0052370429039001465,
0.00002777576446533203,
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] |
pick orange from white bowl
|
[
0.5659216642379761,
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0.8010231852531433,
-0.5493751168251038,
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[
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1.5792956352233887,
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] |
[
0.565921425819397,
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-0.22849105298519135,
0.8009732365608215,
-0.549426257610321,
-0.06606465578079224
] | 4.666667
| 14
| 0
| 14
| 0
|
[
-0.8504403829574585,
-1.5336406230926514,
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0.9391263127326965,
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] |
[
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] |
[
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] | 0
|
[
-0.000007241964340209961,
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] |
[
-1.3260265588760376,
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[
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[
0,
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] | 0
|
[
0.005942642688751221,
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] |
[
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1.7501901388168335,
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[
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] |
[
-0.125,
0.375,
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] | 0
|
[
0.009801208972930908,
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0.012335062026977539,
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0.11262553930282593,
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] |
[
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1.6782872676849365,
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[
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[
0,
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] | 0
|
[
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[
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[
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[
0,
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] | 0
|
[
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[
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[
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[
-0.30000001192092896,
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] | 0
|
[
0.000009715557098388672,
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0.00011163949966430664,
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[
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] |
[
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[
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|
[
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0.017538055777549744,
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] |
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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] | 5
| 15
| 0
| 15
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
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|
[
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[
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[
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[
0,
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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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[
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[
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[
-0.15000000596046448,
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] | 0
|
[
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0.004605352878570557,
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] |
pick orange from white bowl
|
[
0.577846348285675,
0.08849278837442398,
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0.7991544604301453,
-0.5542978048324585,
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[
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] |
[
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0.7991042733192444,
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-0.06277711689472198
] | 5.333333
| 16
| 0
| 16
| 0
|
[
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0.9866390228271484,
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] |
[
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[
-0.20000000298023224,
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] | 0
|
[
-0.000006407499313354492,
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0.000010967254638671875,
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2.942979335784912e-7
] |
[
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[
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[
0,
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] | 0
|
[
0.0058571696281433105,
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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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] |
[
0.8318266868591309,
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1.1844795942306519,
2.0975589752197266,
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] |
[
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] |
[
0,
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] | 0
|
[
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] |
[
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2.309514284133911,
0.072165347635746,
1.7433834075927734,
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0.18469564616680145
] |
[
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[
-0.30000001192092896,
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] | 0
|
[
0.000009506940841674805,
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0.00034680962562561035,
0.00010597705841064453,
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] |
[
-0.2930315136909485,
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] |
[
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[
-0.15000000596046448,
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] | 0
|
[
0.00032201409339904785,
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0.009629860520362854,
0.0025800466537475586,
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] |
pick orange from white bowl
|
[
0.5876271724700928,
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0.7976008653640747,
-0.5552811622619629,
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] |
[
0.37563401460647583,
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0.8740023970603943,
0.08127571642398834,
1.5377120971679688,
-1.1721165180206299,
0.18469564616680145
] |
[
0.5876267552375793,
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-0.22844083607196808,
0.7975506782531738,
-0.5553305149078369,
-0.057755548506975174
] | 5.666667
| 17
| 0
| 17
| 0
|
[
-0.7584509253501892,
-1.5440442562103271,
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1.0004045963287354,
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0.19241739809513092
] |
[
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] |
[
-0.20000000298023224,
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] | 0
|
[
-0.00000622868537902832,
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0.000009045004844665527,
0.0000692605972290039,
0.00009584426879882812,
-2.421438694000244e-7
] |
[
-1.3018609285354614,
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] |
[
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] |
[
0,
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] | 0
|
[
0.0034124255180358887,
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0.019699007272720337,
0.005282104015350342,
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] |
[
2.8973000049591064,
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-1.032179594039917,
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1.844709038734436,
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] |
[
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] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.01074334979057312,
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0.18091070652008057,
0.11627495288848877,
0.04668503999710083,
0.015478137880563736
] |
[
-0.4899020195007324,
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1.6305210590362549,
-1.913465976715088,
0.19241739809513092
] |
[
0.582675576210022,
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] |
[
0,
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] | 0
|
[
0.0072893500328063965,
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0.06014096736907959,
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] |
[
0.8326759934425354,
1.066293478012085,
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0.06672067940235138,
1.1685141324996948,
2.0964252948760986,
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] |
[
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[
0,
0.6000000238418579,
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] | 0
|
[
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0.07213371992111206,
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[
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0.07450555264949799,
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[
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[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
0.000009149312973022461,
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0.00032927095890045166,
0.00010287761688232422,
0.000010251998901367188,
0.00000963360071182251
] |
[
-0.29443979263305664,
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3.3414392471313477,
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[
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[
-0.15000000596046448,
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] | 0
|
[
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0.007392957806587219,
0.0020005106925964355,
9.5367431640625e-7,
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] |
pick orange from white bowl
|
[
0.5899649262428284,
0.10268928110599518,
0.9266578555107117,
0.797546923160553,
-0.554629921913147,
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[
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[
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0.7974967360496521,
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] | 6
| 18
| 0
| 18
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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] | 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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[
0,
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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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] |
[
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[
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[
-0.15000000596046448,
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] | 0
|
[
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0.007876425981521606,
0.0021282434463500977,
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] |
pick orange from white bowl
|
[
0.5890733003616333,
0.1024375781416893,
0.9276665449142456,
0.797546923160553,
-0.554629921913147,
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[
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1.529170274734497,
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0.33768945932388306
] |
[
0.5890728831291199,
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-0.23002208769321442,
0.7974967956542969,
-0.5546793341636658,
-0.058477118611335754
] | 6.333333
| 19
| 0
| 19
| 0
|
[
-0.7612307071685791,
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0.9974918365478516,
0.563876748085022,
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0.5289937853813171
] |
[
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] |
[
-0.20000000298023224,
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] | 0
|
[
-0.000006258487701416016,
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0.000009521842002868652,
0.0000693202018737793,
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-7.078051567077637e-8
] |
[
-1.3018412590026855,
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] |
[
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[
0,
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] | 0
|
[
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] |
[
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] |
[
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[
-0.125,
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] | 0
|
[
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0.11629772186279297,
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] |
[
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] |
[
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] |
[
0,
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] | 0
|
[
0.00728297233581543,
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] |
[
0.8332748413085938,
1.064753770828247,
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0.06586465984582901,
1.1705057621002197,
2.0971343517303467,
0.5289937853813171
] |
[
0.5766397714614868,
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0.6174566149711609,
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0.7255560755729675,
-0.5255318284034729,
-0.03928768262267113
] |
[
0,
0.6000000238418579,
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] | 0
|
[
0.012412488460540771,
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0.2125551551580429,
0.07201135158538818,
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] |
[
0.4802548885345459,
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2.2994015216827393,
0.07226256281137466,
1.728995442390442,
-0.9608839154243469,
0.5289937853813171
] |
[
0.28904294967651367,
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
0.000009298324584960938,
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0.000022292137145996094,
0.0003367513418197632,
0.00010436773300170898,
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0.00001084059476852417
] |
[
-0.29556891322135925,
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3.3410520553588867,
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0.5289937853813171
] |
[
0.43878376483917236,
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] |
[
-0.15000000596046448,
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] | 0
|
[
0.00026848912239074707,
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0.007883280515670776,
0.002130270004272461,
-0.000007212162017822266,
-0.002502255141735077
] |
pick orange from white bowl
|
[
0.5890522599220276,
0.10249872505664825,
0.9276817440986633,
0.7975674271583557,
-0.5545874238014221,
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-0.2299843281507492
] |
[
0.37790825963020325,
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0.41237953305244446,
0.8764685392379761,
0.0802883505821228,
1.529155969619751,
-1.1704453229904175,
0.5289937853813171
] |
[
0.5890518426895142,
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0.9276807308197021,
-0.2300446778535843,
0.7975172996520996,
-0.5546368360519409,
-0.05851114168763161
] | 6.666667
| 20
| 0
| 20
| 0
|
[
-0.7609679102897644,
-1.5442091226577759,
-0.11155971139669418,
0.9977604150772095,
0.5639558434486389,
2.2841262817382812,
-2.2853567600250244,
0.7153291702270508
] |
[
0.3890211582183838,
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0.7975189089775085,
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-0.058573946356773376
] |
[
-0.20000000298023224,
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] | 0
|
[
-0.000006258487701416016,
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-2.980232238769531e-7,
0.000009506940841674805,
0.0000693202018737793,
0.00009578466415405273,
-7.82310962677002e-8
] |
[
-1.3017748594284058,
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0.03569117188453674,
-1.0169758796691895,
-1.1767911911010742,
1.559019684791565,
0.7153291702270508
] |
[
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] |
[
0,
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] | 0
|
[
0.003423929214477539,
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0.019943207502365112,
0.005351006984710693,
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-0.007761932909488678
] |
[
2.8973000049591064,
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-1.0308998823165894,
-0.8885458707809448,
1.8437622785568237,
-2.8973000049591064,
0.7153291702270508
] |
[
0.45328620076179504,
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] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.010728687047958374,
0.00990283489227295,
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0.18105338513851166,
0.11629623174667358,
0.04657459259033203,
0.015697713941335678
] |
[
-0.4902694523334503,
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1.6321052312850952,
-1.9143763780593872,
0.7153291702270508
] |
[
0.5817339420318604,
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0.7373690009117126,
-0.541342556476593,
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] |
[
0,
0.30000001192092896,
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] | 0
|
[
0.007280945777893066,
0.0034285783767700195,
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0.17397157847881317,
0.06021922826766968,
-0.013187229633331299,
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] |
[
0.8333500027656555,
1.0648163557052612,
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-0.0005896388320252299,
0.06553961336612701,
1.1703426837921143,
2.0970921516418457,
0.7153291702270508
] |
[
0.5766024589538574,
0.6889117360115051,
0.6174325942993164,
-0.4425865113735199,
0.7255622744560242,
-0.525480329990387,
-0.039331939071416855
] |
[
0,
0.6000000238418579,
-0.30000001192092896
] | 0
|
[
0.012412428855895996,
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0.21254561841487885,
0.07202595472335815,
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] |
[
0.4802069664001465,
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2.2989749908447266,
0.07242085039615631,
1.728610634803772,
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0.7153291702270508
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[
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] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
0.000009298324584960938,
0.000008940696716308594,
0.000022292137145996094,
0.00033627450466156006,
0.0001043081283569336,
0.000009298324584960938,
0.000010825693607330322
] |
[
-0.29557904601097107,
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3.34122371673584,
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[
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[
-0.15000000596046448,
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] | 0
|
[
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0.007826313376426697,
0.002115607261657715,
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] |
pick orange from white bowl
|
[
0.5890148878097534,
0.10258230566978455,
0.9276570677757263,
0.7975882291793823,
-0.5545297861099243,
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[
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[
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0.7975381016731262,
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] | 7
| 21
| 0
| 21
| 0
|
[
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0.9924395084381104,
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[
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[
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|
[
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0.0000692605972290039,
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7.189810276031494e-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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[
-0.125,
0.375,
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] | 0
|
[
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[
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[
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[
0,
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] | 0
|
[
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[
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[
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[
0,
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] | 0
|
[
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[
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[
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[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
0.00000959634780883789,
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] |
[
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] |
[
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[
-0.15000000596046448,
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] | 0
|
[
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0.008496135473251343,
0.0023105740547180176,
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-0.0026908889412879944
] |
pick orange from white bowl
|
[
0.5884418487548828,
0.1025991439819336,
0.9300726652145386,
0.7972556948661804,
-0.5541894435882568,
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] |
[
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0.874359667301178,
0.08112801611423492,
1.5290192365646362,
-1.1699087619781494,
0.800000011920929
] |
[
0.5884414315223694,
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0.9300716519355774,
-0.23216815292835236,
0.79720538854599,
-0.5542387366294861,
-0.05814522132277489
] | 7.333333
| 22
| 0
| 22
| 0
|
[
-0.8227384090423584,
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0.9534009099006653,
0.6750722527503967,
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] |
[
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] |
[
-0.20000000298023224,
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] | 0
|
[
-0.000006735324859619141,
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0.000010818243026733398,
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] |
[
-1.3051536083221436,
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[
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[
0,
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] | 0
|
[
0.0025821924209594727,
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0.003455817699432373,
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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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0.11718219518661499,
0.042109668254852295,
0.01588565856218338
] |
[
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] |
[
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[
0,
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] | 0
|
[
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] |
[
0.8521546125411987,
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0.04610472172498703,
1.1784213781356812,
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0.800000011920929
] |
[
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] |
[
0,
0.6000000238418579,
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] | 0
|
[
0.01061558723449707,
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] |
[
0.5038029551506042,
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2.3319413661956787,
0.03455538675189018,
1.717626690864563,
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0.800000011920929
] |
[
0.2729373872280121,
0.3985960781574249,
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0.7917290925979614,
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-0.039983056485652924
] |
[
-0.30000001192092896,
0.30000001192092896,
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] | 0
|
[
0.000008791685104370117,
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0.00002574920654296875,
0.0003751814365386963,
0.00011932849884033203,
-0.000010967254638671875,
0.00002006813883781433
] |
[
-0.2740999460220337,
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-2.8801801204681396,
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] |
[
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-0.2697271704673767,
0.7905465364456177,
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] |
[
-0.15000000596046448,
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] | 0
|
[
0.00013530254364013672,
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0.00027877092361450195,
0.0042458176612854,
0.001301884651184082,
-0.00010514259338378906,
-0.0012334845960140228
] |
pick orange from white bowl
|
[
0.5729461908340454,
0.09860590100288391,
0.9579365849494934,
0.7918484210968018,
-0.5485423803329468,
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-0.2654813528060913
] |
[
0.3546065390110016,
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0.44053006172180176,
0.9072958827018738,
0.07304307073354721,
1.482619047164917,
-1.1646583080291748,
0.800000011920929
] |
[
0.5729461908340454,
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0.9579358696937561,
-0.26553618907928467,
0.7917979955673218,
-0.5485899448394775,
-0.03994451090693474
] | 7.666667
| 23
| 0
| 23
| 0
|
[
-0.9155570864677429,
-1.5402911901474,
-0.10775420069694519,
0.8928558826446533,
0.7983311414718628,
2.318065881729126,
-2.2302732467651367,
0.800000011920929
] |
[
0.3529316484928131,
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-0.2999592125415802,
0.7789590358734131,
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-0.0035229744389653206
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.0000073015689849853516,
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0.000011920928955078125,
0.00006717443466186523,
0.0000883936882019043,
0.000019049271941184998
] |
[
-1.3075132369995117,
-0.967153787612915,
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-1.0041269063949585,
-1.1922334432601929,
1.5879311561584473,
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] |
[
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] |
[
0,
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] | 0
|
[
-0.00006413459777832031,
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-0.0016429126262664795,
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0.00007486343383789062,
0.0005769939161837101
] |
[
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-0.9863432049751282,
1.8225034475326538,
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] |
[
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] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.008550882339477539,
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0.161799818277359,
0.11262345314025879,
0.034480273723602295,
0.01655402034521103
] |
[
-0.5272316932678223,
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1.641679048538208,
-1.9248303174972534,
0.800000011920929
] |
[
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0.03800823166966438
] |
[
0,
0.30000001192092896,
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] | 0
|
[
0.0049340128898620605,
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0.13346794247627258,
0.05157655477523804,
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] |
[
0.879209041595459,
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-0.0007765311747789383,
0.003446356626227498,
1.217922568321228,
2.1244819164276123,
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] |
[
0.544760525226593,
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0.7249374389648438,
-0.5167071223258972,
0.006347928661853075
] |
[
0,
0.6000000238418579,
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] | 0
|
[
0.008163809776306152,
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0.15550756454467773,
0.0540887713432312,
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] |
[
0.5379590392112732,
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2.376523017883301,
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1.730069637298584,
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0.800000011920929
] |
[
0.2529163956642151,
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0.7788862586021423,
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-0.003539817174896598
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.000007927417755126953,
0.000012099742889404297,
0.000032961368560791016,
0.00045937299728393555,
0.0001399517059326172,
-0.00005269050598144531,
0.00003589200787246227
] |
[
-0.2459617555141449,
2.776543140411377,
3.3746116161346436,
0.7293400168418884,
-2.7157204151153564,
2.532517910003662,
0.800000011920929
] |
[
0.4028591513633728,
0.23494261503219604,
0.6909997463226318,
-0.3023478388786316,
0.7782073020935059,
-0.5504280924797058,
-0.0028458666056394577
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
0.00006517767906188965,
0.00001233816146850586,
0.00016200542449951172,
0.0024005472660064697,
0.0008189082145690918,
-0.00015115737915039062,
-0.0006580585613846779
] |
pick orange from white bowl
|
[
0.5529243350028992,
0.08495495468378067,
0.9911617636680603,
0.779026210308075,
-0.5505792498588562,
-0.0035039251670241356,
-0.2999472916126251
] |
[
0.32606270909309387,
0.1741144061088562,
0.4654543101787567,
0.9577471017837524,
0.039764150977134705,
1.4295405149459839,
-1.1430238485336304,
0.800000011920929
] |
[
0.5529248714447021,
0.08495678752660751,
0.9911613464355469,
-0.2999981641769409,
0.7789762616157532,
-0.550622284412384,
-0.0034916172735393047
] | 8
| 24
| 0
| 24
| 0
|
[
-0.9282947182655334,
-1.5381629467010498,
-0.10229840129613876,
0.8805775046348572,
0.8150988817214966,
2.3209922313690186,
-2.222285270690918,
0.800000011920929
] |
[
0.3505968749523163,
-0.11593548953533173,
0.8647205233573914,
-0.3036446273326874,
0.7781486511230469,
-0.5498039722442627,
0.0003916580753866583
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000007361173629760742,
-0.00000581890344619751,
-0.0000018477439880371094,
0.000012129545211791992,
0.00006657838821411133,
0.00008755922317504883,
0.000020939100068062544
] |
[
-1.3072561025619507,
-0.9706889986991882,
-0.0902940183877945,
-1.0065393447875977,
-1.194017767906189,
1.5896190404891968,
0.800000011920929
] |
[
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,
-0.561034619808197,
-1.2364933490753174,
-0.9620932340621948,
-0.9925704002380371,
1.8245989084243774,
-2.8973000049591064,
0.800000011920929
] |
[
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,
0.800000011920929
] |
[
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,
0.800000011920929
] |
[
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,
0.800000011920929
] |
[
0.25058090686798096,
0.3840447664260864,
0.6959308981895447,
-0.30415451526641846,
0.7780600786209106,
-0.5496475100517273,
0.0003700485685840249
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
0.00000858306884765625,
0.000013917684555053711,
0.000037789344787597656,
0.0005220174789428711,
0.0001551508903503418,
-0.00006890296936035156,
0.00004254860687069595
] |
[
-0.24836529791355133,
2.780102014541626,
3.3597872257232666,
0.7461392283439636,
-2.732832193374634,
2.542315721511841,
0.800000011920929
] |
[
0.4005204141139984,
0.2340448796749115,
0.6957939863204956,
-0.30619320273399353,
0.7773387432098389,
-0.5495352149009705,
0.0011176259722560644
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
0.00006908178329467773,
0.000013813376426696777,
0.00017470121383666992,
0.0025607049465179443,
0.0008764863014221191,
-0.0001811981201171875,
-0.0007050287676975131
] |
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,
0.800000011920929
] |
[
0.5505900382995605,
0.08406051248311996,
0.9959682822227478,
-0.30368366837501526,
0.7781652212142944,
-0.5497589707374573,
0.0004241946735419333
] | 8.333333
| 25
| 0
| 25
| 0
|
[
-1.536645770072937,
-0.9358698725700378,
-0.6560548543930054,
0.08564029633998871,
1.1115833520889282,
2.530769109725952,
-2.343721628189087,
0
] |
[
0.23816066980361938,
-0.4165829122066498,
0.8450143933296204,
0.15938958525657654,
-0.6031233072280884,
0.7807772159576416,
-0.03498830646276474
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
0.0000021904706954956055,
-0.0000298917293548584,
0.000056743621826171875,
-0.00018961727619171143,
-0.00016808509826660156,
-0.0000730752944946289,
0.00040620192885398865
] |
[
-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
] |
[
0.4857046902179718,
3.200467586517334,
3.866936683654785,
1.2422362565994263,
-3.1445963382720947,
3.136066436767578,
0
] |
[
0.28898555040359497,
-0.06566227227449417,
0.6715987324714661,
0.2042836993932724,
-0.5890373587608337,
0.7760061025619507,
-0.09548650681972504
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.0008226931095123291,
-0.0009505301713943481,
0.004722416400909424,
-0.04508373141288757,
-0.01425403356552124,
0.004698038101196289,
0.060904402285814285
] |
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
|
[
-1.5366171598434448,
-0.9358646869659424,
-0.6559587717056274,
0.08566764742136002,
1.1115961074829102,
2.530766487121582,
-2.343564033508301,
0
] |
[
0.2381662130355835,
-0.4165802299976349,
0.8450139760971069,
0.15943290293216705,
-0.6030993461608887,
0.7807872295379639,
-0.03498063609004021
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
0.0000021904706954956055,
-0.000029861927032470703,
0.000056743621826171875,
-0.00018966197967529297,
-0.00016808509826660156,
-0.0000730752944946289,
0.0004061795771121979
] |
[
-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
] |
[
0.48578909039497375,
3.2004549503326416,
3.866941452026367,
1.2421200275421143,
-3.14459490776062,
3.1360228061676025,
0
] |
[
0.2889910638332367,
-0.0656595304608345,
0.671599805355072,
0.20431382954120636,
-0.5890151262283325,
0.7760184407234192,
-0.0954592302441597
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.0008226633071899414,
-0.0009505748748779297,
0.004720926284790039,
-0.0450705885887146,
-0.014252305030822754,
0.004695713520050049,
0.06088477373123169
] |
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
|
[
-1.487736463546753,
-0.9509559273719788,
-0.4317857027053833,
0.14588035643100739,
1.0617669820785522,
2.5130345821380615,
-2.074460506439209,
0
] |
[
0.24528931081295013,
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0.842068076133728,
0.22551992535591125,
-0.558283805847168,
0.7982181906700134,
-0.017540661618113518
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
0.000003337860107421875,
-0.000033289194107055664,
0.0000578761100769043,
-0.00026570260524749756,
-0.00019413232803344727,
-0.00005257129669189453,
0.0003779511898756027
] |
[
-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,
-0.000002779066562652588,
0.00000959634780883789,
-0.00010660290718078613,
-0.000045299530029296875,
-0.000001430511474609375,
0.000009719282388687134
] |
[
0.6200348138809204,
3.1829934120178223,
3.89308500289917,
1.0592330694198608,
-3.1373767852783203,
3.0615386962890625,
0
] |
[
0.29594337940216064,
-0.06365810334682465,
0.671017050743103,
0.24878405034542084,
-0.5490576028823853,
0.7964844107627869,
-0.04748495668172836
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.0006507337093353271,
-0.0007403120398521423,
0.0023589134216308594,
-0.02352982759475708,
-0.009420335292816162,
0.001681208610534668,
0.030322246253490448
] |
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
|
[
-1.597615122795105,
-1.2066890001296997,
0.28202974796295166,
0.5059188008308411,
0.7307575345039368,
2.382556438446045,
-1.6842097043991089,
0
] |
[
0.2495264708995819,
-0.41594576835632324,
0.8384809494018555,
0.3049868047237396,
-0.4790092706680298,
0.8227235674858093,
0.025672297924757004
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000007048249244689941,
-3.2782554626464844e-7,
-0.0000017881393432617188,
-0.00002467632293701172,
-0.00007468461990356445,
-0.00003355741500854492,
-0.000024020671844482422
] |
[
-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,
-0.47823968529701233,
-0.11599364876747131,
-1.3440495729446411,
0.004758570343255997,
1.4885605573654175,
-2.8973000049591064,
0
] |
[
0.32451489567756653,
0.15905636548995972,
0.8447155356407166,
0.3051420748233795,
-0.47896242141723633,
0.8226941227912903,
0.025645511224865913
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.0000045299530029296875,
-0.0000024586915969848633,
0.000013649463653564453,
-0.0001799464225769043,
-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,
-0.0000025406479835510254,
0.000004708766937255859,
-0.00006121397018432617,
-0.000038743019104003906,
0,
0.000004395842552185059
] |
[
0.8237314820289612,
3.1738247871398926,
3.9923157691955566,
0.7141846418380737,
-3.012587547302246,
2.8720805644989014,
0
] |
[
0.299631267786026,
-0.06584890931844711,
0.6695366501808167,
0.30701133608818054,
-0.4779057502746582,
0.822688102722168,
0.023118387907743454
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.00011184811592102051,
-0.00009718537330627441,
0.00019252300262451172,
-0.0020492076873779297,
-0.0011782050132751465,
0.0000019073486328125,
0.0025298893451690674
] |
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
|
[
-1.5557724237442017,
-1.2401760816574097,
0.15709012746810913,
0.6857003569602966,
0.9561221599578857,
2.289849281311035,
-1.557896375656128,
0
] |
[
0.26382976770401,
-0.4091024398803711,
0.8494735360145569,
0.3916720747947693,
-0.41410648822784424,
0.8190962076187134,
0.06473157554864883
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000006556510925292969,
-5.960464477539063e-8,
-0.0000019669532775878906,
0.000003069639205932617,
-0.00006580352783203125,
-0.00003266334533691406,
-0.00002621859312057495
] |
[
-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
] |
[
0.9704747796058655,
3.1931564807891846,
4.1977314949035645,
0.14367732405662537,
-2.5870659351348877,
2.5131850242614746,
0
] |
[
0.31386083364486694,
-0.059076834470033646,
0.6806959509849548,
0.39196962118148804,
-0.4138358533382416,
0.8191239237785339,
0.06430920958518982
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.00003764033317565918,
-0.000025663524866104126,
0.00002562999725341797,
-0.0002944767475128174,
-0.0003364384174346924,
-0.0000603795051574707,
0.00039614737033843994
] |
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
|
[
-1.4963918924331665,
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0.11234083771705627,
0.7463512420654297,
1.088252067565918,
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0
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[
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[
-0.20000000298023224,
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] | 0
|
[
-0.000006020069122314453,
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0.000011414289474487305,
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[
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1.2360366582870483,
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0
] |
[
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[
0,
0.30000001192092896,
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] | 0
|
[
0.0000020563602447509766,
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0.0000444948673248291,
0.00011968612670898438,
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[
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0.19715924561023712,
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0
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[
0.3605354428291321,
0.18024280667304993,
0.8726295828819275,
0.4435347318649292,
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0.8046931624412537,
0.08223046362400055
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[
-0.125,
0.375,
-0.125
] | 0
|
[
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0.000029921531677246094,
0.000009857118129730225
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[
0.08161710947751999,
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0.8969237208366394,
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1.4108401536941528,
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0
] |
[
0.4855392277240753,
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[
0,
0.30000001192092896,
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] | 0
|
[
-0.0000013113021850585938,
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0.00012871623039245605,
0.0000655055046081543,
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] |
[
0.5933731198310852,
0.1234009638428688,
0.14933140575885773,
-1.3035557270050049,
-0.14083130657672882,
0.7867518067359924,
3.028334379196167,
0
] |
[
0.48554354906082153,
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0.6976374983787537,
0.4433898329734802,
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0.8046103715896606,
0.08242086321115494
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[
0,
0.6000000238418579,
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] | 0
|
[
-0.000005632638931274414,
0.000010162591934204102,
6.556510925292969e-7,
0.00003740191459655762,
0.00023928284645080566,
0.00011271238327026367,
-0.0001805424690246582
] |
[
0.4311669170856476,
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1.45078706741333,
0.16008812189102173,
1.4751145839691162,
-0.44211071729660034,
0
] |
[
0.1855391412973404,
0.10524427145719528,
0.6976369023323059,
0.4434471130371094,
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0.8047279715538025,
0.08223268389701843
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
-0.0000012218952178955078,
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0.0000012516975402832031,
-0.000019878149032592773,
-0.000031381845474243164,
-0.000004887580871582031,
0.000007636845111846924
] |
[
0.9325898885726929,
3.1896309852600098,
4.274554252624512,
-0.12071254849433899,
-2.3419065475463867,
2.2988064289093018,
0
] |
[
0.3355633616447449,
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0.6976255178451538,
0.4436027407646179,
-0.38578152656555176,
0.8047752380371094,
0.08201282471418381
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[
-0.15000000596046448,
0.15000000596046448,
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] | 0
|
[
-0.000025451183319091797,
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-0.0001755058765411377,
-0.0002619624137878418,
-0.0000521540641784668,
0.00022749602794647217
] |
pick green can from top shelf of fridge
|
[
0.48553791642189026,
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0.9976381659507751,
-0.3860434889793396,
0.8047230839729309,
0.08224032074213028,
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[
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1.2440556287765503,
0.5020266175270081,
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0
] |
[
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0.4433768093585968,
-0.38599473237991333,
0.8047787547111511,
0.08219630271196365
] | 1.666667
| 5
| 1
| 31
| 1
|
[
-1.4450275897979736,
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0.07813391834497452,
0.7839603424072266,
1.1722337007522583,
2.1727452278137207,
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0
] |
[
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0.08782671391963959
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[
-0.20000000298023224,
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-0.13124999403953552
] | 0
|
[
-0.0000057220458984375,
-7.748603820800781e-7,
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0.000015169382095336914,
-0.000058710575103759766,
-0.00003463029861450195,
-0.00002059340476989746
] |
[
-2.0042777061462402,
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1.2577009201049805,
-1.6611603498458862,
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2.1238324642181396,
0
] |
[
0.5020837783813477,
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0.7128801345825195,
0.47601431608200073,
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0.7906385660171509,
0.087816022336483
] |
[
0,
0.30000001192092896,
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] | 0
|
[
0.0000021457672119140625,
0.000004760921001434326,
6.556510925292969e-7,
0.00007075071334838867,
0.00013700127601623535,
0.000023484230041503906,
-0.000009901821613311768
] |
[
0.4015715420246124,
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0.004473552107810974,
-1.5016443729400635,
0.20565810799598694,
2.0013909339904785,
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0
] |
[
0.3770830035209656,
0.19680196046829224,
0.8878721594810486,
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0.7906302213668823,
0.08779576420783997
] |
[
-0.125,
0.375,
-0.125
] | 0
|
[
0.0000029206275939941406,
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-0.00006046891212463379,
0.000031828880310058594,
0.000010356307029724121
] |
[
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0.9126354455947876,
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1.3142726421356201,
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0
] |
[
0.502087414264679,
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0.7128801345825195,
0.4760812222957611,
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0.7905946969985962,
0.08784324675798416
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[
0,
0.30000001192092896,
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] | 0
|
[
-0.0000014901161193847656,
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0.000003844499588012695,
0.00013810396194458008,
0.0000673532485961914,
-0.000037126243114471436
] |
[
0.6873965859413147,
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0.051087066531181335,
-1.261932373046875,
-0.1505839079618454,
0.7204415798187256,
3.0478761196136475,
0
] |
[
0.5020926594734192,
0.4217919409275055,
0.7128806710243225,
0.47602635622024536,
-0.37507906556129456,
0.7905511260032654,
0.08799699693918228
] |
[
0,
0.6000000238418579,
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] | 0
|
[
-0.000006735324859619141,
0.000009953975677490234,
1.1920928955078125e-7,
0.000058710575103759766,
0.00026354193687438965,
0.00011092424392700195,
-0.00019087642431259155
] |
[
0.43235155940055847,
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1.4284056425094604,
0.1686442494392395,
1.3576362133026123,
-0.42442086338996887,
0
] |
[
0.2020869106054306,
0.12180354446172714,
0.7128798365592957,
0.47609901428222656,
-0.37478506565093994,
0.7906690835952759,
0.08779715746641159
] |
[
-0.30000001192092896,
0.30000001192092896,
-0.30000001192092896
] | 0
|
[
-9.834766387939453e-7,
-0.000001646578311920166,
9.5367431640625e-7,
-0.000013947486877441406,
-0.00003045797348022461,
-0.000007033348083496094,
0.000008963048458099365
] |
[
0.8638880848884583,
3.1885926723480225,
4.306185722351074,
-0.2715756297111511,
-2.1673712730407715,
2.1593589782714844,
0
] |
[
0.35210514068603516,
-0.02818087488412857,
0.7128722667694092,
0.4762212336063385,
-0.3745819330215454,
0.7907097935676575,
0.0876339003443718
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.000019222497940063477,
-0.00001722387969493866,
0.00000852346420288086,
-0.00013616681098937988,
-0.00023359060287475586,
-0.00004774332046508789,
0.0001722201704978943
] |
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
|
[
-1.3962230682373047,
-1.2960331439971924,
0.026074249297380447,
0.8432785272598267,
1.2278870344161987,
2.1131598949432373,
-1.391297698020935,
0
] |
[
0.31672653555870056,
-0.3696405589580536,
0.8885574340820312,
0.5028159618377686,
-0.35300230979919434,
0.7841705083847046,
0.08741925656795502
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000005453824996948242,
-0.0000011622905731201172,
-0.0000011920928955078125,
0.000017762184143066406,
-0.000059545040130615234,
-0.00003635883331298828,
-0.000016845762729644775
] |
[
-1.9694815874099731,
-1.8228727579116821,
1.298675775527954,
-1.8313387632369995,
-0.744076669216156,
2.2555699348449707,
0
] |
[
0.5167190432548523,
0.13035349547863007,
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,
-0.4720143973827362,
0.02515505999326706,
-1.5104033946990967,
0.19519390165805817,
2.0959315299987793,
-2.7856907844543457,
0
] |
[
0.3917180001735687,
0.20535805821418762,
0.8947980403900146,
0.5029259920120239,
-0.3530045747756958,
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,
-0.04770321398973465,
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,
0.0000064820051193237305,
1.1920928955078125e-7,
0.00001233816146850586,
0.00015479326248168945,
0.00006765127182006836,
-0.00005252659320831299
] |
[
0.945018470287323,
0.18507927656173706,
-0.2599269449710846,
-1.246939778327942,
-0.09718017280101776,
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,
-0.0000016689300537109375,
0.00013005733489990234,
0.0004068315029144287,
0.0001303553581237793,
-0.00027295947074890137
] |
[
0.41913560032844543,
-0.9256958961486816,
-0.0072811683639883995,
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
] |
[
0.8065957427024841,
3.195812225341797,
4.360898971557617,
-0.3915630578994751,
-1.9886064529418945,
2.043490171432495,
0
] |
[
0.3667362630367279,
-0.01962640881538391,
0.7198002934455872,
0.5029338002204895,
-0.35284876823425293,
0.7841818928718567,
0.08725856244564056
] |
[
-0.15000000596046448,
0.15000000596046448,
-0.30000001192092896
] | 0
|
[
-0.00001519918441772461,
-0.000015323981642723083,
0.0000059604644775390625,
-0.00010007619857788086,
-0.00021308660507202148,
-0.00004774332046508789,
0.00014384835958480835
] |
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
|
[
-1.370508074760437,
-1.2965751886367798,
0.014119964092969894,
0.8586236834526062,
1.2631618976593018,
2.0424625873565674,
-1.3354400396347046,
0
] |
[
0.3312760591506958,
-0.37338986992836,
0.8955960273742676,
0.5251356363296509,
-0.32025986909866333,
0.7837744951248169,
0.08581218123435974
] |
[
-0.20000000298023224,
-0.20000000298023224,
-0.13124999403953552
] | 0
|
[
-0.000005125999450683594,
-0.0000013113021850585938,
-9.5367431640625e-7,
0.000020384788513183594,
-0.000059276819229125977,
-0.00003647804260253906,
-0.00001309812068939209
] |
[
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pick green can from top shelf of fridge
|
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pick green can from top shelf of fridge
|
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[
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pick green can from top shelf of fridge
|
[
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[
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| 10
| 1
| 36
| 1
|
End of preview. Expand
in Data Studio
fractal20220817_data_train_30000_32500_augmented
Overview
- Codebase version:
v3.0 - Robots: images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
- FPS: 3
- Episodes: 2,500
- Frames: 110,276
- Splits:
train:0:2500
Data Layout
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
Features
| Feature | dtype | shape | description |
|---|---|---|---|
observation.images.image |
video |
256×320×3 |
Source robot's image from original dataset |
observation.images.jaco |
video |
256×320×3 |
Augmented image for jaco robot |
observation.images.kinova3 |
video |
256×320×3 |
Augmented image for kinova3 robot |
observation.images.kuka_iiwa |
video |
256×320×3 |
Augmented image for kuka_iiwa robot |
observation.images.panda |
video |
256×320×3 |
Augmented image for panda robot |
observation.images.sawyer |
video |
256×320×3 |
Augmented image for sawyer robot |
observation.images.ur5e |
video |
256×320×3 |
Augmented image for ur5e robot |
observation.images.xarm7 |
video |
256×320×3 |
Augmented image for xarm7 robot |
episode_index |
int64 |
1 |
Index of the current episode within the dataset. |
frame_index |
int64 |
1 |
Index of the current frame within its episode. |
index |
int64 |
1 |
Global frame index across the whole dataset. |
natural_language_instruction |
string |
1 |
Natural language command describing the task |
observation.ee_pose |
float32 |
7 |
Source robot's eef position |
observation.jaco.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.jaco.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.jaco.ee_error |
float32 |
7 |
The eef difference between the augmented jaco robot and the original robot |
observation.jaco.ee_pose |
float32 |
7 |
The eef position of jaco robot |
observation.jaco.joints |
float32 |
7 |
The joint position of jaco robot |
observation.joints |
float32 |
8 |
Joint angle of source robot |
observation.kinova3.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kinova3.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kinova3.ee_error |
float32 |
7 |
The eef difference between the augmented kinova3 robot and the original robot |
observation.kinova3.ee_pose |
float32 |
7 |
The eef position of kinova3 robot |
observation.kinova3.joints |
float32 |
8 |
The joint position of kinova3 robot |
observation.kuka_iiwa.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kuka_iiwa.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kuka_iiwa.ee_error |
float32 |
7 |
The eef difference between the augmented kuka_iiwa robot and the original robot |
observation.kuka_iiwa.ee_pose |
float32 |
7 |
The eef position of kuka_iiwa robot |
observation.kuka_iiwa.joints |
float32 |
8 |
The joint position of kuka_iiwa robot |
observation.panda.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.panda.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.panda.ee_error |
float32 |
7 |
The eef difference between the augmented panda robot and the original robot |
observation.panda.ee_pose |
float32 |
7 |
The eef position of panda robot |
observation.panda.joints |
float32 |
8 |
The joint position of panda robot |
observation.sawyer.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.sawyer.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.sawyer.ee_error |
float32 |
7 |
The eef difference between the augmented sawyer robot and the original robot |
observation.sawyer.ee_pose |
float32 |
7 |
The eef position of sawyer robot |
observation.sawyer.joints |
float32 |
8 |
The joint position of sawyer robot |
observation.state |
float32 |
7 |
Copy of the state field in source robot's RLDS dataset |
observation.ur5e.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.ur5e.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.ur5e.ee_error |
float32 |
7 |
The eef difference between the augmented ur5e robot and the original robot |
observation.ur5e.ee_pose |
float32 |
7 |
The eef position of ur5e robot |
observation.ur5e.joints |
float32 |
7 |
The joint position of ur5e robot |
observation.xarm7.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.xarm7.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.xarm7.ee_error |
float32 |
7 |
The eef difference between the augmented xarm7 robot and the original robot |
observation.xarm7.ee_pose |
float32 |
7 |
The eef position of xarm7 robot |
observation.xarm7.joints |
float32 |
8 |
The joint position of xarm7 robot |
task_index |
int64 |
1 |
Integer ID of the high-level task this episode/frame belongs to. |
timestamp |
float32 |
1 |
Time stamp of the current frame within the episode (in second). |
Website
- Website page: https://oxe-auge.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-auge
Paper
Citation Policy
If you use OXE-AugE datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@misc{googleblog_rt1_2022,
author = {Keerthana Gopalakrishnan and Kanishka Rao},
title = {RT-1: Robotics Transformer for real-world control at scale},
howpublished = {Google Research Blog},
year = {2022},
month = {December},
url = {https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/}
}
OXE-AugE Dataset Citation (ours)
@misc{
ji2025oxeauge,
title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
journal={arXiv preprint arXiv:2512.13100},
year={2025}
}
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