task_categories:reinforcement-learning task_categories:text-generation task_categories:question-answering annotations_creators:found annotations_creators:machine-generated source_datasets:conceptual-captions source_datasets:ok-vqa source_datasets:oscar license:apache-2.0 imitation-learning reinforcement-learning text-generation question-answering generalist-agent arxiv:2303.03915 region:us
---
annotations_creators:
- found
- machine-generated
license: apache-2.0
size_categories:
- {}
source_datasets:
- conceptual-captions
- ok-vqa
- oscar
task_categories:
- reinforcement-learning
- text-generation
- question-answering
pretty_name: GIA-dataset
configs:
- config_name: atari-alien
  data_files:
  - split: train
    path: atari-alien/train-*
  - split: test
    path: atari-alien/test-*
- config_name: atari-amidar
  data_files:
  - split: train
    path: atari-amidar/train-*
  - split: test
    path: atari-amidar/test-*
- config_name: atari-assault
  data_files:
  - split: train
    path: atari-assault/train-*
  - split: test
    path: atari-assault/test-*
- config_name: atari-asterix
  data_files:
  - split: train
    path: atari-asterix/train-*
  - split: test
    path: atari-asterix/test-*
- config_name: atari-asteroids
  data_files:
  - split: train
    path: atari-asteroids/train-*
  - split: test
    path: atari-asteroids/test-*
- config_name: atari-atlantis
  data_files:
  - split: train
    path: atari-atlantis/train-*
  - split: test
    path: atari-atlantis/test-*
- config_name: atari-bankheist
  data_files:
  - split: train
    path: atari-bankheist/train-*
  - split: test
    path: atari-bankheist/test-*
- config_name: atari-battlezone
  data_files:
  - split: train
    path: atari-battlezone/train-*
  - split: test
    path: atari-battlezone/test-*
- config_name: atari-beamrider
  data_files:
  - split: train
    path: atari-beamrider/train-*
  - split: test
    path: atari-beamrider/test-*
- config_name: atari-berzerk
  data_files:
  - split: train
    path: atari-berzerk/train-*
  - split: test
    path: atari-berzerk/test-*
- config_name: atari-bowling
  data_files:
  - split: train
    path: atari-bowling/train-*
  - split: test
    path: atari-bowling/test-*
- config_name: atari-boxing
  data_files:
  - split: train
    path: atari-boxing/train-*
  - split: test
    path: atari-boxing/test-*
- config_name: atari-breakout
  data_files:
  - split: train
    path: atari-breakout/train-*
  - split: test
    path: atari-breakout/test-*
- config_name: atari-centipede
  data_files:
  - split: train
    path: atari-centipede/train-*
  - split: test
    path: atari-centipede/test-*
- config_name: atari-choppercommand
  data_files:
  - split: train
    path: atari-choppercommand/train-*
  - split: test
    path: atari-choppercommand/test-*
- config_name: atari-crazyclimber
  data_files:
  - split: train
    path: atari-crazyclimber/train-*
  - split: test
    path: atari-crazyclimber/test-*
- config_name: atari-defender
  data_files:
  - split: train
    path: atari-defender/train-*
  - split: test
    path: atari-defender/test-*
- config_name: atari-demonattack
  data_files:
  - split: train
    path: atari-demonattack/train-*
  - split: test
    path: atari-demonattack/test-*
- config_name: atari-doubledunk
  data_files:
  - split: test
    path: atari-doubledunk/test-*
  - split: train
    path: atari-doubledunk/train-*
- config_name: atari-enduro
  data_files:
  - split: train
    path: atari-enduro/train-*
  - split: test
    path: atari-enduro/test-*
- config_name: atari-fishingderby
  data_files:
  - split: train
    path: atari-fishingderby/train-*
  - split: test
    path: atari-fishingderby/test-*
- config_name: atari-freeway
  data_files:
  - split: train
    path: atari-freeway/train-*
  - split: test
    path: atari-freeway/test-*
- config_name: atari-frostbite
  data_files:
  - split: train
    path: atari-frostbite/train-*
  - split: test
    path: atari-frostbite/test-*
- config_name: atari-gopher
  data_files:
  - split: train
    path: atari-gopher/train-*
  - split: test
    path: atari-gopher/test-*
- config_name: atari-gravitar
  data_files:
  - split: train
    path: atari-gravitar/train-*
  - split: test
    path: atari-gravitar/test-*
- config_name: atari-hero
  data_files:
  - split: train
    path: atari-hero/train-*
  - split: test
    path: atari-hero/test-*
- config_name: atari-icehockey
  data_files:
  - split: train
    path: atari-icehockey/train-*
  - split: test
    path: atari-icehockey/test-*
- config_name: atari-jamesbond
  data_files:
  - split: train
    path: atari-jamesbond/train-*
  - split: test
    path: atari-jamesbond/test-*
- config_name: atari-kangaroo
  data_files:
  - split: train
    path: atari-kangaroo/train-*
  - split: test
    path: atari-kangaroo/test-*
- config_name: atari-krull
  data_files:
  - split: train
    path: atari-krull/train-*
  - split: test
    path: atari-krull/test-*
- config_name: atari-kungfumaster
  data_files:
  - split: train
    path: atari-kungfumaster/train-*
  - split: test
    path: atari-kungfumaster/test-*
- config_name: atari-montezumarevenge
  data_files:
  - split: train
    path: atari-montezumarevenge/train-*
  - split: test
    path: atari-montezumarevenge/test-*
- config_name: atari-mspacman
  data_files:
  - split: train
    path: atari-mspacman/train-*
  - split: test
    path: atari-mspacman/test-*
- config_name: atari-namethisgame
  data_files:
  - split: train
    path: atari-namethisgame/train-*
  - split: test
    path: atari-namethisgame/test-*
- config_name: atari-phoenix
  data_files:
  - split: train
    path: atari-phoenix/train-*
  - split: test
    path: atari-phoenix/test-*
- config_name: atari-pitfall
  data_files:
  - split: train
    path: atari-pitfall/train-*
  - split: test
    path: atari-pitfall/test-*
- config_name: atari-pong
  data_files:
  - split: test
    path: atari-pong/test-*
  - split: train
    path: atari-pong/train-*
- config_name: atari-privateeye
  data_files:
  - split: test
    path: atari-privateeye/test-*
  - split: train
    path: atari-privateeye/train-*
- config_name: atari-qbert
  data_files:
  - split: test
    path: atari-qbert/test-*
  - split: train
    path: atari-qbert/train-*
- config_name: atari-riverraid
  data_files:
  - split: test
    path: atari-riverraid/test-*
  - split: train
    path: atari-riverraid/train-*
- config_name: atari-roadrunner
  data_files:
  - split: test
    path: atari-roadrunner/test-*
  - split: train
    path: atari-roadrunner/train-*
- config_name: atari-robotank
  data_files:
  - split: test
    path: atari-robotank/test-*
  - split: train
    path: atari-robotank/train-*
- config_name: atari-seaquest
  data_files:
  - split: test
    path: atari-seaquest/test-*
  - split: train
    path: atari-seaquest/train-*
- config_name: atari-skiing
  data_files:
  - split: train
    path: atari-skiing/train-*
  - split: test
    path: atari-skiing/test-*
- config_name: atari-solaris
  data_files:
  - split: train
    path: atari-solaris/train-*
  - split: test
    path: atari-solaris/test-*
- config_name: atari-spaceinvaders
  data_files:
  - split: train
    path: atari-spaceinvaders/train-*
  - split: test
    path: atari-spaceinvaders/test-*
- config_name: atari-stargunner
  data_files:
  - split: train
    path: atari-stargunner/train-*
  - split: test
    path: atari-stargunner/test-*
- config_name: atari-surround
  data_files:
  - split: train
    path: atari-surround/train-*
  - split: test
    path: atari-surround/test-*
- config_name: atari-tennis
  data_files:
  - split: train
    path: atari-tennis/train-*
  - split: test
    path: atari-tennis/test-*
- config_name: atari-timepilot
  data_files:
  - split: train
    path: atari-timepilot/train-*
  - split: test
    path: atari-timepilot/test-*
- config_name: atari-tutankham
  data_files:
  - split: train
    path: atari-tutankham/train-*
  - split: test
    path: atari-tutankham/test-*
- config_name: atari-upndown
  data_files:
  - split: train
    path: atari-upndown/train-*
  - split: test
    path: atari-upndown/test-*
- config_name: atari-venture
  data_files:
  - split: test
    path: atari-venture/test-*
  - split: train
    path: atari-venture/train-*
- config_name: atari-videopinball
  data_files:
  - split: test
    path: atari-videopinball/test-*
  - split: train
    path: atari-videopinball/train-*
- config_name: atari-wizardofwor
  data_files:
  - split: test
    path: atari-wizardofwor/test-*
  - split: train
    path: atari-wizardofwor/train-*
- config_name: atari-yarsrevenge
  data_files:
  - split: test
    path: atari-yarsrevenge/test-*
  - split: train
    path: atari-yarsrevenge/train-*
- config_name: atari-zaxxon
  data_files:
  - split: test
    path: atari-zaxxon/test-*
  - split: train
    path: atari-zaxxon/train-*
- config_name: babyai-action-obj-door
  data_files:
  - split: train
    path: babyai-action-obj-door/train-*
  - split: test
    path: babyai-action-obj-door/test-*
- config_name: babyai-blocked-unlock-pickup
  data_files:
  - split: test
    path: babyai-blocked-unlock-pickup/test-*
  - split: train
    path: babyai-blocked-unlock-pickup/train-*
- config_name: babyai-boss-level
  data_files:
  - split: test
    path: babyai-boss-level/test-*
  - split: train
    path: babyai-boss-level/train-*
- config_name: babyai-boss-level-no-unlock
  data_files:
  - split: test
    path: babyai-boss-level-no-unlock/test-*
  - split: train
    path: babyai-boss-level-no-unlock/train-*
- config_name: babyai-find-obj-s5
  data_files:
  - split: train
    path: babyai-find-obj-s5/train-*
  - split: test
    path: babyai-find-obj-s5/test-*
- config_name: babyai-go-to
  data_files:
  - split: train
    path: babyai-go-to/train-*
  - split: test
    path: babyai-go-to/test-*
- config_name: babyai-go-to-door
  data_files:
  - split: train
    path: babyai-go-to-door/train-*
  - split: test
    path: babyai-go-to-door/test-*
- config_name: babyai-go-to-local
  data_files:
  - split: train
    path: babyai-go-to-local/train-*
  - split: test
    path: babyai-go-to-local/test-*
- config_name: babyai-go-to-obj
  data_files:
  - split: train
    path: babyai-go-to-obj/train-*
  - split: test
    path: babyai-go-to-obj/test-*
- config_name: babyai-go-to-obj-door
  data_files:
  - split: train
    path: babyai-go-to-obj-door/train-*
  - split: test
    path: babyai-go-to-obj-door/test-*
- config_name: babyai-go-to-red-ball
  data_files:
  - split: train
    path: babyai-go-to-red-ball/train-*
  - split: test
    path: babyai-go-to-red-ball/test-*
- config_name: babyai-go-to-red-ball-grey
  data_files:
  - split: train
    path: babyai-go-to-red-ball-grey/train-*
  - split: test
    path: babyai-go-to-red-ball-grey/test-*
- config_name: babyai-go-to-red-ball-no-dists
  data_files:
  - split: train
    path: babyai-go-to-red-ball-no-dists/train-*
  - split: test
    path: babyai-go-to-red-ball-no-dists/test-*
- config_name: babyai-go-to-red-blue-ball
  data_files:
  - split: train
    path: babyai-go-to-red-blue-ball/train-*
  - split: test
    path: babyai-go-to-red-blue-ball/test-*
- config_name: babyai-go-to-seq
  data_files:
  - split: train
    path: babyai-go-to-seq/train-*
  - split: test
    path: babyai-go-to-seq/test-*
- config_name: babyai-key-corridor
  data_files:
  - split: test
    path: babyai-key-corridor/test-*
  - split: train
    path: babyai-key-corridor/train-*
- config_name: babyai-key-in-box
  data_files:
  - split: test
    path: babyai-key-in-box/test-*
  - split: train
    path: babyai-key-in-box/train-*
- config_name: babyai-mini-boss-level
  data_files:
  - split: test
    path: babyai-mini-boss-level/test-*
  - split: train
    path: babyai-mini-boss-level/train-*
- config_name: babyai-move-two-across-s8n9
  data_files:
  - split: test
    path: babyai-move-two-across-s8n9/test-*
  - split: train
    path: babyai-move-two-across-s8n9/train-*
- config_name: babyai-one-room-s8
  data_files:
  - split: test
    path: babyai-one-room-s8/test-*
  - split: train
    path: babyai-one-room-s8/train-*
- config_name: babyai-open
  data_files:
  - split: test
    path: babyai-open/test-*
  - split: train
    path: babyai-open/train-*
- config_name: babyai-open-door
  data_files:
  - split: test
    path: babyai-open-door/test-*
  - split: train
    path: babyai-open-door/train-*
- config_name: babyai-open-doors-order-n4
  data_files:
  - split: test
    path: babyai-open-doors-order-n4/test-*
  - split: train
    path: babyai-open-doors-order-n4/train-*
- config_name: babyai-open-red-door
  data_files:
  - split: test
    path: babyai-open-red-door/test-*
  - split: train
    path: babyai-open-red-door/train-*
- config_name: babyai-open-two-doors
  data_files:
  - split: test
    path: babyai-open-two-doors/test-*
  - split: train
    path: babyai-open-two-doors/train-*
- config_name: babyai-pickup
  data_files:
  - split: test
    path: babyai-pickup/test-*
  - split: train
    path: babyai-pickup/train-*
- config_name: babyai-pickup-above
  data_files:
  - split: test
    path: babyai-pickup-above/test-*
  - split: train
    path: babyai-pickup-above/train-*
- config_name: babyai-pickup-dist
  data_files:
  - split: test
    path: babyai-pickup-dist/test-*
  - split: train
    path: babyai-pickup-dist/train-*
- config_name: babyai-pickup-loc
  data_files:
  - split: test
    path: babyai-pickup-loc/test-*
  - split: train
    path: babyai-pickup-loc/train-*
- config_name: babyai-synth
  data_files:
  - split: test
    path: babyai-synth/test-*
  - split: train
    path: babyai-synth/train-*
- config_name: babyai-synth-loc
  data_files:
  - split: test
    path: babyai-synth-loc/test-*
  - split: train
    path: babyai-synth-loc/train-*
- config_name: babyai-synth-seq
  data_files:
  - split: test
    path: babyai-synth-seq/test-*
  - split: train
    path: babyai-synth-seq/train-*
- config_name: babyai-unblock-pickup
  data_files:
  - split: test
    path: babyai-unblock-pickup/test-*
  - split: train
    path: babyai-unblock-pickup/train-*
- config_name: babyai-unlock-local
  data_files:
  - split: test
    path: babyai-unlock-local/test-*
  - split: train
    path: babyai-unlock-local/train-*
- config_name: babyai-unlock-pickup
  data_files:
  - split: test
    path: babyai-unlock-pickup/test-*
  - split: train
    path: babyai-unlock-pickup/train-*
- config_name: conceptual-captions
  data_files:
  - split: test
    path: conceptual-captions/test-*
  - split: train
    path: conceptual-captions/train-*
- config_name: metaworld-assembly
  data_files:
  - split: train
    path: metaworld-assembly/train-*
  - split: test
    path: metaworld-assembly/test-*
- config_name: metaworld-basketball
  data_files:
  - split: train
    path: metaworld-basketball/train-*
  - split: test
    path: metaworld-basketball/test-*
- config_name: metaworld-bin-picking
  data_files:
  - split: train
    path: metaworld-bin-picking/train-*
  - split: test
    path: metaworld-bin-picking/test-*
- config_name: metaworld-box-close
  data_files:
  - split: train
    path: metaworld-box-close/train-*
  - split: test
    path: metaworld-box-close/test-*
- config_name: metaworld-button-press
  data_files:
  - split: train
    path: metaworld-button-press/train-*
  - split: test
    path: metaworld-button-press/test-*
- config_name: metaworld-button-press-topdown
  data_files:
  - split: train
    path: metaworld-button-press-topdown/train-*
  - split: test
    path: metaworld-button-press-topdown/test-*
- config_name: metaworld-button-press-topdown-wall
  data_files:
  - split: train
    path: metaworld-button-press-topdown-wall/train-*
  - split: test
    path: metaworld-button-press-topdown-wall/test-*
- config_name: metaworld-button-press-wall
  data_files:
  - split: train
    path: metaworld-button-press-wall/train-*
  - split: test
    path: metaworld-button-press-wall/test-*
- config_name: metaworld-coffee-button
  data_files:
  - split: train
    path: metaworld-coffee-button/train-*
  - split: test
    path: metaworld-coffee-button/test-*
- config_name: metaworld-coffee-pull
  data_files:
  - split: train
    path: metaworld-coffee-pull/train-*
  - split: test
    path: metaworld-coffee-pull/test-*
- config_name: metaworld-coffee-push
  data_files:
  - split: train
    path: metaworld-coffee-push/train-*
  - split: test
    path: metaworld-coffee-push/test-*
- config_name: metaworld-dial-turn
  data_files:
  - split: train
    path: metaworld-dial-turn/train-*
  - split: test
    path: metaworld-dial-turn/test-*
- config_name: metaworld-disassemble
  data_files:
  - split: train
    path: metaworld-disassemble/train-*
  - split: test
    path: metaworld-disassemble/test-*
- config_name: metaworld-door-close
  data_files:
  - split: train
    path: metaworld-door-close/train-*
  - split: test
    path: metaworld-door-close/test-*
- config_name: metaworld-door-lock
  data_files:
  - split: train
    path: metaworld-door-lock/train-*
  - split: test
    path: metaworld-door-lock/test-*
- config_name: metaworld-door-open
  data_files:
  - split: train
    path: metaworld-door-open/train-*
  - split: test
    path: metaworld-door-open/test-*
- config_name: metaworld-door-unlock
  data_files:
  - split: train
    path: metaworld-door-unlock/train-*
  - split: test
    path: metaworld-door-unlock/test-*
- config_name: metaworld-drawer-close
  data_files:
  - split: train
    path: metaworld-drawer-close/train-*
  - split: test
    path: metaworld-drawer-close/test-*
- config_name: metaworld-drawer-open
  data_files:
  - split: train
    path: metaworld-drawer-open/train-*
  - split: test
    path: metaworld-drawer-open/test-*
- config_name: metaworld-faucet-close
  data_files:
  - split: train
    path: metaworld-faucet-close/train-*
  - split: test
    path: metaworld-faucet-close/test-*
- config_name: metaworld-faucet-open
  data_files:
  - split: train
    path: metaworld-faucet-open/train-*
  - split: test
    path: metaworld-faucet-open/test-*
- config_name: metaworld-hammer
  data_files:
  - split: train
    path: metaworld-hammer/train-*
  - split: test
    path: metaworld-hammer/test-*
- config_name: metaworld-hand-insert
  data_files:
  - split: train
    path: metaworld-hand-insert/train-*
  - split: test
    path: metaworld-hand-insert/test-*
- config_name: metaworld-handle-press
  data_files:
  - split: train
    path: metaworld-handle-press/train-*
  - split: test
    path: metaworld-handle-press/test-*
- config_name: metaworld-handle-press-side
  data_files:
  - split: train
    path: metaworld-handle-press-side/train-*
  - split: test
    path: metaworld-handle-press-side/test-*
- config_name: metaworld-handle-pull
  data_files:
  - split: train
    path: metaworld-handle-pull/train-*
  - split: test
    path: metaworld-handle-pull/test-*
- config_name: metaworld-handle-pull-side
  data_files:
  - split: train
    path: metaworld-handle-pull-side/train-*
  - split: test
    path: metaworld-handle-pull-side/test-*
- config_name: metaworld-lever-pull
  data_files:
  - split: train
    path: metaworld-lever-pull/train-*
  - split: test
    path: metaworld-lever-pull/test-*
- config_name: metaworld-peg-insert-side
  data_files:
  - split: train
    path: metaworld-peg-insert-side/train-*
  - split: test
    path: metaworld-peg-insert-side/test-*
- config_name: metaworld-peg-unplug-side
  data_files:
  - split: train
    path: metaworld-peg-unplug-side/train-*
  - split: test
    path: metaworld-peg-unplug-side/test-*
- config_name: metaworld-pick-out-of-hole
  data_files:
  - split: train
    path: metaworld-pick-out-of-hole/train-*
  - split: test
    path: metaworld-pick-out-of-hole/test-*
- config_name: metaworld-pick-place
  data_files:
  - split: train
    path: metaworld-pick-place/train-*
  - split: test
    path: metaworld-pick-place/test-*
- config_name: metaworld-pick-place-wall
  data_files:
  - split: train
    path: metaworld-pick-place-wall/train-*
  - split: test
    path: metaworld-pick-place-wall/test-*
- config_name: metaworld-plate-slide
  data_files:
  - split: train
    path: metaworld-plate-slide/train-*
  - split: test
    path: metaworld-plate-slide/test-*
- config_name: metaworld-plate-slide-back
  data_files:
  - split: train
    path: metaworld-plate-slide-back/train-*
  - split: test
    path: metaworld-plate-slide-back/test-*
- config_name: metaworld-plate-slide-back-side
  data_files:
  - split: train
    path: metaworld-plate-slide-back-side/train-*
  - split: test
    path: metaworld-plate-slide-back-side/test-*
- config_name: metaworld-plate-slide-side
  data_files:
  - split: train
    path: metaworld-plate-slide-side/train-*
  - split: test
    path: metaworld-plate-slide-side/test-*
- config_name: metaworld-push
  data_files:
  - split: train
    path: metaworld-push/train-*
  - split: test
    path: metaworld-push/test-*
- config_name: metaworld-push-back
  data_files:
  - split: train
    path: metaworld-push-back/train-*
  - split: test
    path: metaworld-push-back/test-*
- config_name: metaworld-push-wall
  data_files:
  - split: train
    path: metaworld-push-wall/train-*
  - split: test
    path: metaworld-push-wall/test-*
- config_name: metaworld-reach
  data_files:
  - split: train
    path: metaworld-reach/train-*
  - split: test
    path: metaworld-reach/test-*
- config_name: metaworld-reach-wall
  data_files:
  - split: train
    path: metaworld-reach-wall/train-*
  - split: test
    path: metaworld-reach-wall/test-*
- config_name: metaworld-shelf-place
  data_files:
  - split: train
    path: metaworld-shelf-place/train-*
  - split: test
    path: metaworld-shelf-place/test-*
- config_name: metaworld-soccer
  data_files:
  - split: train
    path: metaworld-soccer/train-*
  - split: test
    path: metaworld-soccer/test-*
- config_name: metaworld-stick-pull
  data_files:
  - split: train
    path: metaworld-stick-pull/train-*
  - split: test
    path: metaworld-stick-pull/test-*
- config_name: metaworld-stick-push
  data_files:
  - split: train
    path: metaworld-stick-push/train-*
  - split: test
    path: metaworld-stick-push/test-*
- config_name: metaworld-sweep
  data_files:
  - split: train
    path: metaworld-sweep/train-*
  - split: test
    path: metaworld-sweep/test-*
- config_name: metaworld-sweep-into
  data_files:
  - split: train
    path: metaworld-sweep-into/train-*
  - split: test
    path: metaworld-sweep-into/test-*
- config_name: metaworld-window-close
  data_files:
  - split: train
    path: metaworld-window-close/train-*
  - split: test
    path: metaworld-window-close/test-*
- config_name: metaworld-window-open
  data_files:
  - split: train
    path: metaworld-window-open/train-*
  - split: test
    path: metaworld-window-open/test-*
- config_name: mujoco-ant
  data_files:
  - split: train
    path: mujoco-ant/train-*
  - split: test
    path: mujoco-ant/test-*
- config_name: mujoco-doublependulum
  data_files:
  - split: train
    path: mujoco-doublependulum/train-*
  - split: test
    path: mujoco-doublependulum/test-*
- config_name: mujoco-halfcheetah
  data_files:
  - split: train
    path: mujoco-halfcheetah/train-*
  - split: test
    path: mujoco-halfcheetah/test-*
- config_name: mujoco-hopper
  data_files:
  - split: train
    path: mujoco-hopper/train-*
  - split: test
    path: mujoco-hopper/test-*
- config_name: mujoco-humanoid
  data_files:
  - split: train
    path: mujoco-humanoid/train-*
  - split: test
    path: mujoco-humanoid/test-*
- config_name: mujoco-pendulum
  data_files:
  - split: train
    path: mujoco-pendulum/train-*
  - split: test
    path: mujoco-pendulum/test-*
- config_name: mujoco-pusher
  data_files:
  - split: train
    path: mujoco-pusher/train-*
  - split: test
    path: mujoco-pusher/test-*
- config_name: mujoco-reacher
  data_files:
  - split: train
    path: mujoco-reacher/train-*
  - split: test
    path: mujoco-reacher/test-*
- config_name: mujoco-standup
  data_files:
  - split: train
    path: mujoco-standup/train-*
  - split: test
    path: mujoco-standup/test-*
- config_name: mujoco-swimmer
  data_files:
  - split: train
    path: mujoco-swimmer/train-*
  - split: test
    path: mujoco-swimmer/test-*
- config_name: mujoco-walker
  data_files:
  - split: train
    path: mujoco-walker/train-*
  - split: test
    path: mujoco-walker/test-*
- config_name: ok-vqa
  data_files:
  - split: train
    path: ok-vqa/train-*
  - split: test
    path: ok-vqa/test-*
tags:
- imitation-learning
- reinforcement-learning
- text-generation
- question-answering
- generalist-agent
dataset_info:
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- config_name: mujoco-ant
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- config_name: mujoco-doublependulum
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- config_name: mujoco-halfcheetah
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- config_name: mujoco-reacher
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- config_name: mujoco-standup
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  - name: continuous_observations
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- config_name: mujoco-swimmer
  features:
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    sequence:
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- config_name: mujoco-walker
  features:
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    sequence:
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- config_name: ok-vqa
  features:
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    dtype: image
  - name: text
    dtype: string
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---

# GIA Dataset

## Dataset Description

The GIA dataset combines a wide range of individual datasets. It includes expert demonstrations by expert RL agents, image and caption pairs, textual data and more. The GIA dataset is part of the GIA project, which aims to build a multimodal generalist agent.

### Usage

```python
>>> from datasets import load_dataset
>>> dataset = load_dataset("gia-project/gia-dataset", "metaworld-assembly")
>>> first_episode = dataset["train"][0]
>>> first_episode.keys()
dict_keys(['continuous_observations', 'continuous_actions', 'rewards'])
>>> len(first_episode["rewards"])
500
>>> first_episode["continuous_actions"][0]
[6.459120273590088, 2.2422609329223633, -5.914587020874023, -19.799840927124023]
```

## Dataset Structure

### Data Instances

<details>
  <summary>Click to expand the score information for each task</summary>

The following table presents a comparative analysis of scores across various domains and tasks. The scores highlight the performance difference between a random agent and the episodes recorded in our dataset.

| Task                                | Random Agent Score  | Dataset Episode Score |
| ----------------------------------- | :-----------------: | :-------------------: |
| **Atari**                           |                     |                       |
| atari-alien                         |   205.50 ± 111.97   |  16912.50 ± 7087.42   |
| atari-amidar                        |     2.38 ± 2.50     |   2164.71 ± 1229.47   |
| atari-assault                       |   262.50 ± 89.61    |  15699.12 ± 9572.12   |
| atari-asterix                       |   213.50 ± 110.87   |   3699.62 ± 2421.30   |
| atari-asteroids                     |   856.40 ± 434.32   | 177011.05 ± 35334.20  |
| atari-atlantis                      | 17764.00 ± 6662.43  | 320679.59 ± 418247.37 |
| atari-bankheist                     |    13.40 ± 11.07    |    1322.43 ± 60.84    |
| atari-battlezone                    |  2170.00 ± 2121.58  | 295592.59 ± 161960.96 |
| atari-beamrider                     |   357.28 ± 143.97   |  29589.35 ± 16132.96  |
| atari-berzerk                       |   160.10 ± 118.87   |  57085.26 ± 13104.53  |
| atari-bowling                       |    23.81 ± 6.07     |     20.40 ± 7.29      |
| atari-boxing                        |     0.52 ± 4.37     |     97.97 ± 3.77      |
| atari-breakout                      |     1.24 ± 1.30     |    702.97 ± 203.62    |
| atari-centipede                     |  2150.06 ± 1113.28  |  11624.29 ± 4918.34   |
| atari-choppercommand                |   875.00 ± 416.98   | 90990.62 ± 270876.93  |
| atari-crazyclimber                  |  7376.00 ± 2253.09  | 179296.94 ± 39862.06  |
| atari-defender                      |  3417.50 ± 1443.41  | 351958.33 ± 40466.82  |
| atari-demonattack                   |   165.55 ± 92.93    |  92195.25 ± 26174.79  |
| atari-doubledunk                    |    -18.54 ± 3.07    |     20.94 ± 3.65      |
| atari-enduro                        |     0.00 ± 0.00     |   2292.22 ± 147.54    |
| atari-fishingderby                  |    -93.90 ± 3.51    |     7.18 ± 25.06      |
| atari-freeway                       |     0.01 ± 0.10     |     33.88 ± 0.35      |
| atari-frostbite                     |    67.60 ± 37.61    |  13196.12 ± 4341.00   |
| atari-gopher                        |   319.40 ± 228.24   |  81676.15 ± 46329.48  |
| atari-gravitar                      |   188.50 ± 203.33   |   3986.57 ± 1729.05   |
| atari-hero                          |   475.25 ± 894.95   |  44677.35 ± 1754.42   |
| atari-icehockey                     |    -9.83 ± 3.24     |     25.17 ± 5.79      |
| atari-jamesbond                     |    28.50 ± 45.42    |  27786.89 ± 33819.20  |
| atari-kangaroo                      |   52.00 ± 108.15    |    574.05 ± 636.94    |
| atari-krull                         |  1754.00 ± 583.56   |  11439.83 ± 1218.34   |
| atari-kungfumaster                  |   390.00 ± 359.03   |  32392.81 ± 10006.55  |
| atari-montezumarevenge              |     0.00 ± 0.00     |    393.53 ± 50.45     |
| atari-mspacman                      |   246.40 ± 121.22   |   6896.08 ± 2031.99   |
| atari-namethisgame                  |  2447.40 ± 888.97   |  22991.18 ± 2473.15   |
| atari-phoenix                       |   776.80 ± 635.86   | 424583.16 ± 97649.17  |
| atari-pitfall                       |  -259.75 ± 384.26   |     -1.45 ± 4.50      |
| atari-pong                          |    -20.22 ± 0.95    |     20.99 ± 0.18      |
| atari-privateeye                    |   41.65 ± 191.83    |     100.00 ± 0.00     |
| atari-qbert                         |   164.25 ± 151.79   |  42971.37 ± 85070.72  |
| atari-riverraid                     |  1474.40 ± 314.59   |  14800.94 ± 7924.56   |
| atari-roadrunner                    |    11.00 ± 42.18    |  77942.80 ± 6088.62   |
| atari-robotank                      |     1.87 ± 1.59     |     80.51 ± 13.28     |
| atari-seaquest                      |    73.20 ± 57.91    |   2597.34 ± 386.09    |
| atari-skiing                        | -16299.52 ± 1850.70 |  -10738.06 ± 111.13   |
| atari-solaris                       |  2360.40 ± 1852.03  |   1353.68 ± 516.96    |
| atari-spaceinvaders                 |   137.20 ± 95.82    |  29425.29 ± 23623.89  |
| atari-stargunner                    |   652.00 ± 312.24   | 360588.57 ± 49207.71  |
| atari-surround                      |    -9.99 ± 0.10     |      9.39 ± 0.85      |
| atari-tennis                        |    -23.95 ± 0.22    |     11.11 ± 7.57      |
| atari-timepilot                     |  3396.00 ± 2128.85  |  69583.33 ± 29838.67  |
| atari-tutankham                     |    12.73 ± 17.40    |    291.16 ± 30.37     |
| atari-upndown                       |   358.90 ± 380.11   |  429418.33 ± 7187.43  |
| atari-venture                       |     0.00 ± 0.00     |      0.00 ± 0.00      |
| atari-videopinball                  | 23917.17 ± 19449.59 | 441507.92 ± 283264.62 |
| atari-wizardofwor                   |   620.00 ± 837.85   |  49333.33 ± 16157.08  |
| atari-yarsrevenge                   |  3503.91 ± 906.14   | 270262.86 ± 161815.96 |
| atari-zaxxon                        |   21.00 ± 102.27    |  73097.22 ± 14825.77  |
| **BabyAI**                          |                     |                       |
| babyai-action-obj-door              |     0.37 ± 0.39     |      0.99 ± 0.01      |
| babyai-blocked-unlock-pickup        |     0.00 ± 0.02     |      0.95 ± 0.01      |
| babyai-boss-level                   |     0.06 ± 0.21     |      0.94 ± 0.05      |
| babyai-boss-level-no-unlock         |     0.06 ± 0.19     |      0.94 ± 0.05      |
| babyai-find-obj-s5                  |     0.08 ± 0.23     |      0.95 ± 0.04      |
| babyai-go-to                        |     0.13 ± 0.29     |      0.92 ± 0.07      |
| babyai-go-to-door                   |     0.45 ± 0.38     |      0.99 ± 0.00      |
| babyai-go-to-imp-unlock             |     0.08 ± 0.23     |                       |
| babyai-go-to-local                  |     0.16 ± 0.30     |      0.93 ± 0.04      |
| babyai-go-to-obj                    |     0.13 ± 0.27     |      0.93 ± 0.03      |
| babyai-go-to-obj-door               |     0.53 ± 0.39     |      0.99 ± 0.01      |
| babyai-go-to-red-ball               |     0.17 ± 0.30     |      0.93 ± 0.04      |
| babyai-go-to-red-ball-grey          |     0.12 ± 0.27     |      0.92 ± 0.05      |
| babyai-go-to-red-ball-no-dists      |     0.14 ± 0.28     |      0.93 ± 0.03      |
| babyai-go-to-red-blue-ball          |     0.12 ± 0.27     |      0.92 ± 0.05      |
| babyai-go-to-seq                    |     0.08 ± 0.23     |      0.94 ± 0.05      |
| babyai-key-corridor                 |     0.00 ± 0.00     |      0.91 ± 0.01      |
| babyai-key-in-box                   |     0.01 ± 0.06     |                       |
| babyai-mini-boss-level              |     0.07 ± 0.21     |      0.89 ± 0.10      |
| babyai-move-two-across-s8n9         |     0.00 ± 0.00     |      0.96 ± 0.01      |
| babyai-one-room-s8                  |     0.08 ± 0.21     |      0.92 ± 0.03      |
| babyai-open                         |     0.10 ± 0.24     |      0.95 ± 0.05      |
| babyai-open-door                    |     0.23 ± 0.34     |      0.99 ± 0.00      |
| babyai-open-doors-order-n4          |     0.16 ± 0.30     |      0.99 ± 0.01      |
| babyai-open-red-door                |     0.08 ± 0.21     |      0.92 ± 0.03      |
| babyai-open-two-doors               |     0.08 ± 0.20     |      0.98 ± 0.00      |
| babyai-pickup                       |     0.08 ± 0.22     |      0.92 ± 0.07      |
| babyai-pickup-above                 |     0.02 ± 0.09     |      0.91 ± 0.07      |
| babyai-pickup-dist                  |     0.10 ± 0.24     |      0.86 ± 0.21      |
| babyai-pickup-loc                   |     0.08 ± 0.23     |      0.91 ± 0.04      |
| babyai-synth                        |     0.11 ± 0.26     |      0.93 ± 0.06      |
| babyai-synth-loc                    |     0.13 ± 0.29     |      0.94 ± 0.06      |
| babyai-synth-seq                    |     0.07 ± 0.20     |      0.95 ± 0.04      |
| babyai-unblock-pickup               |     0.08 ± 0.22     |      0.91 ± 0.08      |
| babyai-unlock                       |     0.03 ± 0.15     |                       |
| babyai-unlock-local                 |     0.01 ± 0.09     |      0.98 ± 0.01      |
| babyai-unlock-pickup                |     0.00 ± 0.00     |      0.75 ± 0.04      |
| babyai-unlock-to-unlock             |     0.00 ± 0.00     |                       |
| **MetaWorld**                       |                     |                       |
| metaworld-assembly                  |    45.30 ± 4.13     |     245.99 ± 3.50     |
| metaworld-basketball                |     2.81 ± 1.24     |     627.99 ± 1.98     |
| metaworld-bin-picking               |     1.89 ± 0.45     |    425.58 ± 101.86    |
| metaworld-box-close                 |    76.39 ± 17.91    |    512.49 ± 107.81    |
| metaworld-button-press              |    31.73 ± 5.20     |    643.10 ± 12.85     |
| metaworld-button-press-topdown      |    28.97 ± 10.37    |    490.18 ± 27.21     |
| metaworld-button-press-topdown-wall |    29.04 ± 10.52    |    497.19 ± 31.37     |
| metaworld-button-press-wall         |     8.98 ± 3.99     |    675.41 ± 15.04     |
| metaworld-coffee-button             |    31.72 ± 6.36     |    731.08 ± 29.34     |
| metaworld-coffee-pull               |     4.09 ± 0.38     |    259.86 ± 88.48     |
| metaworld-coffee-push               |     4.17 ± 0.76     |    496.78 ± 118.20    |
| metaworld-dial-turn                 |    29.64 ± 16.67    |    793.56 ± 80.06     |
| metaworld-disassemble               |    40.31 ± 7.53     |     42.83 ± 6.30      |
| metaworld-door-close                |     5.30 ± 1.33     |    529.75 ± 27.24     |
| metaworld-door-lock                 |   112.35 ± 28.63    |    811.52 ± 34.07     |
| metaworld-door-open                 |    56.37 ± 11.23    |    581.94 ± 19.67     |
| metaworld-door-unlock               |    94.17 ± 15.56    |    802.88 ± 17.05     |
| metaworld-drawer-close              |   116.73 ± 253.11   |     867.92 ± 4.48     |
| metaworld-drawer-open               |   126.85 ± 25.22    |     492.99 ± 2.52     |
| metaworld-faucet-close              |   253.12 ± 22.94    |    753.92 ± 13.42     |
| metaworld-faucet-open               |   244.10 ± 23.25    |     705.76 ± 7.15     |
| metaworld-hammer                    |    95.33 ± 9.02     |    693.17 ± 34.62     |
| metaworld-hand-insert               |     2.75 ± 3.53     |    740.53 ± 36.69     |
| metaworld-handle-press              |   80.41 ± 110.19    |    855.91 ± 72.75     |
| metaworld-handle-press-side         |    57.00 ± 39.47    |    861.12 ± 20.01     |
| metaworld-handle-pull               |    10.34 ± 13.54    |    669.35 ± 24.81     |
| metaworld-handle-pull-side          |     2.13 ± 2.76     |    384.65 ± 102.89    |
| metaworld-lever-pull                |    60.31 ± 15.77    |    612.04 ± 38.85     |
| metaworld-peg-insert-side           |     1.71 ± 0.36     |    315.23 ± 140.07    |
| metaworld-peg-unplug-side           |     4.75 ± 2.83     |    456.12 ± 81.65     |
| metaworld-pick-out-of-hole          |     1.51 ± 0.24     |    219.61 ± 88.85     |
| metaworld-pick-place                |     1.61 ± 0.99     |    419.10 ± 98.19     |
| metaworld-pick-place-wall           |     0.00 ± 0.01     |    450.57 ± 64.10     |
| metaworld-plate-slide               |    74.64 ± 13.84    |    527.01 ± 155.34    |
| metaworld-plate-slide-back          |    33.47 ± 11.22    |    718.22 ± 87.41     |
| metaworld-plate-slide-back-side     |    34.34 ± 11.53    |    729.61 ± 69.15     |
| metaworld-plate-slide-side          |    22.61 ± 17.36    |    662.81 ± 102.81    |
| metaworld-push                      |     5.51 ± 2.43     |    750.57 ± 43.98     |
| metaworld-push-back                 |     1.21 ± 0.16     |    85.05 ± 107.12     |
| metaworld-push-wall                 |     6.13 ± 3.17     |    748.87 ± 10.62     |
| metaworld-reach                     |   149.67 ± 44.70    |    681.37 ± 133.68    |
| metaworld-reach-wall                |   143.26 ± 36.56    |    746.12 ± 104.19    |
| metaworld-shelf-place               |     0.00 ± 0.01     |    241.34 ± 24.60     |
| metaworld-soccer                    |     5.66 ± 4.61     |    375.15 ± 140.24    |
| metaworld-stick-pull                |     2.64 ± 1.41     |    523.55 ± 18.94     |
| metaworld-stick-push                |     2.81 ± 1.04     |    627.95 ± 10.20     |
| metaworld-sweep                     |    11.23 ± 7.28     |    494.85 ± 43.29     |
| metaworld-sweep-into                |    12.55 ± 10.72    |    799.21 ± 19.07     |
| metaworld-window-close              |    57.46 ± 7.11     |    591.30 ± 38.63     |
| metaworld-window-open               |    43.36 ± 2.09     |    590.82 ± 57.08     |
| **MuJoCo**                          |                     |                       |
| mujoco-ant                          |   -59.95 ± 99.62    |   5846.42 ± 942.55    |
| mujoco-doublependulum               |    57.46 ± 17.54    |   9338.69 ± 352.61    |
| mujoco-halfcheetah                  |   -284.97 ± 79.83   |   7437.77 ± 173.30    |
| mujoco-hopper                       |    18.38 ± 17.09    |   1858.73 ± 534.07    |
| mujoco-humanoid                     |   122.02 ± 35.28    |   6281.02 ± 1795.84   |
| mujoco-pendulum                     |     6.07 ± 3.47     |    475.40 ± 178.96    |
| mujoco-pusher                       |   -149.69 ± 7.41    |     -25.21 ± 6.66     |
| mujoco-reacher                      |    -43.00 ± 3.91    |     -5.68 ± 2.53      |
| mujoco-standup                      | 33135.75 ± 2481.89  | 273574.16 ± 85253.26  |
| mujoco-swimmer                      |    0.80 ± 10.71     |     92.18 ± 4.44      |
| mujoco-walker                       |     2.68 ± 6.06     |   4631.22 ± 1059.01   |
</details>

### Data Fields
- `text`: a `string` feature
- `images`: a `image` feature
- `image_observations` : a `Sequence(image)` feature
- `text_observations` : a `Sequence(string)` feature
- `discrete_observations`: a `Sequence(Sequence(int64))` feature
- `continuous_observations`: a `Sequence(Sequence(float32))` feature
- `continuous_actions`: a `Sequence(Sequence(float32))` feature
- `discrete_actions`: a `Sequence(int64)` feature
- `rewards`: a `Sequence(float32)` feature

### Data Splits
- `train`: `` examples
- `test`: `` examples

## Dataset Creation

This section describes how our dataset was created. We specifically detail how data for each domain and task were generated. The generation scripts are available in the [GIA repository](https://github.com/huggingface/gia). For RL tasks, we trained one agent per task using the [Sample Factory](https://www.samplefactory.dev). Then we used the trained agent to generate episodes.

### Atari

We used the 57 [ALE/Atari](https://github.com/Farama-Foundation/Arcade-Learning-Environment) games as our environment, configuring the following parameters for our experiments. We rendered the images in grayscale with an 84x84 pixel resolution. The agent interacted with the environment every 4 frames. Sticky actions were not used, and the raw reward (no clipping) was reported. Episodes were stored as complete, i.e. with no termination on life loss.

### BabyAI

We used BabyAI's implementation from [Minigrid](https://github.com/Farama-Foundation/Minigrid).
We reused the [bot agent](https://github.com/mila-iqia/babyai) provided with BabyAI's paper and adapted it to the new Minigrid API.
Using the bot, we generated 100.000 episodes for each of the 39 tasks of [Minigrid's BabyAI](https://minigrid.farama.org/environments/babyai/) and stored for each step:

- the mission: str
- the concatenation of the symbolic observation flattened and the direction: Array of integers of size (147,)
- the action: integer
- the reward: float

### Conceptual Captions

The [Conceptual Captions](https://github.com/google-research-datasets/conceptual-captions/tree/master) dataset, offered by Google LLC, comprises pairs of image links and their corresponding captions. Each image has been downloaded and, when required, resized to ensure the maximum dimension does not exceed 352 pixels.

### MetaWorld

We used the 50 tasks from [MetaWorld v2](https://github.com/Farama-Foundation/Metaworld). We constrained the episode to a duration of 100 timesteps, which is always sufficient to solve the task.

### MuJoCo

We used the 11 environments of Gymnasium MuJoCo.

### OK-VQA

The [OK-VQA](https://okvqa.allenai.org/index.html) dataset released by Kenneth Marino, Mohammad Rastegari, Ali Farhadi, Roozbeh Mottaghi was used.
The data were formatted to match Hugging Face dataset's requirements and images were resized such that the largest dimension is at most 352.

### OSCAR

We modified the "unshuffled_deduplicated_en" split of [OSCAR 2019](https://huggingface.co/datasets/oscar) dataset, initially put together by Pedro J. Ortiz, Benoît Sagot, and Laurent Romary and licensed under [CC BY 4.0](https://oscar-project.github.io/documentation/versions/oscar-2019/#license).
We cleaned and deduplicated the dataset using [the methods](https://github.com/bigscience-workshop/data-preparation/tree/main/preprocessing/training/01b_oscar_cleaning_and_filtering) and parameters used for the [ROOTS dataset](https://arxiv.org/abs/2303.03915) (Lurençon et al., 2023).

The dataset was splitted into 30 even shards each cleaned and deduplicated independently before being concatenated again.

## Considerations for Using the Data
### Known Issues

- Some BabyAI tasks are missing due to incompatibility with the training bot:
  - `babyai-key-in-box` 
  - `babyai-go-to-imp-unlock`
  - `babyai-unlock-to-unlock`
  - `babyai-unlock`
- For some atari tasks, the episode is too long, causing an `OverflowError` when loading the dataset:
  - `atari-enduro`
- For some tasks, although the score can be higher than the random agent, we can't consider the task as solved:
  - `atari-bowling`
  - `atari-privateeye`
  - `atari-solaris`
  - `atari-venture`
  - `metaworld-bin-picking`
  - `metaworld-disassemble`
  - `metaworld-peg-insert-side`
  - `metaworld-plate-slide`
  - `metaworld-push-back`

### Future Developments

We plan to expand the dataset to include the following additional domains:

- [ ] DM Lab
- [ ] Sokoban
- [ ] Procgen
- [ ] DM Control Suite (w and w/o pixels)


## Additional Information

### Licensing Information

This dataset is release under the Apache 2.0 license.

### Citation Information

```bibtex
@misc{gallouedec2023giadataset,
  title={GIA Dataset: A Multi-Modal, Multi-Task Learning Resource},
  author={Gallouédec, Quentin and Beeching, Edward and Romac, Clément},
  year={2023},
  howpublished={\url{https://huggingface.co/datasets/gia-project/gia-dataset}},
  note={Part of the GIA Project}
}
```

## Acknowledgment

We would like to extend our sincere gratitude to:

- [Shengyi Costa Huang](https://huggingface.co/vwxyzjn) for his invaluable assistance with the pretrained models used in this research