OpenX-Embodiment Datasets
Collection
Annotated datasets from OpenX-Embodiment.
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2 items
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Updated
Datasets:
episode_idx
int32 0
60
| step_idx
int32 0
78
| image
imagewidth (px) 640
640
| info
dict | observation
dict | action
dict | supervision
float32 0
1
| relative_action
dict | state
dict |
|---|---|---|---|---|---|---|---|---|
0 | 0 | {"action":{"pose":{"x":{"reference_frame":"unspecified","unit":"m","bounds":"undefined"},"y":{"refer(...TRUNCATED) | {"image":{"src":"https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge/--/329eb2fb6cdb916(...TRUNCATED) | {"pose":{"x":0.29806843400001526,"y":-0.11465699225664139,"z":0.10782037675380707,"roll":0.042752083(...TRUNCATED) | 0 | {"pose":{"x":1.9514001525777758e-10,"y":8.06741895509333e-11,"z":2.985917624265255e-10,"roll":6.0771(...TRUNCATED) | {"end_effector_pose":{"x":0.29806843400001526,"y":-0.11465699225664139,"z":0.10782037675380707,"roll(...TRUNCATED) |
|
0 | 1 | {"action":{"pose":{"x":{"reference_frame":"unspecified","unit":"m","bounds":"undefined"},"y":{"refer(...TRUNCATED) | {"image":{"src":"https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge/--/329eb2fb6cdb916(...TRUNCATED) | {"pose":{"x":0.2787519693374634,"y":-0.10734598338603973,"z":0.10957454890012741,"roll":0.0344214364(...TRUNCATED) | 0 | {"pose":{"x":-0.019100897014141083,"y":0.007213048171252012,"z":0.0012993671698495746,"roll":-0.0083(...TRUNCATED) | {"end_effector_pose":{"x":0.29785287380218506,"y":-0.11455903202295303,"z":0.10827518254518509,"roll(...TRUNCATED) |
|
0 | 2 | {"action":{"pose":{"x":{"reference_frame":"unspecified","unit":"m","bounds":"undefined"},"y":{"refer(...TRUNCATED) | {"image":{"src":"https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge/--/329eb2fb6cdb916(...TRUNCATED) | {"pose":{"x":0.27243897318840027,"y":-0.09238965064287186,"z":0.1012653037905693,"roll":0.0705003291(...TRUNCATED) | 0 | {"pose":{"x":-0.022854652255773544,"y":0.02163873054087162,"z":0.0010237612295895815,"roll":0.026795(...TRUNCATED) | {"end_effector_pose":{"x":0.2952936291694641,"y":-0.11402837932109833,"z":0.10024154186248779,"roll"(...TRUNCATED) |
|
0 | 3 | {"action":{"pose":{"x":{"reference_frame":"unspecified","unit":"m","bounds":"undefined"},"y":{"refer(...TRUNCATED) | {"image":{"src":"https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge/--/329eb2fb6cdb916(...TRUNCATED) | {"pose":{"x":0.24645227193832397,"y":-0.07698111236095428,"z":0.08222109079360962,"roll":0.071009986(...TRUNCATED) | 0 | {"pose":{"x":-0.02603081613779068,"y":0.02440599724650383,"z":-0.00916806235909462,"roll":0.02020038(...TRUNCATED) | {"end_effector_pose":{"x":0.27248308062553406,"y":-0.10138710588216782,"z":0.09138914942741394,"roll(...TRUNCATED) |
|
0 | 4 | {"action":{"pose":{"x":{"reference_frame":"unspecified","unit":"m","bounds":"undefined"},"y":{"refer(...TRUNCATED) | {"image":{"src":"https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge/--/329eb2fb6cdb916(...TRUNCATED) | {"pose":{"x":0.23589903116226196,"y":-0.06018609553575516,"z":0.08456839621067047,"roll":0.025604665(...TRUNCATED) | 0 | {"pose":{"x":-0.012340388260781765,"y":0.021001800894737244,"z":-0.013335183262825012,"roll":-0.0570(...TRUNCATED) | {"end_effector_pose":{"x":0.2482394129037857,"y":-0.0811878964304924,"z":0.09790357947349548,"roll":(...TRUNCATED) |
|
0 | 5 | {"action":{"pose":{"x":{"reference_frame":"unspecified","unit":"m","bounds":"undefined"},"y":{"refer(...TRUNCATED) | {"image":{"src":"https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge/--/329eb2fb6cdb916(...TRUNCATED) | {"pose":{"x":0.2165365368127823,"y":-0.046140678226947784,"z":0.0859421044588089,"roll":0.0547738075(...TRUNCATED) | 0 | {"pose":{"x":-0.006506096571683884,"y":0.017200052738189697,"z":-0.005655418150126934,"roll":-0.0409(...TRUNCATED) | {"end_effector_pose":{"x":0.22304263710975647,"y":-0.06334073096513748,"z":0.09159751981496811,"roll(...TRUNCATED) |
|
0 | 6 | {"action":{"pose":{"x":{"reference_frame":"unspecified","unit":"m","bounds":"undefined"},"y":{"refer(...TRUNCATED) | {"image":{"src":"https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge/--/329eb2fb6cdb916(...TRUNCATED) | {"pose":{"x":0.20503950119018555,"y":-0.02602188102900982,"z":0.06834283471107483,"roll":0.004091400(...TRUNCATED) | 0 | {"pose":{"x":-0.003718859050422907,"y":0.018381142988801003,"z":-0.009789182804524899,"roll":-0.0497(...TRUNCATED) | {"end_effector_pose":{"x":0.20875835418701172,"y":-0.04440302401781082,"z":0.0781320184469223,"roll"(...TRUNCATED) |
|
0 | 7 | {"action":{"pose":{"x":{"reference_frame":"unspecified","unit":"m","bounds":"undefined"},"y":{"refer(...TRUNCATED) | {"image":{"src":"https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge/--/329eb2fb6cdb916(...TRUNCATED) | {"pose":{"x":0.2009856253862381,"y":-0.015209279954433441,"z":0.06625589728355408,"roll":-0.01244337(...TRUNCATED) | 0 | {"pose":{"x":0.0010201879777014256,"y":0.013665683567523956,"z":-0.007140100467950106,"roll":-0.0152(...TRUNCATED) | {"end_effector_pose":{"x":0.1999654322862625,"y":-0.028874963521957397,"z":0.0733959972858429,"roll"(...TRUNCATED) |
|
0 | 8 | {"action":{"pose":{"x":{"reference_frame":"unspecified","unit":"m","bounds":"undefined"},"y":{"refer(...TRUNCATED) | {"image":{"src":"https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge/--/329eb2fb6cdb916(...TRUNCATED) | {"pose":{"x":0.20182333886623383,"y":-0.0007826797664165497,"z":0.057195015251636505,"roll":-0.03855(...TRUNCATED) | 0 | {"pose":{"x":0.007174231577664614,"y":0.01038411259651184,"z":-0.006053142249584198,"roll":-0.020175(...TRUNCATED) | {"end_effector_pose":{"x":0.1946491003036499,"y":-0.01116679236292839,"z":0.0632481575012207,"roll":(...TRUNCATED) |
|
0 | 9 | {"action":{"pose":{"x":{"reference_frame":"unspecified","unit":"m","bounds":"undefined"},"y":{"refer(...TRUNCATED) | {"image":{"src":"https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge/--/329eb2fb6cdb916(...TRUNCATED) | {"pose":{"x":0.2115785926580429,"y":0.009187071584165096,"z":0.05821094289422035,"roll":-0.063829421(...TRUNCATED) | 0 | {"pose":{"x":0.013286428526043892,"y":0.008200332522392273,"z":-0.0014982272405177355,"roll":-0.0227(...TRUNCATED) | {"end_effector_pose":{"x":0.19829216599464417,"y":0.0009867390617728233,"z":0.05970916897058487,"rol(...TRUNCATED) |
End of preview. Expand
in Dataset Viewer.
PLEASE NOTE There is a bug in the calculation of grasp values. The state and original (relative) actions were summed instead of just using action "open_gripper" value.
See the info field for units, action types, bounds. The action is an absolute action calculated by summing the original action (now relative action) and end effector pose (originally state).
This dataset was processed from jxu124/OpenX-Embodiment.
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Size of downloaded dataset files:
102 GB
Size of the auto-converted Parquet files:
102 GB
Number of rows:
51,280