OpenX-Embodiment Datasets
Collection
Annotated datasets from OpenX-Embodiment.
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2 items
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Updated
Datasets:
Search is not available for this dataset
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) |
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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) |
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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) |
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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) |
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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) |
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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) |
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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) |
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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:
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102 GB
Number of rows:
51,280