Datasets:

Voxel51
/

droid-3d-rgb-68ep

action listlengths 8 8 ⌀	language_1 large_stringclasses 44 values	language_2 large_stringclasses 25 values	language_3 large_stringclasses 25 values	timestamp float32 0 69.7 ⌀	frame_index int64 0 1.05k ⌀	index int64 0 19.7k ⌀
[ 0.33328747749328613, -0.03127243369817734, 0.4547804892063141, 0.09505060315132141, 0.9890624284744263, 0.08835183829069138, -0.0701061561703682, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0	0	0
[ 0.33331194519996643, -0.03127120062708855, 0.4547380208969116, 0.0950448289513588, 0.9890590310096741, 0.08835221081972122, -0.07016101479530334, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.066667	1	1
[ 0.3333147466182709, -0.03127269074320793, 0.45474568009376526, 0.09504382312297821, 0.9890610575675964, 0.08834441751241684, -0.07014349102973938, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.133333	2	2
[ 0.33331531286239624, -0.03127540647983551, 0.4547395706176758, 0.09504179656505585, 0.9890612959861755, 0.0883384495973587, -0.07015056163072586, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.2	3	3
[ 0.33332082629203796, -0.03127586096525192, 0.4547305107116699, 0.09503889828920364, 0.9890609979629517, 0.08833510428667068, -0.07016288489103317, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.266667	4	4
[ 0.333318829536438, -0.031274862587451935, 0.4547324478626251, 0.09503993391990662, 0.9890613555908203, 0.08833303302526474, -0.07015912979841232, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.333333	5	5
[ 0.3333214819431305, -0.031272970139980316, 0.4547298550605774, 0.09503956139087677, 0.9890612363815308, 0.0883321538567543, -0.07016261667013168, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.4	6	6
[ 0.3333234190940857, -0.03127584233880043, 0.454723060131073, 0.09503551572561264, 0.9890612959861755, 0.08832883834838867, -0.07017175853252411, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.466667	7	7
[ 0.3365471065044403, -0.03262815251946449, 0.45512083172798157, 0.08871821314096451, 0.9902101159095764, 0.08948927372694016, -0.06003924459218979, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.533333	8	8
[ 0.3402206301689148, -0.03353945165872574, 0.45514431595802307, 0.08423992246389389, 0.9907659292221069, 0.09042128175497055, -0.055771343410015106, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.6	9	9
[ 0.3479461967945099, -0.03499087318778038, 0.4538332223892212, 0.07896356284618378, 0.9913498163223267, 0.09055044502019882, -0.05282873287796974, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.666667	10	10
[ 0.3554028272628784, -0.036068689078092575, 0.4531935155391693, 0.07488786429166794, 0.9922002553939819, 0.08726833015680313, -0.04811157286167145, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.733333	11	11
[ 0.3659190535545349, -0.03779781982302666, 0.4520391523838043, 0.06924315541982651, 0.9932280778884888, 0.08431611210107803, -0.03992724046111107, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.8	12	12
[ 0.375832736492157, -0.03866206482052803, 0.45075756311416626, 0.06377562880516052, 0.9940653443336487, 0.0824982300400734, -0.03099685348570347, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.866667	13	13
[ 0.3867219388484955, -0.039075326174497604, 0.4485463500022888, 0.059873685240745544, 0.9948272705078125, 0.07939205318689346, -0.020753288641572, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	0.933333	14	14
[ 0.3987722098827362, -0.03901659697294235, 0.4447456896305084, 0.054539091885089874, 0.9954566359519958, 0.07708428055047989, -0.012229729443788528, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1	15	15
[ 0.4117220938205719, -0.038676075637340546, 0.43836814165115356, 0.048113755881786346, 0.9960816502571106, 0.0740751400589943, -0.00438717333599925, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.066667	16	16
[ 0.42423710227012634, -0.0371038019657135, 0.43197616934776306, 0.04181523621082306, 0.9966650009155273, 0.07007152587175369, 0.000552517594769597, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.133333	17	17
[ 0.43632954359054565, -0.03517917916178703, 0.4223494231700897, 0.03849915787577629, 0.9971656203269958, 0.06421720236539841, 0.007396237459033728, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.2	18	18
[ 0.44776228070259094, -0.03301209956407547, 0.4126884639263153, 0.03282548114657402, 0.9975091218948364, 0.061502084136009216, 0.010750843212008476, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.266667	19	19
[ 0.45811009407043457, -0.02958528883755207, 0.4015735387802124, 0.02321636490523815, 0.9978302121162415, 0.06075798347592354, 0.010214711539447308, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.333333	20	20
[ 0.4675999581813812, -0.02574094943702221, 0.3891081213951111, 0.01615479774773121, 0.998041570186615, 0.059928614646196365, 0.007782006170600653, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.4	21	21
[ 0.47609013319015503, -0.021513240411877632, 0.37605008482933044, 0.01090755220502615, 0.9982185363769531, 0.05855540931224823, 0.003477863734588027, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.466667	22	22
[ 0.4831090569496155, -0.017263544723391533, 0.36275508999824524, 0.004981531761586666, 0.9983649253845215, 0.05693913996219635, -0.0007916705217212439, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.533333	23	23
[ 0.48837360739707947, -0.01295971218496561, 0.34973564743995667, 0.002437975024804473, 0.998415470123291, 0.05580421909689903, -0.006819217931479216, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.6	24	24
[ 0.4936618506908417, -0.009123251773416996, 0.3379190266132355, 0.0019040957558900118, 0.9981862306594849, 0.05862652137875557, -0.013550084084272385, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.666667	25	25
[ 0.4962337017059326, -0.006087076850235462, 0.32679668068885803, -0.0006225188844837248, -0.9979767799377441, -0.059751976281404495, 0.02171872742474079, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.733333	26	26
[ 0.49987727403640747, -0.0036704617086797953, 0.31668394804000854, -0.000987790059298277, -0.9978322386741638, -0.05947796255350113, 0.02814539521932602, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.8	27	27
[ 0.5003906488418579, -0.003016569186002016, 0.30866363644599915, -0.0012451892253011465, -0.9977480173110962, -0.05736240744590759, 0.03474111109972, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.866667	28	28
[ 0.5016975998878479, -0.003012655535712838, 0.30069035291671753, 0.0024853269569575787, 0.9976527094841003, 0.054804831743240356, -0.040978942066431046, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	1.933333	29	29
[ 0.5013599991798401, -0.0048692128621041775, 0.2935708463191986, 0.0048385243862867355, 0.9976259469985962, 0.05007500201463699, -0.04702729731798172, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2	30	30
[ 0.5006583333015442, -0.006823929026722908, 0.28907784819602966, 0.006092383060604334, 0.9976931214332581, 0.042089637368917465, -0.05291315168142319, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.066667	31	31
[ 0.4900536835193634, -0.006477001588791609, 0.29432207345962524, 0.007919696159660816, 0.9969950318336487, 0.056531790643930435, -0.05236688256263733, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.133333	32	32
[ 0.4902517795562744, -0.006509356666356325, 0.2896026372909546, 0.007769721560180187, 0.9967988133430481, 0.05556297302246094, -0.05696055293083191, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.2	33	33
[ 0.4900631606578827, -0.006493109278380871, 0.28780701756477356, 0.007655327674001455, 0.9966911673545837, 0.055595770478248596, -0.058797694742679596, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.266667	34	34
[ 0.4901271462440491, -0.006485147401690483, 0.2882072925567627, 0.007683278992772102, 0.9967148900032043, 0.0556081160902977, -0.05837872251868248, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.333333	35	35
[ 0.4901871979236603, -0.006498793605715036, 0.288796603679657, 0.0077201565727591515, 0.9967507719993591, 0.0555892139673233, -0.05777708813548088, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.4	36	36
[ 0.49021151661872864, -0.00649237958714366, 0.2889939546585083, 0.007734037935733795, 0.9967619776725769, 0.055595364421606064, -0.05757555365562439, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.466667	37	37
[ 0.4882875084877014, -0.006855752319097519, 0.28735578060150146, 0.0046571544371545315, 0.9967412352561951, 0.05669494345784187, -0.05719204992055893, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.533333	38	38
[ 0.4884456992149353, -0.008777745068073273, 0.2817409038543701, 0.010448546148836613, 0.9971354603767395, 0.05261476710438728, -0.053323011845350266, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.6	39	39
[ 0.4886927902698517, -0.01082414947450161, 0.2746678292751312, 0.009742110036313534, 0.9967816472053528, 0.05730484426021576, -0.055205050855875015, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.666667	40	40
[ 0.4887963533401489, -0.0125937070697546, 0.2691284418106079, 0.013606052845716476, 0.9969151020050049, 0.05608993396162987, -0.05318853259086609, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.733333	41	41
[ 0.4890279173851013, -0.015583193860948086, 0.26151490211486816, 0.016526253893971443, 0.996811032295227, 0.058811478316783905, -0.05134006217122078, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.8	42	42
[ 0.48909473419189453, -0.018280331045389175, 0.25560328364372253, 0.018010517582297325, 0.9967142343521118, 0.06043535843491554, -0.0508321113884449, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.866667	43	43
[ 0.48880401253700256, -0.021692587062716484, 0.24773766100406647, 0.020289264619350433, 0.9966416954994202, 0.06207471340894699, -0.04940059781074524, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	2.933333	44	44
[ 0.490409791469574, -0.02465730719268322, 0.23909352719783783, 0.018936017528176308, 0.9962323307991028, 0.06734079867601395, -0.05126145854592323, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3	45	45
[ 0.49375492334365845, -0.027024222537875175, 0.22888074815273285, 0.017853612080216408, 0.9959957003593445, 0.06959247589111328, -0.053204480558633804, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.066667	46	46
[ 0.4971747398376465, -0.028659753501415253, 0.2173476666212082, 0.01662883162498474, 0.9959031343460083, 0.07006467133760452, -0.05469346418976784, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.133333	47	47
[ 0.500029981136322, -0.02957461215555668, 0.20511475205421448, 0.016565758734941483, 0.9959597587585449, 0.06808365881443024, -0.056163378059864044, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.2	48	48
[ 0.5020784139633179, -0.029643133282661438, 0.19393230974674225, 0.017870761454105377, 0.9958316683769226, 0.06662134826183319, -0.059678904712200165, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.266667	49	49
[ 0.502621591091156, -0.029437417164444923, 0.1833244264125824, 0.016286659985780716, 0.9957453608512878, 0.06574110686779022, -0.062482621520757675, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.333333	50	50
[ 0.5031142830848694, -0.02926485985517502, 0.17460131645202637, 0.016028739511966705, 0.9956099987030029, 0.06452955305576324, -0.06587664037942886, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.4	51	51
[ 0.5034513473510742, -0.029955508187413216, 0.16693489253520966, 0.015265209600329399, 0.9955441951751709, 0.06267774850130081, -0.0687769204378128, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.466667	52	52
[ 0.5039631724357605, -0.030680431053042412, 0.1606992781162262, 0.014710134826600552, 0.99538254737854, 0.06156650558114052, -0.07215826213359833, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.533333	53	53
[ 0.5034860968589783, -0.03238214924931526, 0.1574355959892273, 0.014192773029208183, 0.9952104687690735, 0.058473020792007446, -0.07704298198223114, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.6	54	54
[ 0.5040706992149353, -0.03393654152750969, 0.15392881631851196, 0.012734427116811275, 0.9951568245887756, 0.05634808540344238, -0.0795341357588768, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.666667	55	55
[ 0.5043668150901794, -0.035059619694948196, 0.15208478271961212, 0.008871913887560368, 0.9952122569084167, 0.052377596497535706, -0.08203940838575363, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.733333	56	56
[ 0.5044785737991333, -0.03588063642382622, 0.14972743391990662, 0.005377661902457476, 0.9951248168945312, 0.05097542330622673, -0.08425639569759369, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.8	57	57
[ 0.5048220157623291, -0.03683086484670639, 0.1484687328338623, 0.004808834288269281, 0.995180070400238, 0.04910793900489807, -0.08474582433700562, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.866667	58	58
[ 0.5055577158927917, -0.03791886568069458, 0.14840474724769592, 0.004014321602880955, 0.9953763484954834, 0.045183561742305756, -0.08466577529907227, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	3.933333	59	59
[ 0.5057427883148193, -0.03778893128037453, 0.1500120311975479, -0.0024141003377735615, -0.9955927133560181, -0.043368227779865265, 0.08311769366264343, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4	60	60
[ 0.5058363676071167, -0.03868499770760536, 0.15083758533000946, -0.0016111419536173344, -0.9956931471824646, -0.04224696382880211, 0.08250941336154938, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.066667	61	61
[ 0.505093514919281, -0.04003484919667244, 0.15254583954811096, -0.0013501531211659312, -0.9958037734031677, -0.04141315817832947, 0.08159662038087845, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.133333	62	62
[ 0.5036347508430481, -0.04146226495504379, 0.15600049495697021, -0.0010313306702300906, -0.9959324598312378, -0.03980332240462303, 0.08082787692546844, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.2	63	63
[ 0.502197802066803, -0.0421086847782135, 0.15988105535507202, -0.0007540246588177979, -0.9958768486976624, -0.03781124949455261, 0.08245597034692764, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.266667	64	64
[ 0.4989701807498932, -0.04272843152284622, 0.16773228347301483, -0.0006608220282942057, -0.9955095648765564, -0.03962147980928421, 0.08596748858690262, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.333333	65	65
[ 0.49699610471725464, -0.04348508641123772, 0.1739194393157959, -0.0013802502071484923, -0.9949981570243835, -0.040126729756593704, 0.09146900475025177, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.4	66	66
[ 0.4952806234359741, -0.0440046489238739, 0.1799878180027008, -0.001849536900408566, -0.99472576379776, -0.03935077041387558, 0.09470348805189133, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.466667	67	67
[ 0.4935072660446167, -0.04421226307749748, 0.18800468742847443, 0.0009105142089538276, -0.9941681027412415, -0.041084978729486465, 0.09970470517873764, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.533333	68	68
[ 0.49210184812545776, -0.044510047882795334, 0.19480030238628387, 0.0017633452080190182, -0.993525505065918, -0.04271535575389862, 0.10525855422019958, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.6	69	69
[ 0.49158740043640137, -0.04490585997700691, 0.20184285938739777, 0.0009705891716293991, -0.9929068684577942, -0.04446098580956459, 0.11026455461978912, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.666667	70	70
[ 0.49218517541885376, -0.045525338500738144, 0.20994345843791962, 0.00006141547783045098, -0.9926062226295471, -0.04461027309298515, 0.1128837913274765, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.733333	71	71
[ 0.4936728775501251, -0.046382419764995575, 0.21890705823898315, -0.0001267821789951995, -0.9923659563064575, -0.04330827295780182, 0.11547400057315826, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.8	72	72
[ 0.4959409534931183, -0.04733560234308243, 0.22889156639575958, 0.000039395978092215955, -0.9921683073043823, -0.04276156425476074, 0.11736035346984863, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.866667	73	73
[ 0.5007039904594421, -0.0483475960791111, 0.2390836477279663, 0.004724148195236921, 0.9925406575202942, 0.03834705054759979, -0.11562973260879517, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	4.933333	74	74
[ 0.5090801119804382, -0.04945162683725357, 0.24780148267745972, 0.004605235531926155, 0.9932246208190918, 0.035693880170583725, -0.11049699038267136, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5	75	75
[ 0.5164785385131836, -0.05046176537871361, 0.25637269020080566, -0.0022703639697283506, -0.9941707253456116, -0.03508799150586128, 0.10192260146141052, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.066667	76	76
[ 0.5251912474632263, -0.0513816699385643, 0.26512017846107483, 0.0038801797199994326, 0.9954097867012024, 0.028803542256355286, -0.09118448197841644, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.133333	77	77
[ 0.5356770753860474, -0.0527213029563427, 0.2742999494075775, 0.0025774622336030006, 0.996979296207428, 0.02018151432275772, -0.07495588809251785, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.2	78	78
[ 0.5474916696548462, -0.053665466606616974, 0.2836607098579407, 0.0013239927357062697, -0.9982417821884155, -0.01610446907579899, 0.05702861398458481, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.266667	79	79
[ 0.5581486821174622, -0.05465026572346687, 0.2925824224948883, 0.0030731335282325745, -0.9993042945861816, -0.009981952607631683, 0.035802170634269714, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.333333	80	80
[ 0.568453848361969, -0.05522187054157257, 0.3015339970588684, 0.004125645849853754, -0.999809205532074, -0.0038389964029192924, 0.01870211586356163, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.4	81	81
[ 0.5796650648117065, -0.05556446686387062, 0.31219682097435, 0.005851230584084988, -0.9999656677246094, 0.004519613925367594, -0.0037423965986818075, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.466667	82	82
[ 0.5901769995689392, -0.05460944026708603, 0.3211074769496918, 0.0064257108606398106, -0.9996640682220459, 0.010311865247786045, -0.022892748937010765, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.533333	83	83
[ 0.600678563117981, -0.053434524685144424, 0.32994648814201355, 0.003917129710316658, -0.9986371994018555, 0.017921390011906624, -0.04885955527424812, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.6	84	84
[ 0.6113064885139465, -0.05109541118144989, 0.33768126368522644, 0.0012677798513323069, -0.996776282787323, 0.02398182451725006, -0.07655225694179535, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.666667	85	85
[ 0.6200100183486938, -0.047966744750738144, 0.3435840606689453, -0.003001430770382285, -0.9944947957992554, 0.03125683218240738, -0.099970743060112, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.733333	86	86
[ 0.6278479695320129, -0.044405318796634674, 0.3480190932750702, 0.007240505423396826, 0.99134761095047, -0.03888377547264099, 0.12516216933727264, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.8	87	87
[ 0.6345193386077881, -0.03925434127449989, 0.35014280676841736, 0.009714039973914623, 0.9878578186035156, -0.04543175548315048, 0.1482517123222351, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.866667	88	88
[ 0.6407912373542786, -0.034279365092515945, 0.3507700562477112, 0.0107917794957757, 0.984347939491272, -0.0503065325319767, 0.16855822503566742, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	5.933333	89	89
[ 0.6464417576789856, -0.02773754671216011, 0.34762346744537354, 0.012809844687581062, 0.9809946417808533, -0.054366178810596466, 0.1858217865228653, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	6	90	90
[ 0.6502679586410522, -0.02197626605629921, 0.34460368752479553, 0.01732631027698517, 0.9782426357269287, -0.05831866338849068, 0.19834327697753906, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	6.066667	91	91
[ 0.6536377668380737, -0.016294686123728752, 0.34014055132865906, 0.021706638857722282, 0.9747932553291321, -0.06750115752220154, 0.21154314279556274, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	6.133333	92	92
[ 0.6562859416007996, -0.011727468110620975, 0.3354373574256897, 0.027351336553692818, 0.9711576700210571, -0.07626491785049438, 0.22425055503845215, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	6.2	93	93
[ 0.6580039262771606, -0.007945680059492588, 0.3310360908508301, 0.031331706792116165, 0.9670207500457764, -0.08661150932312012, 0.23746074736118317, 0 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	6.266667	94	94
[ 0.6596396565437317, -0.009345855563879013, 0.32876402139663696, 0.0345836766064167, 0.9630648493766785, -0.09758443385362625, 0.24857068061828613, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	6.333333	95	95
[ 0.6599612832069397, -0.008628204464912415, 0.324480265378952, 0.035958535969257355, 0.9609236717224121, -0.10496726632118225, 0.25360307097435, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	6.4	96	96
[ 0.6584890484809875, -0.010796799324452877, 0.3213809132575989, 0.03778855875134468, 0.9601103067398071, -0.11166909337043762, 0.25355514883995056, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	6.466667	97	97
[ 0.6570512056350708, -0.01333483774214983, 0.3182675242424011, 0.04040668159723282, 0.9599593877792358, -0.11637511104345322, 0.2515992224216461, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	6.533333	98	98
[ 0.6535435318946838, -0.01674475148320198, 0.3156469762325287, 0.047005098313093185, 0.9617820382118225, -0.11826198548078537, 0.24244573712348938, 1 ]	Pick up the peach towel and fold it.	Fold the sweatshirt	Fold the orange cloth	6.6	99	99

End of preview. Expand in Data Studio

This is a FiftyOne dataset with 68 samples.

Installation

If you haven't already, install FiftyOne:

pip install -U fiftyone

Usage

import fiftyone as fo
from fiftyone.utils.huggingface import load_from_hub

# Load the dataset
# Note: other available arguments include 'max_samples', etc
dataset = load_from_hub("Voxel51/droid-3d-rgb-68ep")

# Launch the App
session = fo.launch_app(dataset)

Dataset Card for droid_3d (68-episode FiftyOne RGB subset)

A 68-episode, RGB-only subset of droid_3d, a large-scale robot manipulation dataset built on the DROID data collection platform, reformatted into LeRobotDataset v3.0 with added depth video and point cloud modalities. The full repo (58,201 episodes, ~1.3 TB) is published at ZibinDong/droid_3d; this repo holds 68 of those episodes' RGB streams only (depth and point clouds excluded — see "Parsing decisions"), re-packaged as a self-contained LeRobotDataset v3.0 export and loaded into FiftyOne for exploration.

Dataset Details

Dataset Sources

Repository: ZibinDong/droid_3d
Paper: EmbodiedMAE: A Unified 3D Multi-Modal Representation for Robot Manipulation (arXiv:2505.10105)
Demo: ZibinDong/lerobotdataset3d (reader package for the full RGB+depth+pointcloud dataset) · Visualize on the LeRobot dataset visualizer

Uses

Direct Use

Exploring and visualizing robot manipulation episodes' RGB camera views (wrist + 2 external cameras) alongside 8-dim actions and per-episode natural-language task descriptions in the FiftyOne App; prototyping data loaders and filters before working with the full 58,201-episode droid_3d repo (which additionally includes depth and point-cloud modalities not present here).

Out-of-Scope Use

This 68-episode subset is not a statistically representative sample of the full dataset (it is simply the first contiguous block of episodes whose data and all 3 RGB video streams share the first storage shard) and should not be used to draw conclusions about task or scenario distributions across the full droid_3d dataset. It contains no depth or point-cloud data — it is not suitable for any 3D-aware or depth-conditioned policy work; use the full source repo (with the lerobotdataset3d reader) for that.

Dataset Structure

This is a multimodal FiftyOne dataset (dataset.media_type == "multimodal") with 68 samples, one sample per episode. Each sample's media (3 RGB video streams) is not copied into per-sample files; instead it is resolved through a media_reference that points into the exported LeRobotDataset v3.0 source (data/, videos/, meta/ in this repo) at import time — this is how FiftyOne represents LeRobot episodes natively.

Fields

Field	FiftyOne type	Description
`id`	`ObjectIdField`	FiftyOne sample id
`media_reference`	`MediaReferenceField`	Pointer into the LeRobot source's `data/`, `videos/*`, and `meta/` files for this episode (chunk/file indexes, frame range, per-video timestamp ranges) — resolved on demand, not duplicated per sample
`tags`	`ListField(StringField)`	FiftyOne sample tags (empty by default)
`metadata`	`Metadata` (`size_bytes`, `mime_type`)	Standard FiftyOne sample metadata
`created_at` / `last_modified_at`	`DateTimeField`	FiftyOne bookkeeping timestamps
`episode_index`	`IntField`	Episode index within this subset (`0`–`67`, contiguous with the source dataset's original indices since this block happened to start at 0)
`task`	`StringField`	Primary task caption for the episode, equal to source `language_1` for that episode (verbatim from source `meta/tasks.parquet`); may be an empty string for a small number of episodes where the source task label itself is blank
`tasks`	`ListField(StringField)`	Full task list for the episode (length 1 for every episode here)
`length`	`IntField`	Number of frames in the episode (verbatim from source)
`duration`	`FloatField`	Episode duration in seconds (`length / fps`)
`robot_type`	`StringField`	Empty — source `meta/info.json` has `"robot_type": null` (DROID spans multiple robot platforms/embodiments and does not record a single type per this reformatting)
`fps`	`FloatField`	Recording frame rate, 15.0 (verbatim from source)

The per-frame numeric/string features and the 3 per-frame RGB video streams are not flattened into sample fields — they remain in the LeRobot data/*.parquet and videos/*/*.mp4 files referenced by media_reference, and are surfaced by the FiftyOne App's State & Action, Streams, and Statistics viewer tabs rather than as queryable sample-level fields. Per source meta/info.json, the per-frame features imported into this subset are:

feature	shape	description
`action`	`(8,)` float32	robot action vector
`language_1`	string	first natural-language task annotation (this is the string surfaced as sample-level `task`)
`language_2`	string	second, independently-worded natural-language task annotation for the same episode
`language_3`	string	third natural-language task annotation
`observation.images.{wrist, external_0, external_1}`	`(224, 398, 3)` video, AV1	3 RGB camera views: wrist-mounted + 2 external cameras

Not imported (present in the source, excluded from this subset):

feature	dtype (source)	why excluded
`observation.depth.{wrist, external_0, external_1}`	`depth_video` (H.265, `uint12_mm` scale, 2000 mm range)	Not a standard LeRobot v3 `video`/`image` dtype; FiftyOne's LeRobot v3 importer only recognizes `video` and `image` features. The source README itself notes standard `lerobot` also can't read this dtype without a custom reader.
`observation.pointcloud.{wrist, external_0, external_1}`	`pointcloud` (Parquet, quantized XYZ, max 2048 pts/frame)	Same reason — not a `video`/`image` dtype, no built-in FiftyOne import path.

Both excluded modalities can be read with the community reader package lerobotdataset3d (LeRobotDatasetDepthPointcloud) against the full source repo, but bringing them into FiftyOne would require custom per-frame decode + a manual 3D scene/field construction step — out of scope for this subset.

Label types and why

There are no traditional detection/classification/segmentation labels. task is stored as a plain StringField rather than fo.Classification because it is a free-form natural-language instruction (23,858 distinct across the full source dataset, 44 in this subset), not a fixed closed-set taxonomy.

`dataset.info` contents

{
    "lerobot": {
        "format": "LeRobotDataset",
        "format_major": 3,
        "episode_count": 58201,         # total episodes in the full source dataset
        "imported_episode_count": 68,   # episodes actually imported into this subset
        "skipped_episodes": [],
    }
}

Parsing decisions

RGB only — depth and point clouds deliberately excluded. See the "Not imported" table above. This was a scoped decision, not a data-quality issue: the source dataset is specifically designed around RGB + depth + point cloud + action + language for 3D representation learning (EmbodiedMAE), and this subset only covers the RGB + action + language slice of that.
Which episodes, and why: episodes 0–67 were selected because they are the largest contiguous, zero-gap block of episodes whose data/chunk-000/file-000.parquet shard and every one of the 3 RGB videos/<key>/chunk-000/file-000.mp4 shards are shared — i.e. the smallest set of source files that had to be downloaded (~700 MB) to get a complete, non-truncated set of episodes, given a limited local disk budget (ignoring the excluded depth/pointcloud shard boundaries entirely). It is not a curated or stratified sample.
task uses language_1, not a merged/combined string. Each episode in the source has up to 3 independent natural-language annotations (language_1/_2/_3) that are not paraphrases of each other so much as differently-focused descriptions (e.g. one episode's three annotations: "Pick up the peach towel and fold it.", "Fold the sweatshirt", "Fold the orange cloth" — describing the same folding action with different object framing/emphasis). meta/tasks.parquet's task_index (which drives this subset's task/tasks fields) is keyed to language_1 specifically; language_2/language_3 are not surfaced as separate FiftyOne fields since they live in the frame-level parquet data, not per-episode metadata.
Re-export, not a thin reference to the original repo: this repo is a self-contained LeRobotDataset v3.0 export (via FiftyOne's LeRobotDatasetExporter), not a pointer back to ZibinDong/droid_3d. Task indices were remapped to only the tasks actually present in this subset (44 of the source's 23,858). Per-episode and global statistics were recomputed from the exported rows, not carried over from the source's global stats.
robot_type is empty, mirroring the source's "robot_type": null — DROID data was collected across multiple robot platforms without a single embodiment tag recorded at this level.

Dataset Creation

Curation Rationale

droid_3d was built to support training 3D-aware, vision-language-action robot policies and unified multi-modal representations (per the EmbodiedMAE paper) by pairing DROID's large-scale manipulation demonstrations with depth and point-cloud reconstructions alongside the existing RGB + action + language data. This subset exists purely as a lightweight, disk-budget-friendly RGB slice for exploration and tooling in FiftyOne; it was not re-curated for scenario content, and intentionally omits the 3D modalities that motivate the parent dataset.

Source Data

Data Collection and Processing

Platform: collected with the DROID (Distributed Robot Interaction Dataset) data-collection platform — a standardized manipulation data-collection rig used across many research labs; this reformatting does not record a single robot_type per episode.
Cameras: 3 fixed viewpoints per episode — a wrist-mounted camera and two external cameras — each recording 224×398 RGB video at 15 fps, AV1-encoded in this repo. In the full source repo, each RGB stream has a matched depth stream (H.265, uint12_mm scale, 2000 mm depth range) and a matched point-cloud stream (quantized XYZ, up to 2048 points/frame, ranges x∈[−1,1] y∈[−1,1] z∈[0,1.6] m) — not included here. Downstream, EmbodiedMAE fuses RGB with these depth/point-cloud streams into a unified 3D multi-modal representation for manipulation.
Actions: 8-dimensional per-frame action vectors (action).
Language: up to 3 independent natural-language task annotations per episode (language_1/_2/_3), differing in phrasing/emphasis rather than being verbatim duplicates.

Who are the source data producers?

Collected under the DROID data-collection effort (multi-institution robot manipulation data collection); the droid_3d depth/point-cloud reformatting and this LeRobot v3 packaging were produced by Zibin Dong and collaborators for the EmbodiedMAE project.

Annotations

Annotation process

Task/language annotations (language_1/_2/_3) accompany each episode from the underlying DROID collection process; this reformatting does not describe an additional annotation pass beyond carrying these forward and deriving the LeRobot task_index from language_1.

Personal and Sensitive Information

Episodes are RGB video of tabletop robot manipulation (folding cloth, picking up objects, etc.); no depth/point-cloud (excluded here) or audio is present in this subset. No specific personal or sensitive information is called out by the source.

Citation

BibTeX:

@article{dong2025embodiedmae,
  title   = {EmbodiedMAE: A Unified 3D Multi-Modal Representation for Robot Manipulation},
  author  = {Dong, Zibin and Ni, Fei and Yuan, Yifu and Li, Yinchuan and Hao, Jianye},
  journal = {arXiv preprint arXiv:2505.10105},
  year    = {2025}
}

APA:

Dong, Z., Ni, F., Yuan, Y., Li, Y., & Hao, J. (2025). EmbodiedMAE: A Unified 3D Multi-Modal Representation for Robot Manipulation. arXiv:2505.10105.

More Information

This is a 68-episode, RGB-only subset of ZibinDong/droid_3d (58,201 episodes, ~1.3 TB including depth and point clouds), produced for local exploration under a limited disk budget. To work with the full RGB + depth + point-cloud dataset, use lerobotdataset3d (LeRobotDatasetDepthPointcloud), which is a standalone reader with no LeRobot fork required.