Datasets:

agnesluhtaru
/

oxe-magic-soup-plus-nl-commands

dataset_name stringclasses 10 values	split stringclasses 1 value	source_split stringclasses 2 values	episode_id int64 0 6.87k	step_id int64 0 778	language_command stringlengths 4 115 ⌀
bc_z	validation	val	2	0	place the pepper in the ceramic cup
bc_z	validation	val	2	1	place the pepper in the ceramic cup
bc_z	validation	val	2	2	place the pepper in the ceramic cup
bc_z	validation	val	2	3	place the pepper in the ceramic cup
bc_z	validation	val	2	4	place the pepper in the ceramic cup
bc_z	validation	val	2	5	place the pepper in the ceramic cup
bc_z	validation	val	2	6	place the pepper in the ceramic cup
bc_z	validation	val	2	7	place the pepper in the ceramic cup
bc_z	validation	val	2	8	place the pepper in the ceramic cup
bc_z	validation	val	2	9	place the pepper in the ceramic cup
bc_z	validation	val	2	10	place the pepper in the ceramic cup
bc_z	validation	val	2	11	place the pepper in the ceramic cup
bc_z	validation	val	2	12	place the pepper in the ceramic cup
bc_z	validation	val	2	13	place the pepper in the ceramic cup
bc_z	validation	val	2	14	place the pepper in the ceramic cup
bc_z	validation	val	2	15	place the pepper in the ceramic cup
bc_z	validation	val	2	16	place the pepper in the ceramic cup
bc_z	validation	val	2	17	place the pepper in the ceramic cup
bc_z	validation	val	2	18	place the pepper in the ceramic cup
bc_z	validation	val	2	19	place the pepper in the ceramic cup
bc_z	validation	val	2	20	place the pepper in the ceramic cup
bc_z	validation	val	2	21	place the pepper in the ceramic cup
bc_z	validation	val	2	22	place the pepper in the ceramic cup
bc_z	validation	val	2	23	place the pepper in the ceramic cup
bc_z	validation	val	2	24	place the pepper in the ceramic cup
bc_z	validation	val	2	25	place the pepper in the ceramic cup
bc_z	validation	val	2	26	place the pepper in the ceramic cup
bc_z	validation	val	2	27	place the pepper in the ceramic cup
bc_z	validation	val	2	28	place the pepper in the ceramic cup
bc_z	validation	val	2	29	place the pepper in the ceramic cup
bc_z	validation	val	2	30	place the pepper in the ceramic cup
bc_z	validation	val	2	31	place the pepper in the ceramic cup
bc_z	validation	val	2	32	place the pepper in the ceramic cup
bc_z	validation	val	2	33	place the pepper in the ceramic cup
bc_z	validation	val	2	34	place the pepper in the ceramic cup
bc_z	validation	val	2	35	place the pepper in the ceramic cup
bc_z	validation	val	2	36	place the pepper in the ceramic cup
bc_z	validation	val	2	37	place the pepper in the ceramic cup
bc_z	validation	val	2	38	place the pepper in the ceramic cup
bc_z	validation	val	2	39	place the pepper in the ceramic cup
bc_z	validation	val	2	40	place the pepper in the ceramic cup
bc_z	validation	val	2	41	place the pepper in the ceramic cup
bc_z	validation	val	2	42	place the pepper in the ceramic cup
bc_z	validation	val	2	43	place the pepper in the ceramic cup
bc_z	validation	val	2	44	place the pepper in the ceramic cup
bc_z	validation	val	2	45	place the pepper in the ceramic cup
bc_z	validation	val	2	46	place the pepper in the ceramic cup
bc_z	validation	val	2	47	place the pepper in the ceramic cup
bc_z	validation	val	2	48	place the pepper in the ceramic cup
bc_z	validation	val	2	49	place the pepper in the ceramic cup
bc_z	validation	val	2	50	place the pepper in the ceramic cup
bc_z	validation	val	2	51	place the pepper in the ceramic cup
bc_z	validation	val	2	52	place the pepper in the ceramic cup
bc_z	validation	val	2	53	place the pepper in the ceramic cup
bc_z	validation	val	2	54	place the pepper in the ceramic cup
bc_z	validation	val	2	55	place the pepper in the ceramic cup
bc_z	validation	val	2	56	place the pepper in the ceramic cup
bc_z	validation	val	2	57	place the pepper in the ceramic cup
bc_z	validation	val	2	58	place the pepper in the ceramic cup
bc_z	validation	val	2	59	place the pepper in the ceramic cup
bc_z	validation	val	2	60	place the pepper in the ceramic cup
bc_z	validation	val	2	61	place the pepper in the ceramic cup
bc_z	validation	val	2	62	place the pepper in the ceramic cup
bc_z	validation	val	2	63	place the pepper in the ceramic cup
bc_z	validation	val	2	64	place the pepper in the ceramic cup
bc_z	validation	val	2	65	place the pepper in the ceramic cup
bc_z	validation	val	2	66	place the pepper in the ceramic cup
bc_z	validation	val	2	67	place the pepper in the ceramic cup
bc_z	validation	val	2	68	place the pepper in the ceramic cup
bc_z	validation	val	2	69	place the pepper in the ceramic cup
bc_z	validation	val	2	70	place the pepper in the ceramic cup
bc_z	validation	val	2	71	place the pepper in the ceramic cup
bc_z	validation	val	2	72	place the pepper in the ceramic cup
bc_z	validation	val	2	73	place the pepper in the ceramic cup
bc_z	validation	val	2	74	place the pepper in the ceramic cup
bc_z	validation	val	2	75	place the pepper in the ceramic cup
bc_z	validation	val	2	76	place the pepper in the ceramic cup
bc_z	validation	val	2	77	place the pepper in the ceramic cup
bc_z	validation	val	2	78	place the pepper in the ceramic cup
bc_z	validation	val	2	79	place the pepper in the ceramic cup
bc_z	validation	val	2	80	place the pepper in the ceramic cup
bc_z	validation	val	2	81	place the pepper in the ceramic cup
bc_z	validation	val	2	82	place the pepper in the ceramic cup
bc_z	validation	val	2	83	place the pepper in the ceramic cup
bc_z	validation	val	2	84	place the pepper in the ceramic cup
bc_z	validation	val	2	85	place the pepper in the ceramic cup
bc_z	validation	val	2	86	place the pepper in the ceramic cup
bc_z	validation	val	2	87	place the pepper in the ceramic cup
bc_z	validation	val	2	88	place the pepper in the ceramic cup
bc_z	validation	val	2	89	place the pepper in the ceramic cup
bc_z	validation	val	2	90	place the pepper in the ceramic cup
bc_z	validation	val	2	91	place the pepper in the ceramic cup
bc_z	validation	val	2	92	place the pepper in the ceramic cup
bc_z	validation	val	2	93	place the pepper in the ceramic cup
bc_z	validation	val	2	94	place the pepper in the ceramic cup
bc_z	validation	val	2	95	place the pepper in the ceramic cup
bc_z	validation	val	2	96	place the pepper in the ceramic cup
bc_z	validation	val	2	97	place the pepper in the ceramic cup
bc_z	validation	val	2	98	place the pepper in the ceramic cup
bc_z	validation	val	2	99	place the pepper in the ceramic cup

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OXE Magic Soup++ Natural Language Commands

Per-step natural-language instructions extracted from the datasets in the OpenVLA oxe_magic_soup_plus mixture of Open X-Embodiment (OXE). Source datasets were downloaded and preprocessed with rlds_dataset_mod, following OpenVLA, then processed with oxe-stats.

Files

One CSV per source dataset:

oxe-<dataset>_nl_only.csv — train split
oxe-<dataset>_validation_nl_only.csv — all non-train splits, merged

Columns

dataset_name — source OXE dataset
split — train or validation
source_split (validation files only) — original TFDS split name before merging
episode_id, step_id — position within the source episode
language_command — the per-step natural-language instruction

Source datasets

austin_buds_dataset_converted_externally_to_rlds
austin_sailor_dataset_converted_externally_to_rlds
austin_sirius_dataset_converted_externally_to_rlds
bc_z
berkeley_autolab_ur5
berkeley_cable_routing
berkeley_fanuc_manipulation
bridge_orig
cmu_stretch
dlr_edan_shared_control_converted_externally_to_rlds
dobbe
droid
fmb_dataset
fractal20220817_data
furniture_bench_dataset_converted_externally_to_rlds
iamlab_cmu_pickup_insert_converted_externally_to_rlds
jaco_play
kuka
language_table
nyu_franka_play_dataset_converted_externally_to_rlds
roboturk
stanford_hydra_dataset_converted_externally_to_rlds
taco_play
toto
ucsd_kitchen_dataset_converted_externally_to_rlds
utaustin_mutex
viola

License

Each source dataset carries its own license from Open X-Embodiment; check the individual dataset before reuse. No single license applies to the merged mixture.

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