jxu124/OpenX-Embodiment

Open X-Embodiment Dataset (unofficial)

This is an unofficial Dataset Repo. This Repo is set up to make Open X-Embodiment Dataset (55 in 1) more accessible for people who love huggingface🤗.

Open X-Embodiment Dataset is the largest open-source real robot dataset to date. It contains 1M+ real robot trajectories spanning 22 robot embodiments, from single robot arms to bi-manual robots and quadrupeds. More information is located on RT-X website (https://robotics-transformer-x.github.io/) .

Usage Example

import datasets
ds = datasets.load_dataset("jxu124/OpenX-Embodiment", "fractal20220817_data", streaming=True, split='train')  # IterDataset

Optional subdatasets:

fractal20220817_data
kuka
bridge
taco_play
jaco_play
berkeley_cable_routing
roboturk
nyu_door_opening_surprising_effectiveness
viola
berkeley_autolab_ur5
toto
language_table
columbia_cairlab_pusht_real
stanford_kuka_multimodal_dataset_converted_externally_to_rlds
nyu_rot_dataset_converted_externally_to_rlds
stanford_hydra_dataset_converted_externally_to_rlds
austin_buds_dataset_converted_externally_to_rlds
nyu_franka_play_dataset_converted_externally_to_rlds
maniskill_dataset_converted_externally_to_rlds
furniture_bench_dataset_converted_externally_to_rlds
cmu_franka_exploration_dataset_converted_externally_to_rlds
ucsd_kitchen_dataset_converted_externally_to_rlds
ucsd_pick_and_place_dataset_converted_externally_to_rlds
austin_sailor_dataset_converted_externally_to_rlds
austin_sirius_dataset_converted_externally_to_rlds
bc_z
usc_cloth_sim_converted_externally_to_rlds
utokyo_pr2_opening_fridge_converted_externally_to_rlds
utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds
utokyo_saytap_converted_externally_to_rlds
utokyo_xarm_pick_and_place_converted_externally_to_rlds
utokyo_xarm_bimanual_converted_externally_to_rlds
robo_net
berkeley_mvp_converted_externally_to_rlds
berkeley_rpt_converted_externally_to_rlds
kaist_nonprehensile_converted_externally_to_rlds
stanford_mask_vit_converted_externally_to_rlds
tokyo_u_lsmo_converted_externally_to_rlds
dlr_sara_pour_converted_externally_to_rlds
dlr_sara_grid_clamp_converted_externally_to_rlds
dlr_edan_shared_control_converted_externally_to_rlds
asu_table_top_converted_externally_to_rlds
stanford_robocook_converted_externally_to_rlds
eth_agent_affordances
imperialcollege_sawyer_wrist_cam
iamlab_cmu_pickup_insert_converted_externally_to_rlds
uiuc_d3field
utaustin_mutex
berkeley_fanuc_manipulation
cmu_playing_with_food
cmu_play_fusion
cmu_stretch
berkeley_gnm_recon
berkeley_gnm_cory_hall
berkeley_gnm_sac_son

Optional subdatasets (Full Name):

RT-1 Robot Action
QT-Opt
Berkeley Bridge
Freiburg Franka Play
USC Jaco Play
Berkeley Cable Routing
Roboturk
NYU VINN
Austin VIOLA
Berkeley Autolab UR5
TOTO Benchmark
Language Table
Columbia PushT Dataset
Stanford Kuka Multimodal
NYU ROT
Stanford HYDRA
Austin BUDS
NYU Franka Play
Maniskill
Furniture Bench
CMU Franka Exploration
UCSD Kitchen
UCSD Pick Place
Austin Sailor
Austin Sirius
BC-Z
USC Cloth Sim
Tokyo PR2 Fridge Opening
Tokyo PR2 Tabletop Manipulation
Saytap
UTokyo xArm PickPlace
UTokyo xArm Bimanual
Robonet
Berkeley MVP Data
Berkeley RPT Data
KAIST Nonprehensile Objects
QUT Dynamic Grasping
Stanford MaskVIT Data
LSMO Dataset
DLR Sara Pour Dataset
DLR Sara Grid Clamp Dataset
DLR Wheelchair Shared Control
ASU TableTop Manipulation
Stanford Robocook
ETH Agent Affordances
Imperial Wrist Cam
CMU Franka Pick-Insert Data
QUT Dexterous Manpulation
MPI Muscular Proprioception
UIUC D3Field
Austin Mutex
Berkeley Fanuc Manipulation
CMU Food Manipulation
CMU Play Fusion
CMU Stretch
RECON
CoryHall
SACSoN
RoboVQA
ALOHA

Copyright Notice

• This is an unofficial Dataset Repo.
• Copyright 2023 DeepMind Technologies Limited
• All software is licensed under the Apache License, Version 2.0 (Apache 2.0); you may not use this file except in compliance with the Apache 2.0 license. You may obtain a copy of the Apache 2.0 license at: https://www.apache.org/licenses/LICENSE-2.0
• All other materials are licensed under the Creative Commons Attribution 4.0 International License (CC-BY). You may obtain a copy of the CC-BY license at: https://creativecommons.org/licenses/by/4.0/legalcode
• Unless required by applicable law or agreed to in writing, all software and materials distributed here under the Apache 2.0 or CC-BY licenses are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the licenses for the specific language governing permissions and limitations under those licenses.