image
imagewidth (px) 640
640
| observation
dict | action
dict | supervision
float64 0
1
| episode_idx
int64 0
2
| step_idx
int64 0
46
| absolute_action
dict | state
dict | timestamp
float64 0
230
| metadata
dict |
|---|---|---|---|---|---|---|---|---|---|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/0/observation/image-f0a0300.jpg?Expires=1727993322&Signature=KnwL6EF~jvh-MT3Ve-N5EVV4z~ZflioXW4rkmqnPnoDQ4cEPNZBqVv~j~8QUCfimpcq7qN1LXXrxy3HvwgyWPHpsk4YUX~Kz~k2Wiq~G811U9~ohM7pH4GhwV5jZ~uJMODoTfn~ubVMetH3TJ~evVPspNTF5uoq6w9HPeBdVg3ttiRwqO1HfrKE~6WkS0SSfqGlf3MHYsk72l5E2uCVCpynDj487Xz~UmmDMYt51y2H2npDFiGIEzJKaP1LzOmaTggdvNnZW53mPEI3-89XBsP7Eqou8-8TkN2Yx97nL3ytab~WIRuSTtcAKaqBZnl4HTcEjwh0NS~c3udesACGHNQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": -5.808376002391924e-11,
"y": -3.4479450544688817e-12,
"z": 2.067582216547237e-11,
"roll": -7.139706781345012e-8,
"pitch": 4.2771965524934785e-8,
"yaw": 2.4091079353638634e-7
},
"grasp": 1
} | 0 | 0 | 0 | {
"pose": {
"x": 0.32108142966184117,
"y": 0.0021198783035369564,
"z": 0.13244204225223558,
"roll": 0.012776512967406006,
"pitch": 0.029477335443765185,
"yaw": -0.13100592542812706
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.3210814297199249,
"y": 0.0021198783069849014,
"z": 0.13244204223155975,
"roll": 0.01277658436447382,
"pitch": 0.02947729267179966,
"yaw": -0.1310061663389206
},
"is_first": 1,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 0 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/1/observation/image-f0a0300.jpg?Expires=1727993322&Signature=sHYdjk3toOw2HRXZiNSdlZ0f00uPV6ZzN305zs7V8iCkF3dPB16XH6Q-DKXg35DrvI0d22GeaE8gIkXXzKbGVEDV0PWQxEZ5QrsK1hU05Z-nO~l-ySW4wP0VJnkMFa6pOgxCdxU52L~DWts2-Fie4PJIGraXEzqwRlXR6VSgUHiF-s5lAKZ74uuIe5PIxnjdDEC~r2vWor8cswPzSnBq-x6XvYrH0oqzdyd70iObpZc00Mbw1Wa~HA3m~gnQtDxw1NJYLesnBpJ3hoDTi4rsfMxgLamx-gR3Ww3sjKBGBtNUKf9HVM-S~E1OAOKqRSr2fyY~xbIqwellVitXZjsSDw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.011804101057350636,
"y": 0.008488018065690994,
"z": -0.01569892093539238,
"roll": -0.007199972867965698,
"pitch": 0.04738042131066322,
"yaw": 0.03367798402905464
},
"grasp": 1
} | 0 | 0 | 1 | {
"pose": {
"x": 0.33288553077727556,
"y": 0.010607896372675896,
"z": 0.11674312129616737,
"roll": 0.0056218234822154045,
"pitch": 0.07683808170258999,
"yaw": -0.09579367563128471
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.3210814297199249,
"y": 0.0021198783069849014,
"z": 0.13244204223155975,
"roll": 0.012821796350181103,
"pitch": 0.029457660391926765,
"yaw": -0.12947165966033936
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 5 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/2/observation/image-f0a0300.jpg?Expires=1727993322&Signature=FA-ZGnc44iKCtJbfO~j6VXYys9n37XwVpakknXk2qq6xgu-NID-S1jQxBlO9y358j6FlWbm~aD49J5~GcoeWeCE35xcIHqzJU7AZ5xW38FKNyLNst3~D3wL7p4PkmVhzpbmb4uYcU9-SuDZC-~NE18ggk3i4EmoYB9GZH3OR3OHdGJpQdsqFjOgL1W3QBECiepujJtQ1ru25VP~INZxIl4v1OgLKDVA1MAmme2T8Rre4wGMHGsByd~bnYSmdCPgQSwRdRzRKuS7TfZzqMpwaKMfIvaX1TeAtvkX4WdOW6ktIaIvkvLHI0naZ4BmjhvzkEmsHzoOr-3YYOpSvUzF0SQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.01634611003100872,
"y": 0.008177009411156178,
"z": -0.021596087142825127,
"roll": -0.005959697533398867,
"pitch": 0.034743648022413254,
"yaw": 0.03993052616715431
},
"grasp": 1
} | 0 | 0 | 2 | {
"pose": {
"x": 0.33703787438571453,
"y": 0.010060816537588835,
"z": 0.0993057806044817,
"roll": 0.0006051878444850445,
"pitch": 0.10203956440091133,
"yaw": -0.08788737282156944
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.3206917643547058,
"y": 0.0018838071264326572,
"z": 0.12090186774730682,
"roll": 0.006564885377883911,
"pitch": 0.06729591637849808,
"yaw": -0.12781789898872375
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 10 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/3/observation/image-f0a0300.jpg?Expires=1727993322&Signature=z5jzNpuFQgCGxyYcbOAH16XCypdUHNVpnmeBCbAfpgjSQuZBzmjT6HbKRaRDvZlODklFxC88pzhHZyUuFZFKwmv3uTFV0MNe7EJl4KYdfkmfnpUFnHsmU-XvfRwrvdnAbmVAMpoGOl7tB1cULaqDa6VkNRhD7FAdqIbMIsN0vGz4qvscU0KjHqbnCNpcnto9~ykWF7zawoqjisWuGrorv0OgHVlTIOMypCePfLROWzibJnaVMUQR1uK8FycWGuHUV3oJsuHWecbSFE7p5kJ2EY6qTglKLfvcUhgw54DYwxFD9zMTEJTBYTCIRX0LKiSPMw2YPTaQ0ZVoTlPB1nqb3g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.008157270960509777,
"y": 0.004486678633838892,
"z": -0.01599985547363758,
"roll": 0.017454244196414948,
"pitch": -0.04737713932991028,
"yaw": 0.04822327196598053
},
"grasp": 1
} | 0 | 0 | 3 | {
"pose": {
"x": 0.3386710463091731,
"y": 0.012031884863972664,
"z": 0.08221849612891674,
"roll": 0.007437301799654961,
"pitch": 0.08583617210388184,
"yaw": -0.05225532501935959
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.33051377534866333,
"y": 0.007545206230133772,
"z": 0.09821835160255432,
"roll": -0.010016942396759987,
"pitch": 0.13321331143379211,
"yaw": -0.10047859698534012
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 15 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/4/observation/image-f0a0300.jpg?Expires=1727993322&Signature=hXH2HE9yAM1Q0wlmLPlO7CnSeet8xGmNFfQT90tV7-xa4UbacLto0f56t8gvcxfYVPQ92WKm-rC4stHQY5i6r1YT5b95Fg00B88LzKvQJHV2Kh8GFJZyXfm~SYh4JWZ6481PNsII4sCyHuNwtCuHQC2JU6gGE~Qw4d0ooU2Qukc5g2iyR1pDM~5sPXGuWiNe~k1Iaj5lcc3W~I6QT4htyFVx9ADUm50ggVbfYBJFXh9NoekaRhuV6AnmPnp33VrHnTui5qmTilCVBnSGWA4Wiot-78hNbA6G7M6JFVWiw8ZD3n~TXErFcEPFd4HvFBfDcaui1uUWqLfuXPXjR8CM2w__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.004408182110637426,
"y": -0.002742030657827854,
"z": -0.016768375411629677,
"roll": -0.05128542333841324,
"pitch": -0.042530301958322525,
"yaw": 0.002872008364647627
},
"grasp": 1
} | 0 | 0 | 4 | {
"pose": {
"x": 0.3487261845730245,
"y": 0.014173227362334728,
"z": 0.0588208194822073,
"roll": -0.0674574114382267,
"pitch": 0.11773079261183739,
"yaw": -0.04904803680256009
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.3443180024623871,
"y": 0.016915258020162582,
"z": 0.07558919489383698,
"roll": -0.01617198809981346,
"pitch": 0.1602610945701599,
"yaw": -0.05192004516720772
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 20 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/5/observation/image-f0a0300.jpg?Expires=1727993322&Signature=TVsFOZDpmxvgUTiLU38mNXXsEu~AYBS96BaC6wzNeBUl72mywtxWajAl~Z0Sz9kOCvGHwvgVm6lmFAUmeazDQfHQxM~YMAZxHLmMIViYatoZaR~HVx0ERNUO5TKerj6DdpKeU~ZrtwQFRxRwEgujq~~pNS-aY3Kk8ujcid2dwHzYlgHfE4nR-ACPkIvRrSvYYWfKThdI6N4A3hpv1AVkv2vZRpOfXZ-SilA~BqWKOwyVNV0PIhN9YFXCgWDNB6I8Wjhfs3U4dIyukkNsk2epw9TiGfu0kGDVLG~BizILdOQqhDGXWIoH8HdHFrawrHyKQySGZV2o1DAm1pIKFnYunw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.0027776064816862345,
"y": -0.0035744349006563425,
"z": -0.007938563823699951,
"roll": 0.013090232387185097,
"pitch": -0.05674811452627182,
"yaw": 0.001661572023294866
},
"grasp": 1
} | 0 | 0 | 5 | {
"pose": {
"x": 0.35716468119062483,
"y": 0.014298455556854606,
"z": 0.058072857558727264,
"roll": 0.009868743363767862,
"pitch": 0.036813341081142426,
"yaw": -0.014919005916453898
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.3543870747089386,
"y": 0.017872890457510948,
"z": 0.06601142138242722,
"roll": -0.0032214890234172344,
"pitch": 0.09356145560741425,
"yaw": -0.016580577939748764
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 25 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/6/observation/image-f0a0300.jpg?Expires=1727993322&Signature=RhJ4a~eiFmOdiphEeRnNDpziatoGJLIIUvqQbO95zNMf9clmjfVdOIbApF1nvAFL4TMbtryxjEsjfG4QOuQlP7kchzluqFQdefQX1QKujWHFmJ7Ic3gGxvRy~7v6RvFsnJGIafuB2Np9PQ7QieZtWBmUU8Xv6Wq7wtILCSOEPUT8beOkbmsBJ5BIl8XjKNql2CpVY7adO5SYNsUovrmFNwSPRTvrZWRwjRsrZI3VrbNZPi4MhG-z4Vxudm7RkPCcE3B-6g-KWjGlhVg1ctBYMoYypUlIVOAyJgjjgxYU2XCHx7M2RZGDtLderlrhpU~jIiQ73FTbbfGofmU37IA6Uw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.00550259742885828,
"y": 0.00017284545174334198,
"z": -0.0097529711201787,
"roll": -0.005237226840108633,
"pitch": -0.04771408811211586,
"yaw": -0.017362862825393677
},
"grasp": 1
} | 0 | 0 | 6 | {
"pose": {
"x": 0.3626597383990884,
"y": 0.01808114665618632,
"z": 0.03842019196599722,
"roll": -0.04889579629525542,
"pitch": 0.005354642868041992,
"yaw": -0.030619267374277115
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.3571571409702301,
"y": 0.017908301204442978,
"z": 0.04817316308617592,
"roll": -0.04365856945514679,
"pitch": 0.05306873098015785,
"yaw": -0.013256404548883438
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 30 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/7/observation/image-f0a0300.jpg?Expires=1727993322&Signature=VHyJjD82HoEFhy7hjccO-OiZWVFsmMao4O77awsVK4-ovcwRbsOGfpMt2F95SxZs8YENB0wlwLZNOUvF2U1Lkh0bGJDg-d6UsU0n0jxbKvCJkpfTit5rBQkW3Tzk-k8WQvBGkYvQ~tVJKB83TSHRITupF1J-BIiwCwwMG5Rm3YUYzCjEpcxbTnHelidbuPIXkH33g4zP7SxxfvSDtwPuYVZiQQKwEBaM7Do8gQGt9olPYoHSSidocsbWZoXOIRmN-sOdATLauBhQ5-SuVg5e9nzN5jlHSPI7BtdYP8adqLuk0NQ4eXDPlvQ9YYxt3PbaLiVEzap8X3heD17b5QUI8g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.005766878370195627,
"y": 0.0023520172107964754,
"z": -0.0030934091191738844,
"roll": -0.010983005166053772,
"pitch": -0.029825381934642792,
"yaw": 0.0010881689377129078
},
"grasp": 1
} | 0 | 0 | 7 | {
"pose": {
"x": 0.3644123771227896,
"y": 0.0217091862577945,
"z": 0.03435332071967423,
"roll": -0.042339224368333817,
"pitch": -0.02134124841541052,
"yaw": 0.00461174501106143
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.358645498752594,
"y": 0.019357169046998024,
"z": 0.037446729838848114,
"roll": -0.031356219202280045,
"pitch": 0.008484133519232273,
"yaw": 0.003523576073348522
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 35 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/8/observation/image-f0a0300.jpg?Expires=1727993322&Signature=mI~RKK7rW2k7lsfhEpau71CCfTdOVfCFXOELnpzRINSU5zHtM4rqfuGvwB~MynSTXuwyVFO2n-SjrLQzIppbSRHGJQiA1~eEh5FZR6SQ2JR2TVx8dmwdMVLajQ2~csPE5VzRNj3UQf6MRUXIdof-LOIMMFjeqY~Imcypy8uiLHmsfW-TizxHd~WpYHq2jE3qTZPV1Kv2rNU7N-54AJmkUTKlEsUZHQb3UC4I8SceInsUDv-70jcc9PrJaqmftojAtDNzPpFfa~xNUj-ho8PLWsE15jWe5UpKVnQyUHdk1iONdRkVY7T3kvV1h5s2MpHMC7y1wHQA1hDHZxq76IfVTw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.004648074973374605,
"y": -0.000018966151401400566,
"z": 0.00014115666272118688,
"roll": 0.0024962881579995155,
"pitch": -0.012118564918637276,
"yaw": -0.004773369524627924
},
"grasp": 1
} | 0 | 0 | 8 | {
"pose": {
"x": 0.37017513858154416,
"y": 0.01822552946396172,
"z": 0.033208818931598216,
"roll": -0.0337699418887496,
"pitch": -0.06507651321589947,
"yaw": -0.02336822124198079
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.36552706360816956,
"y": 0.01824449561536312,
"z": 0.03306766226887703,
"roll": -0.036266230046749115,
"pitch": -0.05295794829726219,
"yaw": -0.018594851717352867
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 40 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/9/observation/image-f0a0300.jpg?Expires=1727993322&Signature=vjmVUgFn5zwBOAbvNQ568tbOOfgTH6W7X3KvnojisIAtV0Gnz12scKz75RAGHnhTCe--F4f4SDtfWYDLz9I~Q2eW-B7hyVVWjphUQCzRLMeHwlNrrj~RpX4NMrjxmMNZo9W~pkl~wDLkPXhsjazIodmuSnIlh3diUxGBMNS86pROrtD~NAZ9QUX0iRWUmE0b2JI~lNeM-xsajdRuQ4hEfZ-K~umyQKXV4hJH93F4Dz3t45Dnv2Sz1xtsYbSZDF5l2OI43U9RghhrrWj0Q9-zNAB7VxuY7j0Y28VVLg4iAPxgesqZCAcODeLQWfJTAdGFz-3TFwgqMTS-5gnm~Q~lFQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.00311665004119277,
"y": -0.0012327489675953984,
"z": -0.002456061076372862,
"roll": 0.00735384039580822,
"pitch": 0.0024647931568324566,
"yaw": -0.0035728884395211935
},
"grasp": 1
} | 0 | 0 | 9 | {
"pose": {
"x": 0.3743929988704622,
"y": 0.015196479740552604,
"z": 0.029166840482503176,
"roll": -0.03913603536784649,
"pitch": -0.08327873842790723,
"yaw": -0.03306934586726129
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.3712763488292694,
"y": 0.016429228708148003,
"z": 0.03162290155887604,
"roll": -0.04648987576365471,
"pitch": -0.08574353158473969,
"yaw": -0.029496457427740097
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 45 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/10/observation/image-f0a0300.jpg?Expires=1727993322&Signature=JMhmNZpXC-NsnkKDhc4C2RkO1cU7ADCKYBI44D1-r8IbvkSD~kJX4JqZEN7p0~Y-HWF6p0q31kNjOcx18v2HFs-WkA23ZfzQn3-CX1KknKmo~-W~9AKUoKgdks-ycBQ9e9sG2Q2RbLD88fcfY32bV5~pWR7m~GnhgLD~AF0ya5G9r0~8OD7EFYHOPHu~cNMxmD9QnVPwcn0SQzflifhEMP36Rey-E36IGoC4p7Uk1cCm10DMlVC1zECHYaAE4bD4n3uJmefTht2V3pHOPLEHZDEJLfFt-SG3fizk9bmxHSX7qWSRMiKyKrnx0Jr6Z3MOtHt6tGq4T6Th2oxRFNvekg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.0024388853926211596,
"y": -0.0006512388936243951,
"z": -0.001057932386174798,
"roll": 0.01206916756927967,
"pitch": -0.007166988216340542,
"yaw": 0.0067812069319188595
},
"grasp": 1
} | 0 | 0 | 10 | {
"pose": {
"x": 0.37347359699197114,
"y": 0.016548253188375384,
"z": 0.025806110119447112,
"roll": -0.03390943072736263,
"pitch": -0.08360625710338354,
"yaw": -0.0218575787730515
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.37103471159935,
"y": 0.01719949208199978,
"z": 0.02686404250562191,
"roll": -0.0459785982966423,
"pitch": -0.076439268887043,
"yaw": -0.02863878570497036
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 50 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/11/observation/image-f0a0300.jpg?Expires=1727993322&Signature=bF2FX60tSSsSk~s20A1~TjBJLpEfRgFkMjQSWBoUrxOL5dw1nP9k337DJwsPQgQhqlofCYdjy5APxKyzSCBWQtQfNPjYjzly9NNFqMIOtli9VpBrLvljIhs97D3rcuX~bSHHJ1sE60QR9Oe7sWY4UijLr7qMGIw99Rs~WlbH8lJIUWTtZVSqiNd2qIu7fkY7hX9HIpJt4Hyh0gd6vRTBVuNdNUNB9uX-fw8TmUyoKYE2cRCiYJXX7~D834N7CW0wAPl1qI~19j6JVhBJvQ6wPEkof2K2FaNXEm6paZ5P~ZJVqaLt0utkzJEQ9ITuZPyTQB7I8EH0O98sQz8fKzxqIw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.002600316423922777,
"y": -0.000718947674613446,
"z": 0.0012557758018374443,
"roll": 0.008209065534174442,
"pitch": -0.021872229874134064,
"yaw": 0.009805534034967422
},
"grasp": 1
} | 0 | 0 | 11 | {
"pose": {
"x": 0.37713459553197026,
"y": 0.018301293079275638,
"z": 0.026906942017376423,
"roll": -0.02773576881736517,
"pitch": -0.10144924372434616,
"yaw": -0.015358762815594673
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.3745342791080475,
"y": 0.019020240753889084,
"z": 0.02565116621553898,
"roll": -0.03594483435153961,
"pitch": -0.0795770138502121,
"yaw": -0.025164296850562096
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 55 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/12/observation/image-f0a0300.jpg?Expires=1727993322&Signature=Q44CtUNW0UXlRfvcmqDtHk776JsE93dVmQWYhLgT~R3aiDilwGg-OPdDTnSGeepG24xXoyo5DfY0rPGo-04K7uSBXxXb19~O3wT8AZDnG06lyHZslql07K38w0QorRN90Q2KKWMpfOtFXNqNmJ~EwtHa-JsARnQSLe8BxNTHRCe4djokTKl3oIMj3MuI8drSsRuzqVq7yW1xqy0BKNlGFFH0MvfACrFEdr3bh4Co4~Ht9tvxKo6dJ66n6LPzCqxqEVaWfV4RZVrSriP2QvIFwCVOdtvLPtPMryBqx-nYQn~RqIeJb8ZCWNUycYU8RsvtwXn3fZ1eKL1OlyVXx4XUQA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.001644749310798943,
"y": -0.0030919613782316446,
"z": -0.001517086406238377,
"roll": -0.0016105363611131907,
"pitch": -0.003913478460162878,
"yaw": 0.004612389486283064
},
"grasp": 1
} | 0 | 0 | 12 | {
"pose": {
"x": 0.379114139941521,
"y": 0.016581414034590125,
"z": 0.025248789112083614,
"roll": -0.027673188829794526,
"pitch": -0.09709034254774451,
"yaw": -0.006075255107134581
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.37746939063072205,
"y": 0.01967337541282177,
"z": 0.02676587551832199,
"roll": -0.026062652468681335,
"pitch": -0.09317686408758163,
"yaw": -0.010687644593417645
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 60 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/13/observation/image-f0a0300.jpg?Expires=1727993322&Signature=QdGH4EAbRzjUTlXxtwamy3y6HTnFC3gbsqDsZrIOfzWzk~cOUWXBHkwcLg-lzLfTDjkYgajJ7UHrrhY68zztkXsel92lzgpASeM~CcilVrORqG7z7ZNt27ocACLciFCVEx0jz11BcleAqQWhookocTQoJxkcuABCt5V7UA1N0UkvW1coPHL2iWL-06BHuQ8NMxKAQcnXNpnvVv1yeLGWEQSsyDKzRkynniCQl8gBDJXtpdGfDqfoglCrs8-bQ7hZqVtpPiSPwF7O4YKGd4~ZAbt1fnlTbNaE7ClgP8GrpmEc7kMwtC-jq4FhdJ-833TU8LRQTXzifJN3GVbxXJWrVw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.00045171959209255874,
"y": -0.003244963241741061,
"z": -0.00199417513795197,
"roll": -0.002864181064069271,
"pitch": 0.0019774858374148607,
"yaw": -0.003972391132265329
},
"grasp": 1
} | 0 | 0 | 13 | {
"pose": {
"x": 0.3808910606603604,
"y": 0.015124452533200383,
"z": 0.024720254121348262,
"roll": -0.02002075780183077,
"pitch": -0.1099850635509938,
"yaw": -0.008404308930039406
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.3804393410682678,
"y": 0.018369415774941444,
"z": 0.026714429259300232,
"roll": -0.017156576737761497,
"pitch": -0.11196254938840866,
"yaw": -0.0044319177977740765
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 65 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/14/observation/image-f0a0300.jpg?Expires=1727993322&Signature=AbMhfLlF4ixn-0vfK4dyYYv4M7C049ms0SXLiRb-v58wk-KbsibzhnN4ksz3sWpBArJVvV33AEubF8nfThE9b6kMvtQtOpFXpbaiaY0JJcS2qGzF1r7~HuJG6c-TNDLvpV602Puxo6kPV~57A-T9J0R8b3Dpqe9vja0XUGcnk-z7Pu5dyP-2zAwawtNbM~lu-BxqNMcdffom7XxDsNRsVP5Xfh~afsfoAoN8kzb5Nygo8IWIG79jOrLltJNjlEuZ5ciVMCWwces-l~fDlKRVEOJYI~Z56zV8uDBm2SUre~5WetzKIxA7UfIv8BXkg5PbE0wTNYAYxPp9Gb~djUsKsQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 480,
"width": 640
},
"task": "Slide the blue rag forward to the edge of the table."
} | {
"pose": {
"x": 0.00016866644727997482,
"y": -0.0010521803051233292,
"z": -0.003155869897454977,
"roll": -0.0069424486719071865,
"pitch": 0.0043330988846719265,
"yaw": -0.00028220497188158333
},
"grasp": 1
} | 0 | 0 | 14 | {
"pose": {
"x": 0.38192735632765107,
"y": 0.013886171393096447,
"z": 0.023994664195924997,
"roll": -0.024365009274333715,
"pitch": -0.11364178592339158,
"yaw": -0.007672956940950826
},
"grasp": 1
} | {
"end_effector_pose": {
"x": 0.3817586898803711,
"y": 0.014938351698219776,
"z": 0.027150534093379974,
"roll": -0.01742256060242653,
"pitch": -0.11797488480806351,
"yaw": -0.0073907519690692425
},
"is_first": 0,
"is_last": 0,
"is_terminal": 0,
"language_embedding": [
0.029113035649061203,
0.06016384810209274,
-0.08298374712467194,
0.02101176790893078,
0.047492366284132004,
0.08930923044681549,
-0.056469764560461044,
-0.03439167141914368,
-0.044236354529857635,
-0.015962714329361916,
0.05167337879538536,
0.021922443062067032,
0.054400790482759476,
0.005530485883355141,
-0.06547841429710388,
-0.04073749855160713,
0.003641147166490555,
-0.058790214359760284,
0.002591466996818781,
-0.0043062688782811165,
-0.04519252851605415,
0.06738092750310898,
0.06160944327712059,
0.004411027301102877,
0.0857233852148056,
0.02970532514154911,
0.1311943531036377,
0.017424724996089935,
0.0938519835472107,
0.004542865324765444,
0.006106691900640726,
0.022625798359513283,
-0.02301795594394207,
0.07780376821756363,
0.04293468967080116,
-0.04828205704689026,
-0.0816221609711647,
-0.0023044522386044264,
-0.0675688311457634,
-0.05389362946152687,
0.05510259419679642,
-0.010365930385887623,
0.05016988888382912,
-0.032205212861299515,
0.02669895440340042,
0.07626637071371078,
0.04016239568591118,
-0.03647638484835625,
0.02254030853509903,
-0.007991502061486244,
-0.06225312873721123,
-0.04300433397293091,
0.028374888002872467,
0.04114473611116409,
-0.023481089621782303,
0.06334800273180008,
0.013802229426801205,
0.015087634325027466,
-0.01679861918091774,
0.029437756165862083,
-0.08418653905391693,
-0.01555474940687418,
-0.01314765028655529,
-0.06320209056138992,
0.002091762376949191,
0.03535554185509682,
-0.00047931502922438085,
-0.053796056658029556,
-0.05658288300037384,
-0.015696128830313683,
-0.011172338388860226,
0.049852464348077774,
0.052225593477487564,
-0.047028668224811554,
-0.0592205636203289,
0.04275224357843399,
0.0402534157037735,
0.0051837218925356865,
-0.025756333023309708,
-0.05433964729309082,
-0.0035508733708411455,
-0.046433351933956146,
-0.05967431142926216,
-0.07142146676778793,
0.052219636738300323,
0.06115641072392464,
-0.0039808787405490875,
0.006264519412070513,
0.02822031080722809,
-0.045496609061956406,
0.01799965649843216,
-0.07263348251581192,
0.0307866632938385,
-0.0073172966949641705,
0.0034799568820744753,
-0.029324237257242203,
-0.06267976760864258,
0.046765368431806564,
0.03721373528242111,
-0.010144242085516453,
0.039719730615615845,
0.08923758566379547,
-0.0450151190161705,
-0.053642574697732925,
0.013057556934654713,
0.038213640451431274,
-0.01102815568447113,
0.034206610172986984,
-0.00219397502951324,
-0.028144165873527527,
-0.03718453645706177,
-0.0341525636613369,
-0.028367508202791214,
0.05346846580505371,
-0.05699018016457558,
-0.07647976279258728,
0.07889726758003235,
-0.024357829242944717,
-0.0532173328101635,
-0.06499431282281876,
-0.0367777943611145,
0.02489307150244713,
-0.03695695102214813,
0.001790616544894874,
0.02609061263501644,
0.024989202618598938,
-0.06377660483121872,
-0.008960706181824207,
-0.03199183940887451,
0.009907910600304604,
0.006342774257063866,
0.08497469127178192,
0.05032006651163101,
-0.00692575192078948,
-0.04295226186513901,
0.015641067177057266,
-0.0033126294147223234,
0.07362900674343109,
0.00014457927318289876,
-0.024273397400975227,
0.08011133223772049,
-0.008359450846910477,
-0.07039061933755875,
0.030205365270376205,
0.0037357795517891645,
-0.048112161457538605,
-0.11320193856954575,
-0.023652177304029465,
-0.01646902970969677,
-0.05009201169013977,
0.006081264466047287,
-0.03293350338935852,
0.04199383780360222,
-0.012363177724182606,
0.02577832341194153,
0.0607244074344635,
0.026195786893367767,
0.06422405689954758,
0.04402090236544609,
-0.09071336686611176,
0.044974327087402344,
0.020265651866793633,
0.09669086337089539,
-0.014127801172435284,
-0.013627852313220501,
-0.03428123891353607,
-0.034252967685461044,
-0.03213737905025482,
-0.008887839503586292,
0.04407618194818497,
-0.025353185832500458,
-0.025435203686356544,
-0.01987825706601143,
0.10582119971513748,
0.06875142455101013,
0.001348197110928595,
0.038497935980558395,
0.034402161836624146,
0.03915809839963913,
-0.02930414117872715,
0.01299220323562622,
-0.03784586489200592,
0.011636820621788502,
0.07114867866039276,
-0.05617685988545418,
-0.019036471843719482,
0.02884582057595253,
-0.03659879043698311,
-0.08760417997837067,
0.0511651374399662,
-0.007783792447298765,
-0.052779506891965866,
0.05182585492730141,
-0.022999392822384834,
-0.0036706095561385155,
-0.018206769600510597,
-0.00027028098702430725,
-0.000311506271827966,
-0.012603715993463993,
-0.02025916799902916,
0.03650762885808945,
-0.040184762328863144,
0.042815059423446655,
0.05452198162674904,
0.00396730238571763,
-0.023553602397441864,
0.025495434179902077,
0.0060362862423062325,
0.058999575674533844,
-0.06892306357622147,
0.03682122379541397,
-0.10983308404684067,
0.011921336874365807,
0.03455613553524017,
-0.06139996275305748,
0.04632006213068962,
0.028907958418130875,
-0.01984020695090294,
0.03128259256482124,
-0.0562312975525856,
-0.021040841937065125,
-0.023664042353630066,
-0.011983915232121944,
-0.005167563911527395,
0.0676431953907013,
-0.01594577543437481,
0.04277045652270317,
-0.07321242243051529,
-0.059342797845602036,
0.0547945499420166,
0.024041038006544113,
-0.046393200755119324,
0.023131778463721275,
0.04272928833961487,
-0.0007328117499127984,
-0.0683472529053688,
-0.04875412955880165,
-0.0003856732801068574,
0.026868097484111786,
0.10253346711397171,
0.022287819534540176,
0.015393179841339588,
0.018853681161999702,
-0.054728321731090546,
0.02016366273164749,
0.021942462772130966,
-0.006530979182571173,
0.017130644991993904,
0.021032240241765976,
0.005133307073265314,
0.008231420069932938,
-0.0045277937315404415,
-0.02743285335600376,
0.03856712207198143,
-0.032288432121276855,
0.057941947132349014,
0.0737495943903923,
-0.06500785797834396,
-0.02498374879360199,
-0.058006733655929565,
-0.038120824843645096,
-0.018900835886597633,
-0.0016568260034546256,
0.01616787351667881,
0.048668112605810165,
0.043527841567993164,
0.005500107072293758,
-0.0009509650408290327,
-0.0012620548950508237,
-0.0024622974451631308,
0.017753900960087776,
-0.02664107456803322,
0.003716064151376486,
0.07579036056995392,
0.051760878413915634,
0.015299451537430286,
-0.03472354635596275,
-0.005621575750410557,
0.05950923636555672,
-0.0337686613202095,
-0.05655587837100029,
-0.002129479544237256,
-0.021428927779197693,
0.03277134895324707,
-0.02941215969622135,
-0.012598538771271706,
0.057574428617954254,
-0.08110559731721878,
0.019942764192819595,
-0.04122822731733322,
0.031837526708841324,
-0.017875120043754578,
0.02532382868230343,
-0.006274145562201738,
0.04686223715543747,
-0.002113910159096122,
-0.006428281776607037,
0.04228673130273819,
0.04128840193152428,
-0.011155176907777786,
0.008912809193134308,
0.071736641228199,
-0.009347762912511826,
0.0458209253847599,
-0.04520852118730545,
-0.022673023864626884,
-0.017104608938097954,
0.05404636636376381,
-0.014128383249044418,
-0.005500957369804382,
-0.07917962968349457,
-0.013590268790721893,
-0.004317054990679026,
0.04498771205544472,
0.0301086213439703,
0.006355782970786095,
0.06464076042175293,
0.04619872197508812,
0.020777925848960876,
-0.06234028562903404,
0.002764250850304961,
-0.06398475170135498,
0.08633174747228622,
-0.01199522614479065,
-0.04787570983171463,
0.028888322412967682,
0.029310118407011032,
0.0347934253513813,
-0.039650145918130875,
0.036722104996442795,
-0.014243093319237232,
-0.05350492522120476,
-0.007987750694155693,
-0.03746684640645981,
0.03625734895467758,
-0.006230875384062529,
0.04937141388654709,
0.009175093844532967,
-0.07579610496759415,
-0.001079447683878243,
0.018840551376342773,
-0.05098244175314903,
0.03099963441491127,
-0.08929962664842606,
-0.0035325707867741585,
-0.040905993431806564,
-0.02900213934481144,
0.05335232987999916,
0.03990514576435089,
-0.007196872960776091,
-0.016389131546020508,
0.01080508902668953,
-0.000776903354562819,
-0.00026323855854570866,
-0.041563212871551514,
0.009908907115459442,
0.040042079985141754,
-0.0036197917070239782,
0.030106456950306892,
-0.03341357782483101,
0.00018599738541524857,
0.03554721176624298,
-0.02446593903005123,
0.08440835773944855,
-0.05366595461964607,
-0.01574610359966755,
0.015864966437220573,
0.07674513757228851,
-0.01686101406812668,
-0.06830443441867828,
-0.025631219148635864,
0.05237715691328049,
-0.01086360216140747,
-0.002544886665418744,
0.000829093623906374,
0.052229322493076324,
0.020151827484369278,
0.02724815346300602,
-0.027115250006318092,
0.06819445639848709,
0.004755744710564613,
-0.03510797396302223,
-0.09361005574464798,
-0.06428194046020508,
0.01262226514518261,
0.04180579259991646,
0.0757756233215332,
0.03301195055246353,
-0.06584600359201431,
-0.05106364190578461,
0.05127977579832077,
-0.058985911309719086,
-0.017223279923200607,
0.059259139001369476,
0.07718341052532196,
0.08503417670726776,
-0.027587518095970154,
-0.04242187365889549,
0.03382490947842598,
-0.07805521041154861,
-0.009565250016748905,
-0.08454328775405884,
0.00025864262715913355,
0.03374634310603142,
-0.062449607998132706,
-0.04251302033662796,
-0.061747778207063675,
0.009670479223132133,
0.0395793616771698,
-0.08733043074607849,
0.08379608392715454,
-0.006733176298439503,
-0.020703675225377083,
-0.11828542500734329,
-0.006562333554029465,
0.0059093814343214035,
0.05567428097128868,
-0.01689530722796917,
-0.02208636701107025,
0.009365377947688103,
-0.05149511992931366,
0.052717819809913635,
0.029205219820141792,
-0.06391947716474533,
0.027267152443528175,
-0.04246685653924942,
-0.02194639854133129,
0.00944539811462164,
-0.0034216875210404396,
0.014153391122817993,
-0.032395925372838974,
-0.0212029330432415,
0.06276000291109085,
0.031026583164930344,
0.09793510288000107,
-0.09840451180934906,
0.017127851024270058,
-0.052702441811561584,
-0.02665352076292038,
0.10690853744745255,
-0.011354930698871613,
-0.034324973821640015,
-0.028404558077454567,
-0.0011999515118077397,
0.08109156042337418,
-0.004792255349457264,
-0.0014517351519316435,
-0.010560935363173485,
-0.06779956817626953,
-0.029154658317565918,
-0.027238590642809868,
0.09562784433364868,
0.10320016741752625,
-0.05816110596060753,
0.04053821787238121,
-0.0009136078297160566,
0.02284223586320877,
-0.03341237083077431,
0.025965960696339607,
-0.004107224754989147,
0.010965527035295963,
-0.025413919240236282,
0.04376254230737686,
-0.009236124344170094,
-0.007875367067754269,
-0.008046231232583523,
0.004772934131324291,
0.05507700890302658,
0.05240028724074364,
0.04286208748817444,
0.007587512955069542,
0.0006427601911127567,
0.06529487669467926,
0.03211325407028198,
-0.035690415650606155,
-0.015436395071446896,
0.01682610996067524,
0.021172458305954933,
0.0002806984120979905,
0.03176121041178703,
-0.008671348914504051,
-0.026735536754131317,
0.03399327024817467,
0.01577925868332386,
-0.056377653032541275,
-0.02757287584245205,
-0.03724735230207443,
-0.0313260592520237,
0.013471732847392559,
-0.05270523577928543,
0.0018232128350064158,
0.008070907555520535,
0.0004062170337419957,
-0.02426154911518097,
0.03683057427406311,
-0.061683595180511475,
0.005756912287324667,
-0.055257029831409454,
0.007282736711204052,
0.07121212780475616,
-0.014001352712512016,
0.06611310690641403,
-0.09235561639070511,
-0.048969414085149765,
-0.05263213813304901,
-0.007170126307755709,
-0.03379657492041588,
-0.008103743195533752,
0.05603698268532753,
-0.07815071940422058,
-0.010243898257613182,
-0.09631095081567764
]
} | 70 | {
"num_depth_cams": 1,
"num_episodes": "25,460",
"num_rgb_cams": 4,
"num_wrist_cams": 1,
"action_space": "EEF Position",
"control_frequency": "5",
"data_collect_method": "Human VR",
"dataset": "Berkeley Bridge",
"description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�",
"file_size_gb": 387.49,
"gripper": "Default",
"has_camera_calibration": "No",
"has_proprioception": "Yes",
"has_suboptimal": "Yes",
"language_annotations": "Natural",
"registered_dataset_name": "bridge",
"robot": "WidowX",
"robot_morphology": "Single Arm",
"scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments"
} |
End of preview. Expand
in Dataset Viewer.
README.md exists but content is empty.
Use the Edit dataset card button to edit it.
- Downloads last month
- 2