Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Paper • 2310.08864 • Published • 2
id stringlengths 23 382 | question stringlengths 28 461 | choices stringlengths 25 409 | correct_answer int64 0 4 | image imagewidth (px) 84 640 |
|---|---|---|---|---|
fractal20220817_data_place_blue_plastic_bottle_into_middle_drawer_3973_q43 | Is there any obstacle blocking the robot from reaching bottle? | ['No', 'Cannot be determined', 'Partially reachable', 'Yes'] | 0 | |
fractal20220817_data_place_blue_plastic_bottle_into_middle_drawer_4454_q2 | The robot is to place blue plastic bottle into middle drawer. Has the robot successfully completed the task? | ['Cannot be determined', 'No', 'Yes', 'Task was not attempted'] | 1 | |
fractal20220817_data_place_blue_plastic_bottle_into_middle_drawer_4586_q55 | Is there any obstacle blocking the robot from reaching bottle? | ['Yes', 'Partially reachable', 'No', 'Cannot be determined'] | 2 | |
fractal20220817_data_place_blue_plastic_bottle_into_middle_drawer_5769_q15 | The robot is to place blue plastic bottle into middle drawer. Has the robot successfully completed the task? | ['Yes', 'Task was not attempted', 'Cannot be determined', 'No'] | 3 | |
fractal20220817_data_place_blue_plastic_bottle_into_top_drawer_1413_q16 | Is there any obstacle blocking the robot from reaching bottle? | ['Partially reachable', 'Yes', 'No', 'Cannot be determined'] | 2 | |
fractal20220817_data_place_blue_plastic_bottle_into_top_drawer_1955_q33 | Is the robot's grasp of the bottle stable? | ['Yes', 'Cannot be determined', 'No', 'Partially stable'] | 2 | |
fractal20220817_data_place_blue_plastic_bottle_into_top_drawer_2239_q12 | The robot is tasked to place blue plastic bottle into top drawer. The robot is interacting with the bottle. Which phase of the grasp action is shown in the image? | ['Releasing the bottle by opening gripper', 'Firmly grasping the bottle', 'Moving away with open gripper after releasing the bottle', 'Closing gripper to grasp the bottle', 'Approaching the bottle with open gripper'] | 1 | |
fractal20220817_data_place_blue_plastic_bottle_into_top_drawer_2239_q14 | The robot is to place blue plastic bottle into top drawer. Has the robot successfully completed the task? | ['Yes', 'Cannot be determined', 'Task was not attempted', 'No'] | 3 | |
fractal20220817_data_place_blue_plastic_bottle_into_top_drawer_2750_q45 | The robot is tasked to releasing the bottle by opening gripper with the bottle. After Releasing the bottle by opening gripper, what will be the robot's NEXT action phase? | ['Approaching the bottle with open gripper', 'Firmly grasping the bottle', 'Closing gripper to grasp the bottle', 'Moving away with open gripper after releasing the bottle', 'Releasing the bottle by opening gripper'] | 3 | |
fractal20220817_data_place_blue_plastic_bottle_into_top_drawer_3101_q17 | The robot's task is to place blue plastic bottle into top drawer. Which configuration shows the goal state that the robot should achieve? | ['Configuration D', 'Configuration C', 'Configuration B', 'None of the above', 'Configuration E'] | 3 | |
fractal20220817_data_place_blue_plastic_bottle_into_top_drawer_3101_q29 | The robot's task is to place blue plastic bottle into top drawer. Which configuration shows the goal state that the robot should achieve? | ['Configuration C', 'Configuration B', 'Configuration E', 'Configuration D', 'Configuration A'] | 4 | |
fractal20220817_data_move_sponge_near_brown_chip_bag_3267_q30 | The robot is tasked to move sponge near brown chip bag. The robot is interacting with the sponge. Which phase of the grasp action is shown in the image? | ['Releasing the sponge by opening gripper', 'Closing gripper to grasp the sponge', 'Moving away with open gripper after releasing the sponge', 'None of the above', 'Firmly grasping the sponge'] | 3 | |
fractal20220817_data_move_sponge_near_brown_chip_bag_966_q42 | Is there any obstacle blocking the robot from reaching sponge? | ['Partially reachable', 'No', 'Cannot be determined', 'Yes'] | 1 | |
fractal20220817_data_move_sponge_near_green_can_272_q5 | The robot is tasked to move sponge near green can. The robot is interacting with the sponge. Which phase of the grasp action is shown in the image? | ['Approaching the sponge with open gripper', 'Firmly grasping the sponge', 'Closing gripper to grasp the sponge', 'Releasing the sponge by opening gripper', 'Moving away with open gripper after releasing the sponge'] | 0 | |
fractal20220817_data_move_sponge_near_green_can_2832_q12 | The robot is tasked to approaching the sponge with open gripper with the sponge. After Approaching the sponge with open gripper, what will be the robot's NEXT action phase? | ['Releasing the sponge by opening gripper', 'Approaching the sponge with open gripper', 'Closing gripper to grasp the sponge', 'Moving away with open gripper after releasing the sponge', 'Firmly grasping the sponge'] | 2 | |
fractal20220817_data_move_sponge_near_green_can_3329_q9 | Is the robot's gripper open? | ['Partially open', 'Cannot be determined', 'No', 'Yes'] | 2 | |
fractal20220817_data_move_sponge_near_green_can_4668_q25 | The robot is tasked to move sponge near green can. The robot is interacting with the sponge. Which phase of the grasp action is shown in the image? | ['Closing gripper to grasp the sponge', 'Releasing the sponge by opening gripper', 'Approaching the sponge with open gripper', 'Firmly grasping the sponge', 'Moving away with open gripper after releasing the sponge'] | 3 | |
fractal20220817_data_move_sponge_near_green_can_5260_q13 | Is the robot's grasp of the sponge stable? | ['Cannot be determined', 'Yes', 'No', 'Partially stable'] | 2 | |
fractal20220817_data_pick_brown_chip_bag_5875_q7 | The robot is to pick brown chip bag. Has the robot successfully completed the task? | ['Yes', 'No', 'Cannot be determined', 'Task was not attempted'] | 0 | |
fractal20220817_data_pick_brown_chip_bag_5930_q12 | The robot is tasked to approaching the chip bag with open gripper with the chip bag. After Approaching the chip bag with open gripper, what will be the robot's NEXT action phase? | ['Firmly grasping the chip bag', 'Releasing the chip bag by opening gripper', 'Moving away with open gripper after releasing the chip bag', 'Approaching the chip bag with open gripper', 'Closing gripper to grasp the chip bag'] | 4 | |
fractal20220817_data_pick_brown_chip_bag_64_q9 | Is there any obstacle blocking the robot from reaching chip bag? | ['Partially reachable', 'Cannot be determined', 'No', 'Yes'] | 2 | |
fractal20220817_data_pick_brown_chip_bag_707_q3 | Is there any obstacle blocking the robot from reaching brown chip bag? | ['Partially reachable', 'Cannot be determined', 'Yes', 'No'] | 3 | |
fractal20220817_data_pick_brown_chip_bag_918_q27 | Is the robot's grasp of the chip bag stable? | ['Yes', 'Cannot be determined', 'Partially stable', 'No'] | 0 | |
fractal20220817_data_pick_coke_can_from_bottom_drawer_and_place_on_counter_1661_q19 | The robot is tasked to approaching the coke can with open gripper with the coke can. After Approaching the coke can with open gripper, what will be the robot's NEXT action phase? | ['Closing gripper to grasp the coke can', 'Approaching the coke can with open gripper', 'Firmly grasping the coke can', 'Releasing the coke can by opening gripper', 'Moving away with open gripper after releasing the coke can'] | 0 | |
fractal20220817_data_pick_coke_can_from_bottom_drawer_and_place_on_counter_1661_q48 | Is the robot's gripper open? | ['No', 'Partially open', 'Yes', 'Cannot be determined'] | 2 | |
fractal20220817_data_pick_coke_can_from_bottom_drawer_and_place_on_counter_1661_q84 | The robot is tasked to pick coke can from bottom drawer and place on counter. The robot is interacting with the coke can. Which phase of the grasp action is shown in the image? | ['Approaching the coke can with open gripper', 'Firmly grasping the coke can', 'Moving away with open gripper after releasing the coke can', 'Closing gripper to grasp the coke can', 'Releasing the coke can by opening gripper'] | 2 | |
fractal20220817_data_pick_coke_can_from_bottom_drawer_and_place_on_counter_3609_q24 | Is there any obstacle blocking the robot from reaching coke can? | ['Yes', 'No', 'Partially reachable', 'Cannot be determined'] | 1 | |
fractal20220817_data_pick_coke_can_from_bottom_drawer_and_place_on_counter_681_q24 | The robot's task is to pick coke can from bottom drawer and place on counter. Which configuration shows the goal state that the robot should achieve? | ['Configuration C', 'Configuration E', 'Configuration B', 'Configuration A', 'Configuration D'] | 3 | |
fractal20220817_data_pick_coke_can_from_bottom_drawer_and_place_on_counter_681_q68 | Is the robot's gripper open? | ['Cannot be determined', 'Yes', 'No', 'Partially open'] | 1 | |
fractal20220817_data_pick_coke_can_from_bottom_shelf_of_fridge_191_q23 | The robot's task is to pick coke can from bottom shelf of fridge. Which configuration shows the goal state that the robot should achieve? | ['Configuration B', 'Configuration C', 'Configuration A', 'Configuration D', 'Configuration E'] | 2 | |
fractal20220817_data_open_bottom_drawer_4049_q25 | The robot is tasked to open bottom drawer. The robot is interacting with the drawer. Which phase of the grasp action is shown in the image? | ['Moving away with open gripper after releasing the drawer', 'Releasing the drawer by opening gripper', 'Closing gripper to grasp the drawer', 'Firmly grasping the drawer', 'Approaching the drawer with open gripper'] | 4 | |
fractal20220817_data_open_bottom_drawer_4071_q14 | The robot is to open bottom drawer. Has the robot successfully completed the task? | ['No', 'Cannot be determined', 'Yes', 'Task was not attempted'] | 0 | |
fractal20220817_data_open_bottom_drawer_4110_q27 | The robot is tasked to firmly grasping the drawer with the drawer. After Firmly grasping the drawer, what will be the robot's NEXT action phase? | ['Releasing the drawer by opening gripper', 'Firmly grasping the drawer', 'Closing gripper to grasp the drawer', 'Moving away with open gripper after releasing the drawer', 'Approaching the drawer with open gripper'] | 0 | |
fractal20220817_data_open_bottom_drawer_4176_q34 | Is the robot's grasp of the drawer stable? | ['Yes', 'Cannot be determined', 'Partially stable', 'No'] | 3 | |
fractal20220817_data_open_bottom_drawer_4176_q89 | Is the robot's gripper open? | ['No', 'Yes', 'Partially open', 'Cannot be determined'] | 1 | |
fractal20220817_data_open_bottom_drawer_4176_q96 | Is there any obstacle blocking the robot from reaching drawer? | ['No', 'Yes', 'Partially reachable', 'Cannot be determined'] | 0 | |
fractal20220817_data_open_bottom_drawer_4188_q65 | Is the robot's grasp of the drawer stable? | ['Cannot be determined', 'No', 'Partially stable', 'Yes'] | 1 | |
fractal20220817_data_open_bottom_drawer_4316_q4 | The robot's task is to open bottom drawer. Which configuration shows the goal state that the robot should achieve? | ['Configuration A', 'Configuration E', 'Configuration C', 'Configuration D', 'Configuration B'] | 0 | |
fractal20220817_data_open_bottom_drawer_4316_q30 | The robot's task is to open bottom drawer. Which configuration shows the goal state that the robot should achieve? | ['Configuration B', 'Configuration A', 'Configuration E', 'Configuration D', 'Configuration C'] | 1 | |
fractal20220817_data_open_bottom_drawer_4316_q35 | Is there any obstacle blocking the robot from reaching drawer? | ['Cannot be determined', 'No', 'Partially reachable', 'Yes'] | 1 | |
fractal20220817_data_open_bottom_drawer_4364_q4 | Is there any obstacle blocking the robot from reaching drawer? | ['Partially reachable', 'Cannot be determined', 'Yes', 'No'] | 3 | |
fractal20220817_data_open_bottom_drawer_4480_q39 | The robot is tasked to open bottom drawer. The robot is interacting with the drawer. Which phase of the grasp action is shown in the image? | ['Moving away with open gripper after releasing the drawer', 'Closing gripper to grasp the drawer', 'Releasing the drawer by opening gripper', 'Approaching the drawer with open gripper', 'Firmly grasping the drawer'] | 1 | |
fractal20220817_data_open_bottom_drawer_4861_q9 | Is the robot's gripper open? | ['Yes', 'Cannot be determined', 'Partially open', 'No'] | 0 | |
fractal20220817_data_pick_orange_can_4167_q3 | Is there any obstacle blocking the robot from reaching can? | ['Yes', 'Partially reachable', 'Cannot be determined', 'No'] | 3 | |
fractal20220817_data_pick_orange_can_4167_q5 | The robot is tasked to pick orange can. The robot is interacting with the can. Which phase of the grasp action is shown in the image? | ['Closing gripper to grasp the can', 'Moving away with open gripper after releasing the can', 'Firmly grasping the can', 'Releasing the can by opening gripper', 'Approaching the can with open gripper'] | 4 | |
fractal20220817_data_pick_orange_can_4418_q33 | The robot is tasked to firmly grasping the can with the can. After Firmly grasping the can, what will be the robot's NEXT action phase? | ['Firmly grasping the can', 'Closing gripper to grasp the can', 'Moving away with open gripper after releasing the can', 'Releasing the can by opening gripper', 'Approaching the can with open gripper'] | 3 | |
fractal20220817_data_pick_orange_can_4441_q27 | Is the robot's grasp of the orange can stable? | ['Cannot be determined', 'Partially stable', 'No', 'Yes'] | 3 | |
fractal20220817_data_pick_orange_can_476_q4 | The robot's task is to pick orange can. Which configuration shows the goal state that the robot should achieve? | ['Configuration A', 'Configuration D', 'Configuration B', 'Configuration C', 'Configuration E'] | 0 | |
fractal20220817_data_pick_orange_can_5129_q12 | The robot is tasked to approaching the can with open gripper with the can. After Approaching the can with open gripper, what will be the robot's NEXT action phase? | ['Approaching the can with open gripper', 'Moving away with open gripper after releasing the can', 'Releasing the can by opening gripper', 'Firmly grasping the can', 'Closing gripper to grasp the can'] | 4 | |
fractal20220817_data_pick_orange_can_5512_q21 | The robot is to pick orange can. Has the robot successfully completed the task? | ['Task was not attempted', 'Yes', 'Cannot be determined', 'No'] | 1 | |
fractal20220817_data_pick_orange_can_920_q11 | The robot's task is to pick orange can. Which configuration shows the goal state that the robot should achieve? | ['Configuration A', 'Configuration D', 'Configuration B', 'Configuration C', 'Configuration E'] | 0 | |
fractal20220817_data_pick_orange_can_920_q23 | Is there any obstacle blocking the robot from reaching can? | ['No', 'Cannot be determined', 'Yes', 'Partially reachable'] | 0 | |
fractal20220817_data_pick_orange_from_bottom_drawer_and_place_on_counter_3516_q24 | The robot's task is to pick orange from bottom drawer and place on counter. Which configuration shows the goal state that the robot should achieve? | ['Configuration D', 'Configuration B', 'Configuration E', 'Configuration C', 'Configuration A'] | 4 | |
fractal20220817_data_pick_orange_from_bottom_drawer_and_place_on_counter_3516_q74 | Is the robot's gripper open? | ['Partially open', 'Cannot be determined', 'No', 'Yes'] | 2 | |
fractal20220817_data_pick_orange_from_bottom_drawer_and_place_on_counter_3516_q88 | Is the robot's gripper open? | ['Cannot be determined', 'Partially open', 'No', 'Yes'] | 3 | |
fractal20220817_data_pick_orange_from_bottom_drawer_and_place_on_counter_3552_q16 | Is there any obstacle blocking the robot from reaching orange? | ['Partially reachable', 'Cannot be determined', 'Yes', 'No'] | 3 | |
fractal20220817_data_close_bottom_drawer_2027_q17 | The robot's task is to close bottom drawer. Which configuration shows the goal state that the robot should achieve? | ['Configuration B', 'Configuration C', 'None of the above', 'Configuration E', 'Configuration D'] | 2 | |
fractal20220817_data_close_bottom_drawer_2155_q34 | Is the robot's grasp of the drawer stable? | ['Partially stable', 'Cannot be determined', 'Yes', 'No'] | 2 | |
fractal20220817_data_close_bottom_drawer_2327_q67 | The robot is tasked to firmly grasping the drawer with the drawer. After Firmly grasping the drawer, what will be the robot's NEXT action phase? | ['Closing gripper to grasp the drawer', 'None of the above', 'Approaching the drawer with open gripper', 'Firmly grasping the drawer', 'Moving away with open gripper after releasing the drawer'] | 1 | |
fractal20220817_data_close_bottom_drawer_2352_q7 | The robot is to close bottom drawer. Has the robot successfully completed the task? | ['Task was not attempted', 'No', 'Yes', 'Cannot be determined'] | 1 | |
fractal20220817_data_close_bottom_drawer_2381_q6 | The robot is tasked to approaching the drawer with open gripper with the drawer. After Approaching the drawer with open gripper, what will be the robot's NEXT action phase? | ['Closing gripper to grasp the drawer', 'Moving away with open gripper after releasing the drawer', 'Releasing the drawer by opening gripper', 'Approaching the drawer with open gripper', 'Firmly grasping the drawer'] | 0 | |
fractal20220817_data_close_bottom_drawer_2392_q7 | Is the robot's grasp of the drawer stable? | ['Yes', 'No', 'Partially stable', 'Cannot be determined'] | 0 | |
fractal20220817_data_close_bottom_drawer_2463_q47 | The robot is tasked to firmly grasping the drawer with the drawer. After Firmly grasping the drawer, what will be the robot's NEXT action phase? | ['Moving away with open gripper after releasing the drawer', 'Firmly grasping the drawer', 'Approaching the drawer with open gripper', 'Releasing the drawer by opening gripper', 'Closing gripper to grasp the drawer'] | 3 | |
fractal20220817_data_pick_green_rice_chip_bag_3192_q19 | The robot is tasked to closing gripper to grasp the rice chip bag with the rice chip bag. After Closing gripper to grasp the rice chip bag, what will be the robot's NEXT action phase? | ['Moving away with open gripper after releasing the rice chip bag', 'Approaching the rice chip bag with open gripper', 'Closing gripper to grasp the rice chip bag', 'Releasing the rice chip bag by opening gripper', 'Firmly grasping the rice chip bag'] | 4 | |
fractal20220817_data_pick_green_rice_chip_bag_3192_q32 | The robot is tasked to pick green rice chip bag. The robot is interacting with the rice chip. Which phase of the grasp action is shown in the image? | ['Approaching the rice chip with open gripper', 'Closing gripper to grasp the rice chip', 'Firmly grasping the rice chip', 'Moving away with open gripper after releasing the rice chip', 'Releasing the rice chip by opening gripper'] | 2 | |
fractal20220817_data_pick_green_rice_chip_bag_3699_q8 | Is the robot's gripper open? | ['Yes', 'Partially open', 'No', 'Cannot be determined'] | 0 | |
fractal20220817_data_pick_green_rice_chip_bag_4761_q32 | The robot is tasked to pick green rice chip bag. The robot is interacting with the rice chip. Which phase of the grasp action is shown in the image? | ['Moving away with open gripper after releasing the rice chip', 'Releasing the rice chip by opening gripper', 'Firmly grasping the rice chip', 'Approaching the rice chip with open gripper', 'Closing gripper to grasp the rice chip'] | 2 | |
fractal20220817_data_pick_green_rice_chip_bag_4795_q31 | The robot's task is to pick green rice chip bag. Which configuration shows the goal state that the robot should achieve? | ['Configuration D', 'Configuration C', 'Configuration B', 'Configuration A', 'Configuration E'] | 3 | |
fractal20220817_data_pick_green_rice_chip_bag_5204_q8 | Is the robot's gripper open? | ['Partially open', 'Cannot be determined', 'Yes', 'No'] | 2 | |
fractal20220817_data_pick_green_rice_chip_bag_5497_q29 | Is the robot's gripper open? | ['No', 'Partially open', 'Yes', 'Cannot be determined'] | 2 | |
fractal20220817_data_pick_green_rice_chip_bag_706_q27 | Is the robot's grasp of the rice chip bag stable? | ['Yes', 'No', 'Cannot be determined', 'Partially stable'] | 0 | |
fractal20220817_data_pick_green_rice_chip_bag_964_q14 | The robot is to pick green rice chip bag. Has the robot successfully completed the task? | ['Yes', 'Task was not attempted', 'Cannot be determined', 'No'] | 3 | |
fractal20220817_data_place_apple_into_middle_drawer_5829_q23 | The robot's task is to place apple into middle drawer. Which configuration shows the goal state that the robot should achieve? | ['Configuration B', 'Configuration A', 'Configuration C', 'Configuration D', 'Configuration E'] | 1 | |
fractal20220817_data_place_apple_into_top_drawer_1270_q1 | The robot is to place apple into top drawer. Has the robot successfully completed the task? | ['Cannot be determined', 'Yes', 'No', 'Task was not attempted'] | 2 | |
fractal20220817_data_place_apple_into_top_drawer_1270_q2 | Is the robot's gripper open? | ['Partially open', 'No', 'Cannot be determined', 'Yes'] | 3 | |
fractal20220817_data_place_apple_into_top_drawer_1270_q4 | The robot's task is to place apple into top drawer. Which configuration shows the goal state that the robot should achieve? | ['Configuration C', 'Configuration B', 'Configuration A', 'Configuration E', 'Configuration D'] | 2 | |
fractal20220817_data_pick_pepsi_can_from_bottom_shelf_of_fridge_4847_q24 | Is there any obstacle blocking the robot from reaching pepsi can? | ['Yes', 'Cannot be determined', 'Partially reachable', 'No'] | 3 | |
fractal20220817_data_pick_pepsi_can_from_bottom_shelf_of_fridge_4847_q29 | Is the robot's gripper open? | ['Yes', 'Cannot be determined', 'No', 'Partially open'] | 0 | |
fractal20220817_data_pick_pepsi_can_from_middle_drawer_and_place_on_counter_112_q4 | The robot's task is to pick pepsi can from middle drawer and place on counter. Which configuration shows the goal state that the robot should achieve? | ['Configuration D', 'Configuration A', 'Configuration B', 'Configuration C', 'Configuration E'] | 1 | |
fractal20220817_data_pick_pepsi_can_from_middle_drawer_and_place_on_counter_112_q35 | Is the robot's gripper open? | ['Yes', 'Cannot be determined', 'Partially open', 'No'] | 0 | |
fractal20220817_data_pick_pepsi_can_from_middle_drawer_and_place_on_counter_3555_q45 | The robot is tasked to closing gripper to grasp the can with the can. After Closing gripper to grasp the can, what will be the robot's NEXT action phase? | ['Moving away with open gripper after releasing the can', 'Releasing the can by opening gripper', 'Approaching the can with open gripper', 'Firmly grasping the can', 'Closing gripper to grasp the can'] | 3 | |
fractal20220817_data_pick_pepsi_can_from_middle_drawer_and_place_on_counter_404_q5 | The robot is tasked to pick pepsi can from middle drawer and place on counter. The robot is interacting with the pepsi can. Which phase of the grasp action is shown in the image? | ['Approaching the pepsi can with open gripper', 'Closing gripper to grasp the pepsi can', 'Firmly grasping the pepsi can', 'Releasing the pepsi can by opening gripper', 'Moving away with open gripper after releasing the pepsi can'] | 0 | |
fractal20220817_data_pick_pepsi_can_from_middle_drawer_and_place_on_counter_404_q24 | The robot's task is to pick pepsi can from middle drawer and place on counter. Which configuration shows the goal state that the robot should achieve? | ['Configuration B', 'None of the above', 'Configuration D', 'Configuration E', 'Configuration C'] | 1 | |
fractal20220817_data_pick_pepsi_can_from_middle_drawer_and_place_on_counter_404_q36 | The robot's task is to pick pepsi can from middle drawer and place on counter. Which configuration shows the goal state that the robot should achieve? | ['Configuration E', 'Configuration D', 'Configuration C', 'Configuration B', 'Configuration A'] | 4 | |
fractal20220817_data_pick_pepsi_can_from_middle_drawer_and_place_on_counter_4590_q37 | The robot is tasked to pick pepsi can from middle drawer and place on counter. The robot is interacting with the pepsi can. Which phase of the grasp action is shown in the image? | ['Releasing the pepsi can by opening gripper', 'Approaching the pepsi can with open gripper', 'Firmly grasping the pepsi can', 'Moving away with open gripper after releasing the pepsi can', 'Closing gripper to grasp the pepsi can'] | 4 | |
fractal20220817_data_pick_pepsi_can_from_middle_drawer_and_place_on_counter_5537_q45 | The robot is tasked to firmly grasping the cans with the cans. After Firmly grasping the cans, what will be the robot's NEXT action phase? | ['Approaching the cans with open gripper', 'Releasing the cans by opening gripper', 'Moving away with open gripper after releasing the cans', 'Closing gripper to grasp the cans', 'Firmly grasping the cans'] | 1 | |
fractal20220817_data_pick_banana_from_white_bowl_1880_q21 | The robot is to pick banana from white bowl. Has the robot successfully completed the task? | ['No', 'Task was not attempted', 'Yes', 'Cannot be determined'] | 0 | |
fractal20220817_data_pick_banana_from_white_bowl_203_q33 | The robot is tasked to firmly grasping the banana with the banana. After Firmly grasping the banana, what will be the robot's NEXT action phase? | ['Firmly grasping the banana', 'Releasing the banana by opening gripper', 'Closing gripper to grasp the banana', 'Moving away with open gripper after releasing the banana', 'Approaching the banana with open gripper'] | 1 | |
fractal20220817_data_pick_banana_from_white_bowl_2309_q19 | The robot is tasked to firmly grasping the banana with the banana. After Firmly grasping the banana, what will be the robot's NEXT action phase? | ['Approaching the banana with open gripper', 'Releasing the banana by opening gripper', 'Closing gripper to grasp the banana', 'Moving away with open gripper after releasing the banana', 'Firmly grasping the banana'] | 1 | |
fractal20220817_data_pick_banana_from_white_bowl_2326_q8 | Is the robot's gripper open? | ['No', 'Yes', 'Cannot be determined', 'Partially open'] | 1 | |
fractal20220817_data_pick_banana_from_white_bowl_2555_q12 | The robot is tasked to pick banana from white bowl. The robot is interacting with the banana. Which phase of the grasp action is shown in the image? | ['Moving away with open gripper after releasing the banana', 'Closing gripper to grasp the banana', 'Firmly grasping the banana', 'Approaching the banana with open gripper', 'Releasing the banana by opening gripper'] | 3 | |
viola_make_coffee_78_q2 | Is the robot's gripper open? | ['Yes', 'Partially open', 'No', 'Cannot be determined'] | 2 | |
viola_make_coffee_78_q33 | The robot is tasked to closing gripper to grasp the coffee with the coffee. After Closing gripper to grasp the coffee, what will be the robot's NEXT action phase? | ['Approaching the coffee with open gripper', 'Moving away with open gripper after releasing the coffee', 'None of the above', 'Closing gripper to grasp the coffee', 'Releasing the coffee by opening gripper'] | 2 | |
viola_make_coffee_78_q41 | The robot is to make coffee. Has the robot successfully completed the task? | ['Yes', 'No', 'Cannot be determined', 'Task was not attempted'] | 1 | |
viola_make_coffee_80_q40 | The robot is tasked to moving away with open gripper after releasing the coffee with the coffee. After Moving away with open gripper after releasing the coffee, what will be the robot's NEXT action phase? | ['Closing gripper to grasp the coffee', 'Approaching the coffee with open gripper', 'Firmly grasping the coffee', 'Releasing the coffee by opening gripper', 'Moving away with open gripper after releasing the coffee'] | 1 | |
viola_make_coffee_99_q19 | The robot is tasked to make coffee. The robot is interacting with the coffee. Which phase of the grasp action is shown in the image? | ['Closing gripper to grasp the coffee', 'Firmly grasping the coffee', 'Releasing the coffee by opening gripper', 'Approaching the coffee with open gripper', 'Moving away with open gripper after releasing the coffee'] | 1 | |
viola_make_coffee_99_q40 | Is the robot's grasp of the coffee stable? | ['Cannot be determined', 'Partially stable', 'Yes', 'No'] | 3 | |
viola_pick_up_the_bowl_from_the_lazy_susan_and_put_bowl_on_the_plate_104_q37 | Is the robot's gripper open? | ['Partially open', 'No', 'Cannot be determined', 'Yes'] | 1 | |
austin_buds_dataset_converted_externally_to_rlds_take_the_lid_off_the_pot__put_the_pot_on_the_plate__and_use_the_tool_to_push_to_pot_to_the_front_of_the_table_26_q14 | Is the robot's grasp of the pot stable? | ['Cannot be determined', 'No', 'Yes', 'Partially stable'] | 1 | |
austin_buds_dataset_converted_externally_to_rlds_take_the_lid_off_the_pot__put_the_pot_on_the_plate__and_use_the_tool_to_push_to_pot_to_the_front_of_the_table_26_q50 | Is the robot's gripper open? | ['Partially open', 'Cannot be determined', 'Yes', 'No'] | 3 |
End of preview. Expand in Data Studio
OpenXVQA
VQA benchmark derived from Open X-Embodiment robot manipulation data. Tests visual understanding of diverse robotic scenes and actions.
Format
Each row contains:
{
"id": "<unique id>",
"question": "<question text>",
"choices": "['option1', 'option2', ...]",
"correct_answer": <int index>,
"image": <PNG bytes>
}
choices is a Python-literal string of a list of answer options.
correct_answer is the integer index into choices of the correct option.
image is embedded as binary in the parquet (HF Image() decodes on load).
Citation
@article{padalkar2023open,
title={Open X-Embodiment: Robotic Learning Datasets and RT-X Models},
author={Padalkar, Abhishek and ...},
journal={arXiv:2310.08864},
year={2023}
}
License
Annotations are derived from Open X-Embodiment, which is openly published. The MCQ formatting here is a research-only artifact.
- Downloads last month
- 7