diff --git a/README.md b/README.md index 8dae5cb3898bb4950618a799a9975a6855e95a39..d992c0a715ec56d5ccf745b47b2605121f5d19ca 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,48 @@ --- license: cc --- + +Dexdata format SO-101 dataset + +# Dataset Structure + +``` +so101_pick_cube + ├── videos + │ ├── so101_20260630_103330_filtered + │ │ ├── file-000.mp4_top.mp4 + │ │ └── file-000.mp4_wrist.mp4 + │ └── ... + └── jsonl + ├── episode_00000.jsonl + ├── episode_00001.jsonl + └── ... +``` + +# Task Description + +This dataset contains robot manipulation demonstrations for the task: +- **Task**: Pick the cube and place it in the plate +- **Object variations**: Different colored cubes (e.g., orange) + +# Data Format + +Each episode file in `jsonl/` contains trajectory data with: +- `prompt`: Task instruction +- `state`: Robot state (6D vector) +- `action`: Robot action (6D vector) +- `images_1`: Top camera view reference +- `images_2`: Wrist camera view reference +- `extra`: Additional metadata (subtask, timestamp, episode_index, cube_color) + +# Citation + +```bibtex +@misc{dm05, + title = {{DM0.5}: An Open-World Foundation Model for General-Purpose Embodied Intelligence}, + author = {{Dexmal Team}}, + month = {July}, + year = {2026}, + url = {https://www.dexmal.com/blog/dm0.5/index_en.html} +} +``` diff --git a/jsonl/episode_00000.jsonl b/jsonl/episode_00000.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49f3092ab8cd6458673ab0d51c59e6a61d3088a6 --- /dev/null +++ b/jsonl/episode_00000.jsonl @@ -0,0 +1,234 @@ +{"prompt": "Pick the cube and place it in the plate.", "state": [-2.2857143878936768, -102.81318664550781, 95.82417297363281, 54.021976470947266, 2.681318759918213, 0.6788866519927979], "action": [-0.8351648449897766, -104.21977996826172, 99.16483306884766, 54.241756439208984, 2.241758346557617, 0.15810276567935944], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.699999988079071, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 21, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 21, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [-2.1978023052215576, -102.81318664550781, 95.82417297363281, 54.021976470947266, 2.681318759918213, 0.6788866519927979], "action": [-0.6593406796455383, -104.21977996826172, 99.16483306884766, 53.978023529052734, 2.4175825119018555, 0.23715415596961975], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.7333333492279053, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 22, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 22, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [-1.8461538553237915, -102.81318664550781, 95.82417297363281, 54.021976470947266, 2.681318759918213, 0.6788866519927979], "action": [-0.6593406796455383, -104.13186645507812, 99.07691955566406, 53.626373291015625, 1.9780219793319702, 0.23715415596961975], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.7666666507720947, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 23, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 23, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [-1.6703296899795532, -102.81318664550781, 95.82417297363281, 54.021976470947266, 2.681318759918213, 0.6788866519927979], "action": [-0.6593406796455383, -103.95604705810547, 98.72527313232422, 53.36263656616211, 1.9780219793319702, 0.31620553135871887], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.800000011920929, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 24, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 24, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [-1.582417607307434, -102.81318664550781, 95.82417297363281, 54.021976470947266, 2.681318759918213, 0.6788866519927979], "action": [-0.48351648449897766, -103.69230651855469, 97.5824203491211, 53.27472686767578, 1.9780219793319702, 0.31620553135871887], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.8333333134651184, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 25, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 25, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [-1.494505524635315, -102.81318664550781, 95.82417297363281, 54.021976470947266, 2.5054945945739746, 0.6788866519927979], "action": [-0.1318681389093399, -102.46154022216797, 95.9120864868164, 53.27472686767578, 2.3296704292297363, 0.395256906747818], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.8666666746139526, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 26, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 26, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [-1.3186813592910767, -102.81318664550781, 95.82417297363281, 54.021976470947266, 2.5054945945739746, 0.6788866519927979], "action": [0.1318681389093399, -100.61538696289062, 93.89010620117188, 53.27472686767578, 2.5054945945739746, 0.395256906747818], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.8999999761581421, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 27, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 27, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [-1.0549451112747192, -102.46154022216797, 95.82417297363281, 54.021976470947266, 2.5054945945739746, 0.6788866519927979], "action": [0.3076923191547394, -98.5934066772461, 91.86813354492188, 53.27472686767578, 2.5934066772460938, 0.395256906747818], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.9333333373069763, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 28, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 28, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [-0.7032967209815979, -101.5824203491211, 95.64835357666016, 54.021976470947266, 2.5054945945739746, 0.6788866519927979], "action": [0.48351648449897766, -96.57142639160156, 89.5824203491211, 53.27472686767578, 2.681318759918213, 0.5533596873283386], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.9666666388511658, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 29, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 29, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [-0.35164836049079895, -100.0879135131836, 94.85713958740234, 54.021976470947266, 2.5054945945739746, 0.6788866519927979], "action": [1.0989011526107788, -94.02198028564453, 87.20879364013672, 53.27472686767578, 2.681318759918213, 1.5019762516021729], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 1.0, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 30, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 30, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [0.0, -98.76923370361328, 93.53845977783203, 54.021976470947266, 2.5054945945739746, 0.6788866519927979], "action": [1.6263736486434937, -91.12088012695312, 84.48351287841797, 53.27472686767578, 2.681318759918213, 2.134387254714966], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 1.0333333015441895, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 31, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 31, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [0.17582418024539948, -97.36264038085938, 91.78022003173828, 54.021976470947266, 2.5054945945739746, 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1.100000023841858, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 33, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 33, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [1.2307692766189575, -91.9120864868164, 87.38461303710938, 54.021976470947266, 2.5054945945739746, 1.5614392757415771], "action": [4.0, -80.30769348144531, 74.9011001586914, 53.27472686767578, 4.9670329093933105, 2.3715415000915527], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 1.1333333253860474, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 34, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 34, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [1.9340659379959106, -88.74725341796875, 84.83516693115234, 54.021976470947266, 2.5054945945739746, 1.6293278932571411], "action": [4.879120826721191, -76.35164642333984, 71.56044006347656, 53.27472686767578, 10.15384578704834, 2.3715415000915527], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 1.1666666269302368, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 35, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 35, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [2.549450635910034, -85.67032623291016, 81.93406677246094, 54.021976470947266, 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"timestamp": 1.2333333492279053, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 37, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 37, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [4.219780445098877, -78.72527313232422, 75.69230651855469, 54.021976470947266, 7.780219554901123, 1.96877121925354], "action": [7.956043720245361, -64.83516693115234, 62.241756439208984, 53.27472686767578, 17.89011001586914, 2.3715415000915527], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 1.2666666507720947, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 38, "_camera_name": "top"}, "images_2": {"type": "video", "url": 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"timestamp": 1.3666666746139526, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 41, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 41, "_camera_name": "wrist"}} +{"prompt": "Pick the cube and place it in the plate.", "state": [8.263736724853516, -63.69230651855469, 63.29670333862305, 54.021976470947266, 17.714284896850586, 2.104548454284668], "action": [12.439560890197754, -49.89011001586914, 51.42856979370117, 53.4505500793457, 29.14285659790039, 2.3715415000915527], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 1.399999976158142, "episode_index": 0, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 42, "_camera_name": "top"}, "images_2": {"type": "video", "url": 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a/jsonl/episode_00005.jsonl b/jsonl/episode_00005.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..171d2e9bd17c3edf8c5616aca7575a9eb0651e74 --- /dev/null +++ b/jsonl/episode_00005.jsonl @@ -0,0 +1,239 @@ +{"prompt": "Pick the cube and place it in the plate.", "state": [-5.714285850524902, -102.46154022216797, 95.82417297363281, 59.20878982543945, 2.3296704292297363, 0.8146639466285706], "action": [-6.8131866455078125, -104.30769348144531, 98.9011001586914, 58.63736343383789, 2.065934181213379, 0.07905138283967972], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.10000000149011612, "episode_index": 5, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 1271, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 1271, "_camera_name": "wrist"}} +{"prompt": "Pick 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a/jsonl/episode_00007.jsonl b/jsonl/episode_00007.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee66efbe219ee37256eb90726961f5bcceebfe56 --- /dev/null +++ b/jsonl/episode_00007.jsonl @@ -0,0 +1,260 @@ +{"prompt": "Pick the cube and place it in the plate.", "state": [-6.94505500793457, -102.54945373535156, 95.82417297363281, 60.35165023803711, 2.153846263885498, 0.8146639466285706], "action": [-7.252747058868408, -104.30769348144531, 98.37362670898438, 59.16483688354492, 1.5384615659713745, 0.31620553135871887], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.699999988079071, "episode_index": 7, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 1824, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 1824, "_camera_name": "wrist"}} +{"prompt": "Pick 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--git a/jsonl/episode_00020.jsonl b/jsonl/episode_00020.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac7721753c341170b2fc9698884445a634143de8 --- /dev/null +++ b/jsonl/episode_00020.jsonl @@ -0,0 +1,250 @@ +{"prompt": "Pick the cube and place it in the plate.", "state": [-5.450549602508545, -102.46154022216797, 95.82417297363281, 61.58241653442383, -2.681318759918213, 0.8146639466285706], "action": [-3.912087917327881, -104.30769348144531, 98.46154022216797, 60.659339904785156, -2.681318759918213, 0.07905138283967972], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.06666667014360428, "episode_index": 20, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 5375, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 5375, "_camera_name": "wrist"}} 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a/jsonl/episode_00029.jsonl b/jsonl/episode_00029.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0d1d12e927e4b21876b90be7616c969d65b8590 --- /dev/null +++ b/jsonl/episode_00029.jsonl @@ -0,0 +1,230 @@ +{"prompt": "Pick the cube and place it in the plate.", "state": [-5.97802209854126, -103.51648712158203, 94.24176025390625, 75.20879364013672, 5.05494499206543, 0.7467752695083618], "action": [-3.8241758346557617, -104.21977996826172, 91.78022003173828, 75.51648712158203, 4.703296661376953, 0.07905138283967972], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.7333333492279053, "episode_index": 29, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 7712, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 7712, "_camera_name": "wrist"}} +{"prompt": "Pick 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--git a/jsonl/episode_00035.jsonl b/jsonl/episode_00035.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40926c1e190ddeb09c482bef1084f9995bce2d77 --- /dev/null +++ b/jsonl/episode_00035.jsonl @@ -0,0 +1,199 @@ +{"prompt": "Pick the cube and place it in the plate.", "state": [-6.241758346557617, -103.42857360839844, 93.71428680419922, 75.82417297363281, -2.3296704292297363, 0.7467752695083618], "action": [-4.879120826721191, -104.3956069946289, 93.80220031738281, 76.30769348144531, -2.5934066772460938, 0.15810276567935944], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.6000000238418579, "episode_index": 35, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 9060, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 9060, "_camera_name": "wrist"}} 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a/jsonl/episode_00039.jsonl b/jsonl/episode_00039.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7611aa4a7e8a36c35a7d0e07d5ca5e86037d74b --- /dev/null +++ b/jsonl/episode_00039.jsonl @@ -0,0 +1,166 @@ +{"prompt": "Pick the cube and place it in the plate.", "state": [-5.714285850524902, -102.54945373535156, 95.82417297363281, 61.05494689941406, 1.4505494832992554, 0.7467752695083618], "action": [-6.989010810852051, -104.30769348144531, 98.46154022216797, 60.21977996826172, 1.890109896659851, 0.07905138283967972], "is_robot": true, "extra": {"subtask": "Pick the cube and place it in the plate.", "timestamp": 0.46666666865348816, "episode_index": 39, "cube_color": "orange"}, "images_1": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_top.mp4", "frame_idx": 9963, "_camera_name": "top"}, "images_2": {"type": "video", "url": "so101_20260630_103330_filtered/file-000.mp4_wrist.mp4", "frame_idx": 9963, "_camera_name": "wrist"}} +{"prompt": 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