---
license: odc-by
dataset_info:
  config_name: ObjectNavType
  features:
  - name: path
    dtype: string
  - name: shard_id
    dtype: int64
  - name: offset
    dtype: int64
  - name: size
    dtype: int64
  - name: inflated_size
    dtype: int64
  splits:
  - name: pkgs
    num_bytes: 4065356
    num_examples: 72620
  download_size: 2028907
  dataset_size: 4065356
configs:
- config_name: ObjectNavType
  data_files:
  - split: pkgs
    path: ObjectNavType/pkgs-*
tags:
- object navigation
- indoor
- vla
- cross-embodiment
---


# RING-data

🌐 [Project page](https://one-ring-policy.allen.ai)   💻 [GitHub](https://github.com/Ainaz99/OneRING)   📄 [Paper](https://arxiv.org/pdf/2412.14401)

This dataset contains training episode data (actions, visual inputs, and other sensor data) with randomized embodiments for `ObjectNavType` tasks.

Please note that every package indexed by the parquet file can contain several instances of episode data.

## Data access

We recommend to use [bulk_download.py](bulk_download.py). For example,

```bash
python bulk_download.py --max_shards 1 --all /path/to/ring_data/
```
will download and extract one shard from the single available task configuration (`ObjectNavType`) under `/path/to/ring_data`.


To launch it you might need to install some dependencies, e.g., by:
```bash
pip install zstandard datasets huggingface_hub tqdm
```

## License

This dataset is licensed under [ODC-BY 1.0](https://opendatacommons.org/licenses/by/1-0/).
It is intended for research and educational use in accordance with Ai2's [Responsible Use Guidelines](https://allenai.org/responsible-use).
Some scenes in the episode data were generated using a subset of Ai2's Objaverse, consisting of CC-licensed 3D objects from third party sources.
The original license and creator attribution for the Objaverse objects used in this dataset are included in the scene metadata.
Please refer to the instructions below on how to download this information.
The scripts are licensed under [Apache 2.0](CODE_LICENSE).

### Scene license info

Assuming part or all of the data has been downloaded with the [bulk_download.py](bulk_download.py) script, e.g. by using the command shown above,
we can use [license_info.py](license_info.py) to access license info for each scene. For example,
```bash
python license_info.py --split val --house-index 3 /path/to/ring_data/
```
prints the available information for scene with index 3 from the `val` split including licensing and annotation sources (where appropriate) for each included object.
Note that each of the directories under the downloaded `train` and `val` subdirectories are named as the formatted index for the corresponding scene.

## BibTeX

```
@article{eftekhar2024onering_arxiv,
  title={The One RING: a Robotic Indoor Navigation Generalist},
  author={Eftekhar, Ainaz and Weihs, Luca and Hendrix, Rose and Caglar, Ege and Salvador, Jordi and Herrasti, Alvaro and Han, Winson and VanderBilt, Eli and Kembhavi, Aniruddha and Farhadi, Ali and Krishna, Ranjay and Ehsani, Kiana and Zeng, Kuo-Hao},
  year={2024},
  eprint={2412.14401},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2412.14401},
}
```