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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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language: |
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- en |
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pretty_name: Open6DOR V2 |
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size_categories: |
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- 1K<n<10K |
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--- |
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# Open6DOR V2 |
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Paper_link: https://arxiv.org/abs/2502.13143 |
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<br> |
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Project Page: https://qizekun.github.io/sofar/ |
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<br> |
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Github Code: https://github.com/qizekun/SoFar |
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This dataset originates from Open6DOR, the Benchmarking Open-instruction for 6-DoF Object Rearrangement. |
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We removed the erroneous data from Open6DOR V1 and eliminated parts that required manual judgment to facilitate replication. |
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Open6DOR V2 contains ~4500 tasks for 6-DoF object rearrangement & spatial relationship evaluation. |
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The evaluation baseline is [SoFar](https://github.com/qizekun/SoFar), a 6-DoF system for spatial reasoning and robotic manipulation. |
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Download the [open6dor_v2.zip](https://huggingface.co/datasets/qizekun/Open6DOR_V2/blob/main/open6dor_v2.zip) and extract it to `./datasets/open6dor_v2/`. |
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The overall directory structure should be: |
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``` |
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│SoFar/datasets/open6dor_v2/ |
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├── task_refine_pos/ |
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│ ├── behind |
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│ └── ... |
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├── task_refine_rot/ |
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│ └── rot_ins |
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└── task_refine_6dof/ |
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├── behind |
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│ ├── Place_the_apple_behind_the_bottle_on_the_table.__upright |
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│ └── ... |
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└── ... |
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``` |
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| Data file name | Size | |
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|--------------------------------------------------------------------------------------------------|---------:| |
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| [open6dor_v2.zip](https://huggingface.co/datasets/qizekun/Open6DOR_V2/blob/main/open6dor_v2.zip) | 1.89 GB | |
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| task_refine_pos | 20.41 GB | |
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| task_refine_rot | 12.84 GB | |
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| task_refine_6dof | 21.99 GB | |
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