https://github.com/keplerc/oed-playground
open embodiment dataset (OED) playground
https://github.com/keplerc/oed-playground
Last synced: about 2 months ago
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open embodiment dataset (OED) playground
- Host: GitHub
- URL: https://github.com/keplerc/oed-playground
- Owner: KeplerC
- License: cc0-1.0
- Created: 2024-06-11T23:46:36.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2024-06-20T09:18:05.000Z (about 2 years ago)
- Last Synced: 2025-03-20T04:45:26.984Z (over 1 year ago)
- Language: Python
- Size: 315 KB
- Stars: 0
- Watchers: 1
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Open Robot Datasets
## Datasets
| Dataset | Tags | Description |
|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------|:-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| [ASU_TableTop_Manipulation](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/asu_table_top_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:UR5](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:UR5.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Scripted](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scripted.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot interacts with a few objects on a table. It picks up, pushes forward, or rotates the objects. |
| [Austin_BUDS](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/austin_buds_dataset_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_Spacemouse](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_Spacemouse.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot is trying to solve a long-horizon kitchen task by picking up pot, placing the pot in a plate, and push them together using a picked-up tool. |
| [Austin_Mutex](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/utaustin_mutex.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_Spacemouse](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_Spacemouse.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The Mutex dataset involves a diverse range of tasks in a home environment, encompassing pick and place tasks like "putting bread on a plate," as well as contact-rich tasks such as "opening an air fryer and putting a bowl with dogs in it" or "taking out a tray from the oven and placing bread on it." |
| [Austin_Sailor](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/austin_sailor_dataset_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_Spacemouse](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_Spacemouse.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | The robot interacts with diverse objects in a toy kitchen. It picks and places food items, a pan, and pot. |
| [Austin_Sirius](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/austin_sirius_dataset_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_Spacemouse](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_Spacemouse.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The dataset comprises two tasks, kcup and gear. The kcup task requires opening the kcup holder, inserting the kcup into the holder, and closing the holder. The gear task requires inserting the blue gear onto the right peg, followed by inserting the smaller red gear. |
| [Austin_VIOLA](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/viola.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_Spacemouse](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_Spacemouse.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot performs various household-like tasks, such as setting up the table, or making coffee using a coffee machine. |
| [BC-Z](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/bc_z.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Google_Robot](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Google_Robot.md), [Mobile_Manipulator](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Mobile_Manipulator.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot attempts picking, wiping, and placing tasks on a diverse set of objects on a tabletop, along with a few challenging tasks like stacking cups on top of each other. |
| [Berkeley_Autolab_UR5](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/berkeley_autolab_ur5.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:UR5](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:UR5.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_Spacemouse](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_Spacemouse.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The data consists of 4 robot manipulation tasks: simple pick-and-place of a stuffed animal between containers, sweeping a cloth, stacking cups, and a more difficult pick-and-place of a bottle that requires precise grasp and 6DOF rotation |
| [Berkeley_Bridge](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/bridge.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:WidowX](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:WidowX.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md), [Scene:Other_Household_environments](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Other_Household_environments.md) | The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers. |
| [Berkeley_Cable_Routing](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/berkeley_cable_routing.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot routes cable through a number of tight-fitting clips mounted on the table. |
| [Berkeley_Fanuc_Manipulation](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/berkeley_fanuc_manipulation.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Fanuc_Mate](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Fanuc_Mate.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | A Fanuc robot performs various manipulation tasks. For example, it opens drawers, picks up objects, closes doors, closes computers, and pushes objects to desired locations. |
| [Berkeley_MVP_Data](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/berkeley_mvp_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:xArm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:xArm.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | Basic motor control tasks (reach, push, pick) on table top and toy environments (toy kitchen, toy fridge). |
| [Berkeley_RPT_Data](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/berkeley_rpt_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Scripted](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scripted.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | Picking, stacking, destacking, and bin picking with variations in objects. |
| [CMU_Franka_Exploration](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/cmu_franka_exploration_dataset_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | Franka exploring kitchen environment, lifting knife and vegetable and opening cabinet. |
| [CMU_Franka_Pick-Insert_Data](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/iamlab_cmu_pickup_insert_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot tries to pick up different shaped objects placed in front of it. It also tries to insert particular objects into a cylindrical peg. |
| [CMU_Play_Fusion](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/cmu_play_fusion.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | The robot plays with 3 complex scenes: a grill with many cooking objects like toaster, pan, etc. It has to pick, open, place, close. It has to set a table, move plates, cups, utensils. And it has to place dishes in the sink, dishwasher, hand cups etc. |
| [CMU_Stretch](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/cmu_stretch.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Hello_Stretch](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Hello_Stretch.md), [Mobile_Manipulator](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Mobile_Manipulator.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md), [Scene:Other_Household_environments](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Other_Household_environments.md) | Robot interacting with different household environments. |
| [Columbia_PushT_Dataset](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/columbia_cairlab_pusht_real.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:UR5](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:UR5.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot pushes a T-shaped block into a fixed goal pose, and then move to an fixed exit zone. |
| [CoryHall](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/berkeley_gnm_cory_hall.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:RC_Car](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:RC_Car.md), [Wheeled_Robot](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Wheeled_Robot.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Hallways](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Hallways.md) | Small mobile robot navigates hallways in an office building using a learned policy. |
| [DLR_Sara_Grid_Clamp_Dataset](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/dlr_sara_grid_clamp_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:DLR_SARA](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:DLR_SARA.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Workshop_environment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Workshop_environment.md) | The robot learns to place the grid clamp in the grids on the table. |
| [DLR_Sara_Pour_Dataset](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/dlr_sara_pour_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:DLR_SARA](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:DLR_SARA.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Household_objects](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Household_objects.md) | The robot learns to pour ping-pong balls from a cup held in the end-effector into the cup placed on the table. |
| [DLR_Wheelchair_Shared_Control](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/dlr_edan_shared_control_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:DLR_EDAN](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:DLR_EDAN.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_teleoperation_using_Shared_Control_Templates](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_teleoperation_using_Shared_Control_Templates.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:shelf](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:shelf.md) | The robot grasps a set of different objects in a table top and a shelf. |
| [ETH_Agent_Affordances](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/eth_agent_affordances.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Mobile_Manipulator](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Mobile_Manipulator.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | The robot opens and closes an oven, starting from different initial positions and door angles. |
| [Freiburg_Franka_Play](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/taco_play.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | "The robot interacts with toy blocks, it pick and places them, stacks them, unstacks them, opens drawers, sliding doors and turrns on LED lights by pushing buttons." |
| [Furniture_Bench](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/furniture_bench_dataset_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot assembles one of 9 3D-printed furniture models on the table, which requires grasping, inserting, and screwing. |
| [KAIST_Nonprehensile_Objects](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/kaist_nonprehensile_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot performs various non-prehensile manipulation tasks in a tabletop environment. It translates and reorients diverse real-world and 3d-printed objects to a target 6dof pose. |
| [LSMO_Dataset](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/tokyo_u_lsmo_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Cobotta](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Cobotta.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot avoids obstacle on the table and reaches the target object. |
| [Language_Table](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/language_table.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:xArm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:xArm.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | Robot pushed blocks of different geometric shapes on table top. |
| [Maniskill](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/maniskill_dataset_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Scripted](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scripted.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot interacts with different objects placed on the plane (ground). The tasks include picking an isolated object or an object from the clutter up and moving it to a goal position, stacking a red cube onto a green cube, inserting a peg into the box, assembling kits, plugging a charger into the outlet on the wall, turning on a faucet. |
| [NYU_Franka_Play](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/nyu_franka_play_dataset_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | The robot interacts with a toy kitchen doing arbitrary tasks. It opens/closes the microwave door, opens/closes the oven door, turns the stove knobs, and moves the pot between the stove and the sink. |
| [NYU_ROT](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/nyu_rot_dataset_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:xArm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:xArm.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_Joystick](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_Joystick.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot arm performs diverse manipulation tasks on a tabletop such an box opening, cup stacking, and pouring, among others. |
| [NYU_VINN](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/nyu_door_opening_surprising_effectiveness.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Hello_Stretch](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Hello_Stretch.md), [Mobile_Manipulator](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Mobile_Manipulator.md), [Human_Kinesthetic](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_Kinesthetic.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md), [Scene:Other_Household_environments](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Other_Household_environments.md) | The robot opens cabinet doors for a variety of cabinets. |
| [QT-Opt](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/kuka.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Kuka_iiwa](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Kuka_iiwa.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | Kuka robot picking objects in a bin. |
| [RECON](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/berkeley_gnm_recon.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Jackal](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Jackal.md), [Wheeled_Robot](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Wheeled_Robot.md), [Scripted](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scripted.md), [Scene:Outdoors](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Outdoors.md) | Mobile robot explores outdoor environments using a scripted policy |
| [RT-1_Robot_Action](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/fractal20220817_data.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Google_Robot](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Google_Robot.md), [Mobile_Manipulator](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Mobile_Manipulator.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | Robot picks, places and moves 17 objects from the google micro kitchens. |
| [Robonet](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/robo_net.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Multi-Robot](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Multi-Robot.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Scripted](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scripted.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot interacts with the objects in a bin placed in front of it |
| [Roboturk](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/roboturk.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Sawyer](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Sawyer.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | Sawyer robots flattens laundry, builds towers from bowls and searches objects. |
| [SACSoN](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/berkeley_gnm_sac_son.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:TurtleBot_2](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:TurtleBot_2.md), [Wheeled_Robot](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Wheeled_Robot.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Hallways](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Hallways.md) | Mobile robot navigates pedestrian-rich environments (e.g. offices, school buildings etc.) and runs a learned policy that may interact with the pedestrians. |
| [Saytap](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/utokyo_saytap_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Unitree_A1](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Unitree_A1.md), [Quadrupedal_Robot](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Quadrupedal_Robot.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Indoor](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Indoor.md), [Scene:on_a_flat_floor](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:on_a_flat_floor.md) | A Unitree Go1 robot follows human command in natural language (e.g., "trot forward slowly") |
| [Stanford_HYDRA](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/stanford_hydra_dataset_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | The robot performs the following tasks in corresponding environment: making a cup of coffee using the keurig machine; making a toast using the oven; sorting dishes onto the dish rack. |
| [Stanford_Kuka_Multimodal](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/stanford_kuka_multimodal_dataset_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Kuka_iiwa](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Kuka_iiwa.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot learns to insert differently-shaped pegs into differently-shaped holes with low tolerances (~2mm). |
| [Stanford_MaskVIT_Data](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/stanford_mask_vit_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Sawyer](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Sawyer.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Scripted](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scripted.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot randomly pushes and picks objects in a bin, which include stuffed toys, plastic cups and toys, etc, and are periodically shuffled. |
| [Stanford_Robocook](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/stanford_robocook_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Scripted](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scripted.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | In the first task, the robot pinches the dough with an asymmetric gripper / two-rod symmetric gripper / two-plane symmetric gripper. In the second task, the robot presses the dough with a circle press / square press / circle punch / square punch. In the third task, the robot rolls the dough with a large roller / small roller. |
| [TOTO_Benchmark](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/toto.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [The_dataset_is_collected_in_3_ways:_Human_teleoperation_--_VR_Teleop,_trained_state-based_BC_policies,_and_trajectory_replay_with_noise](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/The_dataset_is_collected_in_3_ways:_Human_teleoperation_--_VR_Teleop,_trained_state-based_BC_policies,_and_trajectory_replay_with_noise.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The TOTO Benchmark Dataset contains trajectories of two tasks: scooping and pouring. For scooping, the objective is to scoop material from a bowl into the spoon. For pouring, the goal is to pour some material into a target cup on the table. |
| [Tokyo_PR2_Fridge_Opening](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/utokyo_pr2_opening_fridge_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:PR2](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:PR2.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | The PR2 robot opens fridge. |
| [Tokyo_PR2_Tabletop_Manipulation](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:PR2](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:PR2.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The PR2 robot conducts manipulation for table top object. It conducts pick-and-place of bread and grape and folds cloth. |
| [UCSD_Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/ucsd_kitchen_dataset_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:xArm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:xArm.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | The dataset offers a comprehensive set of real-world robotic interactions, involving natural language instructions and complex manipulations with kitchen objects. |
| [UCSD_Pick_Place](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/ucsd_pick_and_place_dataset_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:xArm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:xArm.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Expert_Policy](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Expert_Policy.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | The robot performs pick and place tasks in table top and kitchen scenes. The dataset contains a variety of visual variations. |
| [UIUC_D3Field](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/uiuc_d3field.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Kinova_Gen3](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Kinova_Gen3.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Scripted](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scripted.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot completes tasks specified by the goal image, including organizing utensils, shoes, mugs. |
| [USC_Cloth_Sim](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/usc_cloth_sim_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Scripted](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scripted.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | The robot manipulates a deformable object (cloth on a tabletop) along a diagonal. |
| [USC_Jaco_Play](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/jaco_play.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Jaco_2](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Jaco_2.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md) | The robot performs pick-place tasks in a tabletop toy kitchen environment. Some examples of the task include, "Pick up the orange fruit.", "Put the black bowl in the sink." |
| [UTokyo_xArm_Bimanual](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/utokyo_xarm_bimanual_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:xArm_Bimanual](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:xArm_Bimanual.md), [Bi-Manual](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Bi-Manual.md), [Human_Puppeteering](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_Puppeteering.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robots reach a towel on the table. They also unfold a wrinkled towel. |
| [UTokyo_xArm_PickPlace](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/utokyo_xarm_pick_and_place_converted_externally_to_rlds.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:xArm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:xArm.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_Puppeteering](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_Puppeteering.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | The robot picks up a white plate, and then places it on the red plate. |
| [ALOHA](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/aloha.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:ViperX_Bimanual](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:ViperX_Bimanual.md), [Bi-Manual](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Bi-Manual.md), [Human_Puppeteering](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_Puppeteering.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | Bi-manual robot performing complex, dexterous tasks like unwrapping candy and putting on shoes. |
| [CMU_Food_Manipulation](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/cmu_food_manipulation.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Scripted](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scripted.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md) | Robot interacting with different food items. |
| [ConqHose](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/conqhose.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Spot](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Spot.md), [Mobile_Manipulator](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Mobile_Manipulator.md), [Scripted](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scripted.md), [Scene:Other_Household_environments](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Other_Household_environments.md), [Scene:Hallways](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Hallways.md) | The robot grabs, lifts, and drags the end of a vacuum hose around in an office environment. |
| [DROID](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/droid.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md), [Scene:Other_Household_environments](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Other_Household_environments.md), [Scene:Hallways](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Hallways.md) | Various household manipulation tasks |
| [DobbE](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/dobbe.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Hello_Stretch](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Hello_Stretch.md), [Mobile_Manipulator](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Mobile_Manipulator.md), [Human_collection_using_tools](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_collection_using_tools.md), [Scene:Kitchen](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Kitchen.md), [Scene:Other_Household_environments](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Other_Household_environments.md), [Scene:Hallways](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Hallways.md) | The demo collector uses the Stick to collect data from 7 tasks, including door/drawer opening/closing, handle grasping, pick and place, and random play data. |
| [FMB](https://github.com/KeplerC/oed-playground/tree/main/pages/datasets/fmb.md) | [Open-X-Embodiment](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Open-X-Embodiment.md), [Robot:Franka](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Robot:Franka.md), [Single_Arm](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Single_Arm.md), [Human_VR](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Human_VR.md), [Scene:Table_Top](https://github.com/KeplerC/oed-playground/tree/main/pages/tags/Scene:Table_Top.md)