image
imagewidth (px)
640
640
observation
dict
action
dict
supervision
float64
0
1
episode_idx
int64
0
2
step_idx
int64
0
46
absolute_action
dict
state
dict
timestamp
float64
0
230
metadata
dict
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/0/observation/image-f0a0300.jpg?Expires=1732653728&Signature=E02a284TUvEp~lFL5lUP0246Gzh5K6rhQTwpNNuu8lyc5knVF1wYdyV1CbqZ0eAqf1ZWvfyYYXawNPaqZufl9-JZvcopBcoKbW1d4wD0S6UX~JoQL84im1BZ3NPiHYQsT6RJL-RRBXgIFLBurNOzxeIM95UpgF-so1NEON6h2uIMWVPY2a1gNVckSJr0Pfa1qdr7ORsqTSSkEe6ksJjcm~WTEFyRYRP9Qt~qms17zYMggaeUK6Hdlx2mcm9CZE4C6sxWlqPWpDInySb03fSHmfNnlDxLQh-4YyktMM~N0vNkxTF83dvSxE~pYbJntaPLdVZVNZ11eI8a~ZNbmuFSIQ__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": -5.808376002391924e-11, "y": -3.4479450544688817e-12, "z": 2.067582216547237e-11, "roll": -7.139706781345012e-8, "pitch": 4.2771965524934785e-8, "yaw": 2.4091079353638634e-7 }, "grasp": 1 }
0
0
0
{ "pose": { "x": 0.32108142966184117, "y": 0.0021198783035369564, "z": 0.13244204225223558, "roll": 0.012776512967406006, "pitch": 0.029477335443765185, "yaw": -0.13100592542812706 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.3210814297199249, "y": 0.0021198783069849014, "z": 0.13244204223155975, "roll": 0.01277658436447382, "pitch": 0.02947729267179966, "yaw": -0.1310061663389206 }, "is_first": 1, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
0
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/1/observation/image-f0a0300.jpg?Expires=1732653728&Signature=ugo74Ma42yaId6oJxph0d6QtNyJhr5iLtWtIUN3DEby4VkmCC9n7F0SgioT~2jsmghRlNX1Y4XPOCPvkGFuhJ9R27vq3l2GO9Y-FKnQUgFabs7nYGupjW77M9yhxe-4SWsUmhafx3lhHKo4s4narWYP8GT9Upp8cww55Ms-gDYVw5acEiP3TtV8J8OX-ByclKQapH4it8vQX0nUuRTtpqScbuYQPPfFxRIqMMPz~ortVcHW2HQ16QiD4V31aP8g5EkxXCwgTCmXdvAZa5YOnJSziYE18KkE28tunKi4tXvjKPTNnlyLuLCU4UlXTW-QN23-lpcjYl5VZE81BTq4j1A__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.011804101057350636, "y": 0.008488018065690994, "z": -0.01569892093539238, "roll": -0.007199972867965698, "pitch": 0.04738042131066322, "yaw": 0.03367798402905464 }, "grasp": 1 }
0
0
1
{ "pose": { "x": 0.33288553077727556, "y": 0.010607896372675896, "z": 0.11674312129616737, "roll": 0.0056218234822154045, "pitch": 0.07683808170258999, "yaw": -0.09579367563128471 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.3210814297199249, "y": 0.0021198783069849014, "z": 0.13244204223155975, "roll": 0.012821796350181103, "pitch": 0.029457660391926765, "yaw": -0.12947165966033936 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
5
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/2/observation/image-f0a0300.jpg?Expires=1732653728&Signature=jQL506FW-fG2pJmKAS4c8jgRSyT4Cv0188q3YPDAhSLlDONMDQGl7SVV-rQzifcm7XVcoryFz89js~aIEKNeouqt4pHvGJp~Bc8UN~Zc6Hm2X6b4e3sOpxYfku1c20Y5356qVw8QktCosy8b6V6vbO0v6MJrTCl8OEwyJ~rwMFWZOvkHDRnKdLQkxhQp46gHi-3FFvYtlyp4AwtnMG1QlxMMGBju4CkdJjHWDHIH1krnXiCqFtoYJHTrnfBC0Ke7d4W15HzbrhRbh1Y2zwIFc3nIyl6Y4Y3JmF3cdgfBDHE6tPdjxhHiy6EkhgZCZB6kXL8MD31o9Yg4H~iZuE1ojw__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.01634611003100872, "y": 0.008177009411156178, "z": -0.021596087142825127, "roll": -0.005959697533398867, "pitch": 0.034743648022413254, "yaw": 0.03993052616715431 }, "grasp": 1 }
0
0
2
{ "pose": { "x": 0.33703787438571453, "y": 0.010060816537588835, "z": 0.0993057806044817, "roll": 0.0006051878444850445, "pitch": 0.10203956440091133, "yaw": -0.08788737282156944 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.3206917643547058, "y": 0.0018838071264326572, "z": 0.12090186774730682, "roll": 0.006564885377883911, "pitch": 0.06729591637849808, "yaw": -0.12781789898872375 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
10
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/3/observation/image-f0a0300.jpg?Expires=1732653728&Signature=IrGRs2Ujn2kkn4UhvaE~5ssA4A6N9hkRnNYeL2jQnYxujlRQKnRM9hlFUmim6IFytMyHhMOUKi6Y5AqL0DjYhez8Dy6dtCCme4gek~n5YDudoZJzl1-16tJ-L~XsJ0jx7UewwV4Cr7mx-GBzFhjr9eqdPtGZJDiMJvCNfExViEgDsSG6uTkOuZ61MQwf-L8mqHX2Z8hpssRtWtDSTBi~II2OaXiHJMMc2maLAQiOMtULTBu0-zpqPHjNPUaND52UpAzQ5-MTtq5CWT2rty1GK2CODqpo1KmqAJ1tZSRFtKeWWN3w5f4nzWB4LHSEDqF8-hGuHaNGOlXAiJetrL5pCg__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.008157270960509777, "y": 0.004486678633838892, "z": -0.01599985547363758, "roll": 0.017454244196414948, "pitch": -0.04737713932991028, "yaw": 0.04822327196598053 }, "grasp": 1 }
0
0
3
{ "pose": { "x": 0.3386710463091731, "y": 0.012031884863972664, "z": 0.08221849612891674, "roll": 0.007437301799654961, "pitch": 0.08583617210388184, "yaw": -0.05225532501935959 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.33051377534866333, "y": 0.007545206230133772, "z": 0.09821835160255432, "roll": -0.010016942396759987, "pitch": 0.13321331143379211, "yaw": -0.10047859698534012 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
15
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/4/observation/image-f0a0300.jpg?Expires=1732653728&Signature=fdX0tATDiVJ4MSCaTASjFezeR~6klba4yJPwxBkgHIn0mIo7-bCznmhtqa8Fken347PXslXEX7Hm3DGvU249FLA~tomb~z~aswLMMoSm7LRUE9upmOH913fwa-xkLIukeCspBiUZ5i3Sm6foe9DZhtkaS6xFfhCPQqmuzl3LOmQiVSkvGhBguvyvHzMNQ3YMhzEgHw~NP78zvdvLTCm4hOUqbmabNzZ6zk28zV-HeQVfHL0bOOelr9Ez0sesq0~yieGkzTmtsl-0xWkT4e8mGlFI7OhkgXUWbVjkMcpW6QtxIeTQy0qyZKIyJeyFXFuSlBHXsFbR-LkZMQRZSjDd5Q__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.004408182110637426, "y": -0.002742030657827854, "z": -0.016768375411629677, "roll": -0.05128542333841324, "pitch": -0.042530301958322525, "yaw": 0.002872008364647627 }, "grasp": 1 }
0
0
4
{ "pose": { "x": 0.3487261845730245, "y": 0.014173227362334728, "z": 0.0588208194822073, "roll": -0.0674574114382267, "pitch": 0.11773079261183739, "yaw": -0.04904803680256009 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.3443180024623871, "y": 0.016915258020162582, "z": 0.07558919489383698, "roll": -0.01617198809981346, "pitch": 0.1602610945701599, "yaw": -0.05192004516720772 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
20
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/5/observation/image-f0a0300.jpg?Expires=1732653728&Signature=azgPF6L6dh75Ln5eykYO8y0KObrVGcsPa-7OoGym5IDFY3VaXOTGB79kqW94kcLpK7UEb2F2UZpS~Frl7guMkZYPOhkjMmmYdGQ1El8CAUjs~Apl7jSRsh4LZ-1dCCEB4Iy0Af-tgFahkqNkorvxowjok8LfkFCUeaeHcr4Zw4SJexcJohZYT~r0PtrvX1hBiMMSPRrsAxx6XI9xF0shnjPi6-kFWOSJzMrAYMCVVDKikWb2L0l4K-Fs7UuwOpbhiHwFCRHJLAPfYWLUkSau2nuda5CuPjcf4bbIrzcSmbplvt96VY5rgGFOimAvuazt7UUidAUJF7QmG~DG07zbFg__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.0027776064816862345, "y": -0.0035744349006563425, "z": -0.007938563823699951, "roll": 0.013090232387185097, "pitch": -0.05674811452627182, "yaw": 0.001661572023294866 }, "grasp": 1 }
0
0
5
{ "pose": { "x": 0.35716468119062483, "y": 0.014298455556854606, "z": 0.058072857558727264, "roll": 0.009868743363767862, "pitch": 0.036813341081142426, "yaw": -0.014919005916453898 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.3543870747089386, "y": 0.017872890457510948, "z": 0.06601142138242722, "roll": -0.0032214890234172344, "pitch": 0.09356145560741425, "yaw": -0.016580577939748764 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
25
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/6/observation/image-f0a0300.jpg?Expires=1732653728&Signature=flU9kHw2zq-Xwiep1d7kcj1mwhKvB0iIdmQbks0-Bj39XDaepj9a3cKJ8hmswoBK12w4W3GrHZ1AuBG~YDlc2czi1RhcvHqNPVjdiZAqkX5Cs9lpfed7A9x-liZPRVfygohVR-hIjpSTlcfQY4yIbxLgQUiP9iS8Dd-m-l8luDVcj4eVm5eXCwOkZllMp1T7mPV5-k8VBy3ZfUZtf205HdSNgH1h8F6KSjFQBTzEi6cJlwlLtn6PEF7ct6PSr6eMgCbRUokLnMSnJsEADkBkU3pNu2lQBUA1yKhaM-qw~sIf2WS7zuoq7SVzhMVpIPQteHVRTWBZ7~qUHgGsnXwZmg__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.00550259742885828, "y": 0.00017284545174334198, "z": -0.0097529711201787, "roll": -0.005237226840108633, "pitch": -0.04771408811211586, "yaw": -0.017362862825393677 }, "grasp": 1 }
0
0
6
{ "pose": { "x": 0.3626597383990884, "y": 0.01808114665618632, "z": 0.03842019196599722, "roll": -0.04889579629525542, "pitch": 0.005354642868041992, "yaw": -0.030619267374277115 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.3571571409702301, "y": 0.017908301204442978, "z": 0.04817316308617592, "roll": -0.04365856945514679, "pitch": 0.05306873098015785, "yaw": -0.013256404548883438 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
30
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/7/observation/image-f0a0300.jpg?Expires=1732653728&Signature=mPfvGNWziXHE7PLwUrymNUnNbauGB4Kr67raOb4R49-JGJxwgvmXL4tRebojduD7Do3g9af8XEdtCko2IFI3Kl98SJwj08Gac~wMG5Tz~YE2Lfvl5R6QIxDUI1fxrHmrL1IfWWCXgiDb9qPax8CyF0iR~mkn~CfpJ9HFNyoeVqgpitDgaSbT0Zxrp9ZyfAPALwRxt2vYyvmZC2VNq-kUgPlEpLep18MGkWCtS1Q3Xix9f9AfGUjJfFCcXfTQPAKQSjLaBvFnneSkjDSf9WglTgT3ncCVj2UeP3TIGFnGZoaYeYu07H4nAXjjwoMMweq-ddj1bn3FRSludKIKGB7L0A__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.005766878370195627, "y": 0.0023520172107964754, "z": -0.0030934091191738844, "roll": -0.010983005166053772, "pitch": -0.029825381934642792, "yaw": 0.0010881689377129078 }, "grasp": 1 }
0
0
7
{ "pose": { "x": 0.3644123771227896, "y": 0.0217091862577945, "z": 0.03435332071967423, "roll": -0.042339224368333817, "pitch": -0.02134124841541052, "yaw": 0.00461174501106143 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.358645498752594, "y": 0.019357169046998024, "z": 0.037446729838848114, "roll": -0.031356219202280045, "pitch": 0.008484133519232273, "yaw": 0.003523576073348522 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
35
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/8/observation/image-f0a0300.jpg?Expires=1732653728&Signature=qlF25hPZMoKlaQbr2QMHNmt7zx69BUXAKoJYNKDYQc3ECArJlXEMbJk39iMwgS2wDrbcC0-DwM9nZ0BKuQUKhd0AN7wD1j2fpKzO4nY1PUZ2r4S-NIG6IZHNDpJNshv7TF2QBNJzzZ-4gazghtptHbUjgmEBSUW5f9O0Aey2J4ApHA9TlliRKJl3qlFuiP63lVK3-d3c7DKKg32efY13wbws3hhdTQSNH0BgsDYrL4GMYxoDt~W08~StW3AAqWTSMOwNhfiLtEkn6ez00pJiATD7FHrP2e7jgo1b~9J6Zp5c9uCNC9-iXSc83d36nRvx5E3Hq2QHc7XQi9abEzEoHw__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.004648074973374605, "y": -0.000018966151401400566, "z": 0.00014115666272118688, "roll": 0.0024962881579995155, "pitch": -0.012118564918637276, "yaw": -0.004773369524627924 }, "grasp": 1 }
0
0
8
{ "pose": { "x": 0.37017513858154416, "y": 0.01822552946396172, "z": 0.033208818931598216, "roll": -0.0337699418887496, "pitch": -0.06507651321589947, "yaw": -0.02336822124198079 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.36552706360816956, "y": 0.01824449561536312, "z": 0.03306766226887703, "roll": -0.036266230046749115, "pitch": -0.05295794829726219, "yaw": -0.018594851717352867 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
40
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/9/observation/image-f0a0300.jpg?Expires=1732653728&Signature=zT~bu9lM37MecIVraEcK1bUjgXUhQ8kWsG2Wo-kdXPK-Sh07R06u1YimprS3K-KVbWkqxx74ElPHGni6ZNcNnaVAXNRmckcvaBlf8PBE-XReiwQtRzMCt6LoBB1hCEYn3kwa-dYXXLWvKjhbAGtV508eQRAPoA9pEBjARYLSiwR~tUgP2omuwOltoeI2DEl5cQFfvHC6J6SKSeHo1yDhlbNfY7seeEsDhZLMWs8iPHY5Em51DABlOME92HxyM9tWZaVqD-d7sb2tUKqo22Jjb8HMzBOgx6OZ7ew6GvQYU-v0WXHk2ZLtikFw2~tMbFpUpiC-DbkLFN3uZGNanoEOyg__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.00311665004119277, "y": -0.0012327489675953984, "z": -0.002456061076372862, "roll": 0.00735384039580822, "pitch": 0.0024647931568324566, "yaw": -0.0035728884395211935 }, "grasp": 1 }
0
0
9
{ "pose": { "x": 0.3743929988704622, "y": 0.015196479740552604, "z": 0.029166840482503176, "roll": -0.03913603536784649, "pitch": -0.08327873842790723, "yaw": -0.03306934586726129 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.3712763488292694, "y": 0.016429228708148003, "z": 0.03162290155887604, "roll": -0.04648987576365471, "pitch": -0.08574353158473969, "yaw": -0.029496457427740097 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
45
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/10/observation/image-f0a0300.jpg?Expires=1732653728&Signature=aSUTscdR28QVlcQB-4TUghOr2ge2yrCv9Ua26HSp6TxNaCwvfSYJYJOyyTVzyLrrgFWs6lz5FazDIjxVyNziSa2LY~aSNskpRhHMnyO2oX7RRDNBIUMTcHG8xjEBpSbVYSiJkW8bDeTfJcYvAfZpKjJUiLskQxukfSY-JarWDmIcIWrSpVLiOhAoo56O4zl5Ks1y7L1C7Asj5Y5BGmZ~bCZTLBy4Ha~5-4ngiG1eGYBwzQwJ64JVO4rKhN8TWiLRYZvo-wdr~i3KK2dSHh~czI8JybsAJb5n4ZZOmQ2yzutaMKKw9~YVN41G3RX0nYBJE6CKsx3e4oozOwMXtDdcxw__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.0024388853926211596, "y": -0.0006512388936243951, "z": -0.001057932386174798, "roll": 0.01206916756927967, "pitch": -0.007166988216340542, "yaw": 0.0067812069319188595 }, "grasp": 1 }
0
0
10
{ "pose": { "x": 0.37347359699197114, "y": 0.016548253188375384, "z": 0.025806110119447112, "roll": -0.03390943072736263, "pitch": -0.08360625710338354, "yaw": -0.0218575787730515 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.37103471159935, "y": 0.01719949208199978, "z": 0.02686404250562191, "roll": -0.0459785982966423, "pitch": -0.076439268887043, "yaw": -0.02863878570497036 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
50
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/11/observation/image-f0a0300.jpg?Expires=1732653728&Signature=sTU3hOLh-auQFYKJmGcNnCWLSnxSMkrgoIMCPd0cUv8HOBLS73IlEUA09xLvoKxlkt7MqeegnbldjAR0fu1m18bKyRgXQjLBxGGimh-3RNfmYjpjXy8jTODtDU6SFrUq9TNQmjWi~nQsNZYpZqKTMBecq1Nygv1EmE03Rmhnm~9kcsm11aJTFRvXQc8xDp8Z6g9NLaQ~4XdnarNCHpphbyGc8bIKvfuV1ETyVXbi5Bjb4fDyCVB-6WmgIEZ6EHRTEtNHp8KpZZxVzxUGQEHZIf181xG7K9NIur6owDhWoBiujStG3pbcNWbrNiNipuKSCewsoR4YeUo4egcedDJ31g__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.002600316423922777, "y": -0.000718947674613446, "z": 0.0012557758018374443, "roll": 0.008209065534174442, "pitch": -0.021872229874134064, "yaw": 0.009805534034967422 }, "grasp": 1 }
0
0
11
{ "pose": { "x": 0.37713459553197026, "y": 0.018301293079275638, "z": 0.026906942017376423, "roll": -0.02773576881736517, "pitch": -0.10144924372434616, "yaw": -0.015358762815594673 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.3745342791080475, "y": 0.019020240753889084, "z": 0.02565116621553898, "roll": -0.03594483435153961, "pitch": -0.0795770138502121, "yaw": -0.025164296850562096 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
55
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/12/observation/image-f0a0300.jpg?Expires=1732653728&Signature=CNexfhhQiCQ4HYQjvF5~1g56Vm4OFtEyvMm5~hEaJQwhM4bhKC7ILXzlu8gy6nRTWjski15DVKRkGaGneSnj9pOxxDCwzN9mj1TYe01NIl7l3tU-7mQ8DFP~gImk630GFMtswlcndtmFp-PLp~oBhKcfc357aInmwkOS1IsDYt37EeKN94Rh6~JhTgNRUPO-CpfHFGUdsfZr4TYzqaIbQKoraEPa4JJA-U-C4QTYy7PosVS93NI1PAG6i-F1w1w2r3ZowiuKH5~oXwhucMDuY3XkUtGBEpBhQgrHaHRnfwtffC0vaH0de6G-hKbnMqENQdsbD6zeVCy~5HuWCd~D8g__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.001644749310798943, "y": -0.0030919613782316446, "z": -0.001517086406238377, "roll": -0.0016105363611131907, "pitch": -0.003913478460162878, "yaw": 0.004612389486283064 }, "grasp": 1 }
0
0
12
{ "pose": { "x": 0.379114139941521, "y": 0.016581414034590125, "z": 0.025248789112083614, "roll": -0.027673188829794526, "pitch": -0.09709034254774451, "yaw": -0.006075255107134581 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.37746939063072205, "y": 0.01967337541282177, "z": 0.02676587551832199, "roll": -0.026062652468681335, "pitch": -0.09317686408758163, "yaw": -0.010687644593417645 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
60
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/13/observation/image-f0a0300.jpg?Expires=1732653728&Signature=pI--esC8-p0mEh~qwvn5kGD9fXFa3ZSTS2fxJTHFIHqn9xGp~2UOHkffWGNF1SS17ZLAWJ3vg~vHDdnsAKog6IFEeZCrOwehvuEf0eWzwXDg3y7b~dIj5obLR61MXft1AkMhKiwWWPwa7V0kvzsyd6UtjfDDkU4fgqLmMkPriNUplrKUHGL8h0lqb0xhkNwlaUal~Mhp-WpgHfJzQyKYd7OkuveuwqtDebFFAAejTmEp7RkkV0gvBcWFhX3TZON55~y70GXJlItcCvdbP7HAQ9CQ5mJWgmKFyl0NP-4Rj3alJcPXlnGXBbOQ3iHzaibJrCtB0eUwZwbd7EkXgW222w__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.00045171959209255874, "y": -0.003244963241741061, "z": -0.00199417513795197, "roll": -0.002864181064069271, "pitch": 0.0019774858374148607, "yaw": -0.003972391132265329 }, "grasp": 1 }
0
0
13
{ "pose": { "x": 0.3808910606603604, "y": 0.015124452533200383, "z": 0.024720254121348262, "roll": -0.02002075780183077, "pitch": -0.1099850635509938, "yaw": -0.008404308930039406 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.3804393410682678, "y": 0.018369415774941444, "z": 0.026714429259300232, "roll": -0.017156576737761497, "pitch": -0.11196254938840866, "yaw": -0.0044319177977740765 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
65
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
{ "image": { "src": "https://datasets-server.huggingface.co/assets/mbodiai/oxe_bridge_v2/--/56ad8b7e62373b88f1d92666da81188c8e2f5b18/--/default/shard_0/14/observation/image-f0a0300.jpg?Expires=1732653728&Signature=KZf-8rfDQ-CS2gy7MWHl6nDb1~rJz-04PSdcJ2XGFI8p2KrVY5mTmamuRIhx9~rNGr2SkhmoDvaS1lFNfom9NK91-RLcnuSnayX-FQ~LbypEBjkkkNPsCQ-FPosOjOrXCgmwRjVTlA1lfdLvMtGnl-9XYdYeXm-LOegVBPxKGQVm7tb4r9mZVzli0zWemNV2i9KQae0ilu5aawxy~XK4l8Z6eXgiqpFvlPSWMYmEukceF-rqtuBNfxFT7riW9f5zLhu4Gu8DcuD0YV8of3XTuqbeby~thF2xHe-XVbhYsJgINBBLNRNUGVI3l4-4d8UhFqSffh9Bmz9nHx2W7uyn5w__&Key-Pair-Id=K3EI6M078Z3AC3", "height": 480, "width": 640 }, "task": "Slide the blue rag forward to the edge of the table." }
{ "pose": { "x": 0.00016866644727997482, "y": -0.0010521803051233292, "z": -0.003155869897454977, "roll": -0.0069424486719071865, "pitch": 0.0043330988846719265, "yaw": -0.00028220497188158333 }, "grasp": 1 }
0
0
14
{ "pose": { "x": 0.38192735632765107, "y": 0.013886171393096447, "z": 0.023994664195924997, "roll": -0.024365009274333715, "pitch": -0.11364178592339158, "yaw": -0.007672956940950826 }, "grasp": 1 }
{ "end_effector_pose": { "x": 0.3817586898803711, "y": 0.014938351698219776, "z": 0.027150534093379974, "roll": -0.01742256060242653, "pitch": -0.11797488480806351, "yaw": -0.0073907519690692425 }, "is_first": 0, "is_last": 0, "is_terminal": 0, "language_embedding": [ 0.029113035649061203, 0.06016384810209274, -0.08298374712467194, 0.02101176790893078, 0.047492366284132004, 0.08930923044681549, -0.056469764560461044, -0.03439167141914368, -0.044236354529857635, -0.015962714329361916, 0.05167337879538536, 0.021922443062067032, 0.054400790482759476, 0.005530485883355141, -0.06547841429710388, -0.04073749855160713, 0.003641147166490555, -0.058790214359760284, 0.002591466996818781, -0.0043062688782811165, -0.04519252851605415, 0.06738092750310898, 0.06160944327712059, 0.004411027301102877, 0.0857233852148056, 0.02970532514154911, 0.1311943531036377, 0.017424724996089935, 0.0938519835472107, 0.004542865324765444, 0.006106691900640726, 0.022625798359513283, -0.02301795594394207, 0.07780376821756363, 0.04293468967080116, -0.04828205704689026, -0.0816221609711647, -0.0023044522386044264, -0.0675688311457634, -0.05389362946152687, 0.05510259419679642, -0.010365930385887623, 0.05016988888382912, -0.032205212861299515, 0.02669895440340042, 0.07626637071371078, 0.04016239568591118, -0.03647638484835625, 0.02254030853509903, -0.007991502061486244, -0.06225312873721123, -0.04300433397293091, 0.028374888002872467, 0.04114473611116409, -0.023481089621782303, 0.06334800273180008, 0.013802229426801205, 0.015087634325027466, -0.01679861918091774, 0.029437756165862083, -0.08418653905391693, -0.01555474940687418, -0.01314765028655529, -0.06320209056138992, 0.002091762376949191, 0.03535554185509682, -0.00047931502922438085, -0.053796056658029556, -0.05658288300037384, -0.015696128830313683, -0.011172338388860226, 0.049852464348077774, 0.052225593477487564, -0.047028668224811554, -0.0592205636203289, 0.04275224357843399, 0.0402534157037735, 0.0051837218925356865, -0.025756333023309708, -0.05433964729309082, -0.0035508733708411455, -0.046433351933956146, -0.05967431142926216, -0.07142146676778793, 0.052219636738300323, 0.06115641072392464, -0.0039808787405490875, 0.006264519412070513, 0.02822031080722809, -0.045496609061956406, 0.01799965649843216, -0.07263348251581192, 0.0307866632938385, -0.0073172966949641705, 0.0034799568820744753, -0.029324237257242203, -0.06267976760864258, 0.046765368431806564, 0.03721373528242111, -0.010144242085516453, 0.039719730615615845, 0.08923758566379547, -0.0450151190161705, -0.053642574697732925, 0.013057556934654713, 0.038213640451431274, -0.01102815568447113, 0.034206610172986984, -0.00219397502951324, -0.028144165873527527, -0.03718453645706177, -0.0341525636613369, -0.028367508202791214, 0.05346846580505371, -0.05699018016457558, -0.07647976279258728, 0.07889726758003235, -0.024357829242944717, -0.0532173328101635, -0.06499431282281876, -0.0367777943611145, 0.02489307150244713, -0.03695695102214813, 0.001790616544894874, 0.02609061263501644, 0.024989202618598938, -0.06377660483121872, -0.008960706181824207, -0.03199183940887451, 0.009907910600304604, 0.006342774257063866, 0.08497469127178192, 0.05032006651163101, -0.00692575192078948, -0.04295226186513901, 0.015641067177057266, -0.0033126294147223234, 0.07362900674343109, 0.00014457927318289876, -0.024273397400975227, 0.08011133223772049, -0.008359450846910477, -0.07039061933755875, 0.030205365270376205, 0.0037357795517891645, -0.048112161457538605, -0.11320193856954575, -0.023652177304029465, -0.01646902970969677, -0.05009201169013977, 0.006081264466047287, -0.03293350338935852, 0.04199383780360222, -0.012363177724182606, 0.02577832341194153, 0.0607244074344635, 0.026195786893367767, 0.06422405689954758, 0.04402090236544609, -0.09071336686611176, 0.044974327087402344, 0.020265651866793633, 0.09669086337089539, -0.014127801172435284, -0.013627852313220501, -0.03428123891353607, -0.034252967685461044, -0.03213737905025482, -0.008887839503586292, 0.04407618194818497, -0.025353185832500458, -0.025435203686356544, -0.01987825706601143, 0.10582119971513748, 0.06875142455101013, 0.001348197110928595, 0.038497935980558395, 0.034402161836624146, 0.03915809839963913, -0.02930414117872715, 0.01299220323562622, -0.03784586489200592, 0.011636820621788502, 0.07114867866039276, -0.05617685988545418, -0.019036471843719482, 0.02884582057595253, -0.03659879043698311, -0.08760417997837067, 0.0511651374399662, -0.007783792447298765, -0.052779506891965866, 0.05182585492730141, -0.022999392822384834, -0.0036706095561385155, -0.018206769600510597, -0.00027028098702430725, -0.000311506271827966, -0.012603715993463993, -0.02025916799902916, 0.03650762885808945, -0.040184762328863144, 0.042815059423446655, 0.05452198162674904, 0.00396730238571763, -0.023553602397441864, 0.025495434179902077, 0.0060362862423062325, 0.058999575674533844, -0.06892306357622147, 0.03682122379541397, -0.10983308404684067, 0.011921336874365807, 0.03455613553524017, -0.06139996275305748, 0.04632006213068962, 0.028907958418130875, -0.01984020695090294, 0.03128259256482124, -0.0562312975525856, -0.021040841937065125, -0.023664042353630066, -0.011983915232121944, -0.005167563911527395, 0.0676431953907013, -0.01594577543437481, 0.04277045652270317, -0.07321242243051529, -0.059342797845602036, 0.0547945499420166, 0.024041038006544113, -0.046393200755119324, 0.023131778463721275, 0.04272928833961487, -0.0007328117499127984, -0.0683472529053688, -0.04875412955880165, -0.0003856732801068574, 0.026868097484111786, 0.10253346711397171, 0.022287819534540176, 0.015393179841339588, 0.018853681161999702, -0.054728321731090546, 0.02016366273164749, 0.021942462772130966, -0.006530979182571173, 0.017130644991993904, 0.021032240241765976, 0.005133307073265314, 0.008231420069932938, -0.0045277937315404415, -0.02743285335600376, 0.03856712207198143, -0.032288432121276855, 0.057941947132349014, 0.0737495943903923, -0.06500785797834396, -0.02498374879360199, -0.058006733655929565, -0.038120824843645096, -0.018900835886597633, -0.0016568260034546256, 0.01616787351667881, 0.048668112605810165, 0.043527841567993164, 0.005500107072293758, -0.0009509650408290327, -0.0012620548950508237, -0.0024622974451631308, 0.017753900960087776, -0.02664107456803322, 0.003716064151376486, 0.07579036056995392, 0.051760878413915634, 0.015299451537430286, -0.03472354635596275, -0.005621575750410557, 0.05950923636555672, -0.0337686613202095, -0.05655587837100029, -0.002129479544237256, -0.021428927779197693, 0.03277134895324707, -0.02941215969622135, -0.012598538771271706, 0.057574428617954254, -0.08110559731721878, 0.019942764192819595, -0.04122822731733322, 0.031837526708841324, -0.017875120043754578, 0.02532382868230343, -0.006274145562201738, 0.04686223715543747, -0.002113910159096122, -0.006428281776607037, 0.04228673130273819, 0.04128840193152428, -0.011155176907777786, 0.008912809193134308, 0.071736641228199, -0.009347762912511826, 0.0458209253847599, -0.04520852118730545, -0.022673023864626884, -0.017104608938097954, 0.05404636636376381, -0.014128383249044418, -0.005500957369804382, -0.07917962968349457, -0.013590268790721893, -0.004317054990679026, 0.04498771205544472, 0.0301086213439703, 0.006355782970786095, 0.06464076042175293, 0.04619872197508812, 0.020777925848960876, -0.06234028562903404, 0.002764250850304961, -0.06398475170135498, 0.08633174747228622, -0.01199522614479065, -0.04787570983171463, 0.028888322412967682, 0.029310118407011032, 0.0347934253513813, -0.039650145918130875, 0.036722104996442795, -0.014243093319237232, -0.05350492522120476, -0.007987750694155693, -0.03746684640645981, 0.03625734895467758, -0.006230875384062529, 0.04937141388654709, 0.009175093844532967, -0.07579610496759415, -0.001079447683878243, 0.018840551376342773, -0.05098244175314903, 0.03099963441491127, -0.08929962664842606, -0.0035325707867741585, -0.040905993431806564, -0.02900213934481144, 0.05335232987999916, 0.03990514576435089, -0.007196872960776091, -0.016389131546020508, 0.01080508902668953, -0.000776903354562819, -0.00026323855854570866, -0.041563212871551514, 0.009908907115459442, 0.040042079985141754, -0.0036197917070239782, 0.030106456950306892, -0.03341357782483101, 0.00018599738541524857, 0.03554721176624298, -0.02446593903005123, 0.08440835773944855, -0.05366595461964607, -0.01574610359966755, 0.015864966437220573, 0.07674513757228851, -0.01686101406812668, -0.06830443441867828, -0.025631219148635864, 0.05237715691328049, -0.01086360216140747, -0.002544886665418744, 0.000829093623906374, 0.052229322493076324, 0.020151827484369278, 0.02724815346300602, -0.027115250006318092, 0.06819445639848709, 0.004755744710564613, -0.03510797396302223, -0.09361005574464798, -0.06428194046020508, 0.01262226514518261, 0.04180579259991646, 0.0757756233215332, 0.03301195055246353, -0.06584600359201431, -0.05106364190578461, 0.05127977579832077, -0.058985911309719086, -0.017223279923200607, 0.059259139001369476, 0.07718341052532196, 0.08503417670726776, -0.027587518095970154, -0.04242187365889549, 0.03382490947842598, -0.07805521041154861, -0.009565250016748905, -0.08454328775405884, 0.00025864262715913355, 0.03374634310603142, -0.062449607998132706, -0.04251302033662796, -0.061747778207063675, 0.009670479223132133, 0.0395793616771698, -0.08733043074607849, 0.08379608392715454, -0.006733176298439503, -0.020703675225377083, -0.11828542500734329, -0.006562333554029465, 0.0059093814343214035, 0.05567428097128868, -0.01689530722796917, -0.02208636701107025, 0.009365377947688103, -0.05149511992931366, 0.052717819809913635, 0.029205219820141792, -0.06391947716474533, 0.027267152443528175, -0.04246685653924942, -0.02194639854133129, 0.00944539811462164, -0.0034216875210404396, 0.014153391122817993, -0.032395925372838974, -0.0212029330432415, 0.06276000291109085, 0.031026583164930344, 0.09793510288000107, -0.09840451180934906, 0.017127851024270058, -0.052702441811561584, -0.02665352076292038, 0.10690853744745255, -0.011354930698871613, -0.034324973821640015, -0.028404558077454567, -0.0011999515118077397, 0.08109156042337418, -0.004792255349457264, -0.0014517351519316435, -0.010560935363173485, -0.06779956817626953, -0.029154658317565918, -0.027238590642809868, 0.09562784433364868, 0.10320016741752625, -0.05816110596060753, 0.04053821787238121, -0.0009136078297160566, 0.02284223586320877, -0.03341237083077431, 0.025965960696339607, -0.004107224754989147, 0.010965527035295963, -0.025413919240236282, 0.04376254230737686, -0.009236124344170094, -0.007875367067754269, -0.008046231232583523, 0.004772934131324291, 0.05507700890302658, 0.05240028724074364, 0.04286208748817444, 0.007587512955069542, 0.0006427601911127567, 0.06529487669467926, 0.03211325407028198, -0.035690415650606155, -0.015436395071446896, 0.01682610996067524, 0.021172458305954933, 0.0002806984120979905, 0.03176121041178703, -0.008671348914504051, -0.026735536754131317, 0.03399327024817467, 0.01577925868332386, -0.056377653032541275, -0.02757287584245205, -0.03724735230207443, -0.0313260592520237, 0.013471732847392559, -0.05270523577928543, 0.0018232128350064158, 0.008070907555520535, 0.0004062170337419957, -0.02426154911518097, 0.03683057427406311, -0.061683595180511475, 0.005756912287324667, -0.055257029831409454, 0.007282736711204052, 0.07121212780475616, -0.014001352712512016, 0.06611310690641403, -0.09235561639070511, -0.048969414085149765, -0.05263213813304901, -0.007170126307755709, -0.03379657492041588, -0.008103743195533752, 0.05603698268532753, -0.07815071940422058, -0.010243898257613182, -0.09631095081567764 ] }
70
{ "num_depth_cams": 1, "num_episodes": "25,460", "num_rgb_cams": 4, "num_wrist_cams": 1, "action_space": "EEF Position", "control_frequency": "5", "data_collect_method": "Human VR", "dataset": "Berkeley Bridge", "description": "The robot interacts with household environments including kitchens, sinks, and tabletops. Skills include object rearrangement, sweeping, stacking, folding, and opening/closing doors and drawers.�", "file_size_gb": 387.49, "gripper": "Default", "has_camera_calibration": "No", "has_proprioception": "Yes", "has_suboptimal": "Yes", "language_annotations": "Natural", "registered_dataset_name": "bridge", "robot": "WidowX", "robot_morphology": "Single Arm", "scene_type": "Table Top, Kitchen (also toy kitchen), Other Household environments" }
README.md exists but content is empty. Use the Edit dataset card button to edit it.
Downloads last month
36
Edit dataset card