ShareRobot Dataset ShareRobot , a high quality heterogeneous dataset that labels multi dimensional information, including task planning, object affordance, and end effector trajectory, effectively enhancing various robotic capabilities. Overview of ShareRobot Dataset For planning , we have 51,403 episodes and each with 30 frames. In the process of data generation, we design 5 different templates for each of the 10 question types in RoboVQA [1]. In the process of data generation, we randomly select 2 templates of each question type to generate question answer pairs for every instance. This process transforms 51,403 instances into 1,027,990 question answer pairs, with annotators monitoring data generation to maintain the dataset’s integrity. For Affordance , we have 6,522 images and each with affordance areas aligned with an instruction. For Trajectory , we have 6,870 images and each with at least 3 {x, y} coordinates aligned with an instruction. Dataset Sources ShareRobot dataset contains 23 original datasets from Open X Embodiment dataset [2], 12 embodiments and 107 types of atomic tasks. Raw Dataset for Planning Raw Dataset Number of Raws : : : nyu door opening surprising effectiv…
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