metadata

license: apache-2.0
task_categories:
  - robotics
language:
  - en
pretty_name: Open6DOR V2
size_categories:
  - 1K<n<10K

Open6DOR V2

Paper_link: https://arxiv.org/abs/2502.13143
Project Page: https://qizekun.github.io/sofar/
Github Code: https://github.com/qizekun/SoFar

This dataset originates from Open6DOR, the Benchmarking Open-instruction for 6-DoF Object Rearrangement.

We removed the erroneous data from Open6DOR V1 and eliminated parts that required manual judgment to facilitate replication. Open6DOR V2 contains ~4500 tasks for 6-DoF object rearrangement & spatial relationship evaluation.

The evaluation baseline is SoFar, a 6-DoF system for spatial reasoning and robotic manipulation.

Download the open6dor_v2.zip and extract it to ./datasets/open6dor_v2/. The overall directory structure should be:

│SoFar/datasets/open6dor_v2/
├── task_refine_pos/
│   ├── behind
│   └── ...
├── task_refine_rot/
│   └── rot_ins
└── task_refine_6dof/
    ├── behind
    │   ├── Place_the_apple_behind_the_bottle_on_the_table.__upright
    │   └── ...
    └── ...

Data file name	Size
open6dor_v2.zip	1.89 GB
task_refine_pos	20.41 GB
task_refine_rot	12.84 GB
task_refine_6dof	21.99 GB