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---
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
<br>
Project Page: https://qizekun.github.io/sofar/
<br>
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](https://github.com/qizekun/SoFar), a 6-DoF system for spatial reasoning and robotic manipulation.
Download the [open6dor_v2.zip](https://huggingface.co/datasets/qizekun/Open6DOR_V2/blob/main/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](https://huggingface.co/datasets/qizekun/Open6DOR_V2/blob/main/open6dor_v2.zip) | 1.89 GB |
| task_refine_pos | 20.41 GB |
| task_refine_rot | 12.84 GB |
| task_refine_6dof | 21.99 GB |
|