---
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 |