Datasets:

aliangdw
/

rbm-1m-ood

id stringlengths 36 36	language_instruction stringclasses 31 values	quality_label stringclasses 3 values	data_source stringclasses 5 values	task stringclasses 31 values	is_robot stringclasses 1 value
99aecf3e-fe26-4d3b-9a43-cd31faa886b3	Open the bottle	success	usc_trossen	Open the bottle	true
607b7790-6310-4cc7-827b-b0c7879404d2	Open the bottle	success	usc_trossen	Open the bottle	true
01636599-2329-474b-ad08-322b92ae5f78	Open the bottle	failure	usc_trossen	Open the bottle	true
feb20a07-8201-4de4-b6bf-318d99d34b6d	Open the bottle	success	usc_trossen	Open the bottle	true
07237f13-b900-413f-b8f6-d8432ae7d089	Open the bottle	failure	usc_trossen	Open the bottle	true
13f44464-ba43-4237-b203-3931678380d9	Open the red drawer	success	usc_trossen	Open the red drawer	true
880ecf1d-972e-4078-b525-41ea02761009	Open the red drawer	success	usc_trossen	Open the red drawer	true
7fa58713-2d30-49c6-9b26-d2dfa2c2f3e3	Open the red drawer	success	usc_trossen	Open the red drawer	true
0252bd59-1b52-41cc-85e3-56ce5cdaa8a9	Open the red drawer	failure	usc_trossen	Open the red drawer	true
c5b54d68-35da-4744-80a3-766fca9f745d	Open the red drawer	failure	usc_trossen	Open the red drawer	true
131674b4-2755-4f6b-8cd6-7815e158348b	Open the red drawer	suboptimal	usc_trossen	Open the red drawer	true
9182081c-9567-4e0a-ac51-58cc78280072	Open the red drawer	suboptimal	usc_trossen	Open the red drawer	true
4cf773f3-11f0-41b3-aee8-4d89c11499a5	Remove the lid from the pot	suboptimal	usc_trossen	Remove the lid from the pot	true
12b2661d-de9c-4816-a281-790f249ce5fe	Remove the lid from the pot	success	usc_trossen	Remove the lid from the pot	true
82930ad6-e8ec-4c58-9758-259231c9a4d1	Remove the lid from the pot	success	usc_trossen	Remove the lid from the pot	true
2d8792a9-bbe9-4fc9-88c0-b1e664071270	Remove the lid from the pot	suboptimal	usc_trossen	Remove the lid from the pot	true
943f8b87-14db-4d3b-aee5-1247abb7a99a	Unzip the pencil case	success	usc_trossen	Unzip the pencil case	true
99b8d59a-8152-4696-88c2-86fe153b791d	Stir the pot	success	usc_trossen	Stir the pot	true
5cb8623b-62d6-4711-99a6-c07c56d607b0	Uncap the red pen	success	usc_trossen	Uncap the red pen	true
b1ec6979-72d5-41d3-bdd0-baa5af36488c	Unzip the pencil case	failure	usc_trossen	Unzip the pencil case	true
82f47346-e4d3-450e-8649-2ed3b193b04f	Stir the pot	success	usc_trossen	Stir the pot	true
e2a71cfe-e131-4e3d-a361-b9a1aad33428	Stir the pot	success	usc_trossen	Stir the pot	true
938c2b5b-1e8c-48aa-acfe-8eb2f7039050	Unzip the pencil case	failure	usc_trossen	Unzip the pencil case	true
c438631a-e7a7-42e0-9272-1532cac0884c	Unzip the pencil case	suboptimal	usc_trossen	Unzip the pencil case	true
b61bdfbb-0ff3-4392-ae22-f485c370e51c	Unzip the pencil case	success	usc_trossen	Unzip the pencil case	true
d386bbef-7097-4994-a5c9-4ad20e22f7da	Unzip the pencil case	suboptimal	usc_trossen	Unzip the pencil case	true
731d82d8-f1bf-425d-944b-329cb6113188	Unzip the pencil case	success	usc_trossen	Unzip the pencil case	true
ce69dcb4-21c0-4a60-b9e7-32ac24eb5942	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
f0de94d2-e7da-458f-b5a0-d68df73b7bb1	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
1b120be2-0d47-4e54-9fcb-8ec251843518	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
72128dde-a2c3-4978-a0fd-b2dc8420013d	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
93cbcb24-a476-4cba-978a-5200f4376cef	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
96d9bd28-9d3e-4338-8d74-92cc23eb54d7	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
06ca7094-0132-4c15-888d-c1e61b19cc55	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
43d72de8-3dcc-4f6d-95ae-77e3b2f47b4d	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
f8ec9af8-34b9-4d31-8721-1b77436ce94a	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
544592ff-914a-48c2-9834-7df9e04cc09c	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
d4ad9be8-52b5-42a6-a3be-a55d3c3abb36	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
74dcb842-4287-4950-99c6-1987639c360a	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
cb37ff89-9a75-44b0-b164-35208abd4abb	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
27ac0f58-e8f8-40aa-ae4b-7ff8b6c0b189	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
11d545d3-1964-4b96-bf3f-24898d755a51	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
d9ff21fd-9f67-4209-bffd-07d83086de63	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
81e11eb0-0f7c-4200-94dc-ca8cdffa5921	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
4a446b6c-3904-4429-a9f6-a09bb8809f56	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
f2b0d5a6-2377-485a-b76b-99bbe9970abe	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
09e542ce-60ac-4d7a-bfdb-dfa754759c45	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
4cace86d-33cc-44e2-bdc9-963b39a9ac53	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
a33849a6-7aef-4281-918e-d860fa5d6d88	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
0acbffef-154c-4c04-bf1f-b44880bd7564	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
ae8ed318-bc16-4c86-b3b3-7182d3193e65	Fold the towel in half	suboptimal	mit_franka	Fold the towel in half	true
f606522f-0bb5-419a-9a97-803c219b307c	Fold the towel in half	failure	mit_franka	Fold the towel in half	true
287913b5-ee37-4a54-98e4-4d87f8128b94	Fold the towel in half	failure	mit_franka	Fold the towel in half	true
bdb538ee-2e31-4585-9c0e-eb2f7fb4bc46	Fold the towel in half	failure	mit_franka	Fold the towel in half	true
81283ca3-b303-4a8a-bc28-1111375cdd43	Fold the towel in half	failure	mit_franka	Fold the towel in half	true
ebb2f385-1cfc-4421-962a-6fb866d696f0	Fold the towel in half	failure	mit_franka	Fold the towel in half	true
cf05bfa9-8859-4846-855a-801695eaf50e	Fold the towel in half	failure	mit_franka	Fold the towel in half	true
6bbec506-7c63-4bf5-a399-aa030305c1d5	Fold the towel in half	failure	mit_franka	Fold the towel in half	true
c25144f2-916e-4303-a339-1c80087bbb21	Fold the towel in half	failure	mit_franka	Fold the towel in half	true
1269ffc4-faf3-448d-a65e-77f24b3ebda2	Fold the towel in half	success	mit_franka	Fold the towel in half	true
f68080f4-1770-4a98-a963-b36fb945ff7d	Fold the towel in half	success	mit_franka	Fold the towel in half	true
df70b490-6e20-4c6b-b3f2-69fa1136be5c	Fold the towel in half	success	mit_franka	Fold the towel in half	true
d320fe6a-e30d-4bb1-8c96-bf9b8c0eb582	Fold the towel in half	success	mit_franka	Fold the towel in half	true
aec409c3-891d-40cd-9039-8d903bc3ecd4	Fold the towel in half	success	mit_franka	Fold the towel in half	true
6a002719-1263-4913-8a58-2212af4d4945	Fold the towel in half	success	mit_franka	Fold the towel in half	true
afb85c8a-29a1-4642-97a8-71d93d8be7b3	Fold the towel in half	success	mit_franka	Fold the towel in half	true
be3d70bc-816c-4e96-91fc-08cb447ee96a	Fold the towel in half	success	mit_franka	Fold the towel in half	true
9e1ffcd3-a9ee-42f8-9540-cab35915e07a	Fold the towel in half	success	mit_franka	Fold the towel in half	true
35289ed8-1482-41ae-82bb-e40b1f04ffff	Fold the towel in half	success	mit_franka	Fold the towel in half	true
abccea97-ee6e-4381-8e77-f791325761bf	Fold the towel in half	success	mit_franka	Fold the towel in half	true
dd198e2d-b7a8-439c-92cf-918d11bae591	Fold the towel in half	success	mit_franka	Fold the towel in half	true
b320d076-acf4-4d73-b105-badbf5743c63	Fold the towel in half	success	mit_franka	Fold the towel in half	true
06507b30-e87f-4af8-917f-370b3e2fa019	Fold the towel in half	success	mit_franka	Fold the towel in half	true
acfb5c15-af91-4e3a-ae53-a5abe46cb015	Fold the towel in half	success	mit_franka	Fold the towel in half	true
5e595ea4-4d4d-41a2-9ba3-40a59ec9e3da	Fold the towel in half	success	mit_franka	Fold the towel in half	true
f6da3de1-1c9b-479d-9c79-1a2e5bb7d4d0	Fold the towel in half	success	mit_franka	Fold the towel in half	true
9517ffba-0896-4d2f-9838-63138014a4fb	Fold the towel in half	success	mit_franka	Fold the towel in half	true
20fe7d68-4aa2-4efd-91ff-9f4e3127f610	Fold the towel in half	success	mit_franka	Fold the towel in half	true
15b22b8c-5d85-42ef-95f8-98f3c98c2669	Fold the towel in half	success	mit_franka	Fold the towel in half	true
84c6767f-ce1b-42d3-a1a3-e87de7c320c6	Fold the towel in half	success	mit_franka	Fold the towel in half	true
57e0d106-beab-465b-a6d0-ed16aab297c9	Fold the towel in half	success	mit_franka	Fold the towel in half	true
d54d39b3-cdd7-4cbd-9905-b287f4540b66	Fold the towel in half	success	mit_franka	Fold the towel in half	true
a65f86a9-cb07-41ac-9aa4-c97c6a3cbbc6	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
b3770eb9-916f-4f83-a4ec-6f89e9a9eb4f	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
9c180799-458a-448e-9a07-d499132c00ad	Fold the towel in half	success	mit_franka	Fold the towel in half	true
042f851d-aafe-44e8-8557-555d57aa9060	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
7e32a2b1-f9a5-4009-8525-97ea98cafc74	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
ac75fba0-0041-44df-ab1d-354b9323f313	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
c43ac562-c78a-4142-937f-51b109f474cb	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
87ce88c1-70f3-48c8-8622-4ad718a0237f	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
2052e1a7-6bc2-4a30-a5ff-ffc6b005615f	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
108aa493-010e-4873-b18b-218ffb6d5abb	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
098cb3b6-8f09-40a8-bd5e-e2e5fc933082	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
11367f6c-f5cf-425d-919c-4acae1ad1d46	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
6baba024-e1d2-454f-ac0b-1fb8fd6a3c2c	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
326d2e86-8c60-4323-bcbc-e6aa3195cc29	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
33d0db86-072c-4a16-a341-389f6d974a39	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
98b35adb-4dd4-422c-8943-65ff00440e03	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
327ceead-5ffb-4f5e-b3fc-7cfb4e29d699	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true
c613ee08-89af-481f-be55-9f42305ea08e	Pick up the banana from the blue plate and place it on the green plate	suboptimal	mit_franka	Pick up the banana from the blue plate and place it on the green plate	true

End of preview. Expand in Data Studio

This is the RBM-1M-OOD evaluation dataset from the Robometer project. It contains robotics behavior videos used for out-of-distribution evaluation of general-purpose reward models.

Dataset Description

RBM-1M-OOD evaluation comprises trajectories from multiple robot platforms and tasks (USC Trossen, MIT Franka, UTD SO101, USC xArm, USC Franka, USC Koch). Each row has a video (MP4) and metadata including language instruction, quality label (success/failure/suboptimal), and data source.

Paper: https://arxiv.org/abs/2603.02115
License: Apache 2.0

Dataset Structure

The repo follows the VideoFolder layout:

train/*.mp4 — evaluation videos (H.264, browser-playable)
train/metadata.parquet — metadata with file_name linking to each video (single format required for Dataset Viewer)
meta/info.json — dataset schema and split info

meta/info.json (generated on upload):

{
  "dataset_name": "rbm-1m-ood-eval",
  "total_videos": "<number of videos>",
  "splits": { "train": "0:<total_videos>" },
  "video_path": "train/{file_name}",
  "metadata_path": "train/metadata.parquet",
  "data_sources": ["usc_trossen", "mit_franka", "utd_so101", "usc_xarm", "usc_franka", "usc_koch"],
  "features": {
    "id": { "dtype": "string", "description": "Unique identifier (UUID)" },
    "file_name": { "dtype": "string", "description": "Video filename in train/" },
    "language_instruction": { "dtype": "string", "description": "Task description / instruction" },
    "quality_label": { "dtype": "string", "description": "success, failure, or suboptimal" },
    "data_source": { "dtype": "string", "description": "Source dataset" }
  }
}

Key metadata columns:

Column	Description
`id`	Unique identifier (UUID)
`file_name`	Video filename (e.g. `video_000000.mp4`)
`language_instruction`	Task description / instruction
`quality_label`	`success`, `failure`, or `suboptimal`
`data_source`	Source dataset: `usc_trossen`, `mit_franka`, `utd_so101`, `usc_xarm`, `usc_franka`, `usc_koch`

Load with the datasets library:

from datasets import load_dataset
ds = load_dataset("videofolder", data_dir="<repo_id>", split="train")

Citation

BibTeX:

@article{liang2026robometer,
  title={Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons},
  author={Liang, Anthony and Korkmaz, Yigit and Zhang, Jiahui and Hwang, Minyoung and Anwar, Abrar and Kaushik, Sidhant and Shah, Aditya and Huang, Alex S. and Zettlemoyer, Luke and Fox, Dieter and Xiang, Yu and Li, Anqi and Bobu, Andreea and Gupta, Abhishek and Tu, Stephen and Biyik, Erdem and Zhang, Jesse},
  journal={arXiv preprint arXiv:2603.02115},
  year={2026}
}

Downloads last month: 17

Size of the auto-converted Parquet files:

33.6 MB

Number of rows:

421

Paper for aliangdw/rbm-1m-ood

Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons

Paper • 2603.02115 • Published 13 days ago