ai-habitat/OVMM_episodes
The Open Vocab Mobile Manipulation (OVMM) dataset involves mobile manipulation tasks with initial configurations, goal specifications, and candidate goals. The initial configuration includes the initial poses of objects, the agent's start position and orientation. The goal specification defines moving objects of a specific category from a source container to a target container. The candidate goals section details instances of objects and containers related to the task.
Dataset description and usage context
Open Vocab Mobile Manipulation Episodes
Initial Configuration
rigid_objs: Initial poses of all pickable objects, specified by 4 × 4 matrices.start_position: Agent’s position at the start of an episode.start_rotation: Agent’s orientation at the start of an episode.
Goal Specification
object_category,start_recep_category, andend_recep_category: These fields define the OVMM task goal – moving anobject_categoryfromstart_recep_categorytogoal_recep_category.
Candidate Goals
Each goal is specified by an object_id together with a position and a set of view_points (agent poses from which the goal is visible).
candidate_objects: Instances ofobject_categoryplaced on containers belonging tostart_recep_category.candidate_objects_hard: All instances ofobject_category.candidate_start_receps: All container instances belonging tostart_recep_category.candidate_goal_receps: All container instances belonging togoal_recep_category.
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