OMAnnotations

Be always up-to-date with the latest open-source state-of-the-art annotations

Text summaries, moments and captions

Left Arm Actions

Right Arm Actions

Metric Point Cloud

RGB

Metric Depth

IMU Acceleration

IMU Gyroscope

Annotation Workflow

Pick the Videos

Select Video Demonstrations

Cabinet

Cashier

Coffee

Fold Berkeley Shirt

Grabcream

Insertboxes

Packing

Partsintobox

Safeway

Screwdriver

Sofa

Soldering

Sponge

Actions Histogram

Select a video to view histogram

Objects Histogram

Select a video to view histogram

Select Your Robot

Upload URDF

Upload your custom robot URDF file

SO-ARM101

VX300S

Hello Robot

Pick Your Labels

Text summaries, moments and captions

Left Arm Actions

Right Arm Actions

Metric Point Cloud

RGB

Metric Depth

IMU Acceleration

IMU Gyroscope

Select Your Data Format

Choose the data format for your visuomotor policy dataset

📁

Custom

Upload your own format

Drag & drop your
custom data format
file here

.json

JSON

Structured JSON format

{
  "observations": [...],
  "actions": [...],
  "rewards": [...]
}

.jsonl

JSONL

JSON Lines format

{"obs": {...}, "action": {...}}
{"obs": {...}, "action": {...}}

.hdf5

HDF5

Hierarchical data format

dataset.hdf5
├── observations/
│   ├── camera_1
│   └── camera_2
└── actions/

.pt

PyTorch

PyTorch tensor format

{
  'obs': torch.Tensor,
  'actions': torch.Tensor,
  'episode_id': int
}

.npz

NumPy

Compressed numpy arrays

data.npz
├── observations
├── actions
└── metadata

.bag

ROS Bag

ROS bag format

/camera/image_raw
/joint_states
/cmd_vel
/trajectory

.pkl

OpenAI Gym

Gym-style episodes

{
  "episode_returns": [...],
  "episode_lengths": [...],
  "observations": [...]
}

.bin

Custom Binary

Optimized binary format

Binary data with
custom serialization
for efficient I/O

Generate Multimodal Dataset

Ready to create your custom visuomotor policy dataset? Review your selections and generate the final dataset.

Videos

None selected

Robot

None selected

Labels

None selected

Format

None selected