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--- |
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extra_gated_prompt: "You agree to not use the model to conduct experiments that cause harm to human subjects." |
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extra_gated_fields: |
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Company/Organization: text |
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Country: country |
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license: apache-2.0 |
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library_name: transformers |
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pipeline_tag: robotics |
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--- |
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# RoboBrain-X-Dataset |
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The RoboBrain-X Dataset is a comprehensive embodied robotics dataset featuring two dual-arm robots, Agilex and R1lite, across diverse scenarios with detailed annotations. |
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# Get started 🔥 |
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## Download the Dataset |
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To download the full dataset, you can use the following code. If you encounter any issues, please refer to the official Hugging Face documentation. |
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``` |
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# Make sure you have git-lfs installed (https://git-lfs.com) |
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git lfs install |
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# When prompted for a password, use an access token with write permissions. |
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# Generate one from your settings: https://huggingface.co/settings/tokens |
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git clone https://huggingface.co/datasets/BAAI/RoboBrain-X-Dataset |
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``` |
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## Dataset Structure |
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### Folder hierarchy |
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``` |
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data |
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├── RoboBrain_Robotic_AGXCompany |
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│ ├── annotation |
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│ │ ├── train.json |
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│ │ ├── ... |
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│ ├── video |
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│ │ ├── 0 |
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│ │ ├── 1 |
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│ │ ├── ... |
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├── ... |
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├── agilex_company_annotations |
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│ │ ├── agilex_company_annotations.json |
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│ │ ├── ... |
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``` |
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The total trajetory of annotations are in ``train.json'' and the details of subtask annotations can be found in ``agilex_company_annotations.json''. |
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### [train.json](train.json): |
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```json |
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[ |
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"Pick up the beef on the table": [ |
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{ |
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"raw_task": "Put_the_two_slices_of_bread_and_the_beef_patty_together_on_the_table_to_make_a_hamburger", |
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"task": "Pick up the beef on the table", |
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"frame": { |
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"all": 573, |
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"start_frame": 51, |
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"end_frame": 115 |
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}, |
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"data": { |
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"high": "./RoboBrain_Robotic_AGX/videos/train/2773/2773_cam_high.mp4", |
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"left": "./RoboBrain_Robotic_AGX/videos/train/2773/2773_cam_left_wrist.mp4", |
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"right": "./RoboBrain_Robotic_AGX/videos/train/2773/2773_cam_right_wrist.mp4", |
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"state": "./RoboBrain_Robotic_AGX/videos/train/2773/2773.hdf5" |
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} |
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}, |
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... |
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] |
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``` |
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### key format of features in hdf5 files |
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``` |
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|-- qpos (N * 14) (6DoF Right Joint+ Right Gripper (0 for close) + 6DoF Left Joint + Left Gripper (0 for close)) |
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|-- action (N * 14) (Right EEPose (xyz, rpy)+ Right Gripper (0 for close) + Leftt EEPose (xyz, rpy) + Left Gripper (0 for close)) |
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``` |
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# 📅 TODO List |
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- [ ] **RoboBrain-X-Dataset**: ~50,000 simulation demonstrations with rich human annotations. |
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- [ ] **Data process for training format**: data processing scripts for transfering raw data into FlagScale training data. |
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