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.gitattributes

@@ -33,3 +33,31 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+data/agibot_beta_temp/cleaned_metadata.csv filter=lfs diff=lfs merge=lfs -text
+data/agibot_beta_temp/merged_metadata.csv filter=lfs diff=lfs merge=lfs -text
+data/droid/cleaned_metadata.csv filter=lfs diff=lfs merge=lfs -text
+data/droid/merged_metadata.csv filter=lfs diff=lfs merge=lfs -text
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+data/openx_embodiment/language_table/merged_metadata.csv filter=lfs diff=lfs merge=lfs -text
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+data/pandas/merged_metadata.csv filter=lfs diff=lfs merge=lfs -text
+data/pandas/merged_metadata_with_youtube_key.csv filter=lfs diff=lfs merge=lfs -text
+data/something_something_v2/cleaned_metadata.csv filter=lfs diff=lfs merge=lfs -text
+data/something_something_v2/merged_metadata.csv filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,3 +1,39 @@
----
-license: apache-2.0
----
+This folder contains the trained large video planner checkpoints (14B parameter) and  all the metadata for eight dataset sources: Agibot-world, droid, bridge, language-tables, Pandas(filtered), SomethingSomethingV2, ego4d, epic_kitchens.  We release a `merged_metadata.csv` and a `cleaned_metadata.csv` for each. 
+We also released our test set in `data/ours_test/` with the images and text instructions gathered from third-parties.
+
+## Trained Checkpoints for our Large Video Planner
+`checkpoints/lvp_14B.ckpt` is the trained weights for the transformer backbone.
+
+## Dataset format
+We train on a mixture of datasets, so we define a unified dataset format for consistency and ease of management.
+
+Each dataset includes a global metadata file, typically named `metadata_merged.csv`, which contains key information for each video clip. 
+
+The file is named as metdata_**merged**.csv because each video clip may have multiple recaptions. Instead of saving the captions for each video into a list within a single csv row, we just create another row on the `metadata_merged.csv`. So `metadata_merged.csv` may contain multiple rows referring to the same video with different captions. For some dataset, we also provide a `cleaned_metadata.csv`, which contains a deduplicated version of the metadata (one entry per video) but excludes the additional recaptions.
+
+Important fields of the global metadata includes:
+1. `video_path`: Relative path (from the metadata file) to the video clip.
+2. `trim_start`, and `trim_end` (optional): Specifies the trimmed segment of the clip. If absent, the full video is used.
+3. `gemini_caption`: Action-focused caption generated by Gemini Flash 2.0.
+4. `original_caption`: Original caption from the source dataset; used when no Gemini caption is available.
+5. `prompt_embed_path`: Path to precomputed T5 prompt embeddings (not released due to large size).
+6. `stable_brightess` (optional): 1.0 if brightness is stable, 0.0 otherwise. We recommend removing videos with `stable_brightess == 0.0`
+7. `stable_background` (optional): Either 1.0 or 0.0.  Recommend to remove videos with `stable_background == 0.0`, this indicates the video has large average optical flow magnitudes, which very likely contains large background motions. 
+8. `detected_hand_in_first_frame` (optional): 1.0 if a human hand is detected in the first frame, 0.0 otherwise. Videos with 0.0 often cause embodiment ambiguity and should be filtered out.
+9. There are some other fields which can help you understand more about this clips. `n_frames`, `n_fps`, `height`, `width`, ... etc.
+
+
+
+
+## Downloading the dataset
+We provide dataset-specific download scripts for AgiBot World, DROID, Ego4D, EpicKitchens, and Something-Something in their respective dataset.py files within the `datasets/` folder of the relased code.
+
+For downloading the filtered Pandas subset, we provide the unique `youtube_key_segment` for each video_clip, and the `trim_start`, and `trim_end` for each clip.  To download these subset, please download the official metadata from [Pandas-70M](https://snap-research.github.io/Panda-70M/), then using the `youtube_key_segment` to find the URL of the video clips and then download with your own online video downloader.
+
+
+
+For Bridge, please download from (Bridge)[https://rail-berkeley.github.io/bridgedata/]. 
+
+For Language Table, please download from (Language Table)[https://github.com/google-research/language-table].
+
+

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data/ours_test/metadata.csv

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+image_path,original_caption,height,width,fps,n_frames,gemini_caption
+test_images/0001.jpg,Break off a piece of tape,480,832,16,1,"A person holds the red tape dispenser with their left hand on a wooden desk and pulls a piece of clear tape with their right hand, tearing it against the serrated edge."
+test_images/0003.png,Insert the straw into the cup,480,832,16,1,A person's left hand inserts a green straw into the cross-shaped opening on the lid of a clear plastic cup that is sitting on a wooden desk next to a keyboard.
+test_images/0004.jpg,Lift up the chair from the back,480,832,16,1,A left hand reaches for the curved backrest of a pale-green wooden chair that is sitting on a patterned rug and lifts it.
+test_images/0005.jpg,Move the knife out of the glass box,480,832,16,1,A hand removes the large kitchen knife with a grey and white handle from the square glass container on the wooden cutting board.
+test_images/0006.jpg,Move the mannequin's arm so that its arms form a V shape,480,832,16,1,"A hand reaches for the wooden mannequin standing on a white shelf and lifts its right arm, positioning both arms upward in a V-shape."
+test_images/0008.jpg,Open the juice bottle by twisting the cap counter clockwise,480,832,16,1,"A person holds a blue carton of Jumex Mango Nectar steady with their left hand while their right hand is positioned above the white cap, preparing to twist it counter-clockwise to open it."
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+test_images/0017.jpg,Stir the tomatoes in the pot,480,832,16,1,A metal ladle stirs chopped tomatoes simmering in a steaming stainless steel pot on a white electric stovetop.
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+test_images/0020.jpg,Unplug the upper charging cable,480,832,16,1,A person's left hand unplugs the upper of two black cables from the side of a laptop.
+test_images/0021.jpg,Use the pen to press the button F,480,832,16,1,A right hand uses a blue pen to press the 'F' key on the black keyboard of a laptop.
+test_images/0022.jpg,Use the scissors to pick up the plastic bag,480,832,16,1,"A left hand holding a pair of grey and orange scissors moves toward a translucent plastic bag on a white table, preparing to pick it up."
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+test_images/0026.jpg,fetch_a_napkin,480,832,16,1,A left hand reaches toward a colorful Kleenex box on a wooden desk to pull out a tissue.
+test_images/0027.jpg,flick_bathroom switch_off,480,832,16,1,"A right hand reaches for a dark, vintage-style toggle light switch on a white wall and flicks it down to the off position."
+test_images/0028.jpg,flip_cup_upside_down,480,832,16,1,The left hand reaches for the green paper cup resting on the black leather couch and flips it upside down.
+test_images/0029.jpg,fold_down_the_lamp_arm,480,832,16,1,A hand folds the upper arm of the white desk lamp down towards its base on the wooden desk.
+test_images/0031.jpg,grab the pen from the desktop,480,832,16,1,"A person's left hand, wearing a grey and black plaid shirt, reaches over a white desk, positioning the thumb and index finger around a black pen that is lying on a paper with handwritten notes."
+test_images/0033.jpg,grad the cup from the desktop,480,832,16,1,"A left hand reaches to grab a white paper cup filled with a clear liquid from a white desk, situated in front of a silver laptop."
+test_images/0034.jpg,lift_up_the_door_handle,480,832,16,1,"A hand, extending from a blue sleeve, reaches for the brushed metal lever handle on the white paneled door and lifts it upward."
+test_images/0035.jpg,move the mouse leftwards,480,832,16,1,"A right hand moves a white ergonomic mouse leftwards, sliding it from its position on top of the black keyboard."
+test_images/0038.jpg,pick up the airpod box on the table,480,832,16,1,A left hand reaches onto the corner of a light-brown wooden table and picks up the white AirPods case.
+test_images/0041.jpg,put the fork into the red cup,480,832,16,1,A hand holding a silver fork moves it from over the black mug and places it into the red cup decorated with a dog pattern.
+test_images/0042.jpg,put the fork to the red cup,480,832,16,1,A hand moves a silver fork toward the red cup decorated with a repeating pattern of a cartoon French bulldog.
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+test_images/0155.JPG,taking_the_lid_off_the_jar,480,832,16,1,"A right hand lifts the lid off a white ceramic jar labeled ""TREATS"" that is sitting on a dark blue countertop."
+test_images/0156.JPG,tear_down_the_poster,480,832,16,1,"A right hand tears down a paper sign with a ""Berkeley Physics Lab"" logo from a glass door."
+test_images/0160.JPG,turn_door_handle_0,480,832,16,1,"A person's right hand reaches towards the silver doorknob on a dirty, white paneled door, which is next to a textured white wall with a double light switch."
+test_images/0161.JPG,turn_fan_dial_0,480,832,16,1,"A person's right hand rests on the black dial of a silver Patton floor fan, which is positioned on a counter in front of shelves stocked with cases of instant noodles."
+test_images/0162.jpg,turn_knob_of_washing_machine,480,832,16,1,"A person's left hand, wearing a grey sweatshirt, turns the large silver control knob on the front of a grey LG washing machine."
+test_images/0164.jpg,turn_the_lock,480,832,16,1,A person's right hand turns the thumb-turn of the brass deadbolt lock on a white door.
+test_images/0165.JPG,turn_wheel_on_pipe_0,480,832,16,1,"A person's hand reaches to turn the black, circular wheel on a large, red industrial valve located in front of a chain-link fence."
+test_images/0170.JPG,twist_off_closure_0,480,832,16,1,"A person's right hand moves to twist the white, ridged cap off a white and red bottle that is lying on the gray fabric of an office chair."
+test_images/0172.JPG,unscrewing_the_lid_on_the_jar,480,832,16,1,"A right hand unscrews the white lid from a large, translucent plastic jar that is sitting on a dark, speckled countertop."
+test_images/0174.JPG,use_key_to_open_door_0,480,832,16,1,"A right hand holding a key with a black head moves it towards the silver deadbolt lock on a white door, positioned above a silver doorknob."