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mixtures.py
Defines a registry of dataset mixtures and weights for the Open-X Embodiment Datasets. Each dataset is associated with
a float "sampling weight"
"""
from typing import Dict, List, Tuple
# Dataset mixture name mapped to a list of tuples containing:
## {nakename: [(data_name, sampling_weight, robot_type)] }
DATASET_NAMED_MIXTURES = {
"custom_dataset": [
("custom_dataset_name", 1.0, "custom_robot_config"),
],
"custom_dataset_2": [
("custom_dataset_name_1", 1.0, "custom_robot_config"),
("custom_dataset_name_2", 1.0, "custom_robot_config"),
],
"libero_all": [
("libero_object_no_noops_1.0.0_lerobot", 1.0, "libero_franka"),
("libero_goal_no_noops_1.0.0_lerobot", 1.0, "libero_franka"),
("libero_spatial_no_noops_1.0.0_lerobot", 1.0, "libero_franka"),
("libero_10_no_noops_1.0.0_lerobot", 1.0, "libero_franka"),
# ("libero_90_no_noops_lerobot", 1.0, "libero_franka"),
],
"bridge": [
("bridge_orig_1.0.0_lerobot", 1.0, "oxe_bridge"),
],
"bridge_rt_1": [
("bridge_orig_1.0.0_lerobot", 1.0, "oxe_bridge"),
("fractal20220817_data_0.1.0_lerobot", 1.0, "oxe_rt1"),
],
"demo_sim_pick_place": [
("sim_pick_place", 1.0, "demo_sim_franka_delta_joints"),
],
"custom_dataset": [
("custom_dataset_name", 1.0, "custom_robot_config"),
],
"custom_dataset_2": [
("custom_dataset_name_1", 1.0, "custom_robot_config"),
("custom_dataset_name_2", 1.0, "custom_robot_config"),
],
"fourier_gr1_unified_1000": [
("gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromCuttingboardToPotSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromPlacematToBowlSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromPlacematToPlateSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromPlacematToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromPlateToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromPlateToPanSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromPlateToPlateSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromTrayToPlateSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromTrayToPotSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromTrayToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
("gr1_unified.PosttrainPnPNovelFromTrayToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"),
],
"BEHAVIOR_challenge": [
("BEHAVIOR_challenge", 1.0, "R1Pro"),
],
"SO101_pick": [
("pick_dataset_name", 1.0, "SO101"),
],
"arx_x5": [
("arx_x5", 1.0, "arx_x5"),
],
"robotwin": [
("adjust_bottle", 1.0, "robotwin"),
("beat_block_hammer", 1.0, "robotwin"),
("blocks_ranking_rgb", 1.0, "robotwin"),
("blocks_ranking_size", 1.0, "robotwin"),
("click_alarmclock", 1.0, "robotwin"),
("click_bell", 1.0, "robotwin"),
("dump_bin_bigbin", 1.0, "robotwin"),
("grab_roller", 1.0, "robotwin"),
("handover_block", 1.0, "robotwin"),
("handover_mic", 1.0, "robotwin"),
("hanging_mug", 1.0, "robotwin"),
("lift_pot", 1.0, "robotwin"),
("move_can_pot", 1.0, "robotwin"),
("move_pillbottle_pad", 1.0, "robotwin"),
("move_playingcard_away", 1.0, "robotwin"),
("move_stapler_pad", 1.0, "robotwin"),
("open_laptop", 1.0, "robotwin"),
("open_microwave", 1.0, "robotwin"),
("pick_diverse_bottles", 1.0, "robotwin"),
("pick_dual_bottles", 1.0, "robotwin"),
("place_a2b_left", 1.0, "robotwin"),
("place_a2b_right", 1.0, "robotwin"),
("place_bread_basket", 1.0, "robotwin"),
("place_bread_skillet", 1.0, "robotwin"),
("place_burger_fries", 1.0, "robotwin"),
("place_can_basket", 1.0, "robotwin"),
("place_cans_plasticbox", 1.0, "robotwin"),
("place_container_plate", 1.0, "robotwin"),
("place_dual_shoes", 1.0, "robotwin"),
("place_empty_cup", 1.0, "robotwin"),
("place_fan", 1.0, "robotwin"),
("place_mouse_pad", 1.0, "robotwin"),
("place_object_basket", 1.0, "robotwin"),
("place_object_scale", 1.0, "robotwin"),
("place_object_stand", 1.0, "robotwin"),
("place_phone_stand", 1.0, "robotwin"),
("place_shoe", 1.0, "robotwin"),
("press_stapler", 1.0, "robotwin"),
("put_bottles_dustbin", 1.0, "robotwin"),
("put_object_cabinet", 1.0, "robotwin"),
("rotate_qrcode", 1.0, "robotwin"),
("scan_object", 1.0, "robotwin"),
("shake_bottle", 1.0, "robotwin"),
("shake_bottle_horizontally", 1.0, "robotwin"),
("stack_blocks_three", 1.0, "robotwin"),
("stack_blocks_two", 1.0, "robotwin"),
("stack_bowls_three", 1.0, "robotwin"),
("stack_bowls_two", 1.0, "robotwin"),
("stamp_seal", 1.0, "robotwin"),
("turn_switch", 1.0, "robotwin"),
],
"cross_embodiedment_17tasks": [
# libero - 4 tasks
("libero_object_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 66984
("libero_goal_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 52042
("libero_spatial_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 52970
("libero_10_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 101469
# robotwin - 8 tasks, selected by average trajectory length, 400, 500, 600, 700, 800, 900, 900, 1200
("beat_block_hammer", 1.0, "robotwin"), #
("place_shoe", 1.0, "robotwin"), #
("dump_bin_bigbin", 1.0, "robotwin"), #
("put_object_cabinet", 1.0, "robotwin"), #
("stack_blocks_two", 1.0, "robotwin"), #
("stack_bowls_two", 1.0, "robotwin"), #
("shake_bottle", 1.0, "robotwin"), #
("hanging_mug", 1.0, "robotwin"), #
# ("blocks_ranking_rgb", 1.0, "robotwin"), #
# gr1 - 5 tasks
("gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 71341
("gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 48282
("gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 48066
("gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 41518
("gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 39739
],
"cross_embodiedment_21tasks": [
# libero - 4 tasks
("libero_object_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 66984
("libero_goal_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 52042
("libero_spatial_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 52970
("libero_10_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 101469
# robotwin - 8 tasks, selected by average trajectory length, 400, 500, 600, 700, 800, 900, 900, 1200
("beat_block_hammer", 1.0, "robotwin"), #
("place_shoe", 1.0, "robotwin"), #
("dump_bin_bigbin", 1.0, "robotwin"), #
("put_object_cabinet", 1.0, "robotwin"), #
("stack_blocks_two", 1.0, "robotwin"), #
("stack_bowls_two", 1.0, "robotwin"), #
("shake_bottle", 1.0, "robotwin"), #
("hanging_mug", 1.0, "robotwin"), #
# ("blocks_ranking_rgb", 1.0, "robotwin"), #
# gr1 - 5 tasks
("gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 71341
("gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 48282
("gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 48066
("gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 41518
("gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 39739
# real-world - 4 tasks
("realworld_4tasks", 1.0, "real_world_franka"),
],
"real_world_4tasks": [
("realworld_4tasks", 1.0, "real_world_franka"),
],
"realworld_tasks_all": [
("realworld_tasks_all", 1.0, "real_world_franka"),
],
"realworld_collect": [
("realworld_collect", 1.0, "real_world_franka"),
],
"cross_embodiedment_13tasks": [
# libero - 4 tasks
("libero_object_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 66984
("libero_goal_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 52042
("libero_spatial_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 52970
("libero_10_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 101469
# gr1 - 5 tasks
("gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 71341
("gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 48282
("gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 48066
("gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 41518
("gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 39739
# real-world - 4 tasks
("realworld_pickplace_4tasks", 1.0, "real_world_franka"),
],
"cross_embodiedment_simulator": [
# libero - 4 tasks
("libero_object_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 66984
("libero_goal_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 52042
("libero_spatial_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 52970
("libero_10_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 101469
# gr1 - 5 tasks
("gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 71341
("gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 48282
("gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 48066
("gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 41518
("gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_200", 1.0, "fourier_gr1_arms_waist"), # 39739
],
"cross_embodiedment_simulator_moredata": [
# libero - 4 tasks
("libero_object_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 66984
("libero_goal_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 52042
("libero_spatial_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 52970
("libero_10_no_noops_1.0.0_lerobot", 1.0, "libero_franka"), # 101469
("libero_90_no_noops_lerobot", 1.0, "libero_franka"), # 901020
# gr1 - 5 tasks
("gr1_unified.PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"), # 71341 x 5
("gr1_unified.PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"), # 48282 x 5
("gr1_unified.PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"), # 48066 x 5
("gr1_unified.PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"), # 41518 x 5
("gr1_unified.PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_1000", 1.0, "fourier_gr1_arms_waist"), # 39739 x 5
],
}
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