robometer/dataset_upload/dataset_guides/README.md

Dataset Guides Overview

This directory contains detailed guides for specific datasets supported by the Robometer training pipeline.

Available Datasets

Production-Ready

Dataset	Type	Size	Features	Guide
AgiBotWorld	Real Robot	600GB+	Streaming, Head Camera	📖 AgiBotWorld.md
LIBERO	Simulation	~5GB	HDF5, Multi-env	📖 LIBERO.md
FinoNet	Manipulation	~10GB	Success/Failure, PNG	📖 FinoNet.md
H2R	Human-Robot	~	Paired videos	📖 H2R.md

Custom Integration

Type	Description	Guide
Custom Dataset	Add DROID, Bridge, or any dataset	📖 CustomDataset.md

Quick Reference

AgiBotWorld (Streaming)

uv run python data/generate_hf_dataset.py --config_path=configs/data_gen_configs/agibot_world.yaml

• ✅ No download needed (600GB+ dataset streams)
• ✅ Authentication required (HuggingFace login + license)
• ✅ Head camera only (ignores depth/other views)

LIBERO (Local Files)

uv run python data/generate_hf_dataset.py --config_path=configs/data_gen.yaml

• ✅ Local HDF5 files (download LIBERO dataset first)
• ✅ Multi-environment (living room, kitchen, office, study)
• ✅ Simulation data (high-quality manipulation tasks)

FinoNet (Success/Failure Data)

uv run python dataset_upload/generate_hf_dataset.py --config_path=dataset_upload/configs/data_gen_configs/fino_net.yaml

• ✅ PNG sequences (download from HuggingFace)
• ✅ 5 manipulation tasks (put_on, put_in, place, pour, push)
• ✅ Labeled success/failure episodes for robust training

Custom Dataset

# 1. Create loader: data/{name}_loader.py
# 2. Add to converter: data/generate_hf_dataset.py  
# 3. Create config: configs/data_gen_configs/{name}.yaml
# 4. Test: uv run python data/generate_hf_dataset.py --config_path=...

• ✅ Template provided (follow CustomDataset.md)
• ✅ Multiple formats (HDF5, JSON, pickle, etc.)
• ✅ Flexible integration (video files, frame arrays, or streaming)

Directory Structure

data/dataset_guides/
├── README.md              ← This overview
├── AgiBotWorld.md         ← Streaming dataset guide  
├── LIBERO.md              ← Local HDF5 dataset guide
├── FinoNet.md             ← Success/failure dataset guide
├── H2R.md                 ← Human-robot paired dataset guide
└── CustomDataset.md       ← Template for new datasets

Getting Started

1. Choose your dataset from the table above
2. Read the specific guide for detailed instructions
3. Follow prerequisites (authentication, downloads, etc.)
4. Run the conversion using provided commands
5. Integrate with training using the generated dataset

Need Help?

• 📖 Main Guide: ../README_ADDING_DATASETS.md
• 🐛 Issues: Check troubleshooting sections in individual guides
• 💡 Custom Datasets: Start with CustomDataset.md template

Contributing

To add a new dataset guide:

1. Create {DatasetName}.md in this directory
2. Follow the structure of existing guides
3. Update this README's table
4. Add reference in main README_ADDING_DATASETS.md