| # 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](AgiBotWorld.md) | |
| | **LIBERO** | Simulation | ~5GB | HDF5, Multi-env | [📖 LIBERO.md](LIBERO.md) | |
| | **FinoNet** | Manipulation | ~10GB | Success/Failure, PNG | [📖 FinoNet.md](FinoNet.md) | |
| | **H2R** | Human-Robot | ~ | Paired videos | [📖 H2R.md](H2R.md) | |
|
|
| ### Custom Integration |
| | Type | Description | Guide | |
| |------|-------------|-------| |
| | **Custom Dataset** | Add DROID, Bridge, or any dataset | [📖 CustomDataset.md](CustomDataset.md) | |
|
|
| ## Quick Reference |
|
|
| ### AgiBotWorld (Streaming) |
| ```bash |
| 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) |
| ```bash |
| 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) |
| ```bash |
| 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 |
| ```bash |
| # 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](../README_ADDING_DATASETS.md) |
| - 🐛 **Issues**: Check troubleshooting sections in individual guides |
| - 💡 **Custom Datasets**: Start with [CustomDataset.md](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 |
