diff --git a/README.md b/README.md index 66e98350ac85e192ecfd7d8ca2be83cca10f2818..2f55b0acde2e28c9f0d54c320103bb709f0c33f0 100644 --- a/README.md +++ b/README.md @@ -2,59 +2,132 @@ license: other task_categories: - robotics +language: +- en tags: -- lerobot -- rlbench +- simulation +- single-arm - robot-manipulation - visuomotor-policy +- LeRobot +- v3 +- end-effector-pose +- rlbench +size_categories: +- 100K James, S., Ma, Z., Rovick Arrojo, D., Davison, A. J. *RLBench: The Robot Learning Benchmark & Learning Environment*. arXiv:1909.12271, IEEE Robotics and Automation Letters, 2020. + +- **Paper**: https://arxiv.org/abs/1909.12271 +- **GitHub**: https://github.com/stepjam/RLBench +- **Demonstration format**: PerAct (Shridhar et al., CoRL 2022) — https://github.com/peract/peract + +RLBench is a large-scale simulated manipulation benchmark built on CoppeliaSim, with procedurally generated task variations. This conversion uses the 18-task subset popularized by PerAct, with 100 demonstrations per task in the train split. + +## License + +The original RLBench code and assets are released under the MIT license; the PerAct demonstrations inherit their respective terms. This conversion is provided under `license: other` — please consult the upstream repositories for details. + +## Conversion Details + +### What we changed + +1. **Canonical EE Pose Representation**: Per-frame proprioception is unified into a single **8D EE pose vector** — position xyz (metres) + quaternion in scalar-first **WXYZ** order + gripper. + +2. **Next-Observation-Absolute Actions**: Actions are stored as **8D absolute EE pose commands**. Row `t` stores the pose that the *next* observation row `t+1` attains (next-observation-absolute alignment). Episodes contain exactly `observations - 1` action rows, so no terminal placeholder rows exist. + +3. **LeRobot v3 Format**: Converted to the LeRobot v3 dataset layout with sharded lossless H.264 video (CRF=0, yuv444p) and Parquet-based frame data at 20 Hz. + +### What we preserved + +- Both camera views: `observation.images.head` (front view) and `observation.images.wrist_right` (wrist view), 128x128 RGB +- Episode structure, task labels, and task-level variation counts +- Frame-level timestamps + +### Observation and action convention + +- `observation.state`: 8D end-effector pose — `[x, y, z, qw, qx, qy, qz, gripper]`. +- `action`: 8D absolute end-effector pose command with the same layout; row `t` is the pose attained by observation row `t+1`. +- Gripper is binary: `0` = closed, `1` = open. -RLBench 18-task PerAct dataset converted to LeRobot v3.0 with **lossless H.264 video** (CRF=0, yuv444p). +### Layout -## Format +Each task is a self-contained LeRobot v3 dataset in its own subdirectory with its own `meta/`, `data/`, and `videos/`: -- **Per-task LeRobot v3.0 datasets** — each task is a subdirectory with its own `meta/`, `data/`, `videos/` -- **8D EEF**: xyz + quaternion (wxyz, scalar-first) + gripper -- **State**: absolute pose (wxyz passthrough from PerAct) -- **Action**: delta position + absolute quaternion (wxyz) + gripper -- **2 cameras**: front view (`observation.images.front_rgb`) + wrist view (`observation.images.wrist_rgb`) -- **18 tasks**, 100 episodes per task, ~374K total frames -- Raw values; use `{task}/meta/norm_stats.json` for per-task stats +``` +rlbench_v3_eef/ +├── close_jar/ +│ ├── data/chunk-*/file-*.parquet # Frame data (8D state + 8D action) +│ ├── videos/ +│ │ ├── observation.images.head/chunk-*/file-*.mp4 +│ │ └── observation.images.wrist_right/chunk-*/file-*.mp4 +│ └── meta/ +│ ├── info.json # Dataset metadata +│ ├── tasks.parquet # Task/variation vocabulary +│ ├── episodes/chunk-*/file-*.parquet # Episode index +│ └── stats.json # Per-feature dataset statistics +├── insert_onto_square_peg/ +│ └── ... (18 task directories total) +└── norm_stats.json # Split-level post-pipeline stats (schema v3) +``` -## Task List +### Task list close_jar, insert_onto_square_peg, light_bulb_in, meat_off_grill, open_drawer, -place_cups, place_shape_in_shape_sorter, place_wine_at_rack_location, push_buttons, -put_groceries_in_cupboard, put_item_in_drawer, put_money_in_safe, reach_and_drag, -slide_block_to_color_target, stack_blocks, stack_cups, sweep_to_dustpan_of_size, turn_tap +place_cups, place_shape_in_shape_sorter, place_wine_at_rack_location, +push_buttons, put_groceries_in_cupboard, put_item_in_drawer, put_money_in_safe, +reach_and_drag, slide_block_to_color_target, stack_blocks, stack_cups, +sweep_to_dustpan_of_size, turn_tap + +### Statistics -## Loading +| Metric | Value | +|---|---| +| Total Tasks | 18 | +| Total Episodes | 1,800 (100 per task) | +| Total Frames | 373,767 | +| FPS | 20 | +| Robot Type | Franka Panda | +| State Dim | 8 | +| Action Dim | 8 | + +## Usage ```python from lerobot.datasets import LeRobotDataset -ds = LeRobotDataset("GT-111/rlbench_v3_eef/close_jar") -# Or load locally after download: -# ds = LeRobotDataset("GT-111/rlbench_v3_eef", revision="close_jar") +# Each task is an independent LeRobot dataset under a subdirectory +dataset = LeRobotDataset("GT-111/rlbench_v3_eef", root=".../close_jar") ``` -## Acknowledgments - -Data: PerAct format. Simulator: RLBench. +## Citation ```bibtex -@inproceedings{shridhar2022peract, - title={Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation}, - author={Shridhar, Mohit and Manuelli, Lucas and Fox, Dieter}, - booktitle={CoRL}, - year={2022} -} @article{james2019rlbench, title={RLBench: The Robot Learning Benchmark & Learning Environment}, author={James, Stephen and Ma, Zicong and Rovick Arrojo, David and Davison, Andrew J}, journal={IEEE Robotics and Automation Letters}, year={2020} } +@inproceedings{shridhar2022peract, + title={Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation}, + author={Shridhar, Mohit and Manuelli, Lucas and Fox, Dieter}, + booktitle={CoRL}, + year={2022} +} ``` + +## Version History + +- **v3.0** (current): LeRobot v3 conversion with canonical 8D EE pose layout and next-observation-absolute actions diff --git a/close_jar/data/chunk-000/file-000.parquet b/close_jar/data/chunk-000/file-000.parquet index b264a2baa2192e228715e10f824477c8f3396c51..75e76b2c149438ed780b7fb459305a998ef85831 100644 --- a/close_jar/data/chunk-000/file-000.parquet +++ b/close_jar/data/chunk-000/file-000.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5886870efe38fb3c091d0102dbb0ee07684964ffe4d01a929f22304ce3fbaeba -size 1675729 +oid sha256:fce99e36ed5ce10886aec4950ff5bc8c36b33dd09068fe2ff29350bc5c98975d +size 1676618 diff --git a/close_jar/meta/episodes/chunk-000/file-000.parquet b/close_jar/meta/episodes/chunk-000/file-000.parquet index baa9e66a0c9f76400e6e663d055091ad4e91b079..6b6fa8bb8925fccfe0af6c847eabf527f5d612c4 100644 --- a/close_jar/meta/episodes/chunk-000/file-000.parquet +++ b/close_jar/meta/episodes/chunk-000/file-000.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:babd4ab9ea958e5cd1afd289ea011b0d615e6b8906ddce35ecf5e8643138ecb6 -size 461967 +oid sha256:02c7850c48925baf3149f9fe455feb79afe0d4478764cad9e9f95250f750f5f3 +size 187776 diff --git a/close_jar/meta/info.json b/close_jar/meta/info.json index 5497830de037567f0a92a8de6d7cf18849c179b7..86d1da9e3bffddd92ea9305db07a1d0a10158ce4 100644 --- a/close_jar/meta/info.json +++ b/close_jar/meta/info.json @@ -1,125 +1,123 @@ { - "codebase_version": "v3.0", - "robot_type": "franka_panda", - "total_episodes": 100, - "total_frames": 16522, - "total_tasks": 1, - "chunks_size": 1000, - "data_files_size_in_mb": 100, - "video_files_size_in_mb": 200, - "fps": 20, - "splits": { - "train": "0:100" + "chunks_size": 1000, + "codebase_version": "v3.0", + "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", + "features": { + "action": { + "dtype": "float32", + "names": [ + [ + "x", + "y", + "z", + "qw", + "qx", + "qy", + "qz", + "gripper" + ] + ], + "shape": [ + 8 + ] }, - "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", - "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", - "features": { - 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