diff --git a/README.md b/README.md index 177e8e423261c0d1198898c481b03d06bb118c36..0171e7c591e521cfdec3fa168e7b3761ec860e37 100644 --- a/README.md +++ b/README.md @@ -2,23 +2,124 @@ license: other task_categories: - robotics +language: +- en tags: -- lerobot -- rlbench +- simulation +- single-arm - robot-manipulation -- validation +- visuomotor-policy +- LeRobot +- v3 +- end-effector-pose +- rlbench +size_categories: +- 10K 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 + +## 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 + +Identical pipeline and conventions as the train split — see below. The only difference is the held-out episode selection (25 episodes per task). + +### 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**: 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. + +### Layout + +Each task is a self-contained LeRobot v3 dataset in its own subdirectory with its own `meta/`, `data/`, and `videos/`: + +``` +rlbench_v3_eef_val/ +├── 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) +``` + +### Statistics + +| Metric | Value | +|---|---| +| Total Tasks | 18 | +| Total Episodes | 450 (25 per task) | +| Total Frames | 95,381 | +| FPS | 20 | +| Robot Type | Franka Panda | +| State Dim | 8 | +| Action Dim | 8 | + +## Usage -RLBench 18-task PerAct validation split, converted to LeRobot v3.0 with **lossless H.264 video**. +```python +from lerobot.datasets import LeRobotDataset -## Format +# Each task is an independent LeRobot dataset under a subdirectory +dataset = LeRobotDataset("GT-111/rlbench_v3_eef_val", root=".../close_jar") +``` -Same 8D EEF (wxyz, scalar-first) format as the train split. 18 tasks, 25 episodes per task, ~95K total frames. +## Citation -Per-task LeRobot v3.0 datasets — load with `LeRobotDataset("GT-111/rlbench_v3_eef_val/{task}")`. +```bibtex +@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} +} +``` -## Acknowledgments +## Version History -Data: PerAct (@shridhar2022peract). Simulator: RLBench (@james2019rlbench). +- **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 49fe6f48290314bd1308bee14125536573d7c796..5108f2f38a93d9d5d466e396cd4d700eb94b9413 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 sha256:20614cf51e68f52ab1f23f138730a92d3c3532a181a288dd80e9b31905f07e07 -size 421901 +oid sha256:2ce5e259bf5d71cdaef6d628634d1236f41a92772a5b1612561600a3afc26af0 +size 422182 diff --git a/close_jar/meta/episodes/chunk-000/file-000.parquet b/close_jar/meta/episodes/chunk-000/file-000.parquet index a8852ee1e263846dc6ff7e6a766a86895924f0a8..bd14e732b9afc7d445211a2cb6436b3cead5e465 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 sha256:23a583fad704e2090a668f8621427efb5b127c8e597fd79852bb507e718bf87f -size 147560 +oid sha256:e884721cc127317343beb18d22b923dc309ae96ec16538faeffc876a8d3dabe2 +size 90620 diff --git a/close_jar/meta/info.json b/close_jar/meta/info.json index 32bd4a5cff1375249c25ebdc48c061a6d733e46d..0de0b82cf908449cb27628b808e0e9bd983797bb 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": 25, - "total_frames": 4148, - "total_tasks": 1, - "chunks_size": 1000, - "data_files_size_in_mb": 100, - "video_files_size_in_mb": 200, - "fps": 20, - "splits": { - "train": "0:25" + "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": { - "observation.state": { - "dtype": "float32", - "shape": [ - 8 - ], - "names": [ - [ - "x", - "y", - "z", - "qw", - "qx", - "qy", - "qz", - "gripper" - ] - ] - }, - "action": { - "dtype": "float32", - "shape": [ - 8 - ], - "names": [ - [ - "dx", - "dy", - "dz", - "dqw", - "dqx", - "dqy", - "dqz", - "gripper" - ] - ] - }, - "observation.images.front_rgb": { - "dtype": "video", - "shape": [ - 128, - 128, - 3 - ], - "info": { - "video.height": 128, - "video.width": 128, - "video.codec": "h264", - "video.pix_fmt": "yuv444p", - "video.is_depth_map": false, - "video.fps": 20, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.wrist_rgb": { - "dtype": "video", - "shape": [ - 128, - 128, - 3 - ], 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