| --- |
| license: mit |
| --- |
| # Datacard |
| This is the official fine-tuning dataset provided by VLABench (raw data), with 500 episodes each task. The current version includes 10 primitive tasks. |
|
|
| ## Source |
| - Project Page: [https://vlabench.github.io/](https://vlabench.github.io/) |
| - Arxiv Paper: [https://arxiv.org/abs/2412.18194](https://arxiv.org/abs/2412.18194) |
| - Code: [https://github.com/OpenMOSS/VLABench](https://github.com/OpenMOSS/VLABench) |
|
|
| ## Uses |
| Download all archive files and use the following command to extract: |
| ```sh |
| cat vlabench_primitive.tar.gz.* | tar -xzvf - |
| ``` |
|
|
| In the resulting `VLABench_release` folder, there will be two folders: `primitive`(release now) and `composite`(under management). |
| In `primitive` folder, there are ten sub-folders and the dataset HDF5 files can be listed as: |
|
|
| ``` |
| VLABench_release |
| └── primitive |
| ├── add_condiment |
| └── episode_0.hdf5 |
| ... |
| ├── insert_flower |
| └── episode_0.hdf5 |
| ... |
| ├── select_book |
| └── ... |
| ├── select_chemistry_tube |
| └── ... |
| ├── select_drink |
| └── ... |
| ├── select_fruit |
| └── ... |
| ├── select_mahjong |
| └── ... |
| ├── select_painting |
| └── ... |
| ├── select_poker |
| └── ... |
| └── select_toy |
| └── ... |
| ``` |
|
|
| An example of the single episode data is: |
| ``` |
| data |
| 2025-02-23 20:46:40 |
| instruction |
| (1,) |S38 |
| ['Please put the striped_10 in any hole.'] |
| meta_info |
| entities |
| (6,) |S15 |
| ['billiards_table', 'striped_10', 'striped_14', 'striped_11', 'striped_12', 'solid_1'] |
| episode_config |
| () | S1879 |
| target_entity |
| (1,) |S10 |
| ['striped_10'] |
| observation |
| depth |
| (212, 4, 480, 480) float32 |
| ee_state |
| (212, 8) float32 |
| point_cloud_colors |
| (212, 11905, 3) float32 |
| point_cloud_points |
| (212, 11905, 3) float32 |
| q_acceleration |
| (212, 7, 1) float32 |
| q_state |
| (212, 7, 1) float32 |
| q_velocity |
| (212, 7, 1) float32 |
| rgb |
| (212, 4, 480, 480, 3) uint8 |
| robot_mask |
| (212, 4, 480, 480) float32 |
| trajectory |
| (212, 8) float32 |
| ``` |
|
|
| ## Citation |
| If you find our work helps,please cite us: |
| ``` |
| @misc{zhang2024vlabench, |
| title={VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks}, |
| author={Shiduo Zhang and Zhe Xu and Peiju Liu and Xiaopeng Yu and Yuan Li and Qinghui Gao and Zhaoye Fei and Zhangyue Yin and Zuxuan Wu and Yu-Gang Jiang and Xipeng Qiu}, |
| year={2024}, |
| eprint={2412.18194}, |
| archivePrefix={arXiv}, |
| primaryClass={cs.RO}, |
| url={https://arxiv.org/abs/2412.18194}, |
| } |
| ``` |
