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ai-habitat
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OVMM_episodes

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The dataset viewer is not available for this split.
Cannot extract the features (columns) for the split 'train' of the config 'default' of the dataset.
Error code:   FeaturesError
Exception:    ValueError
Message:      Not able to read records in the JSON file at gzip://102344022.json::hf://datasets/ai-habitat/OVMM_episodes@9ad25fbd86a3fd352c7a0fc1f99132fbb5802378/train/content/102344022.json.gz. You should probably indicate the field of the JSON file containing your records. This JSON file contain the following fields: ['episodes', 'config', 'obj_category_to_obj_category_id', 'recep_category_to_recep_category_id']. Select the correct one and provide it as `field='XXX'` to the dataset loading method. 
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 240, in compute_first_rows_from_streaming_response
                  iterable_dataset = iterable_dataset._resolve_features()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2216, in _resolve_features
                  features = _infer_features_from_batch(self.with_format(None)._head())
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1239, in _head
                  return _examples_to_batch(list(self.take(n)))
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1389, in __iter__
                  for key, example in ex_iterable:
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1044, in __iter__
                  yield from islice(self.ex_iterable, self.n)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 282, in __iter__
                  for key, pa_table in self.generate_tables_fn(**self.kwargs):
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/json/json.py", line 170, in _generate_tables
                  raise ValueError(
              ValueError: Not able to read records in the JSON file at gzip://102344022.json::hf://datasets/ai-habitat/OVMM_episodes@9ad25fbd86a3fd352c7a0fc1f99132fbb5802378/train/content/102344022.json.gz. You should probably indicate the field of the JSON file containing your records. This JSON file contain the following fields: ['episodes', 'config', 'obj_category_to_obj_category_id', 'recep_category_to_recep_category_id']. Select the correct one and provide it as `field='XXX'` to the dataset loading method.

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Open Vocab Mobile Manipulation episodes

We describe the fields in our OVMM episodes.

Initial Configuration

  • rigid_objs: Initial poses of all pickable objects inserted into the scene specified via a 4x4 array
  • start_position: Position of the agent at the start of the episode.
  • start_rotation: Orientation of the agent at the start of the episode.

Goal specification

object_category, start_recep_category, and end_recep_category: These fields specify the OVMM task goal - Move object_category from start_recep_category to goal_recep_category

Candidate targets

Each target is specified via an object_id along with information on position and a set of view_points (agent poses from where the target is visible).

  • candidate_objects: object instances belonging to object_category on top of a receptacle belonging to start_recep_category
  • candidate_objects_hard: all object instances belonging to object_category
  • candidate_start_receps: all receptacle instances belonging to start_recep_category
  • candidate_goal_receps: all receptacle instances belonging to goal_recep_category
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