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Duplicate from openvla/modified_libero_rlds

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Co-authored-by: Moo Jin Kim <moojink@users.noreply.huggingface.co>

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  2. README.md +25 -0
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+ *.7z filter=lfs diff=lfs merge=lfs -text
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+ *.arrow filter=lfs diff=lfs merge=lfs -text
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+ *.bin filter=lfs diff=lfs merge=lfs -text
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+ *.bz2 filter=lfs diff=lfs merge=lfs -text
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+ *.gz filter=lfs diff=lfs merge=lfs -text
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+ *.h5 filter=lfs diff=lfs merge=lfs -text
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+ *.rar filter=lfs diff=lfs merge=lfs -text
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+ *.safetensors filter=lfs diff=lfs merge=lfs -text
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+ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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+ *.tar.* filter=lfs diff=lfs merge=lfs -text
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+ *.tar filter=lfs diff=lfs merge=lfs -text
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+ *.tflite filter=lfs diff=lfs merge=lfs -text
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+ *.zst filter=lfs diff=lfs merge=lfs -text
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+ *tfevents* filter=lfs diff=lfs merge=lfs -text
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+ # Audio files - uncompressed
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+ *.sam filter=lfs diff=lfs merge=lfs -text
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+ *.raw filter=lfs diff=lfs merge=lfs -text
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+ # Image files - compressed
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README.md ADDED
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+ ---
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+ license: mit
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+ ---
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+ # Modified LIBERO RLDS Datasets
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+
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+ This repository contains the four modified [LIBERO](https://libero-project.github.io/main.html) datasets
7
+ used in the OpenVLA fine-tuning experiments, stored in RLDS data format. See Appendix E in the
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+ [OpenVLA paper](https://arxiv.org/abs/2406.09246) for details about the fine-tuning experiments and
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+ specific dataset modifications, and see the [OpenVLA GitHub README](https://github.com/openvla/openvla/blob/main/README.md)
10
+ for instructions on how to run OpenVLA in LIBERO environments.
11
+
12
+ ## Citation
13
+
14
+ **BibTeX:**
15
+
16
+ ```bibtex
17
+ @article{kim24openvla,
18
+ title={OpenVLA: An Open-Source Vision-Language-Action Model},
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+ author={{Moo Jin} Kim and Karl Pertsch and Siddharth Karamcheti and Ted Xiao and Ashwin Balakrishna and Suraj Nair and Rafael Rafailov and Ethan Foster and Grace Lam and Pannag Sanketi and Quan Vuong and Thomas Kollar and Benjamin Burchfiel and Russ Tedrake and Dorsa Sadigh and Sergey Levine and Percy Liang and Chelsea Finn},
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+ journal = {arXiv preprint arXiv:2406.09246},
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+ year={2024}
22
+ }
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+ ```
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+
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+ Please also refer to the [LIBERO project repo](https://github.com/Lifelong-Robot-Learning/LIBERO) for the LIBERO citation.
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+ {
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+ "citation": "// TODO(example_dataset): BibTeX citation",
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+ "description": "TODO(example_dataset): Markdown description of your dataset.\nDescription is **formatted** as markdown.\n\nIt should also contain any processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):",
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+ "fileFormat": "tfrecord",
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+ "moduleName": "LIBERO_10.LIBERO_10_dataset_builder",
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+ "name": "liber_o10",
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+ "releaseNotes": {
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+ "1.0.0": "Initial release."
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+ },
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+ "splits": [
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+ {
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+ "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
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+ "name": "train",
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+ "numBytes": "3656799026",
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+ "shardLengths": [
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+ "12",
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+ "12",
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+ "12",
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+ "12",
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+ "12",
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+ "12",
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+ "12"
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+ ]
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+ }
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+ ],
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+ "version": "1.0.0"
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+ }
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+ {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "steps": {
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+ "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
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+ "sequence": {
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+ "feature": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "action": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "7"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Robot EEF action."
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+ },
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+ "is_terminal": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ },
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+ "description": "True on last step of the episode if it is a terminal step, True for demos."
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+ },
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+ "is_last": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ },
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+ "description": "True on last step of the episode."
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+ },
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+ "language_instruction": {
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+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
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+ "text": {},
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+ "description": "Language Instruction."
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+ },
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+ "observation": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "wrist_image": {
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+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
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+ "image": {
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+ "shape": {
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+ "dimensions": [
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+ "256",
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+ "256",
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+ "3"
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+ ]
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+ },
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+ "dtype": "uint8",
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+ "encodingFormat": "jpeg"
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+ },
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+ "description": "Wrist camera RGB observation."
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+ },
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+ "image": {
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+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
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+ "image": {
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+ "shape": {
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+ "dimensions": [
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+ "256",
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+ "256",
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+ "3"
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+ ]
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+ },
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+ "dtype": "uint8",
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+ "encodingFormat": "jpeg"
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+ },
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+ "description": "Main camera RGB observation."
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+ },
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+ "state": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "8"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Robot EEF state (6D pose, 2D gripper)."
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+ },
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+ "joint_state": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "7"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Robot joint angles."
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+ }
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+ }
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+ }
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+ },
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+ "is_first": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ },
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+ "description": "True on first step of the episode."
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+ },
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+ "discount": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Discount if provided, default to 1."
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+ },
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+ "reward": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Reward if provided, 1 on final step for demos."
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+ }
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+ }
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+ }
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+ },
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+ "length": "-1"
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+ }
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+ },
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+ "episode_metadata": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "file_path": {
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+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
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+ "text": {},
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+ "description": "Path to the original data file."
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+ }
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+ }
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+ }
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+ }
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+ }
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+ }
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+ }
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