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Mixture of Frames (MoF) — datasets
Demonstration datasets to reproduce the simulation results of the MoF paper (BiGym RBY1 + DexMimicGen, 9 tasks). RGB + low-dim observations only (depth and point-cloud channels, unused by the released image policies, are removed).
Layout
bigym/<task>/*.safetensors # 5 BiGym RBY1 tasks (per-demo safetensors)
dexmimicgen/<task>_abs.hdf5 # 4 DexMimicGen tasks (robomimic-style hdf5)
BiGym: rby1_flip_cup (224x224), rby1_move_two_plates, rby1_store_kitchenware,
rby1_flip_sandwich, rby1_dishwasher_load_plates (native 84x84).
DexMimicGen: two_arm_threading, two_arm_three_piece_assembly,
two_arm_box_cleanup, two_arm_drawer_cleanup (all _abs).
Download
from huggingface_hub import snapshot_download
snapshot_download(repo_id="dian-wang/mof-datasets", repo_type="dataset", local_dir="data")
Then train, e.g.:
./run_async_eval.sh train.py --config-name=train_mof_moe task=bigym_rby1_flip_cup
See the project README for the full method x task matrix.
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