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0000000000000000000000000000000000000000..7358c682c7ad9da70470059d656dd27c6b4c9031 --- /dev/null +++ b/README.md @@ -0,0 +1,77 @@ +# ALOHA-Cosmos-Policy + +## Dataset Description + +ALOHA-Cosmos-Policy is a real-world bimanual manipulation dataset collected on the ALOHA 2 robot platform as part of the Cosmos Policy project. + +### Dataset Characteristics + +- **Robot platform**: ALOHA 2 (bimanual setup with two ViperX 300 S robot arms) +- **Data type**: Real-world human-teleoperated demonstrations +- **Control frequency**: 25 Hz (reduced from the original 50 Hz to save disk space and increase training speed while maintaining smoothness) +- **Camera views**: 3 (1 top-down + 2 wrist-mounted) +- **Total demonstrations**: 185 successful demonstrations across 4 tasks +- **Data format**: HDF5 files with MP4 video compression for image observations +- **Image resolution**: 256×256 pixels (resized from the original 480×640 raw images) + +### Preprocessing + +This dataset has been preprocessed from the raw ALOHA teleoperation data with the following modifications: + +1. **Image resizing**: Camera images resized from 480×640 to 256×256 pixels +2. **Video compression**: Image sequences converted to MP4 videos (25 fps) for efficient storage +3. **Relative actions**: Computed and stored alongside absolute actions for policy training flexibility (though only absolute actions are used in the Cosmos Policy paper) + +### Tasks and Demonstrations + +| Task | # Demos | Description | +|------|---------|-------------| +| put X on plate | 80 | Place objects (purple eggplant or brown chicken wing) on a plate based on language instructions | +| fold shirt | 15 | Fold one of three T-shirts in multiple steps, testing long-horizon contact-rich manipulation | +| put candies in bowl | 45 | Collect scattered candies, testing ability to handle multimodal grasp sequences | +| put candy in ziploc bag | 45 | Open and place items in a ziploc slider bag, testing high-precision manipulation with millimeter tolerance | + +### Data Format + +Each episode HDF5 file contains: +``` +# Datasets (arrays) +/observations/qpos # Joint positions, shape: (T, 14) +/observations/qvel # Joint velocities, shape: (T, 14) +/observations/effort # Joint efforts/torques, shape: (T, 14) +/observations/video_paths/ # Video file paths (strings) + cam_high # Relative path to top-down camera MP4 + cam_left_wrist # Relative path to left wrist camera MP4 + cam_right_wrist # Relative path to right wrist camera MP4 +/action # Absolute action sequence, shape: (T, 14) +/relative_action # Relative action sequence (frame-to-frame deltas), shape: (T, 14) +``` + +### Statistics + +- **Total demonstrations**: 185 +- **Success rate**: 100% (only successful demonstrations included) +- **Image resolution**: 256×256×3 (RGB, resized from 480×640) +- **Action dimensions**: 14 (7 per arm: joint positions) +- **Proprioception dimensions**: 14 (7 joint angles per arm) +- **Control frequency**: 25 Hz +- **Video FPS**: 25 fps + +### ALOHA Robot Platform + +This dataset was collected using a robot setup similar to the ALOHA 2 system: +- **Paper**: [ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation](https://aloha-2.github.io/) +- **Repository**: https://github.com/tonyzhaozh/aloha/tree/main/aloha2 +- **Hardware**: Two ViperX 300 S robot arms with three cameras +- **License**: MIT License + +### Citation + +If you use this dataset, please cite the Cosmos Policy paper by Kim et al. + + +### License + +Creative Commons Attribution 4.0 International (CC BY 4.0) \ No newline at end of file diff --git a/preprocessed/dataset_statistics.json b/preprocessed/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..d5d9294741c083140e5690dd819ae5647c57709a --- /dev/null +++ b/preprocessed/dataset_statistics.json @@ -0,0 +1,162 @@ +{ + "actions_min": [ + -0.9878836274147034, + -1.6735731363296509, + -0.20555342733860016, + -0.725572943687439, + -1.0385050773620605, + 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