| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - d3il |
| - imitation-learning |
| - robot-learning |
| --- |
| |
| # D3IL Avoiding Vision 224 |
|
|
| This is the original D3IL Avoiding demonstration dataset converted to the |
| LeRobot v2.1 format and augmented with state-aligned 224 x 224 RGB observations. |
|
|
| It contains all 96 original Avoiding demonstrations (7,305 training frames), |
| covering the benchmark's 24 avoidance modes with four demonstrations per mode. |
| The numeric demonstrations are preserved from the original D3IL pickle logs. |
|
|
| ## Dataset summary |
|
|
| | Property | Value | |
| |---|---:| |
| | Episodes | 96 | |
| | Frames | 7,305 | |
| | FPS | 29 | |
| | Tasks | 1 | |
| | State dimension | 4 | |
| | Action dimension | 2 | |
| | Cameras | 2 | |
| | Image resolution | 224 x 224 | |
|
|
| The camera observations are available under: |
|
|
| - `observation.images.bp_cam` |
| - `observation.images.inhand_cam` |
|
|
| Load the public dataset directly with LeRobot: |
|
|
| ```python |
| from lerobot.common.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset("shivakanthsujit/d3il_avoiding_vision_224") |
| ``` |
|
|
| The images were produced by restoring every logged robot pose into the original |
| D3IL MuJoCo environment and rendering the benchmark cameras. Actions were not |
| replayed and physics was not advanced, so the images remain aligned with the |
| original recorded states. |
|
|
| `action` stores the original next absolute desired controller target. To train |
| with D3IL's native delta action, subtract the current desired target (the first |
| two values of `observation.state`) at the corresponding horizon step from |
| `action`. |
|
|
| The metadata also retains `source_file`, `source_episode_index`, and |
| `source_fps` for provenance. `state_is_pad`, `action_is_pad`, and |
| `camera_is_pad` are included for compatibility with the multi-task converter; |
| all features in this single-task dataset are valid and unpadded. |
|
|
| ## Source |
|
|
| - D3IL repository: https://github.com/ALRhub/d3il |
| - Project page: https://alrhub.github.io/d3il-website/ |
| - Paper: *Towards Diverse Behaviors: A Benchmark for Imitation Learning with |
| Human Demonstrations*, ICLR 2024. |
|
|
| Please cite the original D3IL work when using this dataset. |
|
|
