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FYP Stage 3
This repository contains local source shards and audit metadata for the ThinkFlow RDT standardized robotics dataset adapters.
The standardized loader emits samples with:
{
"dataset_id": str,
"episode_id": str,
"step_idx": str,
"instruction": str,
"images": {"primary": PIL.Image | None, "wrist": PIL.Image | None, "secondary": PIL.Image | None},
"image_mask": {"primary": int, "wrist": int, "secondary": int},
"state": np.ndarray, # [7]
"state_mask": np.ndarray, # [7]
"actions": np.ndarray, # [32, 7]
"actions_mask": np.ndarray, # [32]
}
Canonical gripper convention is 0=open, 1=closed before action normalization.
Use thinkflow_rdt.adapters.build_combined_standardized_splits to recreate deterministic episode-level splits:
from thinkflow_rdt.adapters import build_combined_standardized_splits
splits = build_combined_standardized_splits(
root='.',
seed=42,
normalize_actions=True,
)
train_ds = splits['train']
val_ds = splits['validation']
test_ds = splits['test']
Split policy: 80% train, 10% validation, 10% test, split at episode level per dataset.
Included Datasets
bc_z
- Data path:
bc_z/data - Audit path:
bc_z/audit.json - Control frequency:
10 Hz - Normalization stats scope:
sampled-horizons - Episodes used for stats:
15026
bridge
- Data path:
bridge/data - Audit path:
bridge/audit.json - Control frequency:
10 Hz - Normalization stats scope:
sampled-horizons - Episodes used for stats:
18162
droid
- Data path:
droid/data - Audit path:
droid/audit.json - Control frequency:
15 Hz - Normalization stats scope:
sampled-horizons - Episodes used for stats:
11690
fractal
- Data path:
fractal/data - Audit path:
fractal/audit.json - Control frequency:
3 Hz - Normalization stats scope:
sampled-horizons - Episodes used for stats:
25039
kuka
- Data path:
kuka/data - Audit path:
kuka/audit.json - Control frequency:
3 Hz - Normalization stats scope:
sampled-horizons - Episodes used for stats:
9165
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