diff --git a/.gitattributes b/.gitattributes index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..f69ebbc0b95f253afe8306de94d985e5c7c122b9 100644 --- a/.gitattributes +++ b/.gitattributes @@ -57,3 +57,99 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +libero_rlds/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00000-of-00032 filter=lfs diff=lfs merge=lfs -text +libero_rlds/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00001-of-00032 filter=lfs diff=lfs merge=lfs -text +libero_rlds/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00002-of-00032 filter=lfs diff=lfs merge=lfs -text +libero_rlds/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00003-of-00032 filter=lfs diff=lfs merge=lfs -text +libero_rlds/libero_10_no_noops/1.0.0/liber_o10-train.tfrecord-00004-of-00032 filter=lfs diff=lfs merge=lfs -text 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+libero_rlds/libero_spatial_no_noops/1.0.0/libero_spatial-train.tfrecord-00015-of-00016 filter=lfs diff=lfs merge=lfs -text diff --git a/libero_rlds/.gitattributes b/libero_rlds/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..24bce77793a91a2eabd9151a8349e74b2b103070 --- /dev/null +++ b/libero_rlds/.gitattributes @@ -0,0 +1,59 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text +*.tfrecord* filter=lfs diff=lfs merge=lfs -text diff --git a/libero_rlds/README.md b/libero_rlds/README.md new file mode 100644 index 0000000000000000000000000000000000000000..08e2bae00ff08f3ec7eef7fbcb505397b7b89ce8 --- /dev/null +++ b/libero_rlds/README.md @@ -0,0 +1,25 @@ +--- +license: mit +--- +# Modified LIBERO RLDS Datasets + +This repository contains the four modified [LIBERO](https://libero-project.github.io/main.html) datasets +used in the OpenVLA fine-tuning experiments, stored in RLDS data format. See Appendix E in the +[OpenVLA paper](https://arxiv.org/abs/2406.09246) for details about the fine-tuning experiments and +specific dataset modifications, and see the [OpenVLA GitHub README](https://github.com/openvla/openvla/blob/main/README.md) +for instructions on how to run OpenVLA in LIBERO environments. + +## Citation + +**BibTeX:** + +```bibtex +@article{kim24openvla, + title={OpenVLA: An Open-Source Vision-Language-Action Model}, + 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}, + journal = {arXiv preprint arXiv:2406.09246}, + year={2024} +} +``` + +Please also refer to the [LIBERO project repo](https://github.com/Lifelong-Robot-Learning/LIBERO) for the LIBERO citation. diff --git a/libero_rlds/libero_10_no_noops/1.0.0/dataset_info.json b/libero_rlds/libero_10_no_noops/1.0.0/dataset_info.json new file mode 100644 index 0000000000000000000000000000000000000000..55415bde7be4a313b0cf3751cff6b3c607dce959 --- /dev/null +++ b/libero_rlds/libero_10_no_noops/1.0.0/dataset_info.json @@ -0,0 +1,52 @@ +{ + "citation": "// TODO(example_dataset): BibTeX citation", + "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,...):", + "fileFormat": "tfrecord", + "moduleName": "LIBERO_10.LIBERO_10_dataset_builder", + "name": "liber_o10", + "releaseNotes": { + "1.0.0": "Initial release." + }, + "splits": [ + { + "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}", + "name": "train", + "numBytes": "3656799026", + "shardLengths": [ + "12", + "12", + "12", + "11", + "12", + "12", + "12", + "12", + "12", + "11", + "12", + "12", + "12", + "12", + "12", + "12", + "11", + "12", + "12", + "12", + "12", + "12", + "11", + "12", + "12", + "12", + "12", + "12", + "11", + "12", + "12", + "12" + ] + } + ], + "version": "1.0.0" +} \ No newline at end of file diff --git a/libero_rlds/libero_10_no_noops/1.0.0/dataset_statistics_7e2c79afcc2ff7ba82bd6d8fedc5b0950234243747e33b5127c05ab00ff749ba.json b/libero_rlds/libero_10_no_noops/1.0.0/dataset_statistics_7e2c79afcc2ff7ba82bd6d8fedc5b0950234243747e33b5127c05ab00ff749ba.json new file mode 100644 index 0000000000000000000000000000000000000000..caf368b6a510fd671864f5951b0dc9863bb9454b --- /dev/null +++ b/libero_rlds/libero_10_no_noops/1.0.0/dataset_statistics_7e2c79afcc2ff7ba82bd6d8fedc5b0950234243747e33b5127c05ab00ff749ba.json @@ -0,0 +1 @@ +{"action": {"mean": [0.01820324920117855, 0.05858374014496803, -0.05592384561896324, 0.004626928828656673, 0.00289608770981431, -0.007673131301999092, 0.5457824468612671], "std": 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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on last step of the episode." + }, + "language_instruction": { + "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", + "text": {}, + "description": "Language Instruction." + }, + "observation": { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", + "featuresDict": { + "features": { + "wrist_image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { + "shape": { + "dimensions": [ + "256", + "256", + "3" + ] + }, + "dtype": "uint8", + "encodingFormat": "jpeg" + }, + "description": "Wrist camera RGB observation." + }, + "image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { + "shape": { + "dimensions": [ + "256", + "256", + "3" + ] + }, + "dtype": "uint8", + "encodingFormat": "jpeg" 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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,...):", + "fileFormat": "tfrecord", + "moduleName": "LIBERO_Object.LIBERO_Object_dataset_builder", + "name": "libero_object", + "releaseNotes": { + "1.0.0": "Initial release." + }, + "splits": [ + { + "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}", + "name": "train", + "numBytes": "2817311159", + "shardLengths": [ + "14", + "14", + "15", + "14", + "14", + "14", + "14", + "15", + "14", + "14", + "14", + "14", + "14", + "15", + "14", + "14", + "14", + "14", + "15", + "14", + "14", + "14", + "14", + "14", + "15", + "14", + "14", + "14", + "14", + "15", + "14", + "14" + ] + } + ], + "version": "1.0.0" +} \ No newline at end of file diff --git a/libero_rlds/libero_object_no_noops/1.0.0/dataset_statistics_df0a3b9a2e3139a6d0a63e5ef603aa30652d1ab225c54bfbb23b49a7bec8172f.json 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"tensorflow_datasets.core.features.features_dict.FeaturesDict", + "featuresDict": { + "features": { + "action": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "7" + ] + }, + "dtype": "float32", + "encoding": "none" + }, + "description": "Robot EEF action." + }, + "is_terminal": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on last step of the episode if it is a terminal step, True for demos." + }, + "is_last": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on last step of the episode." + }, + "language_instruction": { + "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text", + "text": {}, + "description": "Language Instruction." + }, + "observation": { + "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict", + "featuresDict": { + "features": { + "wrist_image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { + "shape": { + "dimensions": [ + "256", + "256", + "3" + ] + }, + "dtype": "uint8", + "encodingFormat": "jpeg" + }, + "description": "Wrist camera RGB observation." + }, + "image": { + "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image", + "image": { + "shape": { + "dimensions": [ + "256", + "256", + "3" + ] + }, + "dtype": "uint8", + "encodingFormat": "jpeg" + }, + "description": "Main camera RGB observation." + }, + "state": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "8" + ] + }, + "dtype": "float32", + "encoding": "none" + }, + "description": "Robot EEF state (6D pose, 2D gripper)." + }, + "joint_state": { + "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor", + "tensor": { + "shape": { + "dimensions": [ + "7" + ] + }, + "dtype": "float32", + "encoding": "none" + }, + "description": "Robot joint angles." + } + } + } + }, + "is_first": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "bool", + "encoding": "none" + }, + "description": "True on first step of the episode." + }, + "discount": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + }, + "description": "Discount if provided, default to 1." + }, + "reward": { + "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar", + "tensor": { + "shape": {}, + "dtype": "float32", + "encoding": "none" + }, + "description": "Reward if provided, 1 on final step for demos." + } + } + } + }, + "length": "-1" + } + }, + "episode_metadata": { + "pythonClassName": 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