Ronaldo-GOAT/pose6daug
pose6daug Real-world Franka manipulation episodes with object-swap and action augmentation artifacts. 120 training episodes over 4 objects (blue_cup, green_pear, kanu, white_spray), dual ZED cameras (exo static + ego wrist-mounted). Layout Per-frame PNGs are packed into uncompressed tars per episode — the dataset has ~427k mask/plate frames and loose files hit Hugging Face's per-repo file recommendation and API rate limits hard. data/<object>/<NNNN>/ masks.tar… See the full description on the dataset page: https://huggingface.co/datasets/Ronaldo-GOAT/pose6daug.
0757
1#!/bin/bash2R=/home/nvidia/jonghoon/rebuttal3PYRC=/home/nvidia/miniconda3/envs/robocasa/bin/python4PYA6=/data/nvidia/gripper_augmentator/conda-envs/any6d/bin/python5LOG=/lp-dev/jonghoon/rebuttal_pose/rollout_logs6GP=(3 4); CAP=6 # 3 per GPU7PEAR="1 2 3 4 5 6 8 9 10 11 12 13 15 16 17 18 19"8KANU="21 22 23 24 25 26 28 29 30 31 32 33 35 36 37 38 39"9MOGI="41 42 43 44 45 46 48 49 50 51 52 53 55 56 57 58 59"10RED="61 62 63 64 65 66 67 68 70 71 73 74 75 76 77 79"11ALL="$PEAR $KANU $MOGI $RED"12cd $R/pose_estimation13 14echo "[$(date +%T)] REGISTER missing (cap $CAP on GPUs ${GP[*]})"15i=016for ep in $ALL; do17 g3=$(printf %03d $ep)18 [ -f "$R/pose_ws/lerobot/$g3/anchor_pose.txt" ] && continue19 while [ "$(jobs -r | wc -l)" -ge $CAP ]; do sleep 2; done20 gpu=${GP[$(( i % ${#GP[@]} ))]}21 $PYA6 run_fpose_lerobot.py $ep $gpu > $LOG/fpose_$ep.log 2>&1 &22 i=$((i+1))23done24wait25echo "[$(date +%T)] anchors=$(ls $R/pose_ws/lerobot/*/anchor_pose.txt 2>/dev/null|wc -l)/80"26 27echo "[$(date +%T)] POSTPROCESS"28UP_AXIS=0 FACE_SIGN=1 H_CAP_MM=35 $PYRC postprocess_anchor_eef.py $PEAR > $LOG/pp_pear.log 2>&129UP_AXIS=1 FACE_SIGN=1 H_CAP_MM=35 $PYRC postprocess_anchor_eef.py $KANU > $LOG/pp_kanu.log 2>&130UP_AXIS=1 FACE_SIGN=1 H_CAP_MM=35 $PYRC postprocess_anchor_eef.py $MOGI > $LOG/pp_mogi.log 2>&131UP_AXIS=1 FACE_SIGN=-1 H_CAP_MM=35 $PYRC postprocess_anchor_eef.py $RED > $LOG/pp_red.log 2>&132echo "[$(date +%T)] anchor_eef_h35=$(ls $R/pose_ws/lerobot/*/anchor_eef_h35.txt 2>/dev/null|wc -l)/80"33 34echo "[$(date +%T)] PROPAGATE"35ANCHOR=anchor_eef_h35.txt OUTNAME=poses_contact_yaw_eef_h35 $PYRC propagate_contact_yaw.py $ALL > $LOG/propagate.log 2>&136echo "[$(date +%T)] exo_pose=$(ls -d $R/pose_ws/lerobot/*/outputs/poses_contact_yaw_eef_h35 2>/dev/null|wc -l)/80"37 38echo "[$(date +%T)] EGO"39for g in $ALL; do $PYRC $R/overlay/compute_ego_poses_lerobot.py $(printf %03d $g) >> $LOG/ego.log 2>&1 || echo "ego FAIL $g"; done40echo "[$(date +%T)] TAIL_DONE exo=$(ls -d $R/pose_ws/lerobot/*/outputs/poses_contact_yaw_eef_h35 2>/dev/null|wc -l) ego=$(for g in $(seq 0 79); do d=$R/pose_ws/lerobot/$(printf %03d $g)/outputs/poses_ego_from_exo; [ -d $d ] && [ $(ls $d|wc -l) -gt 0 ] && echo x; done | wc -l)"41