Datasetpublic

sanjar-normuradov-agile-robots/austin-sailor

Extra pre-processing*: smooth zero-state samples (ee pose & joints, below 1e-5) by interpolating from neighbors with window size of 5 filter out first 10 frames where robot state (ee pose, joints) jumps from 0 mapped gripper value in action from [-1, 1] to [0, 1] where range is [close, open]. gripper value in state is distance in meters in range [0.0, 0.08] Note: empirically chosen number 5 for smooting window and 10 for trimming leading frames are median, and there might be… See the full description on the dataset page: https://huggingface.co/datasets/sanjar-normuradov-agile-robots/austin-sailor.

sourceHugging Facemitupdated 5mo agoView on Hugging Face

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Dataset Card

Dataset Description

—Homepage: https://ut-austin-rpl.github.io/sailor/
—Paper: https://arxiv.org/abs/2210.11435
—License: mit

Extra pre-processing*:

—smooth zero-state samples (ee pose & joints, below 1e-5) by interpolating from neighbors with window size of 5
—filter out first 10 frames where robot state (ee pose, joints) jumps from 0
—mapped gripper value in action from [-1, 1] to [0, 1] where range is [close, open]. gripper value in state is distance in meters in range [0.0, 0.08]

Note: empirically chosen number 5 for smooting window and 10 for trimming leading frames are median, and there might be still partially unfiltered episodes

Dataset Structure meta/info.json:

json

{
    "codebase_version": "v3.0",
    "robot_type": "panda",
    "total_episodes": 240,
    "total_frames": 353094,
    "total_tasks": 4,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:240"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/observation.images.{image_key}/chunk-{chunk_index:03d}/{video_key}/file-{file_index:03d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [8],
            "names": ["x", "y", "z", "roll", "pitch", "yaw", "gripper"]
        },
        "observation.state.joints": {
            "dtype": "float32",
            "shape": [7],
            "names": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"]
        },
        "observation.state.ee": {
            "dtype": "float32",
            "shape": [16],
            "names": ["T00", "T10", "T20", "T30", "T01", "T11", "T21", "T31", "T02", "T12", "T22", "T32", "T03", "T13", "T23", "T33"]
        },
        "observation.state.gripper": {
            "dtype": "float32",
            "shape": [1],
            "names": ["gripper_width"]
        },
        "action": {
            "dtype": "float32",
            "shape": [7],
            "names": ["x", "y", "z", "roll", "pitch", "yaw", "gripper"]
        },
        "observation.images.image": {
            "dtype": "video",
            "shape": [3, 84, 84],
            "names": ["channels", "height", "width"],
            "info": {
                "video.fps": 20.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.height": 84,
                "video.width": 84,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_image": {
            "dtype": "video",
            "shape": [3, 84, 84],
            "names": ["channels", "height", "width"],
            "info": {
                "video.fps": 20.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.height": 84,
                "video.width": 84,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [1],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [1],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [1],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [1],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [1],
            "names": null
        }
    }
}

Citation

BibTeX:

bibtex

@inproceedings{nasiriany2022sailor,
    title={Learning and Retrieval from Prior Data for Skill-based Imitation Learning},
    author={Soroush Nasiriany and Tian Gao and Ajay Mandlekar and Yuke Zhu},
    booktitle={Conference on Robot Learning (CoRL)},
    year={2022}
}