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umi_raw_chase

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robotics
imitation-learning
umi
hdf5
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  1. .gitattributes +78 -0
  2. README.md +92 -0
  3. local_chase/episode_01.hdf5 +3 -0
  4. local_chase/episode_02.hdf5 +3 -0
  5. local_chase/episode_03.hdf5 +3 -0
  6. local_chase/episode_04.hdf5 +3 -0
  7. local_chase/episode_05.hdf5 +3 -0
  8. local_chase/episode_06.hdf5 +3 -0
  9. local_chase/episode_07.hdf5 +3 -0
  10. local_chase/episode_08.hdf5 +3 -0
  11. local_chase/episode_09.hdf5 +3 -0
  12. local_chase/episode_10.hdf5 +3 -0
  13. local_chase_disturb/episode_01.hdf5 +3 -0
  14. local_chase_disturb/episode_02.hdf5 +3 -0
  15. local_chase_disturb/episode_03.hdf5 +3 -0
  16. local_chase_disturb/episode_04.hdf5 +3 -0
  17. local_chase_disturb/episode_05.hdf5 +3 -0
  18. local_chase_disturb/episode_06.hdf5 +3 -0
  19. local_chase_disturb/episode_07.hdf5 +3 -0
  20. local_chase_disturb/episode_08.hdf5 +3 -0
  21. local_chase_disturb/episode_09.hdf5 +3 -0
  22. local_chase_disturb/episode_10.hdf5 +3 -0
  23. local_chase_fall/episode_01.hdf5 +3 -0
  24. local_chase_fall/episode_02.hdf5 +3 -0
  25. local_chase_fall/episode_03.hdf5 +3 -0
  26. local_chase_fall/episode_04.hdf5 +3 -0
  27. local_chase_fall/episode_05.hdf5 +3 -0
  28. local_chase_fallre/episode_01.hdf5 +3 -0
  29. local_chase_fallre/episode_02.hdf5 +3 -0
  30. local_chase_fallre/episode_03.hdf5 +3 -0
  31. local_chase_li/episode_01.hdf5 +3 -0
  32. local_chase_li/episode_02.hdf5 +3 -0
  33. local_chase_li/episode_03.hdf5 +3 -0
  34. local_chase_li/episode_04.hdf5 +3 -0
  35. local_chase_li/episode_05.hdf5 +3 -0
  36. local_chase_li/episode_06.hdf5 +3 -0
  37. local_chase_li/episode_07.hdf5 +3 -0
  38. local_chase_li/episode_08.hdf5 +3 -0
  39. local_chase_li/episode_09.hdf5 +3 -0
  40. local_chase_li/episode_10.hdf5 +3 -0
  41. local_chase_offset/episode_01.hdf5 +3 -0
  42. local_chase_offset/episode_02.hdf5 +3 -0
  43. local_chase_offset/episode_03.hdf5 +3 -0
  44. local_chase_offset/episode_04.hdf5 +3 -0
  45. local_chase_offset/episode_05.hdf5 +3 -0
  46. local_chase_offset/episode_06.hdf5 +3 -0
  47. local_chase_offset/episode_07.hdf5 +3 -0
  48. local_chase_offset/episode_08.hdf5 +3 -0
  49. local_chase_offset/episode_09.hdf5 +3 -0
  50. local_chase_offset/episode_10.hdf5 +3 -0
.gitattributes CHANGED
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  *.webm filter=lfs diff=lfs merge=lfs -text
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+ local_chase/episode_01.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase/episode_02.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase/episode_10.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_disturb/episode_01.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_disturb/episode_02.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_disturb/episode_03.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_disturb/episode_04.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_disturb/episode_05.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_li/episode_05.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_li/episode_07.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_li/episode_08.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_li/episode_09.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_li/episode_10.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_01.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_02.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_03.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_04.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_05.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_06.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_07.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_08.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_09.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_10.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_11.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_12.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_13.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_15.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_16.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_17.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_18.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_19.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offset/episode_20.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offsetre/episode_02.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offsetre/episode_03.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offsetre/episode_04.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offsetre/episode_05.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offsetre/episode_06.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offsetre/episode_07.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offsetre/episode_09.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ local_chase_offsetre/episode_10.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ mobile_chase_li/episode_01.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ mobile_chase_li/episode_02.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ mobile_chase_li/episode_03.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ mobile_chase_li/episode_04.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ mobile_chase_li/episode_05.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ mobile_chase_li/episode_06.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ mobile_chase_li/episode_07.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ mobile_chase_li/episode_08.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ mobile_chase_li/episode_09.hdf5 filter=lfs diff=lfs merge=lfs -text
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+ mobile_chase_li/episode_10.hdf5 filter=lfs diff=lfs merge=lfs -text
README.md ADDED
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+ ---
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+ pretty_name: UMI Raw Chase
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+ tags:
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+ - robotics
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+ - imitation-learning
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+ - umi
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+ - hdf5
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+ ---
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+
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+ # UMI Raw Chase
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+
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+ 这是 Chase 操作任务的原始 UMI 双手示范数据集。数据以 HDF5 文件保存，每个
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+ `episode_XX.hdf5` 对应一条成功示范轨迹。
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+
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+ ## 数据集概览
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+
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+ - 共 78 个 episodes、40,064 帧，大小约 850 MB。
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+ - 采集频率为 30 Hz。
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+ - 每条轨迹包含左右手腕 RGB 图像、左右手 FastUMI 位姿、左右夹爪输入和时间戳。
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+ - RGB 图像以 JPEG 压缩后存储，记录的图像尺寸属性为 320。
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+ - 所有已收录 episode 的 `success` 属性均为 `true`。
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+
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+ ## 目录与命名
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+
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+ | 目录 | Episodes | 帧数 | 说明 |
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+ | --- | ---: | ---: | --- |
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+ | `local_chase/` | 10 | 4,597 | 基础 Chase 数据 |
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+ | `local_chase_disturb/` | 10 | 4,536 | 画面中存在不同颜色、形状的干扰物体 |
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+ | `local_chase_fall/` | 5 | 3,170 | 目标物体抓取后跌落，再次抓取 |
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+ | `local_chase_fallre/` | 3 | 2,139 | 放入收纳盒失败后，再次放入 |
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+ | `local_chase_li/` | 10 | 4,802 | 由另一位采集者采集 |
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+ | `local_chase_offset/` | 20 | 10,675 | 目标物体在上、下、左、右方向存在位置偏置 |
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+ | `local_chase_offsetre/` | 10 | 4,383 | 收纳盒在上、下、左、右方向存在位置偏置 |
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+ | `mobile_chase_li/` | 10 | 5,762 | `mobile` 模式，由另一位采集者采集 |
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+
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+ 命名后缀含义：
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+
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+ - `offset`：目标物体存在上、下、左、右位置偏置。
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+ - `fall`：目标物体抓取后跌落，需要二次抓取。
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+ - `disturb`：画面中有不同颜色、形状的干扰物体。
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+ - `li`：由另一位采集者采集。
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+ - `re`：场景涉及收纳盒；例如 `fallre` 表示第一次未成功放入收纳盒后再次放入，
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+ `offsetre` 表示收纳盒存在位置偏置。
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+
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+ ## HDF5 结构
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+
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+ 典型 episode 包含：
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+
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+ ```text
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+ observations/
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+ images/
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+ wrist_left_rgb # JPEG 压缩的左手腕 RGB 帧
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+ wrist_left_rgb_len # 每帧 JPEG 数据的有效字节数
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+ wrist_right_rgb # JPEG 压缩的右手腕 RGB 帧
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+ wrist_right_rgb_len # 每帧 JPEG 数据的有效字节数
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+ raw_input/
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+ clamp_left # 左夹爪输入
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+ clamp_right # 右夹爪输入
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+ fastumi_pose_left # 左手 FastUMI 7 维位姿
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+ fastumi_pose_right # 右手 FastUMI 7 维位姿
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+ timestamps # 各帧时间戳
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+ ```
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+
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+ 根节点属性还包含 `task`、`batch`、`collector`、`num_steps`、
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+ `record_freq_hz`、`image_compression`、`image_size` 和 `success` 等采集元数据。
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+
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+ 读取压缩图像时，应先使用对应的 `*_len` 截取该帧的有效字节，再进行 JPEG 解码。
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+
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+ ## 快速读取
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+
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+ ```python
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+ import cv2
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+ import h5py
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+ import numpy as np
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+
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+ with h5py.File("local_chase/episode_01.hdf5", "r") as f:
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+ timestamps = f["timestamps"][:]
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+ left_pose = f["raw_input/fastumi_pose_left"][:]
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+
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+ encoded = f["observations/images/wrist_left_rgb"][0]
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+ encoded_len = f["observations/images/wrist_left_rgb_len"][0]
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+ left_image = cv2.imdecode(
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+ np.asarray(encoded[:encoded_len], dtype=np.uint8),
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+ cv2.IMREAD_COLOR,
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+ )
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+ ```
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+
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+ ## 使用说明
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+
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+ 该仓库保存未经转换的原始采集数据。训练前请根据任务需要完成图像解码、轨迹对齐、
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+ 动作定义确认及数据格式转换。FastUMI 7 维位姿的各维语义和夹爪数值范围应以对应的
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+ 采集程序为准。
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