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--- |
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license: mit |
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--- |
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# Datacard |
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This is the official fine-tuning dataset provided by VLABench, with 500 episodes each task. The current version includes 10 primitive tasks. |
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## Source |
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- Project Page: [https://vlabench.github.io/](https://vlabench.github.io/) |
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- Arxiv Paper: [https://arxiv.org/abs/2412.18194](https://arxiv.org/abs/2412.18194) |
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- Code: [https://github.com/OpenMOSS/VLABench](https://github.com/OpenMOSS/VLABench) |
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## Uses |
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Download all archive files and use the following command to extract: |
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```sh |
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cat rdt_data.tar.gz.* | tar -xzvf - |
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``` |
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In the resulting `VLABench_release` folder, there will be two folders: `primitive`(release now) and `composite`(under management). |
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In `primitive` folder, there are ten sub-folders and the dataset HDF5 files can be listed as: |
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``` |
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VLABench_release |
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└── primitive |
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├── add_condiment |
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└── episode_0.hdf5 |
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... |
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├── insert_flower |
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└── episode_0.hdf5 |
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... |
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├── select_book |
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└── ... |
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├── select_chemistry_tube |
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└── ... |
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├── select_drink |
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└── ... |
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├── select_fruit |
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└── ... |
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├── select_mahjong |
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└── ... |
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├── select_painting |
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└── ... |
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├── select_poker |
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└── ... |
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└── select_toy |
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└── ... |
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``` |
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An example of the single episode data is: |
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``` |
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data |
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2025-02-23 20:46:40 |
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instruction |
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(1,) |S38 |
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['Please put the striped_10 in any hole.'] |
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meta_info |
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entities |
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(6,) |S15 |
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['billiards_table', 'striped_10', 'striped_14', 'striped_11', 'striped_12', 'solid_1'] |
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episode_config |
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() | S1879 |
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target_entity |
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(1,) |S10 |
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['striped_10'] |
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observation |
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depth |
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(212, 4, 480, 480) float32 |
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ee_state |
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(212, 8) float32 |
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point_cloud_colors |
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(212, 11905, 3) float32 |
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point_cloud_points |
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(212, 11905, 3) float32 |
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q_acceleration |
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(212, 7, 1) float32 |
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q_state |
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(212, 7, 1) float32 |
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q_velocity |
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(212, 7, 1) float32 |
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rgb |
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(212, 4, 480, 480, 3) uint8 |
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robot_mask |
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(212, 4, 480, 480) float32 |
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trajectory |
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(212, 8) float32 |
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``` |
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## Citation |
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If you find our work helps,please cite us: |
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``` |
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@misc{zhang2024vlabench, |
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title={VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks}, |
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author={Shiduo Zhang and Zhe Xu and Peiju Liu and Xiaopeng Yu and Yuan Li and Qinghui Gao and Zhaoye Fei and Zhangyue Yin and Zuxuan Wu and Yu-Gang Jiang and Xipeng Qiu}, |
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year={2024}, |
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eprint={2412.18194}, |
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archivePrefix={arXiv}, |
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primaryClass={cs.RO}, |
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url={https://arxiv.org/abs/2412.18194}, |
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} |
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``` |
