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fix robomind channel & add dirty tasks

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Tavish
2025-06-12 09:51:26 +08:00
parent b2f9d9b8ba
commit 462a2ace0b
3 changed files with 45 additions and 7 deletions
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robomind2lerobot/README.md
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@@ -2,6 +2,34 @@
RoboMIND (Multi-embodiment Intelligence Normative Data for Robot Manipulation), a dataset containing 107k demonstration trajectories across 479 diverse tasks involving 96 object classes. RoboMIND is collected through human teleoperation and encompasses comprehensive robotic-related information, including multi-view observations, proprioceptive robot state information, and linguistic task descriptions.. (Copied from [docs](https://x-humanoid-robomind.github.io/))
## ⚠️ Dirty Tasks
| Task ID | Reason |
| :-------------------------------: | :----------------------------------------------: |
| 3_eggplantOven | take - turn on, wrong order |
| 3_eggplantoven_2 | take - turn on, wrong order |
| 5_eggoven_2 | no instruction |
| 10_packplate | no plate marker, no plate 2 |
| 10_packplate_2 | no plate marker, no plate 2 |
| 11_brushcup | two cups |
| 12_packcup | no cup marker |
| 13_packbowl | no bowl marker, blue - greeen flipped |
| 35_putcarrot | no instruction |
| 36_putpepper | no instruction |
| 37_putegg | no instruction |
| 39_puttomato | no instruction |
| 40_putavocado | no instruction |
| 41_putplum | no instruction |
| 42_putkiwifruite | wrong word: wifruite |
| 43_packplate | last object should be "them", not "it" |
| 44_putbluebowlongreenplate | last object should be "them", not "it" |
| 45_putgreenbowlonblueplate | only one instruction, but two sub-tasks |
| 46_putredbowlonwhiteplate | only one instruction, but two sub-tasks |
| 48_putpotatogreenplatefromsteam_2 | last action is about "left arm", not "right arm" |
| 52_holdercup | wrong order: should be right - left - right |
| 53_stackcup | wrong order: should be right - left - right |
| to be continued ... | |
## 🚀 What's New in This Script
In this dataset, we have made several key improvements:
@@ -96,7 +124,8 @@ Dataset Structure of `meta/info.json`:
## Get started
> [!IMPORTANT]
> [!IMPORTANT]
>
> 1. If you want to save depth when converting the dataset, modify `_assert_type_and_shape()` function in [lerobot.common.datasets.compute_stats.py](https://github.com/huggingface/lerobot/blob/main/lerobot/common/datasets/compute_stats.py).
>
> ```python
@@ -119,8 +148,9 @@ Dataset Structure of `meta/info.json`:
> if "depth" in fkey and v.shape != (1, 1, 1):
> raise ValueError(f"Shape of '{k}' must be (1,1,1), but is {v.shape} instead.")
> ```
>
>
> 2. The dataset needs to be organized into the following format before running the script due to differences in storage formats across platforms:
>
> ```bash
> /path/to/robomind/
> ├── benchmark1_0_release