| # FailSafe Dataset Guide |
|
|
| This guide explains how to integrate and use the FailSafe dataset (correctdata_v2) with the Robometer pipeline. |
| |
| Source: `https://huggingface.co/datasets/onepiece1999/correctdata_v2/tree/main` |
|
|
| ## Overview |
|
|
| - The dataset contains three tasks with failures and successes: |
| - `FailPickCube-v1`: "Pick up the red cube" |
| - `FailPushCube-v1`: "push and move a cube to a goal region in front of it" |
| - `FailStackCube-v1`: "Pick up a red cube and stack it on top of a green cube and let go of the cube without it falling." |
| - Each task has ~100 seed folders. Each seed contains a `Ground_Truth/` (success) and multiple failure attempt folders. |
| - Each attempt has camera views `front/`, `side/`, `wrist/` with ordered `.png` frames. |
| - Additionally, JSON files (e.g., `vla_data_FailPickCube-v1.json`, `vla_data_GT_PickCube-v1.json`) provide sub-task annotated mini-trajectories with success/failure labels. |
|
|
| ## Directory Structure |
|
|
| ``` |
| <dataset_path>/ |
| FailPickCube-v1/ |
| 0/ |
| Ground_Truth/ |
| front/0.png ... |
| side/*.png |
| wrist/*.png |
| 1_trans_x_2/ |
| front/*.png |
| side/*.png |
| wrist/*.png |
| 1/ |
| ... |
| FailPushCube-v1/ |
| ... |
| FailStackCube-v1/ |
| ... |
| json_files/ |
| vla_data_FailPickCube-v1.json |
| vla_data_GT_PickCube-v1.json |
| ... |
| ``` |
|
|
| ## Configuration (configs/data_gen_configs/failsafe.yaml) |
|
|
| ```yaml |
| # configs/data_gen_configs/failsafe.yaml |
| |
| dataset: |
| dataset_path: ./datasets/failsafe |
| dataset_name: failsafe |
| |
| output: |
| output_dir: ./robometer_dataset/failsafe_rfm |
| max_trajectories: -1 |
| max_frames: 64 |
| use_video: true |
| fps: 10 |
| shortest_edge_size: 240 |
| center_crop: false |
| |
| hub: |
| push_to_hub: true |
| hub_repo_id: failsafe_rfm |
| ``` |
|
|
| ## Loader |
|
|
| - File: `dataset_upload/dataset_loaders/failsafe_loader.py` |
| - Function: `load_failsafe_dataset(dataset_path)` |
| - The loader: |
| - Builds full episodes from `Ground_Truth/` (success) and failure attempt folders for the chosen camera `view`. |
| - Parses `vla_data_*.json` entries to create sub-task mini-trajectories using the specified image paths and labels; includes the `sub_task` text in the trajectory `task` field. |
| - Uses the per-task instructions above when JSONs do not specify an instruction. |
|
|
| ## Usage |
|
|
| ```bash |
| uv run python -m dataset_upload.generate_hf_dataset --config_path=dataset_upload/configs/data_gen_configs/failsafe.yaml |
| ``` |
|
|
| This will: |
| - Load full episodes and sub-task mini-trajectories for the selected `view` |
| - Generate web-optimized videos |
| - Create a HuggingFace dataset ready to push or save |
|
|
| ## Notes |
|
|
| - If JSON files are at the dataset root instead of `json_files/`, the loader will look there as a fallback. |
| - You can switch `view` in the YAML to `side` or `wrist` to regenerate the dataset for a different camera. |
|
|
