| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - point-cloud |
| - world-model |
| - canonical-point-cloud |
| - rigid-transform |
| pretty_name: 3DWM kinder training datasets |
| --- |
| |
| # 3DWM training datasets |
|
|
| Demonstration data converted to the point-cloud dataset format used by the 3DWM |
| world model, i.e. the layout its `maniskill` loader expects: |
|
|
| ``` |
| <dataset>/<split>/<scenario>/demo_N/ |
| phases_dict.pkl {'cannonical_points': {geom: (P, 3)}} canonical local-frame points |
| 0.h5 .. (T-1).h5 transforms/<geom> (4, 4), action (7,), names, tcp_pose (7,) |
| ``` |
|
|
| Points are stored once per geom in its local frame, with a 4x4 local-to-world |
| transform per timestep, which gives point-to-point correspondence across time, |
| clean part segmentation and complete surfaces. Velocity features are computed by |
| differencing corresponding points, so these are **not** sensor point clouds and a |
| raw depth capture cannot be substituted. |
|
|
| ## Contents |
|
|
| * `StackCube-v1-demos/` — ManiSkill 3 StackCube, unpacked per-demo directories. |
| * `Franka-pickplace-1000demos-v2.tar.gz` — 74 MB, |
| md5 `23decfb43157934b6a4cfa1871dac1af`. kinder MuJoCo `FrankaPickPlace3D-o1`: |
| 1000 train + 10 test demos, 111,181 files, 1.3 GB unpacked. Shipped as a |
| tarball because ~110k files of ~12 KB each is a poor fit for per-file hosting. |
|
|
| ```bash |
| hf download Flashkernel/3dwm-kinder-data Franka-pickplace-1000demos-v2.tar.gz \ |
| --repo-type dataset --local-dir . |
| tar xzf Franka-pickplace-1000demos-v2.tar.gz -C data/ |
| ``` |
|
|
| Sanity check after extracting — part names, order and counts must match what the |
| training config lists as `env_keys`: |
|
|
| ```python |
| import pickle |
| d = pickle.load(open('data/Franka-pickplace-1000demos-v2/train/pickplace/demo_0/phases_dict.pkl','rb')) |
| pts = d['cannonical_points'] |
| print(list(pts.keys())) |
| print([v.shape[0] for v in pts.values()]) # [300, 38,38,38,38, 37,37,37,37] |
| ``` |
|
|
| ## Franka pickplace provenance |
|
|
| Converted from the raw demos with |
| `data_generation/kindergarden/convert_sweep_to_3dwm.py --pads 300 --cube 300`, |
| which selects the gripper pads and the cube and sets their point budgets. Actions |
| are normalized with `pos_scale=0.1` and `rot_scale=-0.1` (note the sign) and |
| clipped to [-1, 1]; real end-effector motion is ~14 mm per step. |
|
|
| Earlier stages of the chain — the raw kindergarden demo pickles and the packed |
| canonical HDF5 — are under `franka_pickplace/` in |
| [`Flashkernel/Kinder-worldmodel`](https://huggingface.co/datasets/Flashkernel/Kinder-worldmodel). |
| The world model trained on this data is at |
| [`Flashkernel/3dwm-franka-pickplace-mppi`](https://huggingface.co/Flashkernel/3dwm-franka-pickplace-mppi), |
| whose card documents which kindergarden commit the environment must be pinned to |
| (it matters, and getting it wrong fails silently). |
|
|
