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Check out the documentation for more information.
RoboTwin archive layout
This directory contains the RoboTwin data used by 4RC.
Each task is stored as one uncompressed tar archive:
RoboTwin/<task>.tar
Every archive contains:
<task>/<episode>/images/...
<task>/<episode>/depths/...
<task>/<episode>/intrinsics/...
<task>/<episode>/extrinsics/...
Download and reconstruct the original RoboTwin directory:
from huggingface_hub import snapshot_download
local_dir = snapshot_download(
repo_id="HarrisonPENG/4RC-Action",
repo_type="dataset",
allow_patterns="RoboTwin/*.tar",
)
Then extract all tar files into the same destination directory. The archives are not compressed because the source images are already PNG-compressed and uncompressed tar supports faster creation and extraction.
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