| --- |
| license: mit |
| task_categories: |
| - robotics |
| language: |
| - en |
| tags: |
| - oat |
| - imitation-learning |
| - robomimic |
| - metaworld |
| - robocasa |
| - zarr |
| - hdf5 |
| pretty_name: AAAI OAT Paper Training Datasets (HDF5 + Zarr) |
| size_categories: |
| - 10G<n<100G |
| --- |
| |
| # AAAI paper datasets — OAT training data (HDF5 sources + Zarr) |
|
|
| Canonical **training datasets** used to reproduce our AAAI submission |
| *"Spend Compute on Selection, Not Reduction"* (Consensus Selection / CS-D on **OAT** policies). |
|
|
| **Hub repo (datasets):** [`hackhackhack66666/aaai-datasets`](https://huggingface.co/datasets/hackhackhack66666/aaai-datasets) |
| **Hub repo (models + eval artifacts):** [`hackhackhack66666/aaai27-models`](https://huggingface.co/hackhackhack66666/aaai27-models) — **primary copy** for checkpoints, Table P eval, latency, logs. |
| **This dataset repo contains only raw + converted training data** (HDF5 where retained, Zarr for all suites). |
|
|
| --- |
|
|
| ## Quick map — what is used in the paper? |
|
|
| | Suite | Zarr (train) | HDF5 (source) | In paper **Table P**? | Paper role | |
| |-------|--------------|---------------|----------------------|------------| |
| | **RoboMimic** Lift | `robomimic/zarr/lift_N200.zarr` | `robomimic/hdf5/lift_mh_image.hdf5` | **Yes** (Lift run B ep-1400) | Generalization baseline | |
| | **RoboMimic** Can | `robomimic/zarr/can_N200.zarr` | `robomimic/hdf5/can_mh_image.hdf5` (+ raw `can/mh/*`) | **Yes** | Generalization baseline | |
| | **RoboMimic** Square | `robomimic/zarr/square_N200.zarr` | `robomimic/hdf5/square_mh_image.hdf5` | **Yes** | Generalization baseline | |
| | **MetaWorld** coffee-pull | `metaworld/zarr/coffee-pull_N50.zarr` | — (generated) | **Yes** | Generalization baseline | |
| | **MetaWorld** stick-pull | `metaworld/zarr/stick-pull_N50.zarr` | — | **Yes** | Generalization baseline | |
| | **MetaWorld** disassemble | `metaworld/zarr/disassemble_N50.zarr` | — | **Yes** | Generalization baseline | |
| | **MetaWorld** box-close | `metaworld/zarr/box-close_N50.zarr` | — | **Yes** | Generalization baseline | |
| | **MetaWorld MT4** multitask | `metaworld/zarr/mt4_N50.zarr` | — | **No** (exploratory only) | Early multitask probe; **not** Table P | |
| | **RoboCasa** close_drawer | `robocasa/zarr/close_drawer_N200.zarr` | partial human HDF5 | **Yes** | Generalization baseline | |
| | **RoboCasa** coffee_press_button | `robocasa/zarr/coffee_press_button_N200.zarr` | partial human HDF5 | **Yes** | Generalization baseline | |
| | **RoboCasa** turn_off_sink_faucet | `robocasa/zarr/turn_off_sink_faucet_N200.zarr` | — (zarr only) | **Yes** | Generalization baseline | |
| | **RoboCasa** turn_off_microwave | `robocasa/zarr/turn_off_microwave_N200.zarr` | — (zarr only) | **Yes** | Generalization baseline | |
| | **LIBERO** libero10 legacy | `libero/zarr/libero10_N500.zarr` | — | **No** | Legacy OAT smoke / auxiliary dataset | |
|
|
| **LIBERO note:** this repo also stores one **legacy OAT-format** LIBERO zarr (`libero10_N500.zarr`) as a backup / smoke dataset. It is **not** the paper Table P data and **not** the `physical-intelligence/libero` parquet format. |
|
|
| --- |
|
|
| ## Directory layout |
|
|
| ```text |
| robomimic/ |
| zarr/{lift,can,square}_N200.zarr/ # OAT training format (200 demos each) |
| hdf5/ |
| lift_mh_image.hdf5 |
| can_mh_image.hdf5 |
| square_mh_image.hdf5 |
| can/mh/demo_v15.hdf5 # raw multi-human before image extract |
| can/mh/image_v15.hdf5 |
| |
| metaworld/ |
| zarr/ |
| mt4_N50.zarr # 200 eps = 50×4 tasks (multitask) |
| {box-close,coffee-pull,disassemble,stick-pull}_N50.zarr |
| METAWORLD_GENERATION.md # how demos differ from upstream sim-env |
| |
| robocasa/ |
| zarr/<task>_N200.zarr/ # each includes ROBOCASA_SOURCE.txt |
| hdf5/ |
| CloseDrawer/human/demo_gentex_im128_randcams.hdf5 |
| CoffeePressButton/human/demo_gentex_im128_randcams.hdf5 |
| |
| libero/ |
| zarr/libero10_N500.zarr/ # legacy OAT-format backup (500 eps) |
| ``` |
|
|
| Approximate sizes (cluster, 2026-08-13): |
|
|
| | Path | ~Size | |
| |------|-------| |
| | RoboMimic HDF5 total | 10.5 GB | |
| | RoboMimic Zarr total | 1.0 GB | |
| | MetaWorld Zarr total | 1.4 GB | |
| | RoboCasa Zarr total | 4.6 GB | |
| | RoboCasa HDF5 (retained) | 0.6 GB | |
| | LIBERO legacy Zarr | 3.4 GB | |
| | **Total** | **~22 GB** | |
|
|
| --- |
|
|
| ## Common Zarr schema (OAT) |
|
|
| All Zarr stores follow the OAT pipeline layout: |
|
|
| - `data/` — time-major arrays (`action`, RGB, proprioception) |
| - `meta/episode_ends` — cumulative step indices per episode |
| - RoboCasa only: `ROBOCASA_SOURCE.txt` inside each zarr (provenance + sha256 in paper log) |
|
|
| Validate locally (from `oat/` repo): |
|
|
| ```bash |
| python scripts/validate_robomimic_data.py |
| python scripts/validate_robocasa_data.py |
| python scripts/validate_metaworld_data.py data/metaworld/box-close_N50.zarr --num-tasks 1 |
| python scripts/validate_metaworld_data.py data/metaworld/mt4_N50.zarr --num-tasks 4 --require-subtask-counts |
| ``` |
|
|
| --- |
|
|
| ## 1. RoboMimic (official mh demos → Zarr) |
|
|
| ### Source |
|
|
| - Benchmark: **RoboMimic multi-human (mh)** image demonstrations. |
| - Tasks: **Lift**, **Can**, **Square**. |
| - **200 demonstrations** per task (subsampled from 300 mh demos). |
| - Lift: direct download `lift_mh_image.hdf5`. |
| - Can / Square: download raw `demo_v15.hdf5`, replay through robosuite 1.5 to extract `image_v15.hdf5` (see `scripts/extract_robomimic_mh_image.sh`). |
|
|
| ### Zarr keys (train) |
|
|
| | Key | Shape (per step) | |
| |-----|------------------| |
| | `action` | 7 | |
| | `agentview_image` | 84×84×3 | |
| | `robot0_eye_in_hand_image` | 84×84×3 | |
| | (+ proprio keys per converter) | | |
|
|
| ### Paper linkage |
|
|
| - Tokenizer: top MSE checkpoint per task (`ep-0690` square, `ep-1970` lift, etc.). |
| - Policy TopK @ `test_start_seed=1000`; **Table P report** @ `test_start_seed=10000`, `-n 5`, OAT8. |
| - Locked Table P ckpts: Can ep-1700, Square ep-0700, Lift ep-1400 (run B). |
|
|
| ### Notes |
|
|
| - **Do not** use legacy `OAT-RoboMimic-Fine-tune/BLT-OAT/data/robomimic/` (old ph layout) — unrelated to this paper track. |
|
|
| --- |
|
|
| ## 2. MetaWorld (locally generated expert demos → Zarr) |
|
|
| ### ⚠️ Important — not the official MetaWorld HDF5 download |
|
|
| All MetaWorld data here was **generated on our cluster** with: |
|
|
| ```bash |
| python scripts/gen_metaworld_data.py --task_name <task> --num_episodes 50 --force |
| ``` |
|
|
| (log: `logs/metaworld_single_data_regen.log`; multitask: `logs/gen_metaworld_mt4_N50.log`) |
|
|
| Environment code is ported from **[sim-env](https://github.com/Chaoqi-LIU/sim-env)** into `oat/oat/env/metaworld/` (MuJoCo **2.1.0** / MetaWorld v2 stack — **different** from RoboMimic/LIBERO robosuite 1.4). |
|
|
| ### Demo acceptance rule (differs from stricter filters) |
|
|
| An episode is kept iff **`info["success"] == True` on at least one timestep** during the expert rollout: |
|
|
| ```python |
| episode_success_count += int(bool(info.get("success", False))) |
| if episode_success_count == 0: |
| continue # reject episode, retry with new seed |
| ``` |
|
|
| We **do not** require success only on the terminal step. This matches **`mt4_N50`** generation and the four **single-task** regen runs used for Table P. |
| |
| ### Reset / seed fix (July 2026) |
| |
| Single-task regen originally hung because `MetaworldEnv.reset()` without `seed` restored a **fixed** MuJoCo snapshot. Fix: |
| |
| ```python |
| roll_seed = episode_idx * 1_000_000 + attempt_idx |
| obs_dict, _ = env.reset(seed=roll_seed) |
| ``` |
| |
| Without incrementing `attempt_idx` on reject, retries repeat the same failed init. |
| |
| ### Tasks & episode counts (validated 2026-08-13) |
| |
| | Zarr | Episodes | Action dim | Cameras | Steps (total) | |
| |------|----------|------------|---------|---------------| |
| | `mt4_N50.zarr` | 200 (50×4) | 4 | 4×128² RGB + `agent_pos` 9D | 20 316 | |
| | `box-close_N50.zarr` | 50 | 4 | same | 5 616 | |
| | `coffee-pull_N50.zarr` | 50 | 4 | same | 4 088 | |
| | `disassemble_N50.zarr` | 50 | 4 | same | 5 220 | |
| | `stick-pull_N50.zarr` | 50 | 4 | same | 6 101 | |
| |
| MT4 task order in `subtask_counts`: `[box-close, coffee-pull, disassemble, stick-pull]`. |
| |
| Single-task files can also be obtained deterministically by splitting `mt4_N50.zarr` (`scripts/split_metaworld_mt4_zarr.py`, round-robin `i % 4`); **paper Table P uses freshly regen single-task zarr**, byte-identical to split for the episodes that were completed before regen. |
| |
| ### How this differs from “original sim-env / paper MetaWorld” |
| |
| 1. **Success timing:** our collector accepts **any-time success** during the demo rollout (see above). A stricter **terminal-only** filter was tested and rejected for compatibility with `mt4_N50`. |
| 2. **Implementation port:** same *intent* as sim-env, but our wrapper had the **reset-without-seed bug** (fixed before final single-task zarr). Treat MW numbers as **valid within this port**, not as a claim of bit-identical reproduction of Chaoqi sim-env demo files. |
| 3. **Paper limitation (explicit):** *“MetaWorld demo port — controlled limitation; interpret MW within our implementation.”* (see `RESULTS.md` / `RESOLUTIONPLAN.md` in code repo). |
|
|
| ### Paper linkage |
|
|
| - **Table P** uses **single-task specialists** (one zarr → one tokenizer → one policy per task). |
| - `mt4_N50.zarr` is **exploratory multitask** (shared model); **not** reported in Table P. |
|
|
| --- |
|
|
| ## 3. RoboCasa (official v0.2 HDF5 → Zarr) |
|
|
| ### Source (G0 protocol) |
|
|
| - RoboCasa **v0.2** registry: `human_im` + `mg_im` from UT Austin Box (`demo_gentex_im128_randcams.hdf5`). |
| - Mix per task: **50 human + 150 MimicGen**, subsample **seed 0**, **action_dim = 12**. |
| - Converter: `scripts/convert_robocasa_dataset.py`. |
| |
| ### Tasks (paper Table P) |
| |
| | Task slug | Zarr | Human+MG eps | TopK lock (selection @ seed 2000) | |
| |-----------|------|--------------|-----------------------------------| |
| | `close_drawer` | `close_drawer_N200.zarr` | 200 | ep-0500 @ SR 0.700 | |
| | `coffee_press_button` | `coffee_press_button_N200.zarr` | 200 | ep-0500 @ SR 0.600 | |
| | `turn_off_sink_faucet` | `turn_off_sink_faucet_N200.zarr` | 200 | ep-0500 @ SR 0.580 | |
| | `turn_off_microwave` | `turn_off_microwave_N200.zarr` | 200 | ep-0500 @ SR 0.620 | |
| |
| Each zarr contains `ROBOCASA_SOURCE.txt` listing exact human/MG HDF5 keys used before MG files were deleted on cluster (disk policy). |
| |
| ### HDF5 retention policy on cluster |
| |
| After Zarr conversion we **deleted MimicGen HDF5** to save disk. **Human** HDF5 for **CloseDrawer** and **CoffeePressButton** were kept (~614 MB). |
| **Microwave** and **sink** human HDF5 were also removed post-convert — **full training data is in Zarr only** for those two tasks. |
|
|
| ### Obs keys (Zarr) |
|
|
| `action`, `robot0_agentview_{left,right}_rgb`, `robot0_eye_in_hand_rgb`, `robot0_eef_pos`, `robot0_eef_quat`, `robot0_gripper_qpos` (128×128 RGB). |
|
|
| ### Paper eval protocol (not in this repo) |
|
|
| - Selection TopK: `test_start_seed=2000`, `n_test=50`. |
| - Table P report: literal seeds **`10000…10004`**, each `-n 1 --n_test 50`, OAT8 + BoN8 `vote`. |
|
|
| --- |
|
|
| ## 4. LIBERO legacy backup (OAT zarr) |
|
|
| This repository also stores a **legacy OAT-format LIBERO dataset**: |
|
|
| - `libero/zarr/libero10_N500.zarr` |
| - size: ~3.4 GB |
| - episodes: **500** |
| - total steps: ~138k |
| - action dim: **7** |
|
|
| Observed keys: |
|
|
| - `action` |
| - `agentview_rgb` |
| - `prompt` |
| - `robot0_eef_pos` |
| - `robot0_eef_quat` |
| - `robot0_eye_in_hand_rgb` |
| - `robot0_gripper_qpos` |
| - `robot0_joint_pos` |
| - `task_uid` |
|
|
| Important: |
|
|
| 1. This is a **converted OAT zarr**, not `physical-intelligence/libero` parquet. |
| 2. It is useful for **fast sanity checks / smoke runs** only. |
| 3. Final conclusions for new LIBERO projects should still use the intended upstream format/revision. |
|
|
| --- |
|
|
| ## Regeneration pointers (code repo) |
|
|
| | Suite | Script | |
| |-------|--------| |
| | MetaWorld gen | `scripts/gen_metaworld_data.py`, `scripts/cluster_gen_metaworld_single_data.sh` | |
| | MetaWorld split | `scripts/split_metaworld_mt4_zarr.py` | |
| | RoboMimic convert | `scripts/convert_robomimic_dataset.py`, `scripts/prepare_robomimic_{lift,can,square}.sh` | |
| | RoboCasa convert | `scripts/convert_robocasa_dataset.py` | |
|
|
| Cluster path when uploaded (2026-08): `/home/askhabaliev_gs/mipt_paper/oat/data/`. |
|
|
| --- |
|
|
| ## Citation |
|
|
| If you use these datasets, cite **OAT** (ordered action tokenization) and our AAAI paper (anonymous submission at upload time). RoboMimic / MetaWorld / RoboCasa have their own benchmark citations — see respective papers. |
|
|
| --- |
|
|
| ## Changelog |
|
|
| | Date | Note | |
| |------|------| |
| | 2026-08-13 | Initial public upload: all paper Zarr + retained HDF5 from MIPT cluster `mipt_paper/oat`. | |
| | 2026-08-19 | Added legacy `libero10_N500.zarr` backup from `~/OAT/data/libero/` for smoke / recovery use. | |
|
|
