What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
Paper • 2108.03298 • Published
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Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: ArrowInvalid
Message: Mismatching child array lengths
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 483, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2840, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 83, in _generate_tables
pa_table = _recursive_load_arrays(h5, self.info.features, start, end)
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 267, in _recursive_load_arrays
arr = _recursive_load_arrays(obj, features[path], start, end)
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 288, in _recursive_load_arrays
sarr = pa.StructArray.from_arrays(values, names=keys)
File "pyarrow/array.pxi", line 4304, in pyarrow.lib.StructArray.from_arrays
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: Mismatching child array lengthsNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
robomimic is a framework for robot learning from demonstration. It offers a broad set of demonstration datasets collected on robot manipulation domains and offline learning algorithms to learn from these datasets. robomimic aims to make robot learning broadly accessible and reproducible, allowing researchers and practitioners to benchmark tasks and algorithms fairly and to develop the next generation of robot learning algorithms.
This repository contains some of the datasets released with the robomimic framework.
Citation
Please cite this paper if you use this framework in your work:
@inproceedings{robomimic2021,
title={What Matters in Learning from Offline Human Demonstrations for Robot Manipulation},
author={Ajay Mandlekar and Danfei Xu and Josiah Wong and Soroush Nasiriany and Chen Wang and Rohun Kulkarni and Li Fei-Fei and Silvio Savarese and Yuke Zhu and Roberto Mart\'{i}n-Mart\'{i}n},
booktitle={Conference on Robot Learning (CoRL)},
year={2021}
}
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