real-stanford/behavior_prompting

Behavior Prompting data

Demonstration data of Behavior Prompting (bimanual iPhUMI sweater folding), collected by the authors; the same files as https://huggingface.co/datasets/austinpatel/iphumi_bimanual_laundry_folding.

• Code: https://github.com/real-stanford/behavior_prompting
• Paper / project page: https://arxiv.org/abs/2606.30457

Layout

sweater_folding_raw_data.zip: the raw iPhUMI recordings of the training demonstrations, austin-sweater-fold-053026-raw/demos/<timestamp>_<id>_<session>_{demonstration,grippercalibration}/ with left_* / right_* files for the two grippers (13 sessions: austin-sweater-fold-052026, austin-052426, austin-052426-empty, austin-053026 are regular folding demonstrations, the nine *-recovery* sessions are error-correction demonstrations). An iPhone demonstration folder holds *_rgb.mp4 (main camera), *_ultrawidergb.mp4 (ultrawide camera), *_depth.raw with *_depthconfidence.mp4 / *_depthpreview.mp4 (LiDAR depth) and *.json (per-frame ARKit camera pose, intrinsics and timestamps); *_grippercalibration* folders are the gripper calibration recordings of a session. sweater_folding_raw_data_evaluation_prompts.zip: the recordings of the unseen evaluation behavior prompts. sweater_folding_replay_buffer.zarr.zip and sweater_folding_replay_buffer_evaluation_prompts.zarr.zip: the iPhUMI zarr replay buffers built from them. Every zarr store is one *.zarr.zip: an uncompressed zip of the store's files, readable in place with zarr.open(zarr.storage.ZipStore(path, mode="r")) or unpacked with unzip -d <name>.zarr <name>.zarr.zip.

Contents

path	files	GB
sweater_folding_raw_data.zip	1	64.93
sweater_folding_raw_data_evaluation_prompts.zip	1	0.73
sweater_folding_replay_buffer.zarr.zip	1	41.96
sweater_folding_replay_buffer_evaluation_prompts.zarr.zip	1	0.42
total	4	108.0

License

MIT, the license of the project's GitHub repository (https://github.com/real-stanford/behavior_prompting).