diff --git a/README.md b/README.md index 3f0a89207f55361c9a609e79cabf4ef45e9f8e6e..cabfb2dda69daafeaf884d38bfb3fca1ebf5e0af 100644 --- a/README.md +++ b/README.md @@ -10,16 +10,25 @@ tags: Processed image-and-state demonstrations. Action layout: world position delta (3), world relative SO(3) rotation vector (3), absolute Allegro joint targets (16). +This is 22 values for single-arm tasks; bimanual tasks concatenate right then +left arm blocks for 44 values, preserving each recorded hand's joint ordering. Deltas use the measured observation at the same timestep. Both states and actions are min-max normalized; BC and RL share the same normalization statistics. Observation version: `initial_object_pose_v1`. -| Task | Episodes | Transitions | -| --- | ---: | ---: | -| pinch_tongs | 100 | 40469 | -| pick_bucket | 100 | 43581 | -| hammer_nail | 100 | 21563 | -| click_mouse | 100 | 32702 | +| Task | Episodes | Transitions | State dimension | Action dimension | +| --- | ---: | ---: | ---: | ---: | +| pinch_tongs | 100 | 40469 | 31 | 22 | +| pick_bucket | 100 | 43581 | 38 | 22 | +| hammer_nail | 100 | 21563 | 38 | 22 | +| click_mouse | 100 | 32702 | 31 | 22 | +| fold_glasses | 100 | 53878 | 38 | 22 | +| water_plant | 100 | 27745 | 38 | 22 | +| bimanual_assembly | 100 | 54630 | 61 | 44 | +| bimanual_hanoi | 100 | 107764 | 50 | 44 | +| bimanual_microwave_cook | 100 | 68503 | 61 | 44 | +| bimanual_photograph | 100 | 34377 | 61 | 44 | +| bimanual_unlock_ipad | 100 | 41042 | 61 | 44 | Each task contains `ph_pretrain/train.npz`, `ph_finetune/train.npz`, their `normalization.npz` files, and `episodes.json`. The manifest records SHA-256 hashes. @@ -27,9 +36,10 @@ RL rewards and terminals are 1 only at each retained demonstration's final frame These are synthetic end-of-demo success labels, not replay-verified success times for the original recordings. No model checkpoints are included. -## RGB images (all four cameras) +## RGB images (all native cameras) -Every selected episode includes `front`, `wrist`, `ego_left`, and `ego_right`. +Single-arm episodes include `front`, `wrist`, `ego_left`, and `ego_right`. +Bimanual episodes include `ego`, `wrist_left`, and `wrist_right`. The original MP4 files are preserved byte for byte, including their resolution. `images.json` maps each processed timestep to its exact source video frame; the same initial-prefix cut is used for states, delta actions, and images. @@ -40,15 +50,17 @@ script automatically extracts and verifies them, preserving the original bytes. Use `agent.dataset.dexjoco_image.DexJoCoImageDataset` (BC) or `DexJoCoImageQLearningDataset` (offline RL) from the accompanying checkout. The loader returns RGB uint8 `(B, history, 3 * cameras, height, width)` in -`conditions["rgb"]` and normalized robot proprioception (first 23 state columns) +`conditions["rgb"]` and normalized robot proprioception (first 23 state columns +for single-arm tasks, first 46 for bimanual tasks) in `conditions["state"]`. Task/object privileged state is excluded by default. Frames are decoded on demand, with bounded caches and exact PTS-based seeking. -Choose cameras and image size at training time; defaults are `front,wrist` and -224 x 224. The loader reads the published videos directly; no source-dataset +Choose cameras and image size at training time; defaults are `front,wrist` for +single-arm tasks, all three cameras for bimanual tasks, and 224 x 224 pixels. +The loader reads the published videos directly; no source-dataset download or offline image conversion is required. Choose the number of published episodes used for training with -`max_n_episodes`; all four camera views remain available. +`max_n_episodes`; all native camera views remain available. ## Array format @@ -58,7 +70,7 @@ Load NPZ files with `numpy.load(path, allow_pickle=False)`. | Key | Shape | Meaning | | --- | --- | --- | | `states` | `(T, obs_dim)` | Normalized observations, float32 | -| `actions` | `(T, 22)` | Normalized pose deltas and absolute hand targets, float32 | +| `actions` | `(T, action_dim)` | Normalized pose deltas and absolute hand targets, float32 | | `traj_lengths` | `(N,)` | Episode lengths, int64; sum equals T | | `rewards`, `terminals` | `(T,)` | Finetuning split only, float32 | @@ -70,6 +82,12 @@ Unnormalize actions before decoding them with the latest measured robot pose: `R_target = Exp(delta_rotvec) @ R_observed`. Hand targets stay absolute. The state and raw target quaternions use wxyz ordering. +Bimanual state begins `[right_pose7, left_pose7, right_hand16, left_hand16]`. +Bimanual raw targets and `decode_actions` output instead use +`[right_pose7, right_hand16, left_pose7, left_hand16]`. +Before sending decoded targets to the simulator's policy-mode API, reorder +them to `[right_pose7, left_pose7, right_hand16, left_hand16]`. + For `initial_object_pose_v1`, object pose features describe the initial object poses, matching the original recordings. 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