diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..bed0738c7eeb449bca98b5d2f33c89a1ee56349a --- /dev/null +++ b/.gitattributes @@ -0,0 +1,60 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.avro filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..9e5d7abdfe1a0a3f76bde49f4c26d7e0cd822da1 --- /dev/null +++ b/README.md @@ -0,0 +1,81 @@ +--- +license: apache-2.0 +task_categories: +- robotics +tags: +- robodojo +- annotations +--- + +# RoboDojo progress annotations + +Frame-level labels over the official RoboDojo episodes, for the six tasks that +require remembering something seen earlier in the episode. They carry no images, +states, actions or episodes; the observations and actions a policy trains on +come from [`RoboDojo-Benchmark/Robodojo`](https://huggingface.co/datasets/RoboDojo-Benchmark/Robodojo). + +Published so that the training recipe behind our RoboDojo entry can be run by +anyone: without these labels the keyframe-memory stage has nothing to learn +from. + +## What is in it + +600 files, `/trajectory_/progress.json`, covering all 100 episodes of +each of the six tasks. Plus `index.json`, which maps each task directory to the +official task instruction and states the schema. + +| field | meaning | +| --- | --- | +| `keyframes` | the frames at which the task made visible progress that has to be remembered | +| `meta[].frame` / `meta[].box` | `[x1, y1, x2, y2]` in raw-video pixels, the object that progress was about | +| `meta[].window` | `[first, last]` — the frames at which recording that keyframe still counts as correct | +| `total_frames` | the episode's length, so a file can be checked against the episode it describes | + +`meta[].window` exists because a keyframe is a moment, not a frame: several +consecutive frames show the same progress, so a selector that answers one frame +early is not wrong. Training scores the answer against the whole interval +rather than against a single index. + +## Per-task shape + +| task | episodes | keyframes each | boxes each | acceptance intervals each | +| --- | --- | --- | --- | --- | +| `cover_blocks` | 100 | 4 | — | — | +| `imitate_sorting_sequence` | 100 | 5 | 5 | — | +| `match_and_pick_from_conveyor` | 100 | 1 | — | 1 | +| `press_by_number` | 100 | 5–21 | — | — | +| `swap_T` | 100 | 1 | — | — | +| `swap_blocks` | 100 | 7 | — | 1 | + +Where a task has no acceptance interval, the selection answer is scored against +the single annotated candidate. + +`swap_T` and `match_and_pick_from_conveyor` carry one keyframe, at frame 0: what +has to be remembered is the initial position and orientation of the two blocks, +and the first object on the conveyor. Both are visible at the start. + +## Checking them against the official episodes + +An annotation bound to the wrong episode would train a policy to recall the +wrong frames. Each file therefore records its episode's length; the loader binds +by task instruction and stops if a length disagrees. + +## How they were produced + +For each task we decided by hand what counts as a keyframe — the moments at +which the task makes the progress a policy has to remember, such as a block +being covered or a button press being committed. A script then located the +frames that satisfy the rule in each episode, and every file was checked by a +person and corrected where the script had put a frame in the wrong place. + +## Using them + +```bash +hf download x-square-robot/robodojo-memory-annotations --repo-type dataset \ + --local-dir /data/robodojo_memory_annotations +``` + +The training code that reads them is in +[wall-x](https://github.com/X-Square-Robot/wall-x) +(`wall_x/data/backends/lerobot/robodojo/`); see the WallX policy README in XPolicyLab +for the two training stages. diff --git a/cover_blocks/trajectory_0/progress.json b/cover_blocks/trajectory_0/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..74d41a5ceb288c27488df08cef939a25a1065236 --- /dev/null +++ b/cover_blocks/trajectory_0/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 238 + ], + "total_frames": 555 +} diff --git a/cover_blocks/trajectory_1/progress.json b/cover_blocks/trajectory_1/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..10c25172cf6f1290eca3e64a515286f721bdaa14 --- /dev/null +++ b/cover_blocks/trajectory_1/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 147, + 237 + ], + "total_frames": 541 +} diff --git a/cover_blocks/trajectory_10/progress.json b/cover_blocks/trajectory_10/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..da2e331d18da8e8a3c6d21964c42dc09ed159953 --- /dev/null +++ b/cover_blocks/trajectory_10/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 238 + ], + "total_frames": 543 +} diff --git a/cover_blocks/trajectory_11/progress.json b/cover_blocks/trajectory_11/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..c2d9782463bb1cdaae7d92e52ec1cd8f3504cd3a --- /dev/null +++ b/cover_blocks/trajectory_11/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 237 + ], + "total_frames": 548 +} diff --git a/cover_blocks/trajectory_12/progress.json b/cover_blocks/trajectory_12/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..a44c730b4f21c7afc17198fba2596c6923fe339f --- /dev/null +++ b/cover_blocks/trajectory_12/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 237 + ], + "total_frames": 536 +} diff --git a/cover_blocks/trajectory_13/progress.json b/cover_blocks/trajectory_13/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..96e754f1f9460d596230f84450e79637a2a7c28b --- /dev/null +++ b/cover_blocks/trajectory_13/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 237 + ], + "total_frames": 543 +} diff --git a/cover_blocks/trajectory_14/progress.json b/cover_blocks/trajectory_14/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..200dd61b2a1d21965590126a0a60b18622d8ff64 --- /dev/null +++ b/cover_blocks/trajectory_14/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 147, + 237 + ], + "total_frames": 558 +} diff --git a/cover_blocks/trajectory_15/progress.json b/cover_blocks/trajectory_15/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..6ee9161b7dff59368005c8af3427603831ce7408 --- /dev/null +++ b/cover_blocks/trajectory_15/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 237 + ], + "total_frames": 550 +} diff --git a/cover_blocks/trajectory_16/progress.json b/cover_blocks/trajectory_16/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..f19e126fdc04097a94bc8540247fdd556238107a --- /dev/null +++ b/cover_blocks/trajectory_16/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 237 + ], + "total_frames": 540 +} diff --git a/cover_blocks/trajectory_17/progress.json b/cover_blocks/trajectory_17/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..f1eb18ea2aded75503af7fdb2928dd75b3a33e9f --- /dev/null +++ b/cover_blocks/trajectory_17/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 238 + ], + "total_frames": 542 +} diff --git a/cover_blocks/trajectory_18/progress.json b/cover_blocks/trajectory_18/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..6498fd5f64b571ef73ab54a691d7aa3bde1e873d --- /dev/null +++ b/cover_blocks/trajectory_18/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 237 + ], + "total_frames": 541 +} diff --git a/cover_blocks/trajectory_19/progress.json b/cover_blocks/trajectory_19/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..b4fda72e686bac2443b321180c432e1dc2934f63 --- /dev/null +++ b/cover_blocks/trajectory_19/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 237 + ], + "total_frames": 539 +} diff --git a/cover_blocks/trajectory_2/progress.json b/cover_blocks/trajectory_2/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..c64e0f34f2deffe4c7a0f55223f40f5b5001066c --- /dev/null +++ b/cover_blocks/trajectory_2/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 237 + ], + "total_frames": 538 +} diff --git a/cover_blocks/trajectory_20/progress.json b/cover_blocks/trajectory_20/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..96e754f1f9460d596230f84450e79637a2a7c28b --- /dev/null +++ b/cover_blocks/trajectory_20/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 237 + ], + "total_frames": 543 +} diff --git a/cover_blocks/trajectory_21/progress.json b/cover_blocks/trajectory_21/progress.json new file mode 100644 index 0000000000000000000000000000000000000000..0759751843ad42bbd81228c0cb1be4e0ebf306c9 --- /dev/null +++ b/cover_blocks/trajectory_21/progress.json @@ -0,0 +1,9 @@ +{ + "keyframes": [ + 0, + 70, + 148, + 237 + ], + "total_frames": 549 +} diff --git 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0000000000000000000000000000000000000000..97a0294ff9c61aedfacc7e07b2524293ae6dfe28 --- /dev/null +++ b/index.json @@ -0,0 +1,43 @@ +{ + "schema": "robodojo_progress_annotations_v1", + "describes": "RoboDojo arx_x5, the memory tasks: one progress.json per episode, under /trajectory_/", + "fields": { + "keyframes": "frames at which the task made progress the policy has to remember", + "meta[].frame": "which keyframe the entry adds to", + "meta[].box": "[x1, y1, x2, y2] in raw-video pixels, the object that progress was about", + "meta[].window": "[first, last] frames at which writing that keyframe counts as correct", + "total_frames": "frames in the episode, so a file can be checked against it" + }, + "tasks": [ + { + "task": "cover_blocks", + "instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue.", + "episodes": 100 + }, + { + "task": "imitate_sorting_sequence", + "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order.", + "episodes": 100 + }, + { + "task": "match_and_pick_from_conveyor", + "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again.", + "episodes": 100 + }, + { + "task": "press_by_number", + "instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.", + "episodes": 100 + }, + { + "task": "swap_T", + "instruction": "Pick up the two T-shaped blocks, swap their positions, and place them back with the correct orientations.", + "episodes": 100 + }, + { + "task": "swap_blocks", + "instruction": "Swap the two blocks using the empty mat, pressing the button after each move.", + "episodes": 100 + } + ] +} diff --git a/match_and_pick_from_conveyor/trajectory_0/progress.json b/match_and_pick_from_conveyor/trajectory_0/progress.json new file mode 100644 index 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