| --- |
| license: mit |
| tags: |
| - robotics |
| - imitation-learning |
| - rlds |
| - openvla |
| - libero |
| - boss-benchmark |
| --- |
| |
| # BOSS — RAMG-augmented demonstrations (RLDS) |
|
|
| The augmented training set behind Setup B of Table I in |
| [**BOSS**](https://arxiv.org/abs/2502.15679) (Yang et al., *IEEE RA-L*, 2025), in |
| RLDS/TFDS form so it can be fed |
| straight to OpenVLA fine-tuning. |
|
|
| - **56,945 episodes** across 1,727 modified tasks (the 44 BOSS skills, each with |
| one visual modification generated by the Rule-based Automatic Modification |
| Generator) |
| - 1,024 tfrecord shards, ~267 GB |
|
|
| Produced by replaying each original demonstration in its modified environment and |
| discarding failed replays, so the trajectory is unchanged and only the visual |
| observation differs. |
|
|
| ## Usage |
|
|
| ```shell |
| huggingface-cli download yygx/BOSS-data-augmentation --repo-type dataset \ |
| --local-dir datasets |
| |
| # from inside your OpenVLA checkout |
| DATASET_NAME=libero_bl3_all DATA_ROOT_DIR=./datasets \ |
| bash ../integrations/openvla/shells/finetune_openvla.sh |
| ``` |
|
|
| ## HDF5 form |
|
|
| The BC baselines read HDF5, not RLDS, and that form is **not** distributed here. |
| Regenerate it from the repository, which ships all 1,727 modified bddl files: |
|
|
| ```shell |
| python RAMG/DA_demos_generation.py --benchmark data_augmentation |
| ``` |
|
|
| Roughly 6 minutes per task single-threaded; `--start-index N` resumes. |
|
|
| ## Citation |
|
|
| ```bibtex |
| @article{yang2025boss, |
| title={BOSS: Benchmark for observation space shift in long-horizon task}, |
| author={Yang, Yue and Zhao, Linfeng and Ding, Mingyu and Bertasius, Gedas and Szafir, Daniel}, |
| journal={IEEE Robotics and Automation Letters}, |
| volume={10}, |
| number={9}, |
| pages={8882--8889}, |
| year={2025}, |
| publisher={IEEE} |
| } |
| ``` |
|
|
