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Support for converting OpenX datasets from RLDS format to LeRobotDataset (#354)

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Signed-off-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
This commit is contained in:
Michel Aractingi
2024-08-27 09:07:00 +02:00
committed by GitHub
parent aad59e6b6b
commit eb4c505cff
12 changed files with 2329 additions and 6 deletions
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47
lerobot/__init__.py
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@@ -129,6 +129,53 @@ available_real_world_datasets = [
"lerobot/unitreeh1_rearrange_objects",
"lerobot/unitreeh1_two_robot_greeting",
"lerobot/unitreeh1_warehouse",
"lerobot/nyu_rot_dataset",
"lerobot/utokyo_saytap",
"lerobot/imperialcollege_sawyer_wrist_cam",
"lerobot/utokyo_xarm_bimanual",
"lerobot/tokyo_u_lsmo",
"lerobot/utokyo_pr2_opening_fridge",
"lerobot/cmu_franka_exploration_dataset",
"lerobot/cmu_stretch",
"lerobot/asu_table_top",
"lerobot/utokyo_pr2_tabletop_manipulation",
"lerobot/utokyo_xarm_pick_and_place",
"lerobot/ucsd_kitchen_dataset",
"lerobot/austin_buds_dataset",
"lerobot/dlr_sara_grid_clamp",
"lerobot/conq_hose_manipulation",
"lerobot/columbia_cairlab_pusht_real",
"lerobot/dlr_sara_pour",
"lerobot/dlr_edan_shared_control",
"lerobot/ucsd_pick_and_place_dataset",
"lerobot/berkeley_cable_routing",
"lerobot/nyu_franka_play_dataset",
"lerobot/austin_sirius_dataset",
"lerobot/cmu_play_fusion",
"lerobot/berkeley_gnm_sac_son",
"lerobot/nyu_door_opening_surprising_effectiveness",
"lerobot/berkeley_fanuc_manipulation",
"lerobot/jaco_play",
"lerobot/viola",
"lerobot/kaist_nonprehensile",
"lerobot/berkeley_mvp",
"lerobot/uiuc_d3field",
"lerobot/berkeley_gnm_recon",
"lerobot/austin_sailor_dataset",
"lerobot/utaustin_mutex",
"lerobot/roboturk",
"lerobot/stanford_hydra_dataset",
"lerobot/berkeley_autolab_ur5",
"lerobot/stanford_robocook",
"lerobot/toto",
"lerobot/fmb",
"lerobot/droid_100",
"lerobot/berkeley_rpt",
"lerobot/stanford_kuka_multimodal_dataset",
"lerobot/iamlab_cmu_pickup_insert",
"lerobot/taco_play",
"lerobot/berkeley_gnm_cory_hall",
"lerobot/usc_cloth_sim",
]
available_datasets = list(