What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
Paper
•
2108.03298
•
Published
Datasets:
ArXiv:
License:
Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: ArrowInvalid
Message: Mismatching child array lengths
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 99, in get_rows_or_raise
return get_rows(
^^^^^^^^^
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/src/worker/utils.py", line 77, in get_rows
rows_plus_one = list(itertools.islice(ds, rows_max_number + 1))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2543, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2060, in __iter__
for key, pa_table in self._iter_arrow():
^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 2083, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 544, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/iterable_dataset.py", line 383, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 87, in _generate_tables
pa_table = _recursive_load_arrays(h5, self.info.features, start, end)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 273, in _recursive_load_arrays
arr = _recursive_load_arrays(dset, features[path], start, end)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 294, in _recursive_load_arrays
sarr = pa.StructArray.from_arrays(values, names=keys)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "pyarrow/array.pxi", line 4294, in pyarrow.lib.StructArray.from_arrays
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
pyarrow.lib.ArrowInvalid: Mismatching child array lengthsNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
robomimic is a framework for robot learning from demonstration. It offers a broad set of demonstration datasets collected on robot manipulation domains and offline learning algorithms to learn from these datasets. robomimic aims to make robot learning broadly accessible and reproducible, allowing researchers and practitioners to benchmark tasks and algorithms fairly and to develop the next generation of robot learning algorithms.
This repository contains some of the datasets released with the robomimic framework.
Citation
Please cite this paper if you use this framework in your work:
@inproceedings{robomimic2021,
title={What Matters in Learning from Offline Human Demonstrations for Robot Manipulation},
author={Ajay Mandlekar and Danfei Xu and Josiah Wong and Soroush Nasiriany and Chen Wang and Rohun Kulkarni and Li Fei-Fei and Silvio Savarese and Yuke Zhu and Roberto Mart\'{i}n-Mart\'{i}n},
booktitle={Conference on Robot Learning (CoRL)},
year={2021}
}
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