Skip to content

README.md

Latest commit

 

History

History
70 lines (54 loc) · 1.63 KB

README.md

File metadata and controls

70 lines (54 loc) · 1.63 KB

RobotWin Data Converter

Converts RobotTwin2.0 dataset from HuggingFace to Motus format.

Quick Start

# 1. Activate Motus environment
conda activate your_motus_env

# 2. Download dataset (uses HF mirror by default for faster speed)
python3 download_robotwin_dataset.py --output_dir /path/to/robotwin_raw_dataset

# 3. Edit config.yml
vim config.yml

# 4. Run conversion
./run_conversion.sh

Download Options

# Download all tasks (default: uses HF mirror)
python3 download_robotwin_dataset.py --output_dir /path/to/save

# Download specific tasks
python3 download_robotwin_dataset.py --tasks adjust_bottle clean_mirror --output_dir /path/to/save

Configuration

Edit config.yml:

source_root: "/path/to/robotwin_raw_dataset"  
target_root: "/path/to/robotwin_dataset"
wan_repo_path: "/path/to/Wan2.2-TI2V-5B"

Input Structure

source_root/
├── {task_name}/
│   ├── aloha-agilex_clean_50/
│   │   ├── data/episode*.hdf5
│   │   └── instructions/episode*.json
│   └── aloha-agilex_randomized_50/
│       ├── data/episode*.hdf5
│       └── instructions/episode*.json

Output Structure

target_root/
├── clean/
│   └── {task_name}/
│       ├── videos/0.mp4    # Multi-camera video
│       ├── qpos/0.pt       # Robot positions (T, 14)
│       ├── metas/0.txt     # Instructions with prefix
│       └── umt5_wan/0.pt   # T5 embeddings (optional)
└── randomized/
    └── {task_name}/
        ├── videos/
        ├── qpos/
        ├── metas/
        └── umt5_wan/