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README.md

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Setup and download datasets

  1. download the rlds of bridgeV2 dataset following openvla
# Change directory to your base datasets folder
cd <PATH TO BASE DATASETS DIR>

# Download the full dataset (124 GB)
wget -r -nH --cut-dirs=4 --reject="index.html*" https://rail.eecs.berkeley.edu/datasets/bridge_release/data/tfds/bridge_dataset/

# Rename the dataset to `bridge_orig` (NOTE: Omitting this step may lead to runtime errors later)
mv bridge_dataset bridge_orig
  1. download the ecot dataset (we need this to get the gripper positions):

download link

Run dataset creation

  1. get gripper position in 2d image trajectories by python gripper_position.py
  2. get high-level plan by python generate_plans.py
  3. run dataset by python create_dataset.py