- 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
- download the ecot dataset (we need this to get the gripper positions):
download link
- get gripper position in 2d image trajectories by
python gripper_position.py
- get high-level plan by
python generate_plans.py
- run dataset by
python create_dataset.py