MimicLabs Study Datasets#
Download datasets#
We open-source all datasets used in our study paper, which contains over 850k trajectories across 8 different scenes (lab1 through lab8) that were used to study the effects of different retrieval strategies from a large-scale simulation dataset. Low-dimensional observations and actions are readily available for download. You may add image observations to these datasets using instructions below.
Using web URL#
All datasets are available to download from Hugging Face.
Using provided scripts (recommended)#
You can also download all datasets using the provided script (CAUTION: this will download ~323GB of data):
$ cd <PATH_TO_THIS_REPO>/mimiclabs/mimiclabs
$ python scripts/download_mimiclabs_datasets.py --download_dir <YOUR_DOWNLOAD_DIR>
By default the above script will download all datasets to the the download directory. You can selectively download datasets from a few labs. Below is an example command to download datasets of just lab1 and lab2:
$ python scripts/download_mimiclabs_datasets.py --download_dir <YOUR_DOWNLOAD_DIR> --labs lab1 lab2
If you’d like to do a dry run first, run:
$ python scripts/download_mimiclabs_datasets.py --download_dir <YOUR_DOWNLOAD_DIR> --labs lab1 lab2 --dry_run
Adding image observations to datasets#
Downloaded datasets only contain low-dim observations. To add image observations from the agentview and eye_in_hand cameras to the downloaded datasets, run:
$ cd <PATH_TO_THIS_REPO>/mimiclabs/mimiclabs
$ python scripts/add_obs_to_mimiclabs_datasets.py --input_root_dir <YOUR_DOWNLOAD_DIR>/mimiclabs_study --output_root_dir <YOUR_DOWNLOAD_DIR>/mimiclabs_study
This will generate a script called add_obs_to_mimiclabs_datasets.sh in the scripts directory.
Adding depth images
Above script will default to adding image observations only. If you would like to add depth observations, you can run the above script using the additional --add_depth_obs flag.Subsequently run:
$ chmod +x scripts/add_obs_to_mimiclabs_datasets.sh
$ ./scripts/add_obs_to_mimiclabs_datasets.sh