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Cannot get the split names for the config 'default' of the dataset.
Exception:    SplitsNotFoundError
Message:      The split names could not be parsed from the dataset config.
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
                  for split_generator in builder._split_generators(
                                         ^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 80, in _split_generators
                  first_examples = list(islice(pipeline, self.NUM_EXAMPLES_FOR_FEATURES_INFERENCE))
                                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 56, in _get_pipeline_from_tar
                  current_example[field_name] = cls.DECODERS[data_extension](current_example[field_name])
                                                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 301, in npy_loads
                  return numpy.lib.format.read_array(stream, allow_pickle=False)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/numpy/lib/_format_impl.py", line 833, in read_array
                  raise ValueError("Object arrays cannot be loaded when "
              ValueError: Object arrays cannot be loaded when allow_pickle=False
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 65, in compute_split_names_from_streaming_response
                  for split in get_dataset_split_names(
                               ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
                  info = get_dataset_config_info(
                         ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
                  raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
              datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.

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RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot

Authors: Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Chenxi Wang, Junbo Wang, Haoyi Zhu, Cewu Lu

Dataset Descriptions

Previous version of datasset has depth compression issues, leading to noisy depth images. In this version, we fix the depth issue by directly compressing depth images. Due to the large dataset size, we resize the RGB/depth images to 320x180 (originally 1280x720).

The dataset is divided into several splits:

  • RH20T_calib: the calibration files;
  • RH20T_color: the compressed RGB videos in 320x180;
  • RH20T_depth: the compressed raw depth images in 320x180 (using nearest interpolation);
  • RH20T_lowdim: the lowdim data, including tcp pose, joint position, tcp velocity, force/torque signals, tactile images, etc.

Each split contains 7 .tar.gz files (RH20T_cfg{1-7}.tar.gz), corresponding to different configurations of the dataset respectively.

Alternative Download Sources

We also prepare alternative download source for this version of dataset on Baidu Cloud.

License

The dataset is licensed under a mixture of licenses as it is partly funded by a company. It is divided into two subsets: RH20T-C (commercial) and RH20T-NC (non-commercial).

  • The RH20T-C subset contains episodes with names containing 'scene_0001' to 'scene_0005'. It is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License (CC BY-SA 4.0).
  • The RH20T-NC subset contains episodes with names containing 'scene_0006' to 'scene_0010'. It is licensed under a Creative Commons Attribution 4.0 Non-Commercial License (CC BY-NC 4.0), which is freely available for free non-commercial use, and may be redistributed under these conditions. Commercial use of the RH20T-NC subset or models trained on it is not allowed. If you have any further questions, please contact fhaoshu@gmail.com.

Caution: The RH20T dataset comprises volunteer-recorded human-robot interactions, possibly featuring volunteers' faces and voices. Exercise care to avoid inspecting or sharing sensitive content; kindly utilize the dataset solely for model training purposes.

Citation 

@inproceedings{
  fang2024rh20t,
  title        = {RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot},
  author       = {Fang, Hao-Shu and Fang, Hongjie and Tang, Zhenyu and Liu, Jirong and Wang, Chenxi and Wang, Junbo and Zhu, Haoyi and Lu, Cewu},
  booktitle    = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
  pages        = {653--660},
  year         = {2024},
  organization = {IEEE}
}
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