Datacard

This is the official fine-tuning dataset provided by VLABench, with 500 episodes each task. The current version includes 10 primitive tasks.

Source

Project Page: https://vlabench.github.io/
Arxiv Paper: https://arxiv.org/abs/2412.18194
Code: https://github.com/OpenMOSS/VLABench

Uses

Download all archive files and use the following command to extract:

cat rdt_data.tar.gz.* | tar -xzvf -

In the resulting VLABench_release folder, there will be two folders: primitive(release now) and composite(under management). In primitive folder, there are ten sub-folders and the dataset HDF5 files can be listed as:

VLABench_release
└── primitive
    ├── add_condiment
        └── episode_0.hdf5
        ...
    ├── insert_flower
        └── episode_0.hdf5
        ...
    ├── select_book
        └── ...
    ├── select_chemistry_tube
        └── ...
    ├── select_drink
        └── ...
    ├── select_fruit
        └── ...
    ├── select_mahjong
        └── ...
    ├── select_painting
        └── ...
    ├── select_poker
        └── ...
    └── select_toy
        └── ...

An example of the single episode data is:

data
    2025-02-23 20:46:40
        instruction
         (1,) |S38
         ['Please put the striped_10 in any hole.']
        meta_info
            entities
             (6,) |S15
             ['billiards_table', 'striped_10', 'striped_14', 'striped_11', 'striped_12', 'solid_1']
            episode_config
             () | S1879
            target_entity
             (1,) |S10
             ['striped_10']
        observation
            depth
             (212, 4, 480, 480) float32
            ee_state
             (212, 8) float32
            point_cloud_colors
             (212, 11905, 3) float32
            point_cloud_points
             (212, 11905, 3) float32
            q_acceleration
             (212, 7, 1) float32
            q_state
             (212, 7, 1) float32
            q_velocity
             (212, 7, 1) float32
            rgb
             (212, 4, 480, 480, 3) uint8
            robot_mask
             (212, 4, 480, 480) float32
        trajectory
         (212, 8) float32

Citation

If you find our work helps,please cite us:

@misc{zhang2024vlabench,
      title={VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks}, 
      author={Shiduo Zhang and Zhe Xu and Peiju Liu and Xiaopeng Yu and Yuan Li and Qinghui Gao and Zhaoye Fei and Zhangyue Yin and Zuxuan Wu and Yu-Gang Jiang and Xipeng Qiu},
      year={2024},
      eprint={2412.18194},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2412.18194}, 
}