https://github.com/berkeleyautomation/fog_x
https://github.com/berkeleyautomation/fog_x
Last synced: about 1 month ago
JSON representation
- Host: GitHub
- URL: https://github.com/berkeleyautomation/fog_x
- Owner: BerkeleyAutomation
- License: apache-2.0
- Created: 2024-04-03T00:10:15.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2024-11-18T15:17:16.000Z (6 months ago)
- Last Synced: 2024-11-24T19:42:40.783Z (6 months ago)
- Language: Jupyter Notebook
- Size: 7.63 MB
- Stars: 12
- Watchers: 3
- Forks: 4
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- Changelog: HISTORY.md
- Contributing: CONTRIBUTING.md
- Funding: .github/FUNDING.yml
- License: LICENSE
Awesome Lists containing this project
README
# 🦊 Robo-DM
🦊 Robo-DM : An Efficient and Scalable Data Collection and Management Framework For Robotics Learning. Support [Open-X-Embodiment](https://robotics-transformer-x.github.io/), 🤗[HuggingFace](https://huggingface.co/).
🦊 Robo-DM (Former Name: fog_x) considers both speed 🚀 and memory efficiency 📈 with active metadata and lazily-loaded trajectory data. It supports flexible and distributed dataset partitioning. It provides native support to cloud storage.
[Design Doc](https://docs.google.com/document/d/1woLQVLWsySGjFuz8aCsaLoc74dXQgIccnWRemjlNDws/edit#heading=h.irrfcedesnvr) | [Dataset Visualization](https://keplerc.github.io/openxvisualizer/)
## Note to ICRA Reviewers
We are actively developing the framework. See commit `a35a6` for the version we developed.
## Install
```bash
git clone https://github.com/BerkeleyAutomation/fog_x.git
cd fog_x
pip install -e .
```
## Usage
```py
import fog_x
path = "/tmp/output.vla"
# 🦊 Data collection:
# create a new trajectory
traj = fog_x.Trajectory(
path = path
)
traj.add(feature = "arm_view", value = "image1.jpg")
# Automatically time-aligns and saves the trajectory
traj.close()
# load it
fog_x.Trajectory(
path = path
)
```
## Examples
* [Data Collection and Loading](./examples/data_collection_and_load.py)
* [Convert From Open_X](./examples/openx_loader.py)
* [Convert From H5](./examples/h5_loader.py)
* [Running Benchmarks](./benchmarks/openx.py)
## Development
Read the [CONTRIBUTING.md](CONTRIBUTING.md) file.