Preparation for Robotwin2.0 environment or dataset

[OrangeSodahub]

Hi, I'm trying to run Motus on robotwin2.0 data. But I did not find any guidelines about how to prepare the robotwin2.0 environment or dataset. Can you simply explain them? Is it OK that I just download the robotwin2.0 dataset from Robotwin2.0 Huggingface?

Thanks a lot!

[HongzheBi]

For now, we have provided a demo dataset to demonstrate the data structure. The lerobot format will be available in a few days, and a script to convert the robotwin raw dataset to our format may also be available.

[OrangeSodahub]

@HongzheBi Thanks for reply. But where is the demo dataset? I want to test the video+action generation results of Motus.

[HongzheBi]

This model (https://huggingface.co/motus-robotics/Motus_robotwin2) can be used directly for inference/robotwin/Motus. If you need to train based on motus pretrain weights, I will update the conversion script of robotwin raw dataset to motus training format soon.

[OrangeSodahub]

@HongzheBi Thanks! But how to prepare the inference data for robotwin2 task, is there any documentation?

[HongzheBi]

For robotwin inference, please use "Motus/inference/robotwin/Motus", copy this directory to "Robotwin/policy/". You do not need to prepare the data, just need to steup environment, please refer to "https://robotwin-platform.github.io/doc/". The data conversion script will be updated soon.

[OrangeSodahub]

@HongzheBi Thanks for your instructions.

Could you provide a detailed instructions step by step in README, to ensure the reproducibility?

[VarunGumma]

@HongzheBi is there any update on the conversion script? Where can I find it?

I am looking to convert this dataset (https://huggingface.co/datasets/TianxingChen/RoboTwin2.0) into lerobot format.

We have some additional artifacts too, so we wish to convert the data ourselves by changing the porting script.