Data Preparation

Use Our Collected Data

We first provide instructions on how to use our collected data. Our data is hosted on Hugging Face in hdf5 format. After download them, for tasks clean_house_after_a_wild_party and take_trash_outside, run the following script to merge trajectory files into a single file. For other tasks, they are already provided in a single file.

# in the brs-algo directory
python3 scripts/merge_data_files.py --data_dir <DATA_DIR> --output_file <OUTPUT_FILE>

Replace <DATA_DIR> with the directory where you put the downloaded data files, and <OUTPUT_FILE> with the output file name. It should end with .hdf5.

Collect Your Own Data

To collect your own data, first follow the instructions in Data Collection to collect raw data. Then, run the following post-processing script.

python3 scripts/post_process.py --data_dir <DATA_DIR>

Replace <DATA_DIR> with the directory where you put the collected data files. It will inplace add additional fields to the data files. Finally, run the script to merge trajectory files into a single file.

python3 scripts/merge_data_files.py --data_dir <DATA_DIR> --output_file <OUTPUT_FILE>