How to load my local dataset

[wuyukun-tong]

Hi, I collected some data on our own robotics platform and processed it into the corresponding format using "bridge_rlds_builder", but didn't upload it to Google Netflix, and got an error when trying to load the background data using make_single_dataset.

my code

dataset_kwargs = make_oxe_dataset_kwargs(

"example_dataset",

data_dir='/home/xx/tensorflow_datasets/example_dataset/1.0.0',

)

error

raise ValueError( Cannot load {name} since only EEF pose delta action encoding is supported.

[erikbr01]

You're going to have to write a spec for your dataset in oxe_dataset_configs.py, it's quite easy to extend it

[wuyukun-tong]

thanks！ I have another question about "absolute_action_mask". In my data the action is robot speed how to set the value of "absolute_action_mask"?

[kpertsch]

If all elements are velocity values (esp also for the gripper value) then you can set it to False everywhere

[wuyukun-tong]

Thanks for your replay! The action space is velocity (vx,vy,vyaw) and control mode(0,1,2) . May i set the (vx,vy,vyaw) to False and mode(0,1,2) to True ?

[kpertsch]

jup that sounds reasonable

[wuyukun-tong]

Thanks for your time

---- Replied Message ---- | From | Karl @.> | | Date | 05/21/2024 10:29 | | To | @.> | | Cc | @.>@.> | | Subject | Re: [octo-models/octo] How to load my local dataset (Issue #94) |

jup that sounds reasonable

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