KarlP/droid

This repo contains the full language annotations for the DROID dataset. The released RLDS dataset only contains a subset of the language labels. Here, we provide a single json file with a mapping from episode ID to three natural language annotations, for 75k success episodes in DROID (95% of all DROID success episodes).

The episode ID of each annotation cooresponds to the file name metadata_<episode_id>.json in every episode's folder in the raw DROID data. To extract episode IDs and corresponding file paths, you can use the code below. You can then e.g. match the filepath to the one stored in the RLDS dataset if you want to match language annotations to RLDS episodes.

import tensorflow as tf

episode_paths = tf.io.gfile.glob("gs://gresearch/robotics/droid_raw/1.0.1/*/success/*/*/metadata_*.json")
for p in episode_paths:
    episode_id = p[:-5].split("/")[-1].split("_")[-1]