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RH20T-P API

Introduction

We provide basic API for RH20T-P dataset, including reading multi-view/multi-frame image/depth data and corresponding annotation (ee_pos/ee_pos_2d).

You can further develop on the basis of this API, for example, integrating them into the conversation of LLM to construct an instruction tuning dataset.

Download

Sources URL
RH20T dataset download
RH20T-P annotation download

Usage

from data.rh20tp.dataset import (
    LazyRH20TPrimitiveDataset, 
    LazyRH20TActionDataset
)

dataset = LazyRH20TPrimitiveDataset(
    data_root='/path/to/rh20t/dataset',
    anno_path='/path/to/rh20tp/annotation')

Here, data_root refers to the path of RH20T dataset, e.g., 'data/sources/RH20T'; anno_path refers to the path of RH20T-P annotation file, e.g., 'data/sources/rh20tp_cga_metadata_v1.0.pkl'.