HDF5 data collect

[Xj1567589354]

Are your HDF5 data collected manually? Why are you able to achieve results under 200 steps, while when we use collect_demonstration.py to collect data, it almost always exceeds 300 steps?

[AnnabellaMacaluso]

Hi do you have any updates on this?

[Likeooo]

Are your HDF5 data collected manually? Why are you able to achieve results under 200 steps, while when we use collect_demonstration.py to collect data, it almost always exceeds 300 steps?

1. I guess the LIBERO team used SpaceMouse to collect data instead of keyboard, so it is better
2. If dataset you use is from openpi or openvla, some no operation steps in the libero original dataset were filtered out, so the episode length can be less to 200 steps.

[Xj1567589354]

Thank you for your reply. I have two more questions:

1. While this filters out some non-operational steps, what about the frames that align with the steps during manual telemetry data collection?
2. Libero's HDF5 data allows for very smooth curved motion, while our manual telemetry data only allows for straight-line motion.

[Likeooo]

Thank you for your reply. I have two more questions:

1. While this filters out some non-operational steps, what about the frames that align with the steps during manual telemetry data collection?
2. Libero's HDF5 data allows for very smooth curved motion, while our manual telemetry data only allows for straight-line motion.

1. all the data includes action, state, image frames, etc. in the non-operational steps will be deleted
2. I think this is because Libero team use SpaceMouse to collect the data, so they can make very smooth curved motion.

[Xj1567589354]

I'm planning to buy a Spacemouse too. Thanks for your reply. Is it enough to just remove the no-op?

[Likeooo]

I'm planning to buy a Spacemouse too. Thanks for your reply. Is it enough to just remove the no-op?

I think just remove the no-op will make the trajectory no stall but it can not turn straight-line motion into smooth curved motion. However, this is enough if you don't need smooth curved motion cause straight-line motion can also acomplish the task.