Virtual reality demonstration dataset (VR_demos)

This processed dataset could be useful for imitation learning dataset, as described in the BEHAVIOR documentation. It includes all observation modalities (semantic segmentation, instance segmentation, RGB, depth, highlight), task observations, proprioception, and the action used by the agent. Additionally, each hdf5 contains metadata on the specific task.

To download a single example demonstration (~1 gb):

wget https://download.cs.stanford.edu/downloads/behavior/bottling_fruit_0_Wainscott_0_int_0_2021-05-24_19-46-46_episode.hdf5

To download the entire dataset (~250 gb)

wget https://download.cs.stanford.edu/downloads/behavior/behavior_imitation_learning_v0.5.0.tar.gz

Raw virtual reality demonstration dataset (VR_demos_raw)

To download the raw hdf5s, which include eyetracking and individual pose of the VR sensors, please use the following command:

To download a single example demonstration (~10 mb):

https://download.cs.stanford.edu/downloads/behavior/bottling_fruit_0_Wainscott_0_int_0_2021-05-24_19-46-46.hdf5

To download the entire dataset (~1.7 gb)

wget https://download.cs.stanford.edu/downloads/behavior/behavior_virtual_reality_v0.5.0.tar.gz