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license: apache-2.0 |
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Preprocessed dataset for my paper "*You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations*" [[arXiv](https://arxiv.org/abs/2501.14208)] / [[Project](https://hnuzhy.github.io/projects/YOTO/)] / [[Code](https://github.com/hnuzhy/YOTO)] |
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Please refer [AugDemos](https://github.com/hnuzhy/YOTO/tree/main/AugDemos) and [BiDP](https://github.com/hnuzhy/YOTO/tree/main/BiDP) for the usage of these uploaded datasets and pretrained models. |
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* Raw left/right RGB images and dual-arm robot actions: [drawer.zip](https://huggingface.co/HoyerChou/YOTO/blob/main/drawer.zip), [pouring.zip](https://huggingface.co/HoyerChou/YOTO/blob/main/pouring.zip), [unscrew.zip](https://huggingface.co/HoyerChou/YOTO/blob/main/unscrew.zip), [uncover.zip](https://huggingface.co/HoyerChou/YOTO/blob/main/uncover.zip), [openbox.zip](https://huggingface.co/HoyerChou/YOTO/blob/main/openbox.zip). |
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* RGB images of segmented manipulated objects: [drawer_masks.zip](https://huggingface.co/HoyerChou/YOTO/blob/main/drawer_masks.zip), [pouring_masks.zip](https://huggingface.co/HoyerChou/YOTO/blob/main/pouring_masks.zip), [unscrew_masks.zip](https://huggingface.co/HoyerChou/YOTO/blob/main/unscrew_masks.zip), [uncover_masks.zip](https://huggingface.co/HoyerChou/YOTO/blob/main/uncover_masks.zip), [openbox_masks.zip](https://huggingface.co/HoyerChou/YOTO/blob/main/openbox_masks.zip). |
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* Preprocessed datasets without augmentation: [drawer_preprocessed.json](https://huggingface.co/HoyerChou/YOTO/blob/main/drawer_preprocessed.json), [pouring_preprocessed.json](https://huggingface.co/HoyerChou/YOTO/blob/main/pouring_preprocessed.json), [unscrew_preprocessed.json](https://huggingface.co/HoyerChou/YOTO/blob/main/unscrew_preprocessed.json), [uncover_preprocessed.json](https://huggingface.co/HoyerChou/YOTO/blob/main/uncover_preprocessed.json), [openbox_preprocessed.json](https://huggingface.co/HoyerChou/YOTO/blob/main/openbox_preprocessed.json). |
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* Preprocessed datasets with 100x augmentation: [drawer_preprocessed_aug100x_1~4.json](https://huggingface.co/HoyerChou/YOTO/tree/main/), [pouring_preprocessed_aug100x_1~3.json](https://huggingface.co/HoyerChou/YOTO/tree/main/), [unscrew_preprocessed_aug100x.json](https://huggingface.co/HoyerChou/YOTO/blob/main/unscrew_preprocessed_aug100x.json), [uncover_preprocessed_aug100x.json](https://huggingface.co/HoyerChou/YOTO/blob/main/uncover_preprocessed_aug100x.json), [openbox_preprocessed_aug100x.json](https://huggingface.co/HoyerChou/YOTO/blob/main/openbox_preprocessed_aug100x.json). |
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* Pretrained noaug BiDP models: [bidp_drawer_noaug_ckpt01999.pth](https://huggingface.co/HoyerChou/YOTO/blob/main/bidp_drawer_noaug_ckpt01999.pth), [bidp_pouring_noaug_ckpt01999.pth](https://huggingface.co/HoyerChou/YOTO/blob/main/bidp_pouring_noaug_ckpt01999.pth), [bidp_unscrew_noaug_ckpt03999.pth](https://huggingface.co/HoyerChou/YOTO/blob/main/bidp_unscrew_noaug_ckpt03999.pth), [bidp_uncover_noaug_ckpt03999.pth](https://huggingface.co/HoyerChou/YOTO/blob/main/bidp_uncover_noaug_ckpt03999.pth), [bidp_openbox_noaug_ckpt03999.pth](https://huggingface.co/HoyerChou/YOTO/blob/main/bidp_openbox_noaug_ckpt03999.pth). |
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* Pretrained withaug BiDP models: [bidp_drawer_withaug_ckpt00499.pth](https://huggingface.co/HoyerChou/YOTO/blob/main/bidp_drawer_withaug_ckpt00499.pth), [bidp_pouring_withaug_ckpt00499.pth](https://huggingface.co/HoyerChou/YOTO/blob/main/bidp_pouring_withaug_ckpt00499.pth), [bidp_unscrew_withaug_ckpt00999.pth](https://huggingface.co/HoyerChou/YOTO/blob/main/bidp_unscrew_withaug_ckpt00999.pth), [bidp_uncover_withaug_ckpt00999.pth](https://huggingface.co/HoyerChou/YOTO/blob/main/bidp_uncover_withaug_ckpt00999.pth), [bidp_openbox_withaug_ckpt00999.pth](https://huggingface.co/HoyerChou/YOTO/blob/main/bidp_openbox_withaug_ckpt00999.pth). |
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