We provide instruction for downloading and using our real-robot dataset used for LIV fine-tuning. The dataset contains 100 teleoperated demonstrations for 9 table-top tasks specified via language.
$ cd liv/liv/dataset
$ sh download_data.shThen, generate manifest.csv file by running
python generate_manifest.py
with the correct absoulte path of the downloaded dataset folder on line 8.
Then, we can fine-tune LIV using the realrobot dataset:
$ cd ..
$ python train_liv.py dataset=realrobot training=finetune