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---
license: mit
task_categories:
- robotics
---
# Dataset of DeformPAM
## Contents
- [Description](#description)
- [Structure](#structure)
- [Usage](#usage)
## Description
This is the dataset used in the paper [DeformPAM: Data-Efficient Learning for Long-horizon Deformable
Object Manipulation via Preference-based Action Alignment](https://deform-pam.robotflow.ai).
- [Paper](https://arxiv.org/pdf/2410.11584.pdf)
- [Project Homepage](https://deform-pam.robotflow.ai)
- [GitHub Repository](https://github.com/xiaoxiaoxh/DeformPAM)
- [Pretrained Models](https://huggingface.co/WendiChen/DeformPAM_PrimitiveDiffusion)
## Structure
We offer two versions of the dataset: one is the [full dataset](https://huggingface.co/datasets/WendiChen/DeformPAM_Dataset/tree/main/dataset_full) used to train the models in our paper,
and the other is a [mini dataset](https://huggingface.co/datasets/WendiChen/DeformPAM_Dataset/tree/main/dataset_mini) for easier examination.
Both versions include the supervised and finetuning subsets of granular pile shaping, rope shaping, and T-shirt unfolding.
Each subset is structured as follows:
```
├── annotations
│ ├── 0aa71092-06c1-4d3f-8f70-e0bf86eeaeab
│ │ └── metadata.yaml annotations and other detailed information
│ ├── ...
└── observations
├── 0aa71092-06c1-4d3f-8f70-e0bf86eeaeab
│ ├── mask
│ │ └── begin.png mask img used for segmenting the point cloud
│ ├── metadata.yaml detailed information
│ ├── pcd
│ │ ├── processed_begin.npz segmented point cloud of the object; processed_begin["points"]: np.ndarray (N, 3) float16
│ │ └── raw_begin.npz raw point cloud of the object; raw_begin["points"]: np.ndarray (N, 3) float16
│ └── rgb
│ └── begin.jpg RGB image of the object
├── ...
```
## Usage
There are two ways to utilize the dataset for training:
- Install the tool according to the [data management toolkit's installation guide](https://github.com/xiaoxiaoxh/DeformPAM/blob/main/tools/data_management/README.md),
and then store the metadata to MongoDB.
- Or, you can modify the [dataset](https://github.com/xiaoxiaoxh/DeformPAM/blob/main/learning/datasets/runtime_dataset_real.py#L307) to load data from local files. |