Question about the availability of datasets

[MARMOTatZJU]

Hello, many thanks for this great work jointly done by so many researchers!

I am trying out the RT-X dataset by running the code snippet from the colab tutorial. I successfully installed tfds-nightly. My runtime environment (related to tensorflow/tfds)

tensorflow-metadata      1.14.0
tfds-nightly             4.9.4.dev202401220044

But the dataset of rt-x (e.g. fractal_20220817_data) seems not to be included in the list of supported datasets as the output of the snippet of code said:

tensorflow_datasets.core.registered.DatasetNotFoundError: Dataset fractal20220817_data not found. 

Check that:                                                                                                                                                                                                              - if dataset was added recently, it may only be available                                                                                                                                                              in `tfds-nightly`                                                                                                                                                                                                  - the dataset name is spelled correctly                                                                                                                                                                              - dataset class defines all base class abstract methods                                                                                                                                                              - the module defining the dataset class is imported 

Tried-out snippet:

import tensorflow_datasets as tfds
import tqdm

# optionally replace the DATASET_NAMES below with the list of filtered datasets from the google sheet
DATASET_NAMES = ['fractal_20220817_data', 'kuka', 'bridge', 'taco_play', 'jaco_play', 'berkeley_cable_routing', 'roboturk', 'nyu_door_opening_surprising_effectiveness', 'viola', 'berkeley_autolab_ur5', 'toto', 'language_table', 'columbia_cairlab_pusht_real', 'stanford_kuka_multimodal_dataset_converted_externally_to_rlds', 'nyu_rot_dataset_converted_externally_to_rlds', 'stanford_hydra_dataset_converted_externally_to_rlds', 'austin_buds_dataset_converted_externally_to_rlds', 'nyu_franka_play_dataset_converted_externally_to_rlds', 'maniskill_dataset_converted_externally_to_rlds', 'furniture_bench_dataset_converted_externally_to_rlds', 'cmu_franka_exploration_dataset_converted_externally_to_rlds', 'ucsd_kitchen_dataset_converted_externally_to_rlds', 'ucsd_pick_and_place_dataset_converted_externally_to_rlds', 'austin_sailor_dataset_converted_externally_to_rlds', 'austin_sirius_dataset_converted_externally_to_rlds', 'bc_z', 'usc_cloth_sim_converted_externally_to_rlds', 'utokyo_pr2_opening_fridge_converted_externally_to_rlds', 'utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds', 'utokyo_saytap_converted_externally_to_rlds', 'utokyo_xarm_pick_and_place_converted_externally_to_rlds', 'utokyo_xarm_bimanual_converted_externally_to_rlds', 'robo_net', 'berkeley_mvp_converted_externally_to_rlds', 'berkeley_rpt_converted_externally_to_rlds', 'kaist_nonprehensile_converted_externally_to_rlds', 'stanford_mask_vit_converted_externally_to_rlds', 'tokyo_u_lsmo_converted_externally_to_rlds', 'dlr_sara_pour_converted_externally_to_rlds', 'dlr_sara_grid_clamp_converted_externally_to_rlds', 'dlr_edan_shared_control_converted_externally_to_rlds', 'asu_table_top_converted_externally_to_rlds', 'stanford_robocook_converted_externally_to_rlds', 'eth_agent_affordances', 'imperialcollege_sawyer_wrist_cam', 'iamlab_cmu_pickup_insert_converted_externally_to_rlds', 'uiuc_d3field', 'utaustin_mutex', 'berkeley_fanuc_manipulation', 'cmu_food_manipulation', 'cmu_play_fusion', 'cmu_stretch', 'berkeley_gnm_recon', 'berkeley_gnm_cory_hall', 'berkeley_gnm_sac_son']
DOWNLOAD_DIR = '~/tensorflow_datasets'

print(f"Downloading {len(DATASET_NAMES)} datasets to {DOWNLOAD_DIR}.")
for dataset_name in tqdm.tqdm(DATASET_NAMES):
  _ = tfds.load(dataset_name, data_dir=DOWNLOAD_DIR)

The list of available datasets in the command line output:

tensorflow_datasets.core.registered.DatasetNotFoundError: Dataset fractal20220817_data not found.                                                                                                                    Available datasets:                                                                                                                                                                                                          - abstract_reasoning                                                                                                                                                                                                 - accentdb                                                                                                                                                                                                           - aeslc                                                                                                                                                                                                              - aflw2k3d                                                                                                                                                                                                           - ag_news_subset                                                                                                                                                                                                     - ai2_arc                                                                                                                                                                                                            - ai2_arc_with_ir                                                                                                                                                                                                    - amazon_us_reviews                                                                                                                                                                                                  - anli                                                                                                                                                                                                               - answer_equivalence                                                                                                                                                                                                 - arc                                                                                                                                                                                                                - asqa                                                                                                                                                                                                               - asset                                                                                                                                                                                                              - assin2                                                                                                                                                                                                             - bair_robot_pushing_small                                                                                                                                                                                           - bccd                                                                                                                                                                                                               - beans                                                                                                                                                                                                              - bee_dataset                                                                                                                                                                                                        - beir                                                                                                                                                                                                               - big_patent                                                                                                                                                                                                         - bigearthnet                                                                                                                                                                                                        - billsum                                                                                                                                                                                                            - binarized_mnist                                                                                                                                                                                                    - binary_alpha_digits                                                                                                                                                                                                - ble_wind_field                                                                                                                                                                                                     - blimp                                                                                                                                                                                                              - booksum                                                                                                                                                                                                            - bool_q                                                                                                                                                                                                             - bot_adversarial_dialogue                                                                                                                                                                                           - bucc                                                                                                                                                                                                               - caltech101                                                                                                                                                                                                         - caltech_birds2010                                                                                                                                                                                                  - caltech_birds2011                                                                                                                                                                                                  - cardiotox                                                                                                                                                                                                          - cars196                                                                                                                                                                                                            - cassava                                                                                                                                                                                                            - cats_vs_dogs                                                                                                                                                                                                       - celeb_a                                                                                                                                                                                                            - celeb_a_hq                                                                                                                                                                                                         - chexpert                                                                                                                                                                                                           - cifar10                                                                                                                                                                                                            - cifar100                                                                                                                                                                                                           - cifar100_n                                                                                                                                                                                                         - cifar10_1                                                                                                                                                                                                          - cifar10_corrupted                                                                                                                                                                                                  - cifar10_h                                                                                                                                                                                                          - cifar10_n                                                                                                                                                                                                          - citrus_leaves                                                                                                                                                                                                      - cityscapes                                                                                                                                                                                                         - clevr                                                                                                                                                                                                              - clic                               
- cmaterdb                                                                                                                                                                                                           - coco                                                                                                                                                                                                               - coco_captions                                                                                                                                                                                                      - coil100                                                                                                                                                                                                            - colorectal_histology                                                                                                                                                                                               - colorectal_histology_large                                                                                                                                                                                         - common_voice                                                                                                                                                                                                       - controlled_noisy_web_labels                                                                                                                                                                                        - corr2cause                                                                                                                                                                                                         - crema_d                                                                                                                                                                                                            - curated_breast_imaging_ddsm                                                                                                                                                                                        - cycle_gan                                                                                                                                                                                                          - databricks_dolly                                                                                                                                                                                                   - deep_weeds                                                                                                                                                                                                         - dementiabank                                                                                                                                                                                                       - diabetic_retinopathy_detection                                                                                                                                                                                     - div2k                                                                                                                                                                                                              - dmlab                                                                                                                                                                                                              - domainnet                                                                                                                                                                                                          - downsampled_imagenet                                                                                                                                                                                               - dsprites                                                                                                                                                                                                           - dtd                                                                                                                                                                                                                - duke_ultrasound                                                                                                                                                                                                    - e2e_cleaned                                                                                                                                                                                                        - efron_morris75                                                                                                                                                                                                     - emnist                                                                                                                                                                                                             - eurosat                                                                                                                                                                                                            - fashion_mnist                                                                                                                                                                                                      - flic                                                                                                                                                                                                               - food101                                                                                                                                                                                                            - fuss                                                                                                                                                                                                               - geirhos_conflict_stimuli                                                                                                                                                                                           - groove                                                                                                                                                                                                             - gtzan                                                                                                                                                                                                              - gtzan_music_speech                                                                                                                                                                                                 - horses_or_humans                                                                                                                                                                                                   - i_naturalist2017                                                                                                                                                                                                   - i_naturalist2018                                                                                                                                                                                                   - i_naturalist2021                                                                                                                                                                                                   - imagenet2012                                                                                                                                                                                                       - imagenet2012_corrupted                                                                                                                                                                                             - imagenet2012_fewshot                                                                                                                                                                                               - imagenet2012_multilabel                                                                                                                                                                                            - imagenet2012_real                                                                                                                                                                                                  - imagenet2012_subset                                                                                                                                                                                                - imagenet_a                                                                                                                                                                                                         - imagenet_lt                                                                                                                                                                                                        - imagenet_pi                                                                                                                                                                                                        - imagenet_r                                                                                                                                                                                                         - imagenet_resized                                                                                                                                                                                                   - imagenet_sketch                                                                                                                                                                                                    - imagenet_v2                                                                                                                                                                                                        - imagenette                                                                                                                                                                                                         - imagewang                                                                                                                                                                                                          - imdb_reviews                                                                                                                                                                                                       - irc_disentanglement                                                                                                                                                                                                - kddcup99                                                                                                                                                                                                           - kitti                                                                                                                                                                                                              - kmnist                                                                                                                                                                                                             - lambada                                                                                                                                                                                                            - lfw       
- librispeech                                                                                                                                                                                                        - librispeech_lm                                                                                                                                                                                                     - libritts                                                                                                                                                                                                           - ljspeech                                                                                                                                                                                                           - lm1b                                                                                                                                                                                                               - lost_and_found                                                                                                                                                                                                     - lsun                                                                                                                                                                                                               - lvis                                                                                                                                                                                                               - malaria                                                                                                                                                                                                            - math_dataset                                                                                                                                                                                                       - math_qa                                                                                                                                                                                                            - mctaco                                                                                                                                                                                                             - media_sum                                                                                                                                                                                                          - mlqa                                                                                                                                                                                                               - mnist                                                                                                                                                                                                              - mnist_corrupted                                                                                                                                                                                                    - natural_instructions                                                                                                                                                                                               - natural_questions                                                                                                                                                                                                  - natural_questions_open                                                                                                                                                                                             - newsroom                                                                                                                                                                                                           - nsynth                                                                                                                                                                                                             - nyu_depth_v2                                                                                                                                                                                                       - ogbg_molpcba                                                                                                                                                                                                       - omniglot                                                                                                                                                                                                           - open_images_challenge2019_detection                                                                                                                                                                                - open_images_v4                                                                                                                                                                                                     - openbookqa                                                                                                                                                                                                         - opinion_abstracts                                                                                                                                                                                                  - opinosis                                                                                                                                                                                                           - opus                                                                                                                                                                                                               - oxford_flowers102                                                                                                                                                                                                  - oxford_iiit_pet                                                                                                                                                                                                    - para_crawl                                                                                                                                                                                                         - pass                                                                                                                                                                                                               - patch_camelyon                                                                                                                                                                                                     - paws_wiki                                                                                                                                                                                                          - paws_x_wiki                                                                                                                                                                                                        - penguins                                                                                                                                                                                                           - pet_finder                                                                                                                                                                                                         - pg19                                                                                                                                                                                                               - piqa                                                                                                                                                                                                               - places365_small                                                                                                                                                                                                    - placesfull                                                                                                                                                                                                         - plant_leaves                                                                                                                                                                                                       - plant_village                                                                                                                                                                                                      - plantae_k                                                                                                                                                                                                          - protein_net                                                                                                                                                                                                        - qa4mre                                                                                                                                                                                                             - qasc                                                                                                                                                                                                               - quac                                                                                                                                                                                                               - quality                                                                                                                                                                                                            - quickdraw_bitmap                                                                                                                                                                                                   - race                                                                                                                                                                                                               - radon                                                                                                                                                                                                              - real_toxicity_prompts                                                                                                                                                                                              - reddit                                                                                                                                                                                                             - reddit_disentanglement                                                                                                                                                                                             - reddit_tifu                                                                                                                                                                                                        - ref_coco         
- resisc45                                                                                                                                                                                                           - robomimic_mg                                                                                                                                                                                                       - robomimic_mh                                                                                                                                                                                                       - robomimic_ph                                                                                                                                                                                                       - robonet                                                                                                                                                                                                            - rock_paper_scissors                                                                                                                                                                                                - rock_you                                                                                                                                                                                                           - s3o4d                                                                                                                                                                                                              - salient_span_wikipedia                                                                                                                                                                                             - samsum                                                                                                                                                                                                             - savee                                                                                                                                                                                                              - scan                                                                                                                                                                                                               - scene_parse150                                                                                                                                                                                                     - schema_guided_dialogue                                                                                                                                                                                             - sci_tail                                                                                                                                                                                                           - scicite                                                                                                                                                                                                            - scientific_papers                                                                                                                                                                                                  - segment_anything                                                                                                                                                                                                   - sentiment140                                                                                                                                                                                                       - shapes3d                                                                                                                                                                                                           - sift1m                                                                                                                                                                                                             - simpte                                                                                                                                                                                                             - siscore                                                                                                                                                                                                            - smallnorb                                                                                                                                                                                                          - smartwatch_gestures                                                                                                                                                                                                - snli                                                                                                                                                                                                               - so2sat                                                                                                                                                                                                             - speech_commands                                                                                                                                                                                                    - spoken_digit                                                                                                                                                                                                       - squad                                                                                                                                                                                                              - stanford_dogs                                                                                                                                                                                                      - stanford_online_products                                                                                                                                                                                           - star_cfq                                                                                                                                                                                                           - starcraft_video                                                                                                                                                                                                    - stl10                                                                                                                                                                                                              - story_cloze                                                                                                                                                                                                        - summscreen                                                                                                                                                                                                         - sun397                                                                                                                                                                                                             - svhn_cropped                                                                                                                                                                                                       - symmetric_solids                                                                                                                                                                                                   - tatoeba                                                                                                                                                                                                            - ted_hrlr_translate                                                                                                                                                                                                 - ted_multi_translate                                                                                                                                                                                                - tedlium                                                                                                                                                                                                            - tf_flowers                                                                                                                                                                                                         - the300w_lp                                                                                                                                                                                                         - tiny_shakespeare                                                                                                                                                                                                   - titanic                                                                                                                                                                                                            - trec                                                                                                                                                                                                               - trivia_qa                                                                                                                                                                                                          - uc_merced                                                                                                                                                                                                          - universal_dependencies                                                                                                                                                                                             - user_libri_audio                                                                                                                                                                                                   - vctk   
- visual_domain_decathlon                                                                                                                                                                                            - voc                                                                                                                                                                                                                - voxceleb                                                                                                                                                                                                           - voxforge                                                                                                                                                                                                           - waymo_open_dataset                                                                                                                                                                                                 - webvid                                                                                                                                                                                                             - wider_face                                                                                                                                                                                                         - xtreme_pos                                                                                                                                                                                                         - xtreme_s                                                                                                                                                                                                           - yes_no 

Could you please help me to figure out the problem with the availability of the RT-X dataset? Many thanks in advance!

Related issues (potentially):

• Datasets cannot be downloaded in the colab #29
• tensorflow_datasets v4.9.4 introduces bug that prevents loading datasets tensorflow/datasets#5203

[Xiaoyao-Li]

Same quetion, i have tried to downgrade the tensorflow_datasets to 4.2, 4.1, 3.8 but all failed. Before downloading, i tried to run gsutil -m cp -r gs://gdm-robotics-open-x-embodiment/{dataset_name} ~/tensorflow_datasets/ and got no response. Has anyone resolved a similar issue? Many thanks.

[AasherH]

I have the same issue. Hoping it gets resolved soon.

[kpertsch]

Hi!
I didn't get a chance to test the latest TFDS nightly yet, but in the meantime, can you do what I suggested here and try tfds version 4.9.3?

If all else fails, the manual download command is
gsutil -m cp -r gs://gresearch/robotics/{dataset_name} <path_on_local>
(just note that this manual download may not work in the future since we can't guarantee that the folder structure will remain unchanged -- the tfds.load command should always work, assuming that it gets fixed on the TFDS side)

[ccl-core]

Ref. tensorflow/datasets#5203