Hasson827624/agentic-robotics-benchmark

Agentic Robotics Benchmark task assets

Stage assets of tasks in the Agentic Robotics Benchmark, synchronised by the ALE engine (ale assets push / ale assets pull). Files are laid out as <task path>/<stage>/assets/..., exactly as the task folders expect them. Restore them with:

cd vendor/ale
uv run ale assets pull ../../tasks/hand/hot3d_sharpa_retarget --collection <this collection>

tasks/hand/hot3d_sharpa_retarget

Derived from the HOT3D dataset (Meta Platforms Technologies, LLC), nine Aria clips:

Stage	Content	Derived from
image/assets/clips/	RGB fisheye frames (PNG), per-frame camera calibration, headset pose in the simulator frame	Sequence data
verify/assets/scene_*/	single-clip scenes: object and hand reference tracks (motion.pt), object meshes, convex collision parts, simulator caches	Sequence data, Hand data, Model data
oracle/assets/	reference joint-position targets produced by a policy trained on the hand and object references	Hand data, Sequence data

Changes from the source: frames re-exported to 60 Hz control-step indexing; poses transformed into the simulator world frame; hand references retargeted to the Sharpa robot hand; meshes convex-decomposed and converted for Isaac Sim.

Licence

These files are adapted material of the HOT3D Dataset and remain under its licence terms (LICENSE-HOT3D.txt, the HOT3D Dataset License Agreement of 2024-05-29):

• Sequence data and its derivatives (frames, calibration, headset and object poses): CC BY-SA 4.0.
• Hand data and its derivatives (MANO-based hand references, retargeted robot references, contact labels, the oracle targets): CC BY-NC-SA 4.0, non-commercial use only.
• Model data and its derivatives (object meshes, convex parts, simulator caches): CC BY-SA 4.0, and they may not be sold or incorporated into a product that is sold.

A file that combines several kinds (for example motion.pt) is under the most restrictive of the applicable terms. The MANO hand model is not included; obtain it from https://mano.is.tue.mpg.de under its own licence.

Attribution: HOT3D, Meta Platforms Technologies, LLC. Banerjee et al., "HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videos", arXiv:2406.09598.