| --- |
| license: apache-2.0 |
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| # EgoExplorer-100 |
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| EgoExplorer-100 is a multimodal egocentric manipulation dataset in LeRobot v3.0 format, with episode-level instructions and time-aligned segment captions. |
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| ## Dataset overview |
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| - **Episodes:** 3,130 |
| - **Task categories:** 10 (large and small cardboard box folding are grouped as **Folding a cardboard box**) |
| - **Frames:** 11,320,870 |
| - **Duration:** 377,258 seconds (approximately 104.8 hours) |
| - **Video:** 1920 × 970, H.264, 30 FPS |
| - **Split:** train (`0:3130`) |
| - **Primary format:** LeRobot v3.0 (`codebase_version: v3.0`) |
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| The available modalities vary by episode. Depending on the recording, an episode can include egocentric video, tracker poses, hand joint positions, tactile measurements, gravity direction, and SMPL-X data. See `valid_modalities` in each episode's `metadata.json` for the modalities available in that episode. |
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| ## Caption annotations |
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| Caption annotations are stored under each episode's `episode_meta/episode_XXXXXX/annotations/` directory: |
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| - `instruction.json`: bilingual Chinese and English task-level instruction, task ID, and episode level. |
| - `segments.parquet`: time-aligned segment annotations and captions for the episode. |
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| For example: |
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| ```text |
| episode_meta/episode_000001/annotations/ |
| ├── instruction.json |
| └── segments.parquet |
| ``` |
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| The segment captions are stored separately from the standard LeRobot frame-level Parquet files and should be loaded from `episode_meta` when needed. |
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| ## Repository structure |
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| ```text |
| egoexplorer_100/ |
| ├── data/ # LeRobot frame-level Parquet data |
| ├── videos/ # Encoded egocentric videos |
| ├── meta/ |
| │ ├── info.json # Dataset schema, totals, and conventions |
| │ ├── stats.json # Dataset statistics |
| │ ├── tasks.parquet # Task index |
| │ └── episodes/ # LeRobot episode metadata |
| └── episode_meta/ |
| └── episode_XXXXXX/ |
| ├── metadata.json # Episode timing, task, status, and modalities |
| ├── annotations/ |
| │ ├── instruction.json # Chinese/English task instruction |
| │ └── segments.parquet # Segment captions and annotations |
| ├── calibration/ # Calibration data where available |
| ├── quality/ # Quality-control data where available |
| └── smplx/ # SMPL-X data where available |
| ``` |
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| ## Data conventions |
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| - Tracker orientations are unit quaternions in **wxyz** order. |
| - Six-dimensional rotations contain the first two columns of the rotation matrix. |
| - Tracker data is aligned to the 30 Hz video frame timeline. |
| - The recorded SDK world frame uses **+Y** as the vertical axis, with gravity direction `(0, -1, 0)`. |
| - Missing hand or tactile values may be represented as NaN; consult the episode metadata and `meta/info.json` for coverage and processing details. |
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| Use a LeRobot version compatible with the v3.0 dataset format. Refer to `meta/info.json` for the complete feature schema and data/video path templates. |
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| ## Privacy and usage |
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| The recordings contain person views and faces are not redacted. Review `meta/info.json` and the per-episode metadata for privacy and usage information before accessing or redistributing the data. |
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