| --- |
| license: cc-by-nc-sa-4.0 |
| --- |
| |
| # IROS-2025-Challenge-Manip |
| # Dataset Summary 📖 |
|
|
| This dataset contains the **IROS Challenge - Manipulation Track** benchmark, organized into **pretrain**, **train**, and **validation** splits. |
|
|
| * **Pretrain split**: \~20,000 single pick-and-place trajectories, packaged into tar files (each containing \~1,000 trajectories). |
| * **Train split**: task-specific demonstrations, with \~100 trajectories provided per task. |
| * **Validation split**: includes the test-time scenes and object assets in **USD format**. |
|
|
| Each trajectory in the pretrain and train splits contains: |
|
|
| * **Multi-view video** recordings (three perspectives: head-mounted camera and two wrist cameras) |
| * **Robot states** (joint positions, gripper states, etc.) |
| * **Actions** corresponding to the task execution |
|
|
| This dataset is designed to support **pretraining, task-specific fine-tuning, and evaluation** for robotic manipulation in the IROS Challenge setting. |
|
|
| # Get started 🔥 |
| ## Download the Dataset |
| To download the full dataset, you can use the following code. If you encounter any issues, please refer to the official Hugging Face documentation. |
| ```python |
| from huggingface_hub import snapshot_download |
| |
| dataset_path = snapshot_download("InternRobotics/IROS-2025-Challenge-Manip", repo_type="dataset") |
| ``` |
|
|
| Please execute this Python file to post-process the validation set. |
| ```bash |
| cd IROS-2025-Challenge-Manip |
| python dataset_post_processing.py validation |
| ```` |
|
|
|
|
| ## Unzip the pretrain dataset |
|
|
| ```bash |
| cd pretrain |
| for i in {1..20}; do |
| echo "Extracting $i.tar.gz ..." |
| tar -xzf "$i.tar.gz" |
| done |
| ``` |
|
|
|
|
| ## Dataset Structure |
|
|
| ### pretrain Folder hierarchy |
| ``` |
| pretrain |
| ├── 1.tar.gz |
| │ └── 1/ |
| │ ├── data/ |
| │ ├── meta/ |
| │ └── videos/ |
| ├── 2.tar.gz |
| │ └── 2/ |
| │ ├── data/ |
| │ ├── meta/ |
| │ └── videos/ |
| ... |
| ├── 20.tar.gz |
| └── 20/ |
| ├── data/ |
| ├── meta/ |
| └── videos/ |
| |
| ``` |
| |
| |
| ### train Folder hierarchy |
| ``` |
| train |
| ├── collect_three_glues |
| │ ├── data/ |
| │ ├── meta/ |
| │ └── videos/ |
| ├── collect_two_alarm_clocks/ |
| ├── collect_two_shoes/ |
| ├── gather_three_teaboxes/ |
| ├── make_sandwich/ |
| ├── oil_painting_recognition/ |
| ├── organize_colorful_cups/ |
| ├── purchase_gift_box/ |
| ├── put_drink_on_basket/ |
| └── sort_waste/ |
| |
| ``` |
|
|
| ### validation Folder hierarchy |
| ``` |
| validation |
| ├── IROS_C_V3_Aloha_seen |
| │ ├── collect_three_glues |
| │ │ ├── 000 |
| │ │ │ ├── meta_info.pkl |
| │ │ │ ├── scene.usd |
| │ │ │ └── SubUSDs -> ../SubUSDs |
| │ │ ├── 001/ |
| │ │ ├── 002/ |
| │ │ ├── 003/ |
| │ │ ├── 004/ |
| │ │ ├── 005/ |
| │ │ ├── 006/ |
| │ │ ├── 007/ |
| │ │ ├── 008/ |
| │ │ ├── 009/ |
| │ │ └── SubUSDs |
| │ │ ├── materials/ |
| │ │ └── textures/ |
| │ ├── collect_two_alarm_clocks/ |
| │ ├── collect_two_shoes/ |
| │ ├── gather_three_teaboxes/ |
| │ ├── make_sandwich/ |
| │ ├── oil_painting_recognition/ |
| │ ├── organize_colorful_cups/ |
| │ ├── purchase_gift_box/ |
| │ ├── put_drink_on_basket/ |
| │ └── sort_waste/ |
| └── IROS_C_V3_Aloha_unseen |
| ├── collect_three_glues/ |
| ├── collect_two_alarm_clocks/ |
| ├── collect_two_shoes/ |
| ├── gather_three_teaboxes/ |
| ├── make_sandwich/ |
| ├── oil_painting_recognition/ |
| ├── organize_colorful_cups/ |
| ├── purchase_gift_box/ |
| ├── put_drink_on_basket/ |
| └── sort_waste/ |
| |
| ``` |
|
|
| # License and Citation |
| All the data and code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our project if it helps your research. |
|
|
| ```BibTeX |
| @misc{contributors2025internroboticsrepo, |
| title={IROS-2025-Challenge-Manip Colosseum}, |
| author={IROS-2025-Challenge-Manip Colosseum contributors}, |
| howpublished={\url{https://github.com/internrobotics/IROS-2025-Challenge-Manip}}, |
| year={2025} |
| } |
| ``` |
