diff --git a/README.md b/README.md index a6c5c0d72f8df841967da6c093f6957e9503d2b3..3fe26f44517a8e74b9a6e6efd42daf99163b5b7c 100644 --- a/README.md +++ b/README.md @@ -10,152 +10,74 @@ tags: - trajectory - arxiv:2512.13660 configs: -- config_name: preview +- config_name: all default: true data_files: - split: train - path: data/*/*.parquet + path: data/*/train-?????-???.parquet - config_name: agibot data_files: - split: train - path: data/agibot/*.parquet + path: data/agibot/train-?????-???.parquet - config_name: ca1m data_files: - split: train - path: data/ca1m/*.parquet + path: data/ca1m/train-?????-???.parquet - config_name: droid data_files: - split: train - path: data/droid/*.parquet + path: data/droid/train-?????-???.parquet - config_name: robotwin data_files: - split: train - path: data/robotwin/*.parquet + path: data/robotwin/train-?????-???.parquet - config_name: scannet data_files: - split: train - path: data/scannet/*.parquet + path: data/scannet/train-?????-???.parquet --- # TraceSpatial-Trace -**RGB images and trajectory question–answer pairs from [RoboTracer](https://zhoues.github.io/RoboTracer/).** +[Project](https://zhoues.github.io/RoboTracer/) · [Paper](https://arxiv.org/pdf/2512.13660) · [Code](https://github.com/Zhoues/RoboTracer) -[Project](https://zhoues.github.io/RoboTracer/) · [Paper](https://arxiv.org/pdf/2512.13660) · [Code](https://github.com/Zhoues/RoboTracer) · [TraceSpatial-Bench](https://huggingface.co/datasets/JingkunAn/TraceSpatial-Bench) +**TraceSpatial-Trace** is the RGB-and-QA tracing subset of **TraceSpatial**, introduced by the **RoboTracer** project. It supports learning to translate language instructions into spatial waypoints for object manipulation and robot end-effector motion. -This is a **preview** containing 104 QA rows from 40 original records. Full local-corpus counts are shown below; those are not the size of this preview. +This release contains **517,215 referenced RGB images** and **3,623,880 question–answer pairs**, extracted from **1,067,822 original conversation records** across **AgiBot, CA-1M, DROID, RoboTwin, and ScanNet**. It combines reconstructed indoor scenes, real-world manipulation data, and simulated robot interactions. These are the counts of this released subset, rather than the approximately 30 million QA pairs in the broader TraceSpatial collection described in the paper. -## Overview +## Tasks -TraceSpatial-Trace is the trajectory-focused RGB + QA release associated with RoboTracer. It supports research on predicting object and end-effector motion from images and language. Each displayed row contains an RGB image, a question, and its original answer. +- **2D tracing:** predict an ordered sequence of image-plane waypoints `(u, v)`. +- **3D tracing:** predict waypoints with depth `(u, v, d)`. +- **2D-to-3D lifting:** add depth to 2D waypoints supplied in the question. -The broader TraceSpatial collection described by the project contains approximately 30 million QA pairs. **This repository packages the supplied tracing subset: 3,623,880 QA pairs.** It is distinct from the full collection and from TraceSpatial-Bench, the evaluation dataset. [Project overview](https://zhoues.github.io/RoboTracer/) +Image-plane coordinates are normalized to **[0, 1000]**, and depth is expressed in **meters**. The three-component answer uses image coordinates plus depth, not Cartesian XYZ. This release provides **RGB images and QA text only**; depth maps and precomputed spatial features are not included. -The paper's data pipeline combines planned object motion in reconstructed CA-1M/ScanNet scenes, traces extracted from DROID/AgiBot manipulation recordings, and RoboTwin simulation. Its three tracing tasks predict image-plane waypoints, predict waypoints with depth, or add depth to supplied 2D waypoints. See the paper's dataset section and tracing appendices for the generation and filtering procedures. [Paper](https://arxiv.org/html/2512.13660) +## Data format -This release contains RGB images and QA text. It does not distribute depth maps, camera calibration, precomputed spatial features, videos, robot actions, or the broader collection's reasoning annotations. Depth values appearing in answers are retained. +Each Parquet row contains one image and one QA pair: -## Corpus statistics +`image`, `question`, `answer`, `type`, `source`, `task`, `id`, `qa_index`, `record_index`. -Counts below come from a complete audit of the five supplied annotation files. “Record” means an original conversation, “QA pair” means one human message and its following assistant answer. Several records can refer to the same image. +`type` preserves the original `object` / `end_effector` label and remains null when absent. `task` is derived from each QA pair. Original question and answer text is unchanged. Use `(source, record_index, qa_index)` to identify a row; group by `(source, record_index)` to recover its conversation. -| Source | Original records | QA pairs | Unique referenced RGB images | -| --- | ---: | ---: | ---: | -| AgiBot | 325,846 | 977,538 | 325,846 | -| CA-1M | 338,419 | 1,015,257 | 20,643 | -| DROID | 105,180 | 105,180 | 20,409 | -| RoboTwin | 146,587 | 1,070,535 | 146,587 | -| ScanNet | 151,790 | 455,370 | 3,730 | -| **Total** | **1,067,822** | **3,623,880** | **517,215** | - -The extracted image directory has 604,660 files. Of these, 87,445 are not referenced by the supplied QA; the conversion only embeds referenced images. All references resolve after adapting 102,228 DROID references from colon-containing timestamps to the underscore filenames present on disk. Original IDs and QA strings are preserved. - -## Tasks and coordinate conventions - -| `task` | Input in addition to RGB | Answer format | -| --- | --- | --- | -| `2d_trace` | Task instruction | `[(u1, v1), ...]` | -| `3d_trace` | Task instruction | `[(u1, v1, d1), ...]` | -| `2d_to_3d` | Task instruction and 2D waypoints | `[(u1, v1, d1), ...]` | - -The paper specifies normalized image-plane coordinates **u, v in [0, 1000]**, with **d in meters**. The three-component representation is **(image coordinate, image coordinate, depth)**, not Cartesian XYZ. Recovering metric XYZ requires camera intrinsics, which are not included here. The converter preserves values and does not re-normalize, clamp, or reproject them. [Trace representation](https://arxiv.org/html/2512.13660) - -`task` is a derived convenience label: the converter checks question wording against answer tuple dimensionality. Ambiguous cases receive null rather than a guessed label. It is not an original annotation field. - -## Dataset Viewer fields - -| Field | Description | -| --- | --- | -| `image` | Original encoded RGB image, embedded as a Hugging Face `Image` feature | -| `question` | Original human message, unchanged | -| `answer` | Its following assistant message, unchanged | -| `type` | Original `object` or `end_effector` annotation; null if absent | -| `source` | `agibot`, `ca1m`, `droid`, `robotwin`, or `scannet` | -| `task` | Derived task label described above | -| `id` | Original conversation ID; not guaranteed unique | -| `qa_index` | Zero-based question–answer position within the original conversation | -| `record_index` | Zero-based record position in its source annotation file | - -The tuple `(source, record_index, qa_index)` uniquely identifies a converted row. Group by `(source, record_index)` and sort by `qa_index` to reconstruct the original conversation. The displayed question does not have earlier turns appended; retain the grouped conversation for applications that require dialogue context. - -Missing `type` values are preserved. CA-1M and ScanNet do not provide this field in the supplied files, even though the paper describes their tracing pipeline as object-centric. - -| Source | `end_effector` records | `object` records | Missing `type` | -| --- | ---: | ---: | ---: | -| AgiBot | 274,380 | 51,466 | 0 | -| CA-1M | 0 | 0 | 338,419 | -| DROID | 46,794 | 58,386 | 0 | -| RoboTwin | 107,035 | 39,552 | 0 | -| ScanNet | 0 | 0 | 151,790 | - -## Loading +## Usage ```python from datasets import load_dataset -data = load_dataset( - "leeibo/TraceSpatial-Trace", - "preview", - split="train", - streaming=True, +ds = load_dataset( + "leeibo/TraceSpatial-Trace", "all", split="train", streaming=True ) -example = next(iter(data)) -print(example["source"], example["type"], example["task"]) +example = next(iter(ds)) print(example["question"]) print(example["answer"]) -example["image"].save("example.png") ``` -Use your authenticated HF account while this repository is private. Available configurations are listed in the Viewer/configuration metadata. The conversion scripts produce source-specific configurations and an `all` configuration for a full conversion; limited runs produce a `preview` configuration. The initial uploaded preview has 104 QA rows from the first eight records of each source and is illustrative, not randomly sampled. - -`train` is a packaging split, not evidence of an official train/test partition. For evaluation, avoid splitting related images or episodes across partitions. No evaluation results are claimed for this release. - -## Reproducible conversion and upload - -The [`scripts/`](scripts/) directory contains a multi-process JSON-to-Parquet converter, a resumable concurrent uploader, pinned environment files, and a Chinese [usage guide](scripts/USAGE.md). - -The converter streams JSON, preserves original image bytes and QA strings, writes bounded row groups, and checkpoints complete shards. It creates a manifest with per-file SHA-256 hashes, row counts, source statistics, and task-label counts. Original files are never modified. Shards may contain repeated image bytes because each row is independently usable; Parquet compression and dictionary encoding reduce repeated storage within row groups. +Source-specific configurations are also available: `agibot`, `ca1m`, `droid`, `robotwin`, and `scannet`. The `train` label is a packaging split; this release does not define a held-out evaluation set. -## Provenance and acknowledgment +## Reference -This release is associated with the [RoboTracer project](https://zhoues.github.io/RoboTracer/). We acknowledge the source datasets and assets listed by its [official repository](https://github.com/Zhoues/RoboTracer): AgiBot World, CA-1M, DROID, RoboTwin 2.0, and ScanNet. The scripts in this repository package the supplied annotations for HF; they do not reproduce the upstream simulation and annotation-generation pipelines. +Please cite the [RoboTracer paper, arXiv:2512.13660](https://arxiv.org/abs/2512.13660), whose title is *Towards Spatial Trace with Reasoning in Vision-Language Models for Robotics*. Dataset construction and trace representation are detailed in the paper and its supplementary material. -## License - -The release-specific dataset license has not yet been supplied by the maintainer. No dataset license is inferred from the project website or code repository. Source data remain subject to their applicable original terms; this card does not grant additional rights. - -## Citation - -Please cite the RoboTracer paper when using this data. The project page uses the earlier title, “RoboTracer: Mastering Spatial Trace with Reasoning in Vision-Language Models for Robotics.” The current arXiv v4 has the updated title below; both refer to arXiv:2512.13660. [Version history](https://arxiv.org/abs/2512.13660) - -```bibtex -@misc{zhou2025robotracer, - title={Towards Spatial Trace with Reasoning in Vision-Language Models for Robotics}, - author={Enshen Zhou and Yibo Li and Jingkun An and Jiayuan Zhang and Shanyu Rong and Mengzhen Liu and Yi Han and Yuheng Ji and Huajie Tan and Jiawei He and Pengwei Wang and Zhongyuan Wang and Cheng Chi and Lu Sheng and Shanghang Zhang}, - year={2025}, - eprint={2512.13660}, - archivePrefix={arXiv}, - primaryClass={cs.RO}, - url={https://arxiv.org/abs/2512.13660} -} -``` +**License:** the release-specific dataset license is pending maintainer specification; source data retain their applicable original terms. diff --git a/data/robotwin/train-00048-004.parquet b/data/robotwin/train-00048-004.parquet new file mode 100644 index 0000000000000000000000000000000000000000..12aafe4963116f8203ce578c941dc25220e028c1 --- /dev/null +++ b/data/robotwin/train-00048-004.parquet @@ -0,0 +1,3 @@ +version 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