| --- |
| language: |
| - en |
| - zh |
| task_categories: |
| - robotics |
| tags: |
| - droid |
| - instance-segmentation |
| - robot-skeleton |
| - visual-conditioning |
| --- |
| |
| # CodeRobo DROID Segmentation |
|
|
| Private research dataset of frame-aligned DROID real RGB and full-scene |
| instance/region segmentation with URDF-derived Franka/Robotiq point-line skeletons. |
|
|
| Each episode package is stored under |
| `episodes/<episode-id>/<package-name>/<run-id>/`. New deliveries use lossless |
| H.264/RGB lossless MP4 standalone real RGB and segmentation-plus-skeleton videos per camera, |
| under `training/real_rgb/` and `training/conditioning_rgb/`. Clip pairs are listed |
| in `training/pairs.jsonl`, with canonical/source-frame timestamps in frame_pairs.jsonl. |
| `comparison.webm` is only a review preview, never a training condition. |
| Use the latest MP4 training run per episode/package. Superseded MKV/tar runs |
| have been removed from the current dataset tree, not counted as extra examples. |
| Lossless RGB H.264 is readable through OpenCV/FFmpeg; browser/hardware codec |
| support can vary. The WebM comparison remains the browser preview. |
| |
| New uploads exclude PNG intermediates, API responses, worker logs, duplicate |
| previews and original unsampled MP4/H5 backups. Canonical real RGB is preserved |
| losslessly, with official download provenance when the source cache exists. |
| Local generated packages and source caches are removed after training upload |
| verification. Superseded package/raw tar backups are removed from the current |
| tree; ordinary Hub commit history has not been purged. |
| |
| Canonical frame, original source frame, timestamp, camera identity, per-frame |
| states, and pairing/quality records are preserved in the package. Default training |
| conditions use the two exterior cameras. All canonical frames remain, including |
| invalid frames with quality flags. These are not Blender or physics simulations. |
| Object trajectory files are included only when available; the segmentation-only |
| pipeline does not fabricate object 3D poses. |
| |
| Segmentation and semantic labels are model predictions, not independent manual |
| ground truth. `completed_needs_review` and `not_evaluated` labels must remain intact. |
| Storage verification is not a claim of segmentation or reconstruction accuracy. |
|
|
| Source data: [DROID](https://droid-dataset.github.io/). |
| Code: [hku-sail/CodeRobo](https://github.com/hku-sail/CodeRobo). |
| Consult the original DROID data terms before any redistribution or downstream use; |
| this card does not assign a new license to source data or generated annotations. |
|
|
| Local generated packages are removed only after their pinned Hub commit has been |
| verified. Credentials, model weights, and unrelated project data are never included. |
|
|
