| --- |
| pretty_name: ReFrame Handheld Demonstration Dataset |
| language: |
| - en |
| - zh |
| tags: |
| - robotics |
| - imitation-learning |
| - video |
| - timeseries |
| - multi-view |
| --- |
| # ReFrame Handheld Demonstration Dataset |
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| ReFrame-Handheld provides real handheld operation recordings for studying how demonstrations can be reused across camera configurations. It contains **1,651 independent recordings across four manipulation tasks**, with camera images, per-frame timestamps, raw SLAM poses, gripper readings and camera calibration. |
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| The data supports inspecting viewpoint changes, testing geometric reprojection and comparing transformed images with available real reference-camera observations. Videos and structured numerical files can be read without a ROS environment. |
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| **1,651 recordings · 4 tasks · approximately 303 recorded minutes · 67 GB of episode data** |
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| ## Observations |
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| - **1,451 recordings** contain main RGB, left and right grayscale cameras, and a real USB reference-camera stream. |
| - **200 recordings** contain main RGB without auxiliary images. |
| - All recordings retain SLAM pose and gripper samples. Each episode references its applicable calibration profile. |
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| The recordings use the same brand and model of capture device with **three camera-extrinsic configurations**. The [dataset overview](docs/DATASET_OVERVIEW.md) describes the observation types, statistics and counting rules. |
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| ## Tasks |
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| | Task | Independent recordings | Approximate episode download size | |
| | --- | ---: | ---: | |
| | Carrot picking and placing | 696 | 34.49 GB | |
| | Button pressing | 500 | 19.69 GB | |
| | Drawer opening | 255 | 9.01 GB | |
| | Cup hanging | 200 | 4.05 GB | |
| | **Total** | **1,651** | **67.25 GB** | |
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| Sizes refer to episode files, excluding the optional starter ZIP and shared documentation. Recorded duration includes recording margins and is counted once per operation, not once per camera. |
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| ## Download and try |
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| **[Start with 17 complete examples](downloads/reframe_handheld_starter_17.zip)** — approximately 788 MB, covering all retained acquisition batches and all four tasks. The ZIP includes calibration, reading tools and instructions, and works independently after extraction. |
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| All episode data is distributed as TAR shards, grouped by task and acquisition batch. Each shard contains complete episodes with their original files and paths. The [download tool](docs/QUICKSTART.md) downloads the required shards, verifies SHA256 and extracts the selected episodes with their calibration. Selecting one episode downloads its containing shard; see [the archive index](metadata/shards.jsonl) for exact sizes. |
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| Open an MP4 directly to inspect a recording. For Python access to images, timestamps, poses, gripper readings and calibration, follow the [quickstart](docs/QUICKSTART.md). |
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| ## Documentation |
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| - [Dataset overview and statistics](docs/DATASET_OVERVIEW.md) |
| - [File format and reading interfaces](docs/FORMAT.md) |
| - [Timestamp semantics and optional frame matching](docs/TIME_ALIGNMENT.md) |
| - [Camera calibration](docs/CALIBRATION.md) |
| - [Selection, task-outcome labels and known limitations](docs/QUALITY.md) |
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| The dataset preserves original operation sequences and quality annotations. See the linked documentation for timestamp interpretation, outcome labels and calibration applicability. |
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| ## License and citation |
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| [TO FILL: confirmed dataset license] |
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| [TO FILL: authors and paper citation] |
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| [TO FILL: paper, code repository and contact] |
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| This dataset accompanies ReFrame: Reusing Handheld Demonstrations Across Wrist-Camera Configurations. Licensing and paper citation details are pending owner confirmation. |
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| ## Additional calibration candidates |
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| Brown5 and fisheye4 intrinsic refits are available for the Alice and David USB cameras. They are optional candidates; episode references continue to use the historical calibration profiles. See [the 2026-10-29 calibration update](docs/USB_INTRINSIC_REFITS_20261029.md). |
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