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supp-eval-data

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robotics
4d-reconstruction
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evaluation data

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  1. LICENSES.md +16 -0
  2. README.md +50 -0
  3. cosmos_rollouts/clip000_repeat00/decode_000.npz +3 -0
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LICENSES.md ADDED
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+ # Sources and terms of the components
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+
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+ This package is shared for research use in reviewing the submission. Each component keeps the terms of its
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+ source; please cite the sources below when using the data.
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+
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+ | Component | Files | Source | Terms |
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+ |---|---|---|---|
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+ | DROID | RGB images (left/right), robot trajectories, camera calibration | Khazatsky et al., "DROID: A Large-Scale In-the-Wild Robot Manipulation Dataset", RSS 2024 — https://droid-dataset.github.io | CC BY 4.0 (attribution) |
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+ | PointWorld-DROID | refined camera extrinsics (`.camera.npz`), stereo depth (`.depth.npz`, right-eye depth), point flows (`.pwtracks.npz`), gripper-to-wrist transforms | NVIDIA, https://huggingface.co/datasets/nvidia/PointWorld-DROID | NVIDIA License; research and development use |
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+ | FoundationStereo | stereo depth estimates | NVIDIA, https://github.com/NVlabs/FoundationStereo | NVIDIA Source Code License (non-commercial, research use) |
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+ | CoTracker3 | 2D point tracks lifted to 3D (`.tracks.npz`) | Meta, https://github.com/facebookresearch/co-tracker | CC BY-NC 4.0 (non-commercial, attribution) |
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+ | Wan2.2 VAE | latents (`<clip>.npz` latents, `real_window_latents/`) | https://github.com/Wan-Video/Wan2.2 | Apache-2.0 |
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+ | Cosmos 3 | generated rollouts (`cosmos_rollouts/`) | NVIDIA, https://huggingface.co/nvidia/Cosmos3-DROID | OpenMDW-1.1 (no restrictions on outputs) |
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+ | Franka description | robot meshes (`robot/meshes/`) | https://github.com/frankaemika/franka_ros | Apache-2.0 (some files BSD-3-Clause) |
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+
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+ No commercial use is permitted for components under non-commercial terms.
README.md ADDED
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+ ---
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+ license: other
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+ license_name: mixed-research-use
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+ viewer: false
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+ tags:
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+ - robotics
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+ - 4d-reconstruction
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+ ---
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+ # Evaluation data for an anonymous submission
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+
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+ Everything `scripts/evaluate.py` of the supplementary code reads for the main table: the 256 held-out DROID
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+ clips (recorded and Cosmos-generated inputs), their labels, and the robot model files. For **research use in
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+ reviewing the submission**; see `LICENSES.md` for the terms of each component.
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+
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+ | Folder | Content | `configs/paths.yaml` key |
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+ |---|---|---|
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+ | `data_root/` | per clip: `<clip>.npz` (RGB, VAE latents, joints, gripper, cameras) + `.camera.npz`, `.depth.npz`, `.stereo_right.npz`, `.tracks.npz`, `.pwtracks.npz` | `data_root` |
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+ | `split.json` | the 256 evaluation episodes and their split | `split_manifest` |
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+ | `right_depth/` | right-eye stereo depth labels | `right_depth_labels`, `stereo_depth_labels` |
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+ | `real_window_latents/` | Wan2.2-VAE latents of the evaluated windows (LatentStem arms) | `real_window_latents` |
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+ | `cosmos_rollouts/` | Cosmos 3 rollouts of the evaluated windows (`--inputs cosmos`) | `cosmos_rollouts` |
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+ | `droid_calibration/`, `droid_trajectories/` | DROID calibration and trajectory files of the 256 episodes | `droid_calibration`, `droid_trajectories` |
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+ | `robot/meshes/`, `robot/gripper2wrist_transforms.json` | Franka meshes and gripper-to-wrist transforms | `robot_meshes`, `gripper_to_wrist_transforms` |
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+ | `reference_results/` | per-clip records, `summary.json` and `table.md` produced with the supplementary code (recorded inputs, Cosmos inputs, recorded-input ablations) | — |
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+
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+ Download everything (21.9 GB):
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+
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+ ```
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+ hf download anonymous61116/supp-eval-data --repo-type dataset --local-dir eval_data
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+ ```
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+
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+ or only some clips (clip names are in `split.json`; indices refer to the code's `configs/data/evaluation_clips.json`):
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+
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+ ```python
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+ from huggingface_hub import snapshot_download
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+ clip = 'clip_ILIAD_50aee79f_2023-07-12-20h-55m-08s_0068' # evaluation index 0
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+ episode = 'ILIAD__success__2023-07-12__Wed_Jul_12_20:55:08_2023'
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+ snapshot_download('anonymous61116/supp-eval-data', repo_type='dataset', local_dir='eval_data', allow_patterns=[
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+ f'data_root/{clip}*', f'right_depth/depth/{clip}*', 'right_depth/provenance.json', 'split.json',
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+ 'real_window_latents/clip000.npz', 'cosmos_rollouts/clip000_repeat00/*', f'droid_calibration/{episode}*',
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+ f'droid_trajectories/{episode}*', 'robot/*', 'robot/meshes/*', 'robot/meshes/*/*'])
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+ ```
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+
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+ Then point the keys above to the downloaded folders, add the model locations
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+ (MoVieS, VGGT, ReSplat and the three checkpoints), then run `scripts/evaluate.py` and `scripts/summarize.py` as in
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+ the code's README and compare with `reference_results/`. Stage 1 records match bit for bit; Stage 2 records
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+ match up to GPU non-determinism. `--indices` evaluates a subset of the clips.
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+
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+ Local file paths recorded as provenance strings inside the original label files were reduced to file names; the
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+ arrays are unchanged.
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