baiyu858/human_ego_data

Human Ego Data

Example RGB-D episodes collected with the ego_realsense_tool for the Ego2Sim benchmark.

Only tasks with completed successful recordings on the collection machine are included. Each currently available task contributes one raw example episode.

Layout

Txx_task_name/
  suite/
    session_xxx/
      raw/
        frames/
          *_color.png
          *_depth.png
        frames.csv
        imu.csv
        intrinsics.json
        session.json
        capture_stats.json
        control_events.jsonl

Depth images are 16-bit PNG files aligned to the RGB camera. Camera intrinsics and the depth scale are stored in intrinsics.json. Episode instructions, task/suite identities, capture settings, and completion state are stored in session.json.

Included Examples

Task	Suite	Episode	Frames	Instruction
T01_pick_place_block	object	session_000	121	[right+white tablecloth]Pick up the green block and place it in the green plate.
T04_put_object_cabinet	spatial	session_000	315	[left+black]Open the bottom drawer and put the red block inside it.

See manifest.json for machine-readable sizes and paths.