RoboKeyGen: Robot Pose and Joint Angles Estimation via Diffusion-based 3D Keypoint Generation
Paper • 2403.18259 • Published
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objects list | sim_state dict |
|---|---|
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"position": -0.33670... |
[
{
"class": "panda",
"visibility": 1,
"location": [
-0.19746726,
0.39723444,
1.04542679
],
"keypoints": [
{
"name": "panda_link0",
"location": [
-0.19746726,
0.39723444,
1.04542679
],
"projected_location": [
... | {
"joints": [
{
"name": "panda_joint1",
"position": 0.3085424438861377,
"velocity": -0.0008602417223407334
},
{
"name": "panda_joint2",
"position": -0.07416321868556684,
"velocity": 0.2287215588277715
},
{
"name": "panda_joint3",
"position": -0.33670... |
[
{
"class": "panda",
"visibility": 1,
"location": [
-0.19746726,
0.39723444,
1.04542679
],
"keypoints": [
{
"name": "panda_link0",
"location": [
-0.19746726,
0.39723444,
1.04542679
],
"projected_location": [
... | {
"joints": [
{
"name": "panda_joint1",
"position": 0.30853704701738116,
"velocity": -0.0008796316446973803
},
{
"name": "panda_joint2",
"position": -0.058597666257339795,
"velocity": 0.2240734597254042
},
{
"name": "panda_joint3",
"position": -0.337... |
[
{
"class": "panda",
"visibility": 1,
"location": [
-0.19746726,
0.39723444,
1.04542679
],
"keypoints": [
{
"name": "panda_link0",
"location": [
-0.19746726,
0.39723444,
1.04542679
],
"projected_location": [
... | {
"joints": [
{
"name": "panda_joint1",
"position": 0.30853704701738116,
"velocity": -0.0008796316446973803
},
{
"name": "panda_joint2",
"position": -0.058597666257339795,
"velocity": 0.2240734597254042
},
{
"name": "panda_joint3",
"position": -0.337... |
End of preview.
OVOK experimental datasets
Video-based robot joint datasets used for the future potential work.
This folder holds moving-arm video clips derived from public real-robot recordings. Each clip is 30 fps RGB with per-frame joint / pose annotations. Static holds longer than 2 seconds were removed; remaining motion segments are stored as {clip}/NNNNNN.rgb.jpg + {clip}/NNNNNN.json and {clip}.mp4.
These are not new captures. They are processed subsets of DREAM and RoboKeyGen. Please cite the original papers if you use this data.
Layout
data/
dream/ # DREAM Panda-3Cam + Panda-Orb motion clips
robokeygen/ # RoboKeyGen RealSense-Franka + AzureKinect-Franka motion clips
README.md
clips.tsv in each subset lists seq, clip, frame range, duration, fps, and mp4 name.
Sources and citations
DREAM (dream/)
Lee, T. E., Tremblay, J., To, T., Cheng, J., Mosier, T., Kroemer, O., Fox, D., and Birchfield, S.
Camera-to-Robot Pose Estimation from a Single Image. ICRA 2020.
https://arxiv.org/abs/1911.09231
Code/data: https://github.com/NVlabs/DREAM
Processed from the official real Panda splits (panda-3cam_azure, panda-3cam_kinect360, panda-3cam_realsense, panda-orb). Capture rate in DREAM is 30 fps, 640×480.
RoboKeyGen (robokeygen/)
Tian, Y., Zhang, J., Huang, G., Wang, B., Wang, P., Pang, J., and Dong, H.
RoboKeyGen: Robot Pose and Joint Angles Estimation via Diffusion-based 3D Keypoint Generation. ICRA 2024.
https://arxiv.org/abs/2403.18259
Project: https://nimolty.github.io/Robokeygen/
Processed from Real_Test_0613.tar.gz (RealSense-Franka and AzureKinect-Franka). Official test scenes only plus extra scenes 7_kinect_left_0 and 11_D415_right_0. 5_D415_left_0 is omitted (almost no JSON). RGB is 640×360. The paper/repo do not state capture fps; clips are encoded at 30 fps (D415 RGB / Azure Kinect color / DREAM–SGTAPose convention).
Processing rule
A frame is treated as static if joint L2 change ≤ 0.005 rad and camera translation ≤ 5 mm relative to the previous frame. Contiguous static runs longer than 2 s are dropped. Remaining runs become clips.
Hugging Face
https://huggingface.co/datasets/dccc2025/ovok_experimental_datasets
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