File size: 3,463 Bytes
792859c 19306e8 792859c 19306e8 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 | ---
pretty_name: RoboDojo Reviewed Dataset
language:
- en
- zh
size_categories:
- 1K<n<10K
---
# RoboDojo Reviewed Dataset
This dataset contains human-reviewed robot manipulation episodes generated with RoboDojo.
It is organized by task and robot, with 50 valid episodes selected for each task/robot pair.
本数据集包含由 RoboDojo 生成、经过人工视频审核的机器人操作数据。每个 task/robot
组合选取 50 条有效 episode。
## Tasks and robots
Tasks:
- `pick_anything`
- `stack_blocks`
- `dual_bottles_pick`
- `general_pickup`
- `insert_tube` — legacy single-tube insertion (formerly `insert_tubes`)
Robots:
- `x5`
- `piper_x`
- `franka`
- `aloha_agilex`
The dataset contains 20 task/robot groups and 1,000 episodes in total. Piper is not included.
## Review and selection
The head-view preview videos were reviewed manually. Only episodes marked as valid by the reviewer
were eligible for this release. For each task/robot group, 50 valid episode IDs were selected in
deterministic filename order. The exact IDs are recorded in `selection_manifest.json`.
审核时统一查看 head-view 视频，并人工标记有效数据。每个组合从有效 episode 中按文件名
顺序选取 50 条；完整 ID 清单见 `selection_manifest.json`。
## Directory layout
```text
<task>/<robot>/
├── data/
│ └── episode_XXXXXXX.hdf5
└── preview_video/
├── episode_XXXXXXX_cam_head.mp4
├── episode_XXXXXXX_cam_left_wrist.mp4
└── episode_XXXXXXX_cam_right_wrist.mp4
```
Only HDF5 episode data and the three review camera views are included. Extra generated artifacts,
such as trajectory pickles, scene-layout JSON files, front-view videos, and third-view videos, are
intentionally excluded to keep the format consistent.
## Known exception
`general_pickup/x5` source episodes do not contain left- or right-wrist videos. Those 50 episodes
therefore contain only the HDF5 file and head-view video. No synthetic or substituted wrist views
were added.
## Loading an episode
Each filename uses the same episode ID across the HDF5 file and its camera videos. For example:
```text
pick_anything/franka/data/episode_0000001.hdf5
pick_anything/franka/preview_video/episode_0000001_cam_head.mp4
pick_anything/franka/preview_video/episode_0000001_cam_left_wrist.mp4
pick_anything/franka/preview_video/episode_0000001_cam_right_wrist.mp4
```
Consumers should use `selection_manifest.json` as the authoritative list of included episode IDs
and should tolerate the documented missing wrist views for `general_pickup/x5`.
## Notes
- This release contains generated robot-simulation data, not human demonstrations.
- Episode validity was determined by visual human review of the head-view preview.
- No additional normalization or conversion was applied to the HDF5 contents.
- License and citation information have not yet been specified by the dataset owner.
## Tube insertion task naming
`insert_tube/` contains the historical single-tube insertion task (4 robots, 50 episodes each). It was renamed from `insert_tubes/`; episode IDs, HDF5 contents, and videos are unchanged.
`insert_tubes/` is reserved for the current three-tube insertion task. The historical single-tube episodes must not be counted as three-tube data.
`insert_tube/` 为历史单试管任务；`insert_tubes/` 留给当前三试管任务。此次仅调整发布目录及清单，原始数据内容不变。
|