| --- |
| 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。 |
|
|
