---
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。