---
pretty_name: StreamingWAM Real-World Dataset
language:
- zh
tags:
- robotics
- imitation-learning
- real-world
- streamingwam
- multi-view-video
size_categories:
- 10GB<n<100GB
---

# StreamingWAM Real-World Dataset

This repository contains the raw real-world robot trajectories used for the
StreamingWAM experiments. It contains 590 trajectories covering seven semantic
tasks. Static and dynamic apple-to-bowl conditions are sampled independently
with 50 trajectories each and stored as separate subsets, giving eight
top-level task-condition subsets.

## Dataset summary

- **Trajectories:** 590
- **Semantic tasks:** 7
- **Task-condition subsets:** 8
- **Control/video rate:** 15 Hz
- **Camera views:** 3 synchronized MP4 streams per trajectory
- **Videos:** 1,770 H.264 files
- **Action/state files:** one JSON and one HDF5 file per trajectory
- **Timestamp files:** one JSON file per trajectory
- **Payload size:** 18,688,099,319 bytes

| Directory | English description | Trajectories |
| --- | --- | ---: |
| `先称苹果，然后把它放进碗里（统一15Hz版）` | Weigh an apple, then place it in a bowl | 100 |
| `关上抽屉（统一15Hz版）` | Close a drawer | 80 |
| `打地鼠（统一15Hz版）` | Whack-a-mole | 30 |
| `打开抽屉（统一15Hz版）` | Open a drawer | 80 |
| `把苹果放进碗里_小车（统一15Hz版）` | Place an apple in a bowl with a moving cart | 100 |
| `把苹果放进碗里_静态（统一15Hz版）` | Place an apple in a bowl: static condition | 50 |
| `把苹果放进碗里_动态（统一15Hz版）` | Place an apple in a bowl: dynamic condition | 50 |
| `搭积木` | Stack blocks | 100 |

## Record layout

Each trajectory contains one action JSON, one action HDF5, one frame-timestamp
JSON, and three synchronized camera MP4 files. The action data include robot
joint state, end-effector pose, gripper state, and timestamps. All streams are
aligned at 15 Hz. Most videos are 1920×1080; the moving-cart subset uses
1280×720 video.

## Selection and integrity

Static and dynamic apple-to-bowl records were sampled independently with 50
trajectories each. Other subsets retain the original publication policy of at
most 100 trajectories. Sampling is without replacement after sorting record
names and uses seed 42. The exact selection is recorded in
`SELECTION_MANIFEST.json`.

`SHA256SUMS.tsv` contains the SHA-256 digest, byte size, and repository-relative
path of all 3,540 payload files. Every payload file was hashed after the
final static/dynamic split. `DATASET_BUILD.md` and each subset's
`SOURCE_README.md` document the preparation procedure.

## Loading

```python
from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="rsj2003/StreamingWAM-RealWorld",
    repo_type="dataset",
    local_dir="StreamingWAM-RealWorld",
)
```

This is a raw-data release. Use the 15 Hz timestamps when converting
trajectories to a training format, and do not apply a second 30 Hz-to-15 Hz
downsampling pass.

## Privacy and license

The videos were recorded in a laboratory robot workcell. Before making this
private repository public, confirm the intended release scope, institutional
consent requirements, and any incidental human appearance in the full video
collection. No dataset license has been selected yet; external components and
benchmark assets retain their respective terms.