DynamicIntelligence/humanoid-robots-training-dataset
Dynamic Intelligence — Humanoid Robot Training Dataset A first-person (egocentric) video dataset of human hand manipulation, designed for training humanoid robot policies via imitation learning. Each episode captures a person performing an everyday household task — folding clothes, moving dishes, opening doors — filmed from a head-mounted iPhone using its built-in LiDAR and depth sensors. The dataset pairs each video with frame-level 3D hand tracking and camera pose data, giving… See the full description on the dataset page: https://huggingface.co/datasets/DynamicIntelligence/humanoid-robots-training-dataset.
03.1k
1{2 "_uitleg": "Wollah dit is de motion annotations file khoya, hier zet je segments met frame ranges voor elke video zodat de AI snapt wat er gebeurt sahbi.",3 "schema_version": "motion_v1_frames",4 "fps_default": 30,5 "all_task_types": [6 "Fold the white t-shirt on the bed.",7 "Fold the jeans on the bed.",8 "Fold the two underwear and stack them on top of each other.",9 "Put the pillow on the right place",10 "Pick up the plate and glass and put them somewhere on the kitchen stove.",11 "Go out the door and close it behind yourself.",12 "Pick up the sandals and put them neatly next to the scale.",13 "Put the orange cloth in the washing machine basket and close the drawer.",14 "Screw the cap on your bottle.",15 "Pick up the two object on the floor and put them on the bed."16 ],17 "enums": {18 "temporal_phase": [19 "start",20 "contact",21 "manipulate",22 "end"23 ],24 "actor": [25 "left_hand",26 "right_hand",27 "both_hands"28 ],29 "error": [30 "misalignment",31 "slip",32 "drop",33 "occlusion",34 "regrasp_required",35 "wrong_order",36 "none"37 ]38 },39 "tasks": {40 "Task1": {41 "task_id": "Task1",42 "title": "Fold the white t-shirt on the bed.",43 "description": "Fold the white t-shirt on the bed.",44 "preset": {45 "motion_type": "grasp/pull/align/fold/smooth/release/adjust",46 "target_type": "cloth_region/surface",47 "target_value": "left_sleeve/right_sleeve/top_edge/bottom_edge/center_mass/collar/hem/bed_surface",48 "state_stage": "unfolded/half_folded/final",49 "flatness": "wrinkled/mostly_flat/flat",50 "symmetry": "asymmetric/mostly_symmetric/symmetric"51 },52 "episodes": [53 {54 "episode_id": "Task1_Vid2",55 "video_id": "Vid2",56 "task_type": "Fold the white t-shirt on the bed.",57 "fps": 30,58 "frame_count": 424,59 "segments": [60 {61 "start_frame": 54,62 "end_frame_exclusive": 73,63 "motion_type": "pull",64 "temporal_phase": "start",65 "actor": "both_hands",66 "target": {67 "type": "cloth_region",68 "value": "bottom_edge"69 },70 "state": {71 "stage": "unfolded",72 "flatness": "wrinkled",73 "symmetry": "asymmetric"74 },75 "error": "none"76 },77 {78 "start_frame": 92,79 "end_frame_exclusive": 140,80 "motion_type": "align",81 "temporal_phase": "manipulate",82 "actor": "right_hand",83 "target": {84 "type": "cloth_region",85 "value": "right_sleeve"86 },87 "state": {88 "stage": "half_folded",89 "flatness": "flat",90 "symmetry": "mostly_symmetric"91 },92 "error": "none"93 },94 {95 "start_frame": 166,96 "end_frame_exclusive": 350,97 "motion_type": "fold",98 "temporal_phase": "end",99 "actor": "both_hands",100 "target": {101 "type": "cloth_region",102 "value": "center_mass"103 },104 "state": {105 "stage": "final",106 "flatness": "flat",107 "symmetry": "symmetric"108 },109 "error": "none"110 }111 ]112 },113 {114 "episode_id": "Task1_Vid4",115 "video_id": "Vid4",116 "task_type": "Fold the white t-shirt on the bed.",117 "fps": 30,118 "frame_count": 423,119 "segments": [120 {121 "start_frame": 67,122 "end_frame_exclusive": 138,123 "motion_type": "pull",124 "temporal_phase": "start",125 "actor": "both_hands",126 "target": {127 "type": "cloth_region",128 "value": "bottom_edge"129 },130 "state": {131 "stage": "half_folded",132 "flatness": "mostly_flat",133 "symmetry": "mostly_symmetric"134 },135 "error": "none"136 },137 {138 "start_frame": 172,139 "end_frame_exclusive": 350,140 "motion_type": "fold",141 "temporal_phase": "manipulate",142 "actor": "both_hands",143 "target": {144 "type": "cloth_region",145 "value": "center_mass"146 },147 "state": {148 "stage": "final",149 "flatness": "flat",150 "symmetry": "symmetric"151 },152 "error": "none"153 },154 {155 "start_frame": 352,156 "end_frame_exclusive": 365,157 "motion_type": "release",158 "temporal_phase": "end",159 "actor": "both_hands",160 "target": {161 "type": "cloth_region",162 "value": "center_mass"163 },164 "state": {165 "stage": "final",166 "flatness": "flat",167 "symmetry": "symmetric"168 },169 "error": "none"170 }171 ]172 },173 {174 "episode_id": "Task1_Vid5",175 "video_id": "Vid5",176 "task_type": "Fold the white t-shirt on the bed",177 "fps": 30,178 "frame_count": 478,179 "segments": [180 {181 "start_frame": 80,182 "end_frame_exclusive": 134,183 "motion_type": "pull",184 "temporal_phase": "start",185 "actor": "both_hands",186 "target": {187 "type": "cloth_region",188 "value": "bottom_edge"189 },190 "state": {191 "stage": "unfolded",192 "flatness": "mostly_flat",193 "symmetry": "mostly_symmetric"194 },195 "error": "none"196 },197 {198 "start_frame": 155,199 "end_frame_exclusive": 371,200 "motion_type": "fold",201 "temporal_phase": "manipulate",202 "actor": "both_hands",203 "target": {204 "type": "cloth_region",205 "value": "center_mass"206 },207 "state": {208 "stage": "final",209 "flatness": "flat",210 "symmetry": "symmetric"211 },212 "error": "none"213 },214 {215 "start_frame": 394,216 "end_frame_exclusive": 416,217 "motion_type": "release",218 "temporal_phase": "end",219 "actor": "both_hands",220 "target": {221 "type": "cloth_region",222 "value": "center_mass"223 },224 "state": {225 "stage": "final",226 "flatness": "flat",227 "symmetry": "symmetric"228 },229 "error": "none"230 }231 ]232 },233 {234 "episode_id": "Task1_Vid6",235 "video_id": "Vid6",236 "task_type": "Fold the white t-shirt on the bed",237 "fps": 30,238 "frame_count": 451,239 "segments": [240 {241 "start_frame": 92,242 "end_frame_exclusive": 98,243 "motion_type": "pull",244 "temporal_phase": "start",245 "actor": "left_hand",246 "target": {247 "type": "cloth_region",248 "value": "bottom_edge"249 },250 "state": {251 "stage": "unfolded",252 "flatness": "wrinkled",253 "symmetry": "asymmetric"254 },255 "error": "none"256 },257 {258 "start_frame": 100,259 "end_frame_exclusive": 370,260 "motion_type": "fold",261 "temporal_phase": "manipulate",262 "actor": "both_hands",263 "target": {264 "type": "cloth_region",265 "value": "center_mass"266 },267 "state": {268 "stage": "final",269 "flatness": "mostly_flat",270 "symmetry": "mostly_symmetric"271 },272 "error": "none"273 },274 {275 "start_frame": 376,276 "end_frame_exclusive": 395,277 "motion_type": "release",278 "temporal_phase": "end",279 "actor": "both_hands",280 "target": {281 "type": "cloth_region",282 "value": "center_mass"283 },284 "state": {285 "stage": "final",286 "flatness": "flat",287 "symmetry": "symmetric"288 },289 "error": "none"290 }291 ]292 },293 {294 "episode_id": "Task1_Vid7",295 "video_id": "Vid7",296 "task_type": "Fold the white t-shirt on the bed",297 "fps": 30,298 "frame_count": 451,299 "segments": [300 {301 "start_frame": 70,302 "end_frame_exclusive": 98,303 "motion_type": "adjust",304 "temporal_phase": "start",305 "actor": "left_hand",306 "target": {307 "type": "cloth_region",308 "value": "bottom_edge"309 },310 "state": {311 "stage": "unfolded",312 "flatness": "wrinkled",313 "symmetry": "asymmetric"314 },315 "error": "none"316 },317 {318 "start_frame": 101,319 "end_frame_exclusive": 171,320 "motion_type": "align",321 "temporal_phase": "manipulate",322 "actor": "both_hands",323 "target": {324 "type": "cloth_region",325 "value": "center_mass"326 },327 "state": {328 "stage": "unfolded",329 "flatness": "mostly_flat",330 "symmetry": "symmetric"331 },332 "error": "none"333 },334 {335 "start_frame": 206,336 "end_frame_exclusive": 358,337 "motion_type": "fold",338 "temporal_phase": "end",339 "actor": "both_hands",340 "target": {341 "type": "cloth_region",342 "value": "center_mass"343 },344 "state": {345 "stage": "final",346 "flatness": "flat",347 "symmetry": "symmetric"348 },349 "error": "none"350 }351 ]352 },353 {354 "episode_id": "Task1_Vid8",355 "video_id": "Vid8",356 "task_type": "Fold the white t-shirt on the bed",357 "fps": 30,358 "frame_count": 403,359 "segments": [360 {361 "start_frame": 69,362 "end_frame_exclusive": 90,363 "motion_type": "grasp",364 "temporal_phase": "start",365 "actor": "left_hand",366 "target": {367 "type": "cloth_region",368 "value": "bottom_edge"369 },370 "state": {371 "stage": "unfolded",372 "flatness": "wrinkled",373 "symmetry": "asymmetric"374 },375 "error": "none"376 },377 {378 "start_frame": 92,379 "end_frame_exclusive": 165,380 "motion_type": "adjust",381 "temporal_phase": "manipulate",382 "actor": "both_hands",383 "target": {384 "type": "cloth_region",385 "value": "center_mass"386 },387 "state": {388 "stage": "unfolded",389 "flatness": "mostly_flat",390 "symmetry": "mostly_symmetric"391 },392 "error": "none"393 },394 {395 "start_frame": 288,396 "end_frame_exclusive": 371,397 "motion_type": "none",398 "temporal_phase": "end",399 "actor": "both_hands",400 "target": {401 "type": "none",402 "value": "none"403 },404 "state": {405 "stage": "none",406 "flatness": "none",407 "symmetry": "none"408 },409 "error": "occlusion"410 }411 ]412 },413 {414 "episode_id": "Task1_Vid9",415 "video_id": "Vid9",416 "task_type": "Fold the white t-shirt on the bed./Fold the jeans on the bed./Fold the two underwear and stack them on top of each other./Put the pillow on the right place/Pick up the plate and glass and put them somewhere on the kitchen stove./Go out the door and close it behind yourself./Pick up the sandals and put them neatly next to the scale./Put the orange cloth in the washing machine basket and close the drawer./Screw the cap on your bottle./Pick up the two object on the floor and put them on the bed.",417 "fps": 30,418 "frame_count": 551,419 "segments": [420 {421 "start_frame": 86,422 "end_frame_exclusive": 146,423 "motion_type": "align",424 "temporal_phase": "start",425 "actor": "both_hands",426 "target": {427 "type": "cloth_region",428 "value": "top_edge"429 },430 "state": {431 "stage": "unfolded",432 "flatness": "mostly_flat",433 "symmetry": "mostly_symmetric"434 },435 "error": "none"436 },437 {438 "start_frame": 127,439 "end_frame_exclusive": 142,440 "motion_type": "none",441 "temporal_phase": "none",442 "actor": "none",443 "target": {444 "type": "none",445 "value": "none"446 },447 "state": {448 "stage": "none",449 "flatness": "none",450 "symmetry": "none"451 },452 "error": "occlusion"453 },454 {455 "start_frame": 198,456 "end_frame_exclusive": 459,457 "motion_type": "fold",458 "temporal_phase": "end",459 "actor": "both_hands",460 "target": {461 "type": "cloth_region",462 "value": "center_mass"463 },464 "state": {465 "stage": "final",466 "flatness": "flat",467 "symmetry": "symmetric"468 },469 "error": "none"470 }471 ]472 },473 {474 "episode_id": "Task1_Vid10",475 "video_id": "Vid10",476 "task_type": "Fold the white t-shirt on the bed./Fold the jeans on the bed./Fold the two underwear and stack them on top of each other./Put the pillow on the right place/Pick up the plate and glass and put them somewhere on the kitchen stove./Go out the door and close it behind yourself./Pick up the sandals and put them neatly next to the scale./Put the orange cloth in the washing machine basket and close the drawer./Screw the cap on your bottle./Pick up the two object on the floor and put them on the bed.",477 "fps": 30,478 "frame_count": 406,479 "segments": [480 {481 "start_frame": 82,482 "end_frame_exclusive": 157,483 "motion_type": "align",484 "temporal_phase": "start",485 "actor": "both_hands",486 "target": {487 "type": "cloth_region",488 "value": "bottom_edge"489 },490 "state": {491 "stage": "unfolded",492 "flatness": "wrinkled",493 "symmetry": "asymmetric"494 },495 "error": "regrasp_required"496 },497 {498 "start_frame": 197,499 "end_frame_exclusive": 326,500 "motion_type": "fold",501 "temporal_phase": "start",502 "actor": "both_hands",503 "target": {504 "type": "cloth_region",505 "value": "center_mass"506 },507 "state": {508 "stage": "final",509 "flatness": "flat",510 "symmetry": "symmetric"511 },512 "error": "none"513 },514 {515 "start_frame": 339,516 "end_frame_exclusive": 359,517 "motion_type": "release",518 "temporal_phase": "end",519 "actor": "both_hands",520 "target": {521 "type": "cloth_region",522 "value": "center_mass"523 },524 "state": {525 "stage": "final",526 "flatness": "flat",527 "symmetry": "symmetric"528 },529 "error": "none"530 }531 ]532 }533 ]534 },535 "Task2": {536 "task_id": "Task2",537 "title": "Fold the jeans on the bed.",538 "description": "Fold the jeans on the bed.",539 "preset": {540 "motion_type": "grasp/pull/align/fold/smooth/release/adjust",541 "target_type": "cloth_region/surface",542 "target_value": "left_leg/right_leg/waistband/crotch/hem/center_fold/bed_surface",543 "state_stage": "unfolded/half_folded/final",544 "flatness": "wrinkled/mostly_flat/flat",545 "symmetry": "asymmetric/mostly_symmetric/symmetric"546 },547 "episodes": [548 {549 "episode_id": "Task2_Vid1",550 "video_id": "Vid1",551 "task_type": "Fold the jeans on the bed.",552 "fps": 30,553 "frame_count": 542,554 "segments": [555 {556 "start_frame": 104,557 "end_frame_exclusive": 171,558 "motion_type": "align",559 "temporal_phase": "start",560 "actor": "both_hands",561 "target": {562 "type": "cloth_region",563 "value": "waistband"564 },565 "state": {566 "stage": "unfolded",567 "flatness": "mostly_flat",568 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"video_id": "Vid3",671 "task_type": "Fold the jeans on the bed.",672 "fps": 30,673 "frame_count": 566,674 "segments": [675 {676 "start_frame": 80,677 "end_frame_exclusive": 100,678 "motion_type": "adjust",679 "temporal_phase": "start",680 "actor": "left_hand/",681 "target": {682 "type": "cloth_region",683 "value": "waistband"684 },685 "state": {686 "stage": "unfolded",687 "flatness": "wrinkled",688 "symmetry": "mostly_symmetric"689 },690 "error": "none"691 },692 {693 "start_frame": 105,694 "end_frame_exclusive": 151,695 "motion_type": "align",696 "temporal_phase": "manipulate",697 "actor": "both_hands",698 "target": {699 "type": "cloth_region",700 "value": "waistband"701 },702 "state": {703 "stage": "unfolded",704 "flatness": "mostly_flat",705 "symmetry": "mostly_symmetric"706 },707 "error": "none"708 },709 {710 "start_frame": 237,711 "end_frame_exclusive": 470,712 "motion_type": "fold",713 "temporal_phase": "end",714 "actor": "both_hands",715 "target": {716 "type": "cloth_region",717 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