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baiyu858/human_ego_data

Human Ego Data Example RGB-D episodes collected with the ego_realsense_tool for the Ego2Sim benchmark. Only tasks with completed successful recordings on the collection machine are included. Each currently available task contributes one raw example episode. Layout Txx_task_name/ suite/ session_xxx/ raw/ frames/ *_color.png *_depth.png frames.csv imu.csv intrinsics.json session.json… See the full description on the dataset page: https://huggingface.co/datasets/baiyu858/human_ego_data.

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Human Ego Data

Example RGB-D episodes collected with the ego_realsense_tool for the Ego2Sim benchmark.

Only tasks with completed successful recordings on the collection machine are included. Each currently available task contributes one raw example episode.

Layout

text

Txx_task_name/
  suite/
    session_xxx/
      raw/
        frames/
          *_color.png
          *_depth.png
        frames.csv
        imu.csv
        intrinsics.json
        session.json
        capture_stats.json
        control_events.jsonl

Depth images are 16-bit PNG files aligned to the RGB camera. Camera intrinsics and the depth scale are stored in intrinsics.json. Episode instructions, task/suite identities, capture settings, and completion state are stored in session.json.

Included Examples

Task	Suite	Episode	Frames	Instruction
`T01_pick_place_block`	`object`	`session_000`	121	`[right+white tablecloth]Pick up the green block and place it in the green plate.`
`T04_put_object_cabinet`	`spatial`	`session_000`	315	`[left+black]Open the bottom drawer and put the red block inside it.`

See manifest.json for machine-readable sizes and paths.