Hugging Face's logo

Datasets:
Cloth-splatters
/
cloth-real-robot-rollouts

Tasks:
Robotics
Size:
< 1K
Tags:
cloth
point-cloud
manipulation
Libraries:
Datasets
License:
Dataset card Data Studio Files
xet
 Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
rollouts
dict
{ "robot_rollout_000": { "camera": { "frame_idx": 0, "offsets": 0, "points_q": [ 1171, -2017, 5230 ] }, "monocular": { "frame_idx": 0, "offsets": 0, "points_q": [ 1544, -2660, 6896 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 1, "offsets": 10864, "points_q": [ 1171, -2004, 5230 ] }, "monocular": { "frame_idx": 1, "offsets": 10864, "points_q": [ 1536, -2628, 6860 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 2, "offsets": 21766, "points_q": [ 1128, -1973, 5220 ] }, "monocular": { "frame_idx": 2, "offsets": 21766, "points_q": [ 1474, -2577, 6820 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 3, "offsets": 32671, "points_q": [ 1114, -1959, 5220 ] }, "monocular": { "frame_idx": 3, "offsets": 32671, "points_q": [ 1447, -2544, 6779 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 4, "offsets": 43571, "points_q": [ 1128, -1959, 5220 ] }, "monocular": { "frame_idx": 4, "offsets": 43571, "points_q": [ 1475, -2563, 6828 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 5, "offsets": 54479, "points_q": [ 1141, -1959, 5220 ] }, "monocular": { "frame_idx": 5, "offsets": 54479, "points_q": [ 1499, -2573, 6854 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 6, "offsets": 65380, "points_q": [ 1157, -1963, 5230 ] }, "monocular": { "frame_idx": 6, "offsets": 65380, "points_q": [ 1515, -2570, 6847 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 7, "offsets": 76275, "points_q": [ 1112, -1942, 5210 ] }, "monocular": { "frame_idx": 7, "offsets": 76275, "points_q": [ 1452, -2535, 6802 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 8, "offsets": 87185, "points_q": [ 1126, -1942, 5210 ] }, "monocular": { "frame_idx": 8, "offsets": 87185, "points_q": [ 1478, -2549, 6840 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 9, "offsets": 98093, "points_q": [ 1141, -1946, 5220 ] }, "monocular": { "frame_idx": 9, "offsets": 98093, "points_q": [ 1499, -2556, 6857 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 10, "offsets": 109093, "points_q": [ 1157, -1949, 5230 ] }, "monocular": { "frame_idx": 10, "offsets": 109093, "points_q": [ 1515, -2552, 6846 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 11, "offsets": 119996, "points_q": [ 1099, -1929, 5210 ] }, "monocular": { "frame_idx": 11, "offsets": 119996, "points_q": [ 1420, -2492, 6732 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 12, "offsets": 130886, "points_q": [ 1112, -1929, 5210 ] }, "monocular": { "frame_idx": 12, "offsets": 130886, "points_q": [ 1457, -2526, 6824 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 13, "offsets": 141760, "points_q": [ 1126, -1929, 5210 ] }, "monocular": { "frame_idx": 13, "offsets": 141760, "points_q": [ 1478, -2532, 6841 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 14, "offsets": 152661, "points_q": [ 1141, -1932, 5220 ] }, "monocular": { "frame_idx": 14, "offsets": 152661, "points_q": [ 1501, -2541, 6865 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 15, "offsets": 163552, "points_q": [ 1083, -1911, 5200 ] }, "monocular": { "frame_idx": 15, "offsets": 163552, "points_q": [ 1435, -2532, 6889 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 16, "offsets": 174458, "points_q": [ 1099, -1915, 5210 ] }, "monocular": { "frame_idx": 16, "offsets": 174458, "points_q": [ 1428, -2489, 6771 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 17, "offsets": 185367, "points_q": [ 1112, -1915, 5210 ] }, "monocular": { "frame_idx": 17, "offsets": 185367, "points_q": [ 1456, -2507, 6822 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 18, "offsets": 196253, "points_q": [ 1126, -1915, 5210 ] }, "monocular": { "frame_idx": 18, "offsets": 196253, "points_q": [ 1480, -2517, 6848 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 19, "offsets": 207135, "points_q": [ 1141, -1919, 5220 ] }, "monocular": { "frame_idx": 19, "offsets": 207135, "points_q": [ 1501, -2523, 6863 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 20, "offsets": 218021, "points_q": [ 1068, -1894, 5190 ] }, "monocular": { "frame_idx": 20, "offsets": 218021, "points_q": [ 1472, -2611, 7154 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 21, "offsets": 228916, "points_q": [ 1081, -1894, 5190 ] }, "monocular": { "frame_idx": 21, "offsets": 228916, "points_q": [ 1393, -2441, 6689 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 22, "offsets": 239807, "points_q": [ 1097, -1898, 5200 ] }, "monocular": { "frame_idx": 22, "offsets": 239807, "points_q": [ 1434, -2481, 6798 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 23, "offsets": 250721, "points_q": [ 1112, -1901, 5210 ] }, "monocular": { "frame_idx": 23, "offsets": 250721, "points_q": [ 1455, -2488, 6816 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 24, "offsets": 261526, "points_q": [ 1126, -1901, 5210 ] }, "monocular": { "frame_idx": 24, "offsets": 261526, "points_q": [ 1480, -2500, 6849 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 25, "offsets": 272426, "points_q": [ 1141, -1905, 5220 ] }, "monocular": { "frame_idx": 25, "offsets": 272426, "points_q": [ 1499, -2502, 6856 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 26, "offsets": 283237, "points_q": [ 1155, -1905, 5220 ] }, "monocular": { "frame_idx": 26, "offsets": 283237, "points_q": [ 1516, -2500, 6849 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 27, "offsets": 294044, "points_q": [ 1068, -1881, 5190 ] }, "monocular": { "frame_idx": 27, "offsets": 294044, "points_q": [ 1366, -2406, 6640 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 28, "offsets": 304836, "points_q": [ 1081, -1881, 5190 ] }, "monocular": { "frame_idx": 28, "offsets": 304836, "points_q": [ 1411, -2455, 6775 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 29, "offsets": 315649, "points_q": [ 1095, -1881, 5190 ] }, "monocular": { "frame_idx": 29, "offsets": 315649, "points_q": [ 1434, -2464, 6801 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 30, "offsets": 326456, "points_q": [ 1112, -1888, 5210 ] }, "monocular": { "frame_idx": 30, "offsets": 326456, "points_q": [ 1457, -2474, 6826 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 31, "offsets": 337448, "points_q": [ 1126, -1888, 5210 ] }, "monocular": { "frame_idx": 31, "offsets": 337448, "points_q": [ 1479, -2480, 6845 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 32, "offsets": 348240, "points_q": [ 1139, -1888, 5210 ] }, "monocular": { "frame_idx": 32, "offsets": 348240, "points_q": [ 1499, -2483, 6853 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 33, "offsets": 359044, "points_q": [ 1068, -1867, 5190 ] }, "monocular": { "frame_idx": 33, "offsets": 359044, "points_q": [ 1387, -2426, 6744 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 34, "offsets": 369822, "points_q": [ 1081, -1867, 5190 ] }, "monocular": { "frame_idx": 34, "offsets": 369822, "points_q": [ 1414, -2442, 6787 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 35, "offsets": 380573, "points_q": [ 1095, -1867, 5190 ] }, "monocular": { "frame_idx": 35, "offsets": 380573, "points_q": [ 1438, -2453, 6817 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 36, "offsets": 391475, "points_q": [ 1112, -1874, 5210 ] }, "monocular": { "frame_idx": 36, "offsets": 391475, "points_q": [ 1459, -2458, 6833 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 37, "offsets": 402360, "points_q": [ 1126, -1874, 5210 ] }, "monocular": { "frame_idx": 37, "offsets": 402360, "points_q": [ 1479, -2463, 6845 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 38, "offsets": 413192, "points_q": [ 1139, -1874, 5210 ] }, "monocular": { "frame_idx": 38, "offsets": 413192, "points_q": [ 1498, -2465, 6851 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 39, "offsets": 424002, "points_q": [ 1050, -1847, 5170 ] }, "monocular": { "frame_idx": 39, "offsets": 424002, "points_q": [ 1349, -2372, 6640 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 40, "offsets": 434782, "points_q": [ 1066, -1850, 5180 ] }, "monocular": { "frame_idx": 40, "offsets": 434782, "points_q": [ 1395, -2422, 6780 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 41, "offsets": 445571, "points_q": [ 1079, -1850, 5180 ] }, "monocular": { "frame_idx": 41, "offsets": 445571, "points_q": [ 1416, -2427, 6796 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 42, "offsets": 456296, "points_q": [ 1095, -1854, 5190 ] }, "monocular": { "frame_idx": 42, "offsets": 456296, "points_q": [ 1439, -2437, 6823 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 43, "offsets": 466982, "points_q": [ 1110, -1857, 5200 ] }, "monocular": { "frame_idx": 43, "offsets": 466982, "points_q": [ 1459, -2441, 6834 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 44, "offsets": 477641, "points_q": [ 1124, -1857, 5200 ] }, "monocular": { "frame_idx": 44, "offsets": 477641, "points_q": [ 1479, -2445, 6845 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 45, "offsets": 488271, "points_q": [ 1139, -1861, 5210 ] }, "monocular": { "frame_idx": 45, "offsets": 488271, "points_q": [ 1498, -2446, 6849 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 46, "offsets": 498869, "points_q": [ 1155, -1865, 5220 ] }, "monocular": { "frame_idx": 46, "offsets": 498869, "points_q": [ 1517, -2450, 6858 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 47, "offsets": 509411, "points_q": [ 1021, -1830, 5160 ] }, "monocular": { "frame_idx": 47, "offsets": 509411, "points_q": [ 1730, -3100, 8741 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 48, "offsets": 519962, "points_q": [ 1037, -1833, 5170 ] }, "monocular": { "frame_idx": 48, "offsets": 519962, "points_q": [ 1294, -2288, 6453 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 49, "offsets": 530485, "points_q": [ 1050, -1833, 5170 ] }, "monocular": { "frame_idx": 49, "offsets": 530485, "points_q": [ 1371, -2394, 6751 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 50, "offsets": 541010, "points_q": [ 1066, -1837, 5180 ] }, "monocular": { "frame_idx": 50, "offsets": 541010, "points_q": [ 1393, -2401, 6772 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 51, "offsets": 551517, "points_q": [ 1079, -1837, 5180 ] }, "monocular": { "frame_idx": 51, "offsets": 551517, "points_q": [ 1417, -2411, 6801 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 52, "offsets": 561975, "points_q": [ 1095, -1840, 5190 ] }, "monocular": { "frame_idx": 52, "offsets": 561975, "points_q": [ 1438, -2418, 6819 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 53, "offsets": 572369, "points_q": [ 1110, -1844, 5200 ] }, "monocular": { "frame_idx": 53, "offsets": 572369, "points_q": [ 1458, -2422, 6830 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 54, "offsets": 582733, "points_q": [ 1124, -1844, 5200 ] }, "monocular": { "frame_idx": 54, "offsets": 582733, "points_q": [ 1477, -2424, 6837 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 55, "offsets": 593067, "points_q": [ 1139, -1847, 5210 ] }, "monocular": { "frame_idx": 55, "offsets": 593067, "points_q": [ 1497, -2428, 6846 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 56, "offsets": 603386, "points_q": [ 1157, -1855, 5230 ] }, "monocular": { "frame_idx": 56, "offsets": 603386, "points_q": [ 1517, -2431, 6856 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 57, "offsets": 613707, "points_q": [ 1021, -1816, 5160 ] }, "monocular": { "frame_idx": 57, "offsets": 613707, "points_q": [ 1274, -2267, 6439 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 58, "offsets": 623958, "points_q": [ 1037, -1820, 5170 ] }, "monocular": { "frame_idx": 58, "offsets": 623958, "points_q": [ 1346, -2363, 6713 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 59, "offsets": 634149, "points_q": [ 1050, -1820, 5170 ] }, "monocular": { "frame_idx": 59, "offsets": 634149, "points_q": [ 1372, -2377, 6753 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 60, "offsets": 644310, "points_q": [ 1066, -1823, 5180 ] }, "monocular": { "frame_idx": 60, "offsets": 644310, "points_q": [ 1395, -2387, 6781 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 61, "offsets": 654451, "points_q": [ 1079, -1823, 5180 ] }, "monocular": { "frame_idx": 61, "offsets": 654451, "points_q": [ 1416, -2393, 6798 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 62, "offsets": 664597, "points_q": [ 1095, -1827, 5190 ] }, "monocular": { "frame_idx": 62, "offsets": 664597, "points_q": [ 1435, -2396, 6807 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 63, "offsets": 674635, "points_q": [ 1112, -1834, 5210 ] }, "monocular": { "frame_idx": 63, "offsets": 674635, "points_q": [ 1455, -2400, 6817 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 64, "offsets": 684638, "points_q": [ 1126, -1834, 5210 ] }, "monocular": { "frame_idx": 64, "offsets": 684638, "points_q": [ 1475, -2403, 6826 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 65, "offsets": 694670, "points_q": [ 1141, -1837, 5220 ] }, "monocular": { "frame_idx": 65, "offsets": 694670, "points_q": [ 1496, -2407, 6839 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 66, "offsets": 704534, "points_q": [ 1157, -1841, 5230 ] }, "monocular": { "frame_idx": 66, "offsets": 704534, "points_q": [ 1513, -2407, 6837 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 67, "offsets": 714305, "points_q": [ 1175, -1848, 5250 ] }, "monocular": { "frame_idx": 67, "offsets": 714305, "points_q": [ 1532, -2408, 6842 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 68, "offsets": 724187, "points_q": [ 1021, -1803, 5160 ] }, "monocular": { "frame_idx": 68, "offsets": 724187, "points_q": [ 1295, -2287, 6545 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 69, "offsets": 733941, "points_q": [ 1037, -1806, 5170 ] }, "monocular": { "frame_idx": 69, "offsets": 733941, "points_q": [ 1350, -2353, 6734 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 70, "offsets": 743694, "points_q": [ 1052, -1810, 5180 ] }, "monocular": { "frame_idx": 70, "offsets": 743694, "points_q": [ 1371, -2358, 6748 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 71, "offsets": 753424, "points_q": [ 1068, -1813, 5190 ] }, "monocular": { "frame_idx": 71, "offsets": 753424, "points_q": [ 1394, -2367, 6775 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 72, "offsets": 763098, "points_q": [ 1081, -1813, 5190 ] }, "monocular": { "frame_idx": 72, "offsets": 763098, "points_q": [ 1414, -2371, 6786 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 73, "offsets": 772717, "points_q": [ 1095, -1813, 5190 ] }, "monocular": { "frame_idx": 73, "offsets": 772717, "points_q": [ 1433, -2374, 6794 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 74, "offsets": 782359, "points_q": [ 1112, -1820, 5210 ] }, "monocular": { "frame_idx": 74, "offsets": 782359, "points_q": [ 1452, -2377, 6803 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 75, "offsets": 791973, "points_q": [ 1126, -1820, 5210 ] }, "monocular": { "frame_idx": 75, "offsets": 791973, "points_q": [ 1472, -2381, 6814 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 76, "offsets": 801547, "points_q": [ 1141, -1824, 5220 ] }, "monocular": { "frame_idx": 76, "offsets": 801547, "points_q": [ 1492, -2384, 6822 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 77, "offsets": 811126, "points_q": [ 1159, -1831, 5240 ] }, "monocular": { "frame_idx": 77, "offsets": 811126, "points_q": [ 1510, -2384, 6823 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 78, "offsets": 820720, "points_q": [ 1175, -1834, 5250 ] }, "monocular": { "frame_idx": 78, "offsets": 820720, "points_q": [ 1530, -2388, 6833 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 79, "offsets": 830266, "points_q": [ 1189, -1834, 5250 ] }, "monocular": { "frame_idx": 79, "offsets": 830266, "points_q": [ 1550, -2392, 6846 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 80, "offsets": 839775, "points_q": [ 1008, -1790, 5160 ] }, "monocular": { "frame_idx": 80, "offsets": 839775, "points_q": [ 1225, -2175, 6271 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 81, "offsets": 849250, "points_q": [ 1021, -1790, 5160 ] }, "monocular": { "frame_idx": 81, "offsets": 849250, "points_q": [ 1330, -2331, 6720 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 82, "offsets": 858695, "points_q": [ 1037, -1793, 5170 ] }, "monocular": { "frame_idx": 82, "offsets": 858695, "points_q": [ 1348, -2332, 6725 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 83, "offsets": 868149, "points_q": [ 1052, -1797, 5180 ] }, "monocular": { "frame_idx": 83, "offsets": 868149, "points_q": [ 1372, -2342, 6753 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 84, "offsets": 877579, "points_q": [ 1068, -1800, 5190 ] }, "monocular": { "frame_idx": 84, "offsets": 877579, "points_q": [ 1393, -2348, 6771 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 85, "offsets": 886983, "points_q": [ 1081, -1800, 5190 ] }, "monocular": { "frame_idx": 85, "offsets": 886983, "points_q": [ 1411, -2349, 6774 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 86, "offsets": 896337, "points_q": [ 1095, -1800, 5190 ] }, "monocular": { "frame_idx": 86, "offsets": 896337, "points_q": [ 1430, -2352, 6782 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 87, "offsets": 905661, "points_q": [ 1112, -1807, 5210 ] }, "monocular": { "frame_idx": 87, "offsets": 905661, "points_q": [ 1450, -2355, 6791 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 88, "offsets": 914947, "points_q": [ 1126, -1807, 5210 ] }, "monocular": { "frame_idx": 88, "offsets": 914947, "points_q": [ 1470, -2359, 6802 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 89, "offsets": 924246, "points_q": [ 1141, -1810, 5220 ] }, "monocular": { "frame_idx": 89, "offsets": 924246, "points_q": [ 1487, -2359, 6800 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 90, "offsets": 933512, "points_q": [ 1159, -1817, 5240 ] }, "monocular": { "frame_idx": 90, "offsets": 933512, "points_q": [ 1508, -2363, 6814 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 91, "offsets": 942704, "points_q": [ 1175, -1821, 5250 ] }, "monocular": { "frame_idx": 91, "offsets": 942704, "points_q": [ 1528, -2368, 6828 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 92, "offsets": 951884, "points_q": [ 1189, -1821, 5250 ] }, "monocular": { "frame_idx": 92, "offsets": 951884, "points_q": [ 1550, -2374, 6844 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 93, "offsets": 960975, "points_q": [ 1205, -1824, 5260 ] }, "monocular": { "frame_idx": 93, "offsets": 960975, "points_q": [ 1572, -2381, 6864 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 94, "offsets": 970053, "points_q": [ 995, -1776, 5160 ] }, "monocular": { "frame_idx": 94, "offsets": 970053, "points_q": [ 1263, -2255, 6551 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 95, "offsets": 979046, "points_q": [ 1010, -1780, 5170 ] }, "monocular": { "frame_idx": 95, "offsets": 979046, "points_q": [ 1303, -2297, 6673 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 96, "offsets": 987984, "points_q": [ 1023, -1780, 5170 ] }, "monocular": { "frame_idx": 96, "offsets": 987984, "points_q": [ 1326, -2307, 6701 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 97, "offsets": 996825, "points_q": [ 1037, -1780, 5170 ] }, "monocular": { "frame_idx": 97, "offsets": 996825, "points_q": [ 1348, -2313, 6720 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 98, "offsets": 1005674, "points_q": [ 1052, -1783, 5180 ] }, "monocular": { "frame_idx": 98, "offsets": 1005674, "points_q": [ 1370, -2322, 6747 ] } } }
{ "robot_rollout_000": { "camera": { "frame_idx": 99, "offsets": 1014517, "points_q": [ 1068, -1787, 5190 ] }, "monocular": { "frame_idx": 99, "offsets": 1014517, "points_q": [ 1390, -2326, 6758 ] } } }
End of preview. Expand in Data Studio

Cloth-splatters real robot rollouts

Real-world point cloud recordings of a folding/unfolding cloth, used to evaluate state-estimation models from UniClothDiff.

Each rollout contains two synchronised point cloud streams:

  • camera — derived from an Intel RealSense depth stream.
  • monocular — estimated from a single RGB image (monocular depth model).

Positions are stored as int16 in units of 0.1 mm (multiply by scale_mm attribute to recover millimetres). The quantisation max error is 0.05 mm, well below the depth sensor noise floor.

Layout 

robot_rollout.h5
  @units = "mm"
  /rollouts/<rollout_name>/
      camera/
          points_q   (N_total, 3) int16, gzip      # × scale_mm → mm
          offsets    (n_frames+1,) int32           # frame i = points_q[offsets[i]:offsets[i+1]]
          frame_idx  (n_frames,)   int32           # original pc_XXXX index
          @scale_mm = 0.1
      monocular/
          ... (same layout)

Usage 

from src.hub import resolve_real_robot_rollout
import h5py, numpy as np

path = resolve_real_robot_rollout()
with h5py.File(path, "r") as h:
    g = h["rollouts/robot_rollout_000/camera"]
    scale = float(g.attrs["scale_mm"])
    offsets = g["offsets"][:]
    frame_idx = g["frame_idx"][:]
    # First frame, in millimetres:
    pts_mm = g["points_q"][offsets[0] : offsets[1]].astype(np.float32) * scale

See scripts/run_real_world_state_est.py for end-to-end evaluation against the GPS state-estimation models.

Build

The HDF5 is produced from raw PLY rollouts with scripts/build_real_robot_rollout_dataset.py.
Downloads last month
105
Number of rows:
411
Total file size:
15.3 MB