| --- |
| license: cc-by-4.0 |
| pretty_name: WireSeg-36K |
| task_categories: |
| - image-segmentation |
| - depth-estimation |
| tags: |
| - DLO |
| - segmentation |
| - cables |
| - wire |
| - sam |
| - real image |
| - synthetic image |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/*.parquet |
| - config_name: real |
| data_files: |
| - split: test |
| path: real/*.parquet |
| --- |
| |
| # WireSeg-36K |
|
|
| A 36,000-image dataset for **cable / wire instance segmentation**: physically simulated |
| deformable linear objects (DLOs) rendered over diverse backgrounds, with exact per-instance |
| masks and per-image metric depth. Single category: `cable`. Generated with **DeformX**. |
|
|
| - **Images:** 36,000 (1024x1024 RGB) |
| - **Instances:** 176,387 cable masks (COCO RLE) |
| - **Categories:** 1 (`cable`) |
| - **Modalities:** RGB, instance masks, per-image metric depth |
|
|
| ## Scenes |
|
|
| | scene_family | cable counts | images | description | |
| |---|---|---|---| |
| | `data_center` | 4 / 8 / 16 | 6,000 | wires routed on server racks | |
| | `flying_wire` | 2 / 4 / 8 | 15,000 | suspended / catenary wires | |
| | `wire_on_plane` | 2 / 4 / 8 | 15,000 | wires draped on a flat surface | |
|
|
| ## Files & layout |
|
|
| | path | what | |
| |---|---| |
| | `data/*.parquet` (config `default`) | RGB image + per-instance COCO-RLE masks + metadata, one row per image | |
| | `real/*.parquet` (config `real`) | **real-image eval subset** (300 imgs) — RGB + COCO-RLE masks, one row per image | |
| | `annotations.json` | full COCO ground truth (36,000 images / 176,387 annotations, single category `cable`) | |
| | `depth/*.tar.gz` | per-image metric depth, float32 `[1024,1024]` `.npy`, packed in 100 gzipped tar shards | |
|
|
| > The `image-only` branch holds the RGB+masks release without depth. |
|
|
| ## Usage |
|
|
| ```python |
| from datasets import load_dataset |
| ds = load_dataset("DeformX/WireSeg-36K", split="train") # rgb + masks + metadata |
| ex = ds[0] |
| ex["image"] # PIL.Image (RGB) |
| |
| import json |
| from pycocotools import mask as M |
| masks = json.loads(ex["masks_rle"]) # list of {"size":[h,w], "counts": <RLE str>} |
| m0 = M.decode(masks[0]) # HxW uint8 instance mask |
| ``` |
|
|
| **Depth.** Download and extract the `depth/*.tar.gz` shards; each member is |
| `<scene_family>/<n>_cable/<id>.npy`. The depth for an image is the `.npy` at the same |
| relative path as its `file_name` (swap `.png` -> `.npy`): |
|
|
| ```python |
| import numpy as np |
| d = np.load(f"depth/{ex['file_name'][:-4]}.npy") # float32 [1024,1024], metric |
| ``` |
|
|
| ## Data fields (Parquet `default`) |
|
|
| `image` (RGB), `file_name`, `scene_family`, `n_cable`, `masks_rle`, `bboxes`, `areas`, |
| `num_instances`, `wire_area_frac`, `det_f1_iou_50`, `det_f1_iou_75`, `det_map_50_95`, |
| `jaccard_j`, `category`. Masks / bboxes / areas are JSON-encoded per-instance lists |
| (RLE = COCO compressed). |
|
|
| ## Real eval subset (config `real`) |
|
|
| A companion set of **300 real cable images** with hand-verified ground truth, for evaluating |
| sim-to-real transfer of the synthetic `default` set. These were cherry-picked as the |
| **disagreement slice** between base **SAM 3** (prompt `"cable"`) and a cable-tuned **LoRA** — |
| i.e. the images the two models most disagreed on, so they concentrate the hard/informative |
| cases. Masks are COCO-RLE, single category `cable`. |
|
|
| - **Images:** 300 real (variable resolution) — `scene_family` = `real_easy` (224) / `real_hard` (76) |
| - **Instances:** 2,119 cable masks (COCO RLE) |
|
|
| ```python |
| from datasets import load_dataset |
| real = load_dataset("DeformX/WireSeg-36K", "real", split="test") |
| ex = real[0] # ex["image"] -> PIL.Image |
| ``` |
|
|
| Fields: `image`, `file_name`, `scene_family`, `masks_rle`, `bboxes`, `areas`, `num_instances`, |
| `category`, `width`, `height` — the mask/bbox/area columns match the `default` config (same |
| JSON-encoded per-instance COCO-RLE), so decoding code is shared. The synthetic-only QA columns |
| (`n_cable`, `wire_area_frac`, `det_*`, `jaccard_j`) are omitted; `width`/`height` are added |
| because real images are not a fixed size. |
|
|
| ## Splits |
|
|
| The `default` config provides a single `train` split; users should split as needed (recommended: |
| stratify by `scene_family` / `n_cable`). The `real` config is a held-out `test` set. |
|
|
| ## Generation |
|
|
| Wires are simulated and rendered with **DeformX** and composited over background imagery; |
| ground-truth instance masks and metric depth come directly from the renderer (no human |
| annotation), exported to COCO RLE. |
|
|
| ## Limitations & responsible use |
|
|
| - **Synthetic** foreground; expect a domain gap to real imagery. |
| - Backgrounds are real photographs composited in; they may contain incidental scene content. |
| Redistribution is under the dataset license below. |
|
|
| ## Citation |
|
|
| ```bibtex |
| @inproceedings{yang2026deformx, |
| title = {DeformX: A Versatile Co-Simulation Framework for |
| Deformable Linear Objects}, |
| author = {Yang, Yi and Fei, Xiang and Wang, Lehong and Li, Chenhao |
| and Dai, Zilin and Kou, Henry and Li, Lu and Choset, Howie}, |
| booktitle = {2026 IEEE/RSJ International Conference on Intelligent |
| Robots and Systems (IROS)}, |
| year = {2026}, |
| organization = {IEEE} |
| } |
| ``` |
|
|
| ## License |
|
|
| `cc-by-4.0`. |
|
|
