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excavator-dataset

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README.md CHANGED
@@ -1,3 +1,167 @@
1
- ---
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- license: apache-2.0
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- ---
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Excavator Operation Dataset
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+
3
+ A comprehensive multi-modal dataset for excavator operation, featuring synchronized video recordings from multiple camera angles (front, left, back, and right angle) and precise joystick control data for machine learning applications in construction automation and operator behavior analysis.
4
+
5
+ ## Dataset Description
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+
7
+ This dataset captures real excavator operations through synchronized multi-camera video recordings and corresponding joystick control inputs. Common usecases of the dataset:
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+
9
+ - **Machine Learning Applications**: Training models for excavator operation prediction, automation, and operator assistance systems
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+ - **Computer Vision Research**: Multi-view video analysis, object tracking, and scene understanding in construction environments
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+
12
+ ### Dataset Statistics
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+ - **Total Sessions**: 176
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+ - **Total Unique Duration**: 24h 38m 28.4s
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+ - **Total Raw Video Duration**: 96h 26m 6.5s
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+ - **Total File Size**: 84.30 GB
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+
18
+ ## Video Description
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+
20
+ Each recording session contains synchronized video footage from 4 different camera angles, providing comprehensive coverage of the excavator operation from multiple perspectives.
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+
22
+ ### Video Metadata
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+
24
+ - **Resolution**: 1920 x 1080
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+ - **FPS**: 25 frames per second
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+ - **Compression**: HEVC(H.265)
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+
28
+ ### Camera Angles & Naming Convention
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+
30
+ Each folder contains 4 synchronized video files with the naming pattern `D0X_YYYYMMDDHHMMSS.mp4`
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+ | Prefix | Camera Angle |
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+ |--------|--------------|
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+ | D01 | Front Angle |
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+ | D02 | Left Angle |
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+ | D03 | Back Angle |
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+ | D04 | Right Angle |
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+
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+ ### Filename Structure
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+ ```
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+ D0X_YYYYMMDDHHMMSS.mp4
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+ └─┬─┘ └──────┬──────┘
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+ │ └── Timestamp: Year-Month-Day-Hour-Minute-Second
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+ └── Camera ID: 01=Front, 02=Left, 03=Right, 04=Rear
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+ ```
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+
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+ **Example**: `D01_20250828132109.mp4` = Front camera recording from August 28, 2025 at 13:21:09 (timestamp start time)
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+
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+ ## Data Structure
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+
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+ ```
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+ excavator_dataset/
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+ ├── 20250828132109/
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+ │ ├── D01_20250828132109.mp4 # Front camera
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+ │ ├── D02_20250828132109.mp4 # Left side camera
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+ │ ├── D03_20250828132109.mp4 # Back side camera
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+ │ ├── D04_20250828132109.mp4 # Right camera
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+ │ └── D05_20250828132109.csv # Synchronized control data
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+ ├── 20250829112715/
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+ │ ├── D01_20250829112715.mp4
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+ │ ├── D02_20250829112715.mp4
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+ │ ├── D03_20250829112715.mp4
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+ │ ├── D04_20250829112715.mp4
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+ │ └── D05_20250829112715.csv
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+ └── ...
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+ ```
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+
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+ ## Parquet Dataset File
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+
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+ ### Overview
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+ For efficient data access and analysis, the entire dataset has been consolidated into a single Parquet file: `excavator_dataset.parquet`. This file provides a session-level index of all recordings with direct file path references and dual timestamp formats.
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+
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+ ### Parquet File Structure
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+ Each row in the parquet file represents **one complete recording session** with all associated files and metadata.
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+
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+ ### Column Description
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+
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+ | Column | Data Type | Description | Example |
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+ |--------|-----------|-------------|---------|
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+ | `session_folder` | string | Session directory name (timestamp format YYYYMMDDHHMMSS) | "20250828132109" |
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+ | `timestamp_start` | int64 | Session start time (Unix timestamp in milliseconds) | 1756387269080 |
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+ | `timestamp_stop` | int64 | Session end time (Unix timestamp in milliseconds) | 1756387478920 |
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+ | `timestamp_start_str` | string | Human-readable start time | "2025-08-28 13:21:09.080" |
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+ | `timestamp_stop_str` | string | Human-readable stop time | "2025-08-28 13:24:38.920" |
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+ | `duration_seconds` | float | Total session duration in seconds | 209.83999633789062 |
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+ | `front_angle_file` | string | Relative path to front camera video (D01) | "20250828132109\D01_20250828132109.mp4" |
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+ | `left_angle_file` | string | Relative path to left camera video (D02) | "20250828132109\D02_20250828132109.mp4" |
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+ | `back_angle_file` | string | Relative path to back camera video (D04) | "20250828132109\D04_20250828132109.mp4" |
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+ | `right_angle_file` | string | Relative path to right camera video (D03) | "20250828132109\D03_20250828132109.mp4" |
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+ | `action_data_file` | string | Relative path to joystick control data CSV | "20250828132109\D05_20250828132109.csv" |
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+
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+ ## Action Data Format
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+
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+ ### CSV Structure
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+ Each `joystick_data.csv` file contains timestamped joystick positions with the following columns:
95
+
96
+ ```csv
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+ timestamp,filename,marker_id,normalized_x,normalized_y
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+ 2025-08-28 13:21:09.080,D05_20250828132109.mp4,0.0,-0.0042733113763212,-0.0030821448966519
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+ 2025-08-28 13:21:09.080,D05_20250828132109.mp4,1.0,0.0250226657342554,-0.00076719496794
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+ 2025-08-28 13:21:09.120,D05_20250828132109.mp4,0.0,-0.0041104821925982,-0.001967974023523
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+ 2025-08-28 13:21:09.120,D05_20250828132109.mp4,1.0,0.0210680148333473,0.0003680537962328
102
+ ...
103
+ ```
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+
105
+ - **timestamp**: Time in seconds from recording start (matches video timestamps)
106
+ - **filename**: The filename of the CSV
107
+ - **marker_id**: Which side of the joystick (0 = Right Joystick, 1 = Left Joystick)
108
+ - **normalized_x**: Joystick X-axis position
109
+ - **normalized_y**: Joystick Y-axis position
110
+
111
+ ### Sampling Rate
112
+ - **Video**: 25 FPS (40ms intervals)
113
+ - **Joystick Data**: 25 Hz (40ms intervals, synchronized with video frames)
114
+
115
+ ## Action Data Coordinate System
116
+
117
+ ### Marker Assignment & Excavator Functions
118
+ - **Marker ID 0**: Right joystick (operator's right hand)
119
+ - Controls: **Bucket** (X-axis) and **Boom** (Y-axis)
120
+ - **Marker ID 1**: Left joystick (operator's left hand)
121
+ - Controls: **Cab** (X-axis) and **Arm** (Y-axis)
122
+
123
+ ### Axis Definition & Excavator Operations
124
+
125
+ #### Marker ID 0 - Right Joystick
126
+ **X-axis: Bucket Control (lateral movement)**
127
+ - **Negative values (-1.0)**: Bucket **close/curl in** (scoop material)
128
+ - **Positive values (+1.0)**: Bucket **open/curl out** (dump material)
129
+
130
+ **Y-axis: Boom Control (longitudinal movement)**
131
+ - **Negative values (-1.0)**: Boom **down** (lower boom arm)
132
+ - **Positive values (+1.0)**: Boom **up** (raise boom arm)
133
+
134
+ #### Marker ID 1 - Left Joystick
135
+ **X-axis: Cab Control (lateral movement)**
136
+ - **Negative values (-1.0)**: Cab rotate **left** (counterclockwise)
137
+ - **Positive values (+1.0)**: Cab rotate **right** (clockwise)
138
+
139
+ **Y-axis: Arm Control (longitudinal movement)**
140
+ - **Negative values (-1.0)**: Arm **down/retract** (pull arm toward cab)
141
+ - **Positive values (+1.0)**: Arm **up/extend** (push arm away from cab)
142
+
143
+ ### Excavator Function Summary
144
+
145
+ | Marker | Axis | Function | -1.0 | 0.0 | +1.0 |
146
+ |--------|------|----------|------|-----|------|
147
+ | **0** (Right) | X | **Bucket** | Close/Curl In | Neutral | Open/Curl Out |
148
+ | **0** (Right) | Y | **Boom** | Down | Neutral | Up |
149
+ | **1** (Left) | X | **Cab** | Rotate Left | Neutral | Rotate Right |
150
+ | **1** (Left) | Y | **Arm** | Down/Retract | Neutral | Up/Extend |
151
+
152
+ ### Coordinate Range
153
+ All coordinates are normalized to the range **[-1, 1]** where:
154
+ - **0, 0**: Neutral/center position (joystick at rest, no excavator movement)
155
+ - **±1**: Maximum deflection in respective direction (full excavator function activation)
156
+ - Values are clipped/normalized to ensure the ranges of joystick motion remain within bounds
157
+
158
+ ### Excavator Operation Context
159
+ This coordinate system directly maps to standard excavator controls:
160
+ - **Digging sequence**: Boom down (-Y₀) → Arm extend (+Y₁) → Bucket close (-X₀)
161
+ - **Dumping sequence**: Boom up (+Y₀) → Bucket open (+X₀)
162
+ - **Positioning**: Cab rotation (±X₁) for directional changes
163
+ - **Reach adjustment**: Arm retract/extend (±Y₁) for distance control
164
+
165
+ ## How to Use the Dataset
166
+
167
+ This dataset provides synchronized multi-angle video recordings (`.mp4` at 25 FPS) and joystick control data (`.csv` at 25 Hz, 40 ms intervals). Each video frame directly corresponds to a row in the joystick CSV, so all sensor and visual information is time-aligned for frame-by-frame analysis.