diff --git a/README.md b/README.md deleted file mode 100644 index 8cf63a832d1e9b4d5acfce6b61bc681764a44130..0000000000000000000000000000000000000000 --- a/README.md +++ /dev/null @@ -1,160 +0,0 @@ ---- -license: mit -pretty_name: RoboAtom -language: - - en -task_categories: - - robotics -size_categories: - - 100K - - RoboAtom overview - -

- -

- Project page - GitHub - Paper - Dataset - Models -

- -## RoboAtom-Data - -Time-aligned atomic-action annotations: each segment has a skill label, an action description, and frame boundaries. Each dataset has one JSONL file; `roboatom_data.jsonl` is their concatenation. - -| Dataset | Annotation file | -| --- | --- | -| Private | [Private.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/Private.jsonl) | -| EBench | [EBench.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/EBench.jsonl) | -| Galaxea Open-World | [Galaxea_Open-World.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/Galaxea_Open-World.jsonl) | -| InternData-A1 | [InternData-A1.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/InternData-A1.jsonl) | -| LIBERO | [LIBERO.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/LIBERO.jsonl) | -| RoboCasa | [RoboCasa.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RoboCasa.jsonl) | -| RoboCerebra | [RoboCerebra.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RoboCerebra.jsonl) | -| RoboDojo | [RoboDojo.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RoboDojo.jsonl) | -| RoboTwin 2.0 | [RoboTwin_2.0.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RoboTwin_2.0.jsonl) | -| RH20T | [RH20T.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/RH20T.jsonl) | -| AgiBot World Beta | [AgiBot_World_Beta.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/AgiBot_World_Beta.jsonl) | -| AgiBot World 2026 | [AgiBot_World_2026.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/by_dataset/AgiBot_World_2026.jsonl) | -| **All datasets** | [roboatom_data.jsonl](https://huggingface.co/datasets/InternRobotics/RoboAtom/resolve/main/RoboAtom-Data/roboatom_data.jsonl) | - -```bash -hf download InternRobotics/RoboAtom --repo-type dataset \ - --include 'RoboAtom-Data/roboatom_data.jsonl' --local-dir ./data -``` - -```python -from datasets import load_dataset - -annotations = load_dataset( - "InternRobotics/RoboAtom", "RoboAtom-Data", split="train", streaming=True -) -``` - -| Fields | Meaning | -| --- | --- | -| `id`, `dataset`, `task_id`, `episode_index` | Trajectory and task identities | -| `task`, `task_flags` | Task text and task-text flags | -| `num_frames`, `fps`, `views`, `domain` | Frame count, FPS (InternData-A1: 30 mapped to 15), camera names, real/sim | -| `segments` | Ordered `{start_frame, end_frame, skill, action_text}` | -| `is_human_annotated` | Human-QC status: `true`, `false`, or `null` | -| `public_source_url`, `public_location` | Source repository and source-relative path, or `null` | - -Frame indices are zero-based and both endpoints are included. The files contain annotations only; get videos and sensor data from the source datasets. - -Skills: `Pick`, `Place`, `Handover`, `Move`, `Open`, `Close`, `Push`, `Pull`, `Press`, `Rotate`, `Screw`, `Plug`, `Pour`, `Fill`, `Scoop`, `Stir`, `Dip`, `Shake`, `Fold`, `Tie`, `Wipe`, `Sweep`, `Wash`, `Brush`, `Cut`, `Peel`, `Strike`, `Scan`, `Throw`. An empty `skill` marks an unlabeled span. - -## RoboAtom-Bench - -A model predicts ordered skill labels, action descriptions, and temporal boundaries for complete robot trajectories. - -| Subset | Trajectories | GT segments | Videos | -| --- | ---: | ---: | ---: | -| Short (1–4 segments) | 200 | 411 | 200 | -| Medium (5–8) | 100 | 634 | 100 | -| Long (9–62) | 100 | 2,302 | 100 | -| Multiview | 100 | 671 | 321 | -| **Total** | **500** | **4,018** | **721** | - -```bash -hf download InternRobotics/RoboAtom --repo-type dataset \ - --include 'RoboAtom-Bench/**' --local-dir ./data -``` - -`benchmark.jsonl` holds model inputs and relative video paths; `gt.jsonl` holds `action_config` segments with the same `benchmark_id`. An input record: - -```json -{ - "benchmark_id": "benchmark:004957f135e186fb5052", - "category": "short", - "dataset": "RoboMIND 2.0", - "task": "Transfers the tape from the board to the tray using both arms.", - "fps": 30.0, - "length": 242, - "frame_interval": "closed_inclusive", - "benchmark_view_mode": "singleview", - "evaluation_views": ["front"], - "model_view_key": "front", - "views": {"front": "videos/004957f135e186fb5052/00_front.mp4"} -} -``` - -Validate, run inference, and score with the [RoboAtom code](https://github.com/InternRobotics/RoboAtom#quick-start-benchmark): - -```bash -roboatom evaluate \ - --gt ./data/RoboAtom-Bench/gt.jsonl \ - --benchmark-input ./data/RoboAtom-Bench/benchmark.jsonl \ - --prediction outputs/roboatom_predictions.jsonl \ - --protocol configs/roboatom_bench.yaml \ - --output-dir outputs/roboatom_evaluation -``` - -Metrics: Micro F1 at 0.3/0.5/0.7, Skill F1@0.7, mIoU, and Edit. - -## License and citation - -Annotations, benchmark labels, and project media are released under the MIT license. Source videos and datasets keep their own terms. Citation: [CITATION.cff](https://github.com/InternRobotics/RoboAtom/blob/main/CITATION.cff). - -If you use RoboAtom in your research, please cite: - -```bibtex -@misc{wei2026roboatomlargescaleatomicactionsupervision, - title={RoboAtom: Large-scale Atomic-Action Supervision for Robot Learning}, - author={Xueyuan Wei and Xuanxu Wang and Xudong Li and Yuping He and Wanshui Gan and Jiaqi Peng and Wenqi Guo and Jianjun Zhou and Junting Dong and Chunhua Shen and Haoyu Guo and Mulin Yu and Tao Lu}, - year={2026}, - eprint={2610.40207}, - archivePrefix={arXiv}, - primaryClass={cs.RO}, - url={https://arxiv.org/abs/2610.40207}, -} -``` - -## To-do - -- [ ] ABC-130k -- [ ] RoboCOIN -- [ ] RoboMIND -- [ ] RoboMIND 2.0 diff --git a/RoboAtom-Bench/benchmark.jsonl b/RoboAtom-Bench/benchmark.jsonl deleted file mode 100644 index e6900730d70f553c7cc97688a6804f9e8c0b0b1a..0000000000000000000000000000000000000000 --- a/RoboAtom-Bench/benchmark.jsonl +++ /dev/null @@ -1,500 +0,0 @@ -{"benchmark_id": "benchmark:004957f135e186fb5052", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND 2.0", "evaluation_views": ["front"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 242, "model_view_key": "front", "task": "Transfers the tape from the board to the tray using both arms.", "views": {"front": "videos/004957f135e186fb5052/00_front.mp4"}} -{"benchmark_id": "benchmark:04d3845c6c50b42e7bb5", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["right"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 178, "model_view_key": "right", "task": "Side pull drawer.", "views": {"right": "videos/04d3845c6c50b42e7bb5/video.mp4"}} -{"benchmark_id": "benchmark:07b23c218c7386f2c006", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["right"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 82, "model_view_key": "right", "task": "Place the pear into the pink bowl.", "views": {"right": "videos/07b23c218c7386f2c006/video.mp4"}} -{"benchmark_id": "benchmark:09419b06be8284f1cc1b", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["top"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 115, "model_view_key": "top", "task": "Put the cucumber in the basket.", "views": {"top": "videos/09419b06be8284f1cc1b/video.mp4"}} -{"benchmark_id": "benchmark:0d81c1e48c0a4901dcd3", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboCasa", "evaluation_views": ["robot0_agentview_left_image"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 123, "model_view_key": "robot0_agentview_left_image", "task": "turn off the rear right burner of the stove", "views": {"robot0_agentview_left_image": "videos/0d81c1e48c0a4901dcd3/00_robot0_agentview_left_image.mp4"}} -{"benchmark_id": "benchmark:0fc94d768764725d4819", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboCOIN", "evaluation_views": ["observation.images.cam_chest_rgb"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 1160, "model_view_key": "observation.images.cam_chest_rgb", "task": "Remove the water bottle from the table and press the button", "views": {"observation.images.cam_chest_rgb": "videos/0fc94d768764725d4819/00_observation.images.cam_chest_rgb.mp4"}} -{"benchmark_id": "benchmark:108b123f2a277494b320", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["top"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 551, "model_view_key": "top", "task": "Push the plate, pick up the bread from the toaster, and place it on the plate.", "views": {"top": "videos/108b123f2a277494b320/video.mp4"}} -{"benchmark_id": "benchmark:11665083c9017fbb2aee", "benchmark_view_mode": "singleview", "category": "short", "dataset": "LIBERO", "evaluation_views": ["observation.images.image"], "fps": 20.0, "frame_interval": "closed_inclusive", "length": 150, "model_view_key": "observation.images.image", "task": "pick up the ketchup and place it in the basket", "views": {"observation.images.image": "videos/11665083c9017fbb2aee/00_observation.images.image.mp4"}} -{"benchmark_id": "benchmark:137318351ffb08495ecf", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["top"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 286, "model_view_key": "top", "task": "Put the garbage in the trash can.", "views": {"top": "videos/137318351ffb08495ecf/video.mp4"}} -{"benchmark_id": "benchmark:14cf6057090c6b5bff57", "benchmark_view_mode": "singleview", "category": "short", "dataset": "InternData-A1", "evaluation_views": ["head"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 273, "model_view_key": "head", "task": "Single pick left arm part1 omniobject3d razor.", "views": {"head": "videos/14cf6057090c6b5bff57/00_head.mp4"}} -{"benchmark_id": "benchmark:15b93f1737946e96d3d4", "benchmark_view_mode": "singleview", "category": "short", "dataset": "LIBERO", "evaluation_views": ["observation.images.image"], "fps": 20.0, "frame_interval": "closed_inclusive", "length": 103, "model_view_key": "observation.images.image", "task": "put the bowl on top of the cabinet", "views": {"observation.images.image": "videos/15b93f1737946e96d3d4/00_observation.images.image.mp4"}} -{"benchmark_id": "benchmark:171d3ef664ad9199fa03", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["top"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 536, "model_view_key": "top", "task": "Pushes a cup, picks up another cup, and places it into the first cup.", "views": {"top": "videos/171d3ef664ad9199fa03/video.mp4"}} -{"benchmark_id": "benchmark:199f521b47a3120de2ff", "benchmark_view_mode": "singleview", "category": "short", "dataset": "LIBERO", "evaluation_views": ["observation.images.image"], "fps": 20.0, "frame_interval": "closed_inclusive", "length": 347, "model_view_key": "observation.images.image", "task": "put the wine bottle on the rack", "views": {"observation.images.image": "videos/199f521b47a3120de2ff/00_observation.images.image.mp4"}} -{"benchmark_id": "benchmark:1e31a7f39e87e79f63f0", "benchmark_view_mode": "singleview", "category": "short", "dataset": "InternData-A1", "evaluation_views": ["head"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 215, "model_view_key": "head", "task": "Picks up the Rubik's cube.", "views": {"head": "videos/1e31a7f39e87e79f63f0/00_head.mp4"}} -{"benchmark_id": "benchmark:220a2fc9d623b30c1b14", "benchmark_view_mode": "singleview", "category": "short", "dataset": "InternData-A1", "evaluation_views": ["head"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 234, "model_view_key": "head", "task": "Picks up the hamburger.", "views": {"head": "videos/220a2fc9d623b30c1b14/00_head.mp4"}} -{"benchmark_id": "benchmark:22fc66d8f53e3705d2ff", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboCasa", "evaluation_views": ["robot0_agentview_left_image"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 354, "model_view_key": "robot0_agentview_left_image", "task": "pick the bar from the counter and place it in the cabinet", "views": {"robot0_agentview_left_image": "videos/22fc66d8f53e3705d2ff/00_robot0_agentview_left_image.mp4"}} -{"benchmark_id": "benchmark:2443e16b30c9905235f5", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboCasa", "evaluation_views": ["robot0_agentview_left_image"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 360, "model_view_key": "robot0_agentview_left_image", "task": "pick the steak from the counter and place it in the sink", "views": {"robot0_agentview_left_image": "videos/2443e16b30c9905235f5/00_robot0_agentview_left_image.mp4"}} 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"evaluation_views": ["head"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 103, "model_view_key": "head", "task": "Pick up the red toy bus.", "views": {"head": "videos/2e0d22c2e250cf8e3c41/00_head.mp4"}} -{"benchmark_id": "benchmark:2f6ae44354cfe6d71f82", "benchmark_view_mode": "singleview", "category": "short", "dataset": "InternData-A1", "evaluation_views": ["head"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 112, "model_view_key": "head", "task": "Pick up the donut.", "views": {"head": "videos/2f6ae44354cfe6d71f82/00_head.mp4"}} -{"benchmark_id": "benchmark:2fb33688de39bf799a03", "benchmark_view_mode": "singleview", "category": "short", "dataset": "RoboMIND", "evaluation_views": ["front"], "fps": 30.0, "frame_interval": "closed_inclusive", "length": 181, "model_view_key": "front", "task": "Right slide open drawer.", "views": {"front": "videos/2fb33688de39bf799a03/00_front.mp4"}} -{"benchmark_id": "benchmark:2ffbba23fba534abe3e7", 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