File size: 16,769 Bytes
fb4b281 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 | # Dataset for ASA
This repo provides the data used in our paper ***Act, Sense, Act: Learning Non-Markovian Active Perception Strategies from Large-Scale Egocentric Human Data***. It consists of a curated combination of public egocentric human datasets and collected robot data, processed into a unified format for training.
For more details, please refer to the [paper](https://arxiv.org/abs/2602.04600) and [project page](https://jern-li.github.io/asa/).
## Dataset Overview
### Human Data
| Source | Type | Samples | Takes | Languages | Take_Languages
|-----------------|-----------------------------------|----------------|----------------|----------------|----------------
|CaptainCook4D | frame3_chunk1-100_his10-15_anno_image | 1,071,604 | 257 | 351 | 3417
|EgoExo4D | proprio_frame1_chunk3-100_his30-15_image | 421,582 | 249 | 2730 | 3131
### Robot Data
| Source | Task | Type | Samples | Takes | Languages | Take_Languages | Details |
|-----------------|-----------|------------------------|----------------|----------------|----------------|----------------|------------------------
|Monte02 | task1_1 | frame1_chunk3-100_his30-15_extend90_gripper_image | 493,678 | 191 | 3 | 573 | vision/current_image 224, vision/history_image 224, hf.feature
|Monte02 | task3_1 | frame1_chunk3-100_his30-15_extend90_gripper_image_new | 383,729 | 102 | 3 | 306 | new (no light), new_anno
|Monte02 | task3_2 |frame1_chunk3-100_his30-15_extend90_gripper_image_newnew_aug | 300,958 | 83 | 3 | 249 | new sub23, new sub1 + new-only-sub1(18w), and img-aug
|Monte02 | task1_2 | frame1_chunk3-100_his30-15_extend90_gripper_image_move | 375,143 | 188 | 2 | 376 | only subtask 2 and 3, and source = 'Monte02_Move'
|Monte02 | task1_2 | frame1_chunk3-100_his30-15_extend90_gripper_hand_new |275, 699 | 218 | 2 | 218 | sub1 old + sub4 new, source='Monte02', 'Monte02_12sub4'
|Monte02 | task2_1 | proprio_frame1_chunk3-100_his30-15_extend90_gripper_newdata_image_new | 151,628 | 69 | 2 | 138 | new data, big ring
## Dataset Structure
### Directory Layout
```
ASA/
├── captaincook4d
│ └── hf_datasets
│ └── proprio_frame3_chunk1-100_his30-15_anno_image
│ ├── by_language.pkl
│ ├── by_take_language.pkl
│ ├── by_take.pkl
│ ├── data-00000-of-00028.arrow
│ ├── ....
│ ├── data-00027-of-00028.arrow
│ ├── dataset_info.json
│ └── state.json
├── egoexo4d
│ └── hf_datasets
│ └── proprio_frame1_chunk3-100_his30-15_image
│ ├── xxx.pkl
│ ├── xxxxx.arrow
│ └── xxx.json
└── monte02
├── hf_datasets
│ ├── task1_1
│ │ └── proprio_xxx
│ │ ├── xxx.pkl
│ │ ├── xxxxx.arrow
│ │ └── xxx.json
│ ├── task1_2
│ ├── task2_1
│ ├── task3_1
│ └── task3_2
└── raw_data
├── task1_1.zip
│ └── folder
│ └── sample_xxxx_xxx
│ ├── annotation.json
│ ├── head_video.avi
│ ├── robot_data.h5
│ ├── label_result.txt (optional, not available for all samples)
│ ├── left_video.avi (optional)
│ ├── right_video.avi (optional)
│ └── valid.txt
├── task1_2.zip
├── task2_1.zip
├── task3_1.zip
└── task3_2.zip
```
### Data Fields
<details>
<summary> CaptainCook4D </summary>
| Key | Type | Shape | Details |
|--------------------------------------|----------------|----------------|--------------------------------------
| `source` | `str` | - | from which dataset
| `take_name` | `str` | - |
| `frame_idx` | `int` | - | index of the frame in the filtered take (not continuous) (aligned with pose index)
| `vision/rgb_image` | `bytes` | - |RGB image of size **(504, 896, 3)**
`vision/current_image` |`Image` (hf.feature) | - |head RGB image of size **(224, 224, 3)**
`vision/history_image` |`list(Image)` (hf.feature) | - | 5 history (5s, t-5 ~ t-1) head RGB image of size **(224, 224, 3)**
| `vision/video_frame` | `int` | - |index of the frame in the video
| `vision/histroy_idx` | `list` | - |index of the histroy in the **HF_IMAGE_DATASET** , maybe in past subtask
`current/complete ` | `bool` | - | whether the subtask is complete
| `annotation/language` | `str` | - |
| `annotation/start_frame` | `int` | - |start_frame of this keystep
| `annotation/end_frame` | `int` | - |
| `annotation/delta_idx` | `int` | - | index change in the filtered keystep
| `current/head/raw_pose` | `ndarray` | (4, 4) | in the world frame
| `current/left_hand/raw_pose` | `ndarray` | (26, 4, 4) | 26 joints of the left hand
| `current/left_hand/mano_params` | `ndarray` | (15,) | not use
| `current/right_hand/raw_pose` | `ndarray` | (26, 4, 4) |
| `current/right_hand/mano_params` | `ndarray` | (15,) |
| `current/head/pose_in_base` | `ndarray` | (9,) | in the base frame
| `current/left_hand/pose_in_base` | `ndarray` | (26, 9) | all 26 joints
| `current/left_hand/wrist_in_base` | `ndarray` | (9,) | only wrist
| `current/left_hand/gripper` | `ndarray` | (1,) |
| `current/right_hand/pose_in_base` | `ndarray` | (26, 9) | all 26 joints
| `current/right_hand/wrist_in_base` | `ndarray` | (9,) |
| `current/right_hand/gripper` | `ndarray` | (1,) | normalized gripper state
| `current/head/move ` | `bool` | - | whether the component is moving in current subtask
| `current/left_hand/move` | `bool` | - |
| `current/right_hand/move` | `bool` | - |
| `history/complete` | `ndarray` | (100,) | future chunk 100
| `history/head/move` | `ndarray` | (100,) |
| `future/head/pose_in_base` | `ndarray` | (100, 9) |
| `future/left_hand/move ` | `ndarray` | (100,) |
| `future/left_hand/wrist_in_base` | `ndarray` | (100, 9) |
| `future/left_hand/gripper` | `ndarray` | (100,1) |
| `future/right_hand/move ` | `ndarray` | (100,) |
| `future/right_hand/wrist_in_base` | `ndarray` | (100, 9) |
| `future/right_hand/gripper` | `ndarray` | (100,1) |
| `history/complete` | `list` | - | history chunk 15, only in this subtask
| `history/head/move` | `list` | - |
| `history/head/pose_in_base` | `list` | - |
| `history/left_hand/move ` | `list` | - |
| `history/left_hand/wrist_in_base` | `list` | - |
| `history/left_hand/gripper` | `list` | - |
| `history/right_hand/move ` | `list` | -
| `history/right_hand/wrist_in_base` | `list` | - |
| `history/right_hand/gripper` | `list` | - |
</details>
<details>
<summary> EgoExo4D </summary>
| Key | Type | Shape | Details |
|--------------------------------------|----------------|----------------|--------------------------------------
| `source` | `str` | - | from which dataset
| `take_name` | `str` | - | |
| `frame_idx` | `int` | - | index of the frame in the filtered take (not continuous) |
| `vision/rgb_image` | `bytes` | - |RGB image of size **(1408, 1408, 3)**
`vision/current_image` |`Image` (hf.feature) | - |head RGB image of size **(224, 224, 3)**
`vision/history_image` |`list(Image)` (hf.feature) | - | 5 history (5s, t-5 ~ t-1) head RGB image of size **(224, 224, 3)**
| `vision/video_frame` | `int` | - |index of the frame in the video
| `vision/histroy_idx` | `list` | - |index of the histroy in the **HF_IMAGE_DATASET** |
| `annotation/language` | `str` | - | coarse_grained or fine_grained |
| `annotation/start_frame` | `int` | - |start_frame of this keystep |
| `annotation/end_frame` | `int` | - |
| `annotation/delta_idx` | `int` | - | index change in the filtered keystep |
| `current/head/raw_pose` | `ndarray` | (4, 4) | in the world frame |
| `current/left_hand/raw_position` | `ndarray` | (26, 3) | 26 joints of the left hand
| `current/left_hand/mano_params` | `ndarray` | (15,) |
| `current/left_hand/wrist_pose` | `ndarray` | (4,4) |wrist pose of left hand, rotation is optimized by MANO
| `current/right_hand/raw_position` | `ndarray` | (26, 3) |
| `current/right_hand/mano_params` | `ndarray` | (15,) |
| `current/right_hand/wrist_pose` | `ndarray` | (4,4) |
| `current/head/pose_in_base` | `ndarray` | (9,) | in the base frame|
| `current/left_hand/wrist_in_base` | `ndarray` | (9,) | only wrist
| `current/left_hand/gripper` | `ndarray` | (1,) | gripper width
| `current/right_hand/wrist_in_base` | `ndarray` | (9,) |
| `current/right_hand/gripper` | `ndarray` | (1,) |
| `current/head/move ` | `bool` | - | whether the component is moving in current subtask
| `current/left_hand/move` | `bool` | - |
| `current/right_hand/move` | `bool` | - |
| `history/complete` | `ndarray` | (100,) | future chunk 100
| `history/head/move` | `ndarray` | (100,) |
| `future/head/pose_in_base` | `ndarray` | (100, 9) |
| `future/left_hand/move ` | `ndarray` | (100,) |
| `future/left_hand/wrist_in_base` | `ndarray` | (100, 9) |
| `future/left_hand/gripper` | `ndarray` | (100,1) |
| `future/right_hand/move ` | `ndarray` | (100,) |
| `future/right_hand/wrist_in_base` | `ndarray` | (100, 9) |
| `future/right_hand/gripper` | `ndarray` | (100,1) |
| `history/complete` | `list` | - | history chunk 15
| `history/head/move` | `list` | - |
| `history/head/pose_in_base` | `list` | - |
| `history/left_hand/move ` | `list` | - |
| `history/left_hand/wrist_in_base` | `list` | - |
| `history/left_hand/gripper` | `list` | - |
| `history/right_hand/move ` | `list` |-
| `history/right_hand/wrist_in_base` | `list` | - |
| `history/right_hand/gripper` | `list` | - |
</details>
<details>
<summary> Monte02 </summary>
| Key | Type | Shape | Details
|--------------------------------------|----------------|----------------|-------------------------
`source` | `str` | - |
`take_name` | `str` | - | sample_...
`frame_idx` |`int` | - |
`vision/video_frame` | `int` | - |
`vision/rgb_image` | `bytes` | - |head RGB image of size **(640, 480, 3)**
`vision/current_image` |`Image` (hf.feature) | - |head RGB image of size **(224, 224, 3)**
`vision/history_image` |`list(Image)` (hf.feature) | - | 5 history (5s, t-5 ~ t-1) head RGB image of size **(224, 224, 3)**
`vision/history_idx ` | `list` | - | [t-15 ~ t]
`annotation/task` | `str` | - | task language
`annotation/language` | `str` | - | subtask language
`annotation/start_frame` | `int` | - |
`annotation/end_frame` | `int` | - |
`annotation/delta_idx` | `int` | - |
`current/complete ` | `bool` | - | whether the subtask is complete
`current/left_hand/gripper ` | `ndarray` | (1,) | 0 or 1 (? 0.065)
`current/right_hand/gripper` | `ndarray` | (1,) | 0 or 1 (? 0.065)
`current/left_hand/gripper_width ` | `ndarray` | (1,) | 0~0.01
`current/right_hand/gripper_width` | `ndarray` | (1,) | 0~0.01
`current/head/angles` | `ndarray` | (2,) | pitch, yaw
`current/chassis/pose_in_init` | `ndarray` | (7,) | xyz + wxyz
`current/head/pose_in_base` | `ndarray` | (9,) | xyz + rot6d, base = init_head
`current/head/pose_in_step_base` | `ndarray` | (9,) | xyz + rot6d, step_base = current init_head
`current/left_hand/wrist_in_base` | `ndarray` | (9,)
`current/right_hand/wrist_in_base ` | `ndarray` | (9,)
`current/left_hand/wrist_in_step_base` | `ndarray` | (9,)
`current/right_hand/wrist_in_step_base` | `ndarray` | (9,)
`current/head/move ` | `bool` | - | whether the component is moving in current subtask
`current/left_hand/move` | `bool` | - |
`current/right_hand/move` | `bool` | - |
`future/complete` | `ndarray` | (100,) |future actions and states
`future/head/move` | `ndarray` | (100,) |
`future/head/pose_in_base` | `ndarray` | (100, 9)
`future/head/pose_in_step_base ` | `ndarray` | (100, 9)
`future/left_hand/move` | `ndarray` | (100,)
`future/left_hand/wrist_in_base` | `ndarray` | (100, 9)
`future/left_hand/wrist_in_step_base` | `ndarray` | (100, 9)
`future/left_hand/gripper ` | `ndarray` | (100, 1)
`future/right_hand/move ` | `ndarray` | (100,)
`future/right_hand/wrist_in_base ` | `ndarray` | (100, 9)
`future/right_hand/wrist_in_step_base ` | `ndarray` | (100, 9)
`future/right_hand/gripper` | `ndarray` | (100, 1)
`history/complete` | `list` | - | history actions and states
`history/head/move` | `list` | - |
`history/head/pose_in_base` | `list` | - |
`history/head/pose_in_step_base ` | `list` | -|
`history/left_hand/move` | `list` | -|
`history/left_hand/wrist_in_base` | `list` | -|
`history/left_hand/wrist_in_step_base` | `list` | -|
`history/left_hand/gripper ` | `list` | - |
`history/right_hand/move ` | `list` | - |
`history/right_hand/wrist_in_base ` | `list` | -|
`history/right_hand/wrist_in_step_base ` | `list` | -|
`history/right_hand/gripper` | `list` | -|
</details>
## Notes
- We provide preprocessed datasets to ensure consistent quality and reduce preprocessing overhead.
- Human data is filtered with strict criteria to improve learning stability.
- Robot data is collected in real-world environments.
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