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 and project page.
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
CaptainCook4D
| 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 |
- |
EgoExo4D
| 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 |
- |
Monte02
| 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 |
- |
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.