# 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.