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CaptainCook4D
10_18
135
135
0
[ 275509 ]
false
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[ [ 0.23383501172065735, -0.16887980699539185, -0.3950430452823639, 0.5013532638549805, 0.06334395706653595, 0.8629208207130432, -0.860429048538208, 0.14155368506908417, 0.4895144999027252 ], [ 0.20370276272296906, -0.1698722094297409, -0.4341306686401367, 0.501...
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Get an 8-inch flour tortilla and place it on a cutting board.
135
1,181
true
true
true
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[ true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true...
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[]
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CaptainCook4D
10_18
138
138
1
[ 275512 ]
false
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[[[-0.29566124081611633,0.3226945102214813,-0.8991400003433228,0.2565900981426239],[0.76149457693099(...TRUNCATED)
[[[0.34341344237327576,-0.23268923163414001,0.9099026918411255,0.5753290057182312],[0.42549395561218(...TRUNCATED)
[ 0.16648253798484802 ]
[ 0.22118385136127472 ]
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[[0.2492208182811737,0.24436093866825104,-0.28656452894210815,-0.04409480467438698,0.550629615783691(...TRUNCATED)
[0.24479693174362183,0.21634185314178467,-0.3263500928878784,-0.04409480467438698,0.5506296157836914(...TRUNCATED)
[[0.25291964411735535,-0.1386594921350479,-0.3869938254356384,0.5620890855789185,0.07990073412656784(...TRUNCATED)
[0.2203686684370041,-0.14072926342487335,-0.4232480227947235,0.5620890855789185,0.07990073412656784,(...TRUNCATED)
Get an 8-inch flour tortilla and place it on a cutting board.
135
1,181
true
true
true
[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,fal(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.03142402321100235,0.04995908960700035,-0.030303042382001877,0.9415834546089172,0.30513074994087(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[0.1880454272031784,0.2488090693950653,-0.3530295789241791,-0.06128906458616257,0.5576473474502563,(...TRUNCATED)
[[0.1827160269021988],[0.1827160120010376],[0.18271596729755402],[0.1827160120010376],[0.18271595239(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[0.251741886138916,-0.1055159643292427,-0.39565688371658325,0.765383243560791,0.0772126317024231,0.(...TRUNCATED)
[[0.25595012307167053],[0.4918454885482788],[0.6561848521232605],[0.6051908135414124],[0.60519105195(...TRUNCATED)
[]
[]
[]
[]
[]
[]
[]
[]
[]
CaptainCook4D
10_18
141
141
2
[ 275515 ]
false
[[0.03187781572341919,-0.9925018548965454,0.11799916625022888,0.39455893635749817],[-0.5891271233558(...TRUNCATED)
[[[-0.3096683919429779,0.1981574147939682,-0.9299672842025757,0.1985619068145752],[0.76555335521698,(...TRUNCATED)
[[[0.37238213419914246,0.058937083929777145,0.9262062311172485,0.5615782737731934],[0.16350932419300(...TRUNCATED)
[ 0.1827160269021988 ]
[ 0.25595012307167053 ]
[-0.03142402321100235,0.04995908960700035,-0.030303042382001877,0.9415834546089172,0.305130749940872(...TRUNCATED)
[[0.19147224724292755,0.27794894576072693,-0.31378859281539917,-0.06128906458616257,0.55764734745025(...TRUNCATED)
[0.1880454272031784,0.2488090693950653,-0.3530295789241791,-0.06128906458616257,0.5576473474502563,0(...TRUNCATED)
[[0.2921537756919861,-0.10264880210161209,-0.3703352212905884,0.765383243560791,0.0772126317024231,0(...TRUNCATED)
[0.251741886138916,-0.1055159643292427,-0.39565688371658325,0.765383243560791,0.0772126317024231,0.6(...TRUNCATED)
Get an 8-inch flour tortilla and place it on a cutting board.
135
1,181
true
true
true
[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,fal(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.05804367735981941,0.07390498369932175,-0.048516955226659775,0.8564485907554626,0.46144506335258(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[0.12305482476949692,0.2758166491985321,-0.4010571837425232,-0.061289191246032715,0.557647287845611(...TRUNCATED)
[[0.1827160120010376],[0.18271596729755402],[0.1827160120010376],[0.18271595239639282],[0.1827159672(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[0.27921971678733826,-0.06157824769616127,-0.3520376682281494,0.9356974959373474,0.2703206539154053(...TRUNCATED)
[[0.4918454885482788],[0.6561848521232605],[0.6051908135414124],[0.6051910519599915],[0.605190813541(...TRUNCATED)
[]
[]
[]
[]
[]
[]
[]
[]
[]
CaptainCook4D
10_18
144
144
3
[ 275518 ]
false
[[-0.16184499859809875,-0.9867588877677917,-0.010640319436788559,0.35877668857574463],[-0.6160506010(...TRUNCATED)
[[[-0.3096683621406555,0.19815756380558014,-0.9299672245979309,0.1384686827659607],[0.76555341482162(...TRUNCATED)
[[[0.1555572897195816,0.414339154958725,0.8967301845550537,0.5299754738807678],[-0.2699221968650818,(...TRUNCATED)
[ 0.1827160120010376 ]
[ 0.4918454885482788 ]
[-0.05804367735981941,0.07390498369932175,-0.048516955226659775,0.8564485907554626,0.461445063352584(...TRUNCATED)
[[0.12648163735866547,0.3049565553665161,-0.3618161976337433,-0.061289191246032715,0.557647287845611(...TRUNCATED)
[0.12305482476949692,0.2758166491985321,-0.4010571837425232,-0.061289191246032715,0.5576472878456116(...TRUNCATED)
[[0.3251260221004486,-0.0475086085498333,-0.3475963771343231,0.9356974959373474,0.2703206539154053,0(...TRUNCATED)
[0.27921971678733826,-0.06157824769616127,-0.3520376682281494,0.9356974959373474,0.2703206539154053,(...TRUNCATED)
Get an 8-inch flour tortilla and place it on a cutting board.
135
1,181
true
true
true
[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,fal(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.0943833440542221,0.09607348591089249,-0.07135310024023056,0.730678141117096,0.599449098110199,-(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[0.05481018126010895,0.286861389875412,-0.43962374329566956,-0.0612889900803566,0.557647168636322,0(...TRUNCATED)
[[0.18271596729755402],[0.1827160120010376],[0.18271595239639282],[0.18271596729755402],[0.182716131(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[0.27802661061286926,-0.007033868692815304,-0.3084409832954407,0.7907549738883972,0.592721521854400(...TRUNCATED)
[[0.6561848521232605],[0.6051908135414124],[0.6051910519599915],[0.6051908135414124],[0.421729087829(...TRUNCATED)
[]
[]
[]
[]
[]
[]
[]
[]
[]
CaptainCook4D
10_18
147
147
4
[ 275521 ]
false
[[-0.35555657744407654,-0.91736900806427,-0.178922638297081,0.319874107837677],[-0.6285607218742371,(...TRUNCATED)
[[[-0.3096681535243988,0.198157399892807,-0.9299673438072205,0.09391963481903076],[0.765553414821624(...TRUNCATED)
[[[-0.20478792488574982,0.5210949778556824,0.8285661935806274,0.47284844517707825],[-0.2467700839042(...TRUNCATED)
[ 0.18271596729755402 ]
[ 0.6561848521232605 ]
[-0.0943833440542221,0.09607348591089249,-0.07135310024023056,0.730678141117096,0.599449098110199,-0(...TRUNCATED)
[[0.058236997574567795,0.316001296043396,-0.40038278698921204,-0.0612889900803566,0.557647168636322,(...TRUNCATED)
[0.05481018126010895,0.286861389875412,-0.43962374329566956,-0.0612889900803566,0.557647168636322,0.(...TRUNCATED)
[[0.3172853887081146,0.024638058617711067,-0.30720144510269165,0.7907549738883972,0.5927215218544006(...TRUNCATED)
[0.27802661061286926,-0.007033868692815304,-0.3084409832954407,0.7907549738883972,0.5927215218544006(...TRUNCATED)
Get an 8-inch flour tortilla and place it on a cutting board.
135
1,181
true
true
true
[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,fal(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.14504630863666534,0.11005954444408417,-0.10453539341688156,0.5786184072494507,0.688849747180938(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.032845303416252136,0.2995941638946533,-0.480550080537796,-0.06128930300474167,0.557647347450256(...TRUNCATED)
[[0.1827160120010376],[0.18271595239639282],[0.18271596729755402],[0.18271613121032715],[0.240669816(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[0.27400562167167664,0.07219887524843216,-0.29161858558654785,0.4686647653579712,0.8578017950057983(...TRUNCATED)
[[0.6051908135414124],[0.6051910519599915],[0.6051908135414124],[0.42172908782958984],[0.26175346970(...TRUNCATED)
[]
[]
[]
[]
[]
[]
[]
[]
[]
CaptainCook4D
10_18
150
150
5
[ 275524 ]
false
[[-0.5190107226371765,-0.7827060222625732,-0.3435100317001343,0.2804514765739441],[-0.64221233129501(...TRUNCATED)
[[[-0.3096684515476227,0.1981574296951294,-0.9299672245979309,0.040208082646131516],[0.7655534744262(...TRUNCATED)
[[[-0.5442846417427063,0.5240160822868347,0.6551041007041931,0.3881215453147888],[-0.022416047751903(...TRUNCATED)
[ 0.1827160120010376 ]
[ 0.6051908135414124 ]
[-0.14504630863666534,0.11005954444408417,-0.10453539341688156,0.5786184072494507,0.6888497471809387(...TRUNCATED)
[[-0.029418500140309334,0.32873407006263733,-0.4413090944290161,-0.06128930300474167,0.5576473474502(...TRUNCATED)
[-0.032845303416252136,0.2995941638946533,-0.480550080537796,-0.06128930300474167,0.5576473474502563(...TRUNCATED)
[[0.29727283120155334,0.11673291772603989,-0.2875295579433441,0.4686647653579712,0.8578017950057983,(...TRUNCATED)
[0.27400562167167664,0.07219887524843216,-0.29161858558654785,0.4686647653579712,0.8578017950057983,(...TRUNCATED)
Get an 8-inch flour tortilla and place it on a cutting board.
135
1,181
true
true
true
[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,fal(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.18397438526153564,0.11263328790664673,-0.12882627546787262,0.487692654132843,0.716084897518158,(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.09036556631326675,0.3118428885936737,-0.48822465538978577,-0.06128908693790436,0.55764722824096(...TRUNCATED)
[[0.18271595239639282],[0.18271596729755402],[0.18271613121032715],[0.24066981673240662],[0.16572560(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[0.2416868656873703,0.11702640354633331,-0.28857898712158203,0.46866458654403687,0.8578019738197327(...TRUNCATED)
[[0.6051910519599915],[0.6051908135414124],[0.42172908782958984],[0.26175346970558167],[0.1992345154(...TRUNCATED)
[]
[]
[]
[]
[]
[]
[]
[]
[]
CaptainCook4D
10_18
153
153
6
[ 275527 ]
false
[[-0.5924818515777588,-0.6779159307479858,-0.43519556522369385,0.25779083371162415],[-0.648822247982(...TRUNCATED)
[[[-0.30966824293136597,0.19815737009048462,-0.9299673438072205,0.006390128750354052],[0.76555341482(...TRUNCATED)
[[[-0.5442848801612854,0.5240158438682556,0.6551040410995483,0.3370105028152466],[-0.022416124120354(...TRUNCATED)
[ 0.18271595239639282 ]
[ 0.6051910519599915 ]
[-0.18397438526153564,0.11263328790664673,-0.12882627546787262,0.487692654132843,0.716084897518158,-(...TRUNCATED)
[[-0.08693874627351761,0.3409827649593353,-0.44898366928100586,-0.06128908693790436,0.55764722824096(...TRUNCATED)
[-0.09036556631326675,0.3118428885936737,-0.48822465538978577,-0.06128908693790436,0.557647228240966(...TRUNCATED)
[[0.2649540901184082,0.16156044602394104,-0.2844899892807007,0.46866458654403687,0.8578019738197327,(...TRUNCATED)
[0.2416868656873703,0.11702640354633331,-0.28857898712158203,0.46866458654403687,0.8578019738197327,(...TRUNCATED)
Get an 8-inch flour tortilla and place it on a cutting board.
135
1,181
true
true
true
[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,fal(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.24628734588623047,0.10876632481813431,-0.16644200682640076,0.368100643157959,0.7395735383033752(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.19524221122264862,0.33267009258270264,-0.4988425374031067,-0.06128925085067749,0.55764716863632(...TRUNCATED)
[[0.18271596729755402],[0.18271613121032715],[0.24066981673240662],[0.16572560369968414],[0.10545987(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[0.17416638135910034,0.19828753173351288,-0.3011645972728729,0.46866458654403687,0.8578019738197327(...TRUNCATED)
[[0.6051908135414124],[0.42172908782958984],[0.26175346970558167],[0.1992345154285431],[0.2050832211(...TRUNCATED)
[]
[]
[]
[]
[]
[]
[]
[]
[]
CaptainCook4D
10_18
156
156
7
[ 275530 ]
false
[[-0.6733659505844116,-0.5193929672241211,-0.5261266231536865,0.2289973348379135],[-0.64222985506057(...TRUNCATED)
[[[-0.30966830253601074,0.19815726578235626,-0.9299673438072205,-0.05305612087249756],[0.76555353403(...TRUNCATED)
[[[-0.5442849397659302,0.5240157246589661,0.6551041603088379,0.23647834360599518],[-0.02241618558764(...TRUNCATED)
[ 0.18271596729755402 ]
[ 0.6051908135414124 ]
[-0.24628734588623047,0.10876632481813431,-0.16644200682640076,0.368100643157959,0.7395735383033752,(...TRUNCATED)
[[-0.19181537628173828,0.36180999875068665,-0.4596015512943268,-0.06128925085067749,0.55764716863632(...TRUNCATED)
[-0.19524221122264862,0.33267009258270264,-0.4988425374031067,-0.06128925085067749,0.557647168636322(...TRUNCATED)
[[0.19743360579013824,0.2428215742111206,-0.2970755994319916,0.46866458654403687,0.8578019738197327,(...TRUNCATED)
[0.17416638135910034,0.19828753173351288,-0.3011645972728729,0.46866458654403687,0.8578019738197327,(...TRUNCATED)
Get an 8-inch flour tortilla and place it on a cutting board.
135
1,181
true
true
true
[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,fal(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.31418776512145996,0.09659795463085175,-0.2046385109424591,0.24670778214931488,0.751227557659149(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.28170233964920044,0.30067887902259827,-0.5407851338386536,-0.06128915399312973,0.55764722824096(...TRUNCATED)
[[0.18271613121032715],[0.24066981673240662],[0.16572560369968414],[0.10545987635850906],[0.11212484(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[0.09531954675912857,0.2596733272075653,-0.3237137198448181,-0.1392136812210083,0.9858910441398621,(...TRUNCATED)
[[0.42172908782958984],[0.26175346970558167],[0.1992345154285431],[0.2050832211971283],[0.6504963636(...TRUNCATED)
[]
[]
[]
[]
[]
[]
[]
[]
[]
CaptainCook4D
10_18
159
159
8
[ 275533 ]
false
[[-0.7403494715690613,-0.3647522032260895,-0.5646578073501587,0.20546388626098633],[-0.6219321489334(...TRUNCATED)
[[[-0.30966830253601074,0.19815748929977417,-0.9299672842025757,-0.06652757525444031],[0.76555341482(...TRUNCATED)
[[[-0.9575749039649963,0.16616477072238922,0.23545607924461365,0.12649016082286835],[0.0303385406732(...TRUNCATED)
[ 0.18271613121032715 ]
[ 0.42172908782958984 ]
[-0.31418776512145996,0.09659795463085175,-0.2046385109424591,0.24670778214931488,0.7512275576591492(...TRUNCATED)
[[-0.2782754898071289,0.3298187851905823,-0.5015441179275513,-0.06128915399312973,0.5576472282409668(...TRUNCATED)
[-0.28170233964920044,0.30067887902259827,-0.5407851338386536,-0.06128915399312973,0.557647228240966(...TRUNCATED)
[[0.08846717327833176,0.31040993332862854,-0.33565405011177063,-0.1392136812210083,0.985891044139862(...TRUNCATED)
[0.09531954675912857,0.2596733272075653,-0.3237137198448181,-0.1392136812210083,0.9858910441398621,-(...TRUNCATED)
Get an 8-inch flour tortilla and place it on a cutting board.
135
1,181
true
true
true
[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,fal(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.3900642991065979,0.08094113320112228,-0.24262593686580658,0.11506689339876175,0.740022838115692(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.38899075984954834,0.2613092064857483,-0.5728926062583923,-0.0744931772351265,0.9972065091133118(...TRUNCATED)
[[0.24066981673240662],[0.16572560369968414],[0.10545987635850906],[0.11212484538555145],[0.13871431(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.005975595209747553,0.2888241112232208,-0.38019418716430664,-0.14023132622241974,0.9882398247718(...TRUNCATED)
[[0.26175346970558167],[0.1992345154285431],[0.2050832211971283],[0.6504963636398315],[0.68282753229(...TRUNCATED)
[]
[]
[]
[]
[]
[]
[]
[]
[]
CaptainCook4D
10_18
162
162
9
[ 275536 ]
false
[[-0.7910255193710327,-0.19840271770954132,-0.578718364238739,0.1822141408920288],[-0.59885376691818(...TRUNCATED)
[[[-0.9190018773078918,0.1153251901268959,-0.3770088851451874,-0.10858282446861267],[0.0825258418917(...TRUNCATED)
[[[-0.9518540501594543,0.20992638170719147,0.22339382767677307,0.04991576075553894],[0.0584527403116(...TRUNCATED)
[ 0.24066981673240662 ]
[ 0.26175346970558167 ]
[-0.3900642991065979,0.08094113320112228,-0.24262593686580658,0.11506689339876175,0.7400228381156921(...TRUNCATED)
[[-0.3877723515033722,0.310916930437088,-0.5766372680664062,-0.0744931772351265,0.9972065091133118,0(...TRUNCATED)
[-0.38899075984954834,0.2613092064857483,-0.5728926062583923,-0.0744931772351265,0.9972065091133118,(...TRUNCATED)
[[-0.012757238931953907,0.3392260670661926,-0.39035123586654663,-0.14023132622241974,0.9882398247718(...TRUNCATED)
[-0.005975595209747553,0.2888241112232208,-0.38019418716430664,-0.14023132622241974,0.98823982477188(...TRUNCATED)
Get an 8-inch flour tortilla and place it on a cutting board.
135
1,181
true
true
true
[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,fal(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.4510931968688965,0.06625805795192719,-0.2753939628601074,-0.0005670000682584941,0.7115574479103(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.45991674065589905,0.2202102541923523,-0.634645938873291,-0.16737984120845795,0.9670599699020386(...TRUNCATED)
[[0.16572560369968414],[0.10545987635850906],[0.11212484538555145],[0.13871431350708008],[0.12579527(...TRUNCATED)
[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true(...TRUNCATED)
[[-0.095339834690094,0.2939445972442627,-0.45190995931625366,-0.14904144406318665,0.9887911677360535(...TRUNCATED)
[[0.1992345154285431],[0.2050832211971283],[0.6504963636398315],[0.6828275322914124],[0.648176908493(...TRUNCATED)
[]
[]
[]
[]
[]
[]
[]
[]
[]
End of preview. Expand in Data Studio
YAML Metadata Warning: empty or missing yaml metadata in repo card (https://huggingface.co/docs/hub/datasets-cards)

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.
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Paper for Joyi03/ASA