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- ---
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- license: apache-2.0
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- ---
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ # Dataset for ASA
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+
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+ 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.
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+
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+ For more details, please refer to the [paper](https://arxiv.org/abs/2602.04600) and [project page](https://jern-li.github.io/asa/).
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+
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+ ## Dataset Overview
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+ ### Human Data
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+ | Source | Type | Samples | Takes | Languages | Take_Languages
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+ |-----------------|-----------------------------------|----------------|----------------|----------------|----------------
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+ |CaptainCook4D | frame3_chunk1-100_his10-15_anno_image | 1,071,604 | 257 | 351 | 3417
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+ |EgoExo4D | proprio_frame1_chunk3-100_his30-15_image | 421,582 | 249 | 2730 | 3131
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+
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+
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+ ### Robot Data
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+
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+ | Source | Task | Type | Samples | Takes | Languages | Take_Languages | Details |
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+ |-----------------|-----------|------------------------|----------------|----------------|----------------|----------------|------------------------
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+ |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
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+ |Monte02 | task3_1 | frame1_chunk3-100_his30-15_extend90_gripper_image_new | 383,729 | 102 | 3 | 306 | new (no light), new_anno
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+ |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
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+ |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'
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+ |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'
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+ |Monte02 | task2_1 | proprio_frame1_chunk3-100_his30-15_extend90_gripper_newdata_image_new | 151,628 | 69 | 2 | 138 | new data, big ring
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+
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+ ## Dataset Structure
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+
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+ ### Directory Layout
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+ ```
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+ ASA/
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+ ├── captaincook4d
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+ │   └── hf_datasets
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+ │   └── proprio_frame3_chunk1-100_his30-15_anno_image
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+ │   ├── by_language.pkl
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+ │   ├── by_take_language.pkl
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+ │   ├── by_take.pkl
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+ │   ├── data-00000-of-00028.arrow
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+ │   ├── ....
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+ │   ├── data-00027-of-00028.arrow
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+ │   ├── dataset_info.json
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+ │   └── state.json
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+ ├── egoexo4d
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+ │   └── hf_datasets
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+ │   └── proprio_frame1_chunk3-100_his30-15_image
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+ │   ├── xxx.pkl
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+ │   ├── xxxxx.arrow
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+ │   └── xxx.json
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+ └── monte02
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+    ├── hf_datasets
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+    │   ├── task1_1
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+    │   │   └── proprio_xxx
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+    │   │   ├── xxx.pkl
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+    │   │   ├── xxxxx.arrow
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+    │   │   └── xxx.json
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+    │   ├── task1_2
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+    │   ├── task2_1
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+    │   ├── task3_1
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+    │   └── task3_2
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+    └── raw_data
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+    ├── task1_1.zip
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+    │   └── folder
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+    │   └── sample_xxxx_xxx
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+    │   ├── annotation.json
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+    │   ├── head_video.avi
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+    │   ├── robot_data.h5
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+    │   ├── label_result.txt (optional, not available for all samples)
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+    │   ├── left_video.avi (optional)
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+    │   ├── right_video.avi (optional)
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+   │   └── valid.txt
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+    ├── task1_2.zip
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+    ├── task2_1.zip
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+   ├── task3_1.zip
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+    └── task3_2.zip
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+
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+ ```
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+
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+ ### Data Fields
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+
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+ <details>
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+ <summary> CaptainCook4D </summary>
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+
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+ | Key | Type | Shape | Details |
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+ |--------------------------------------|----------------|----------------|--------------------------------------
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+ | `source` | `str` | - | from which dataset
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+ | `take_name` | `str` | - |
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+ | `frame_idx` | `int` | - | index of the frame in the filtered take (not continuous) (aligned with pose index)
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+ | `vision/rgb_image` | `bytes` | - |RGB image of size **(504, 896, 3)**
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+ `vision/current_image` |`Image` (hf.feature) | - |head RGB image of size **(224, 224, 3)**
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+ `vision/history_image` |`list(Image)` (hf.feature) | - | 5 history (5s, t-5 ~ t-1) head RGB image of size **(224, 224, 3)**
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+ | `vision/video_frame` | `int` | - |index of the frame in the video
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+ | `vision/histroy_idx` | `list` | - |index of the histroy in the **HF_IMAGE_DATASET** , maybe in past subtask
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+ `current/complete ` | `bool` | - | whether the subtask is complete
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+ | `annotation/language` | `str` | - |
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+ | `annotation/start_frame` | `int` | - |start_frame of this keystep
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+ | `annotation/end_frame` | `int` | - |
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+ | `annotation/delta_idx` | `int` | - | index change in the filtered keystep
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+ | `current/head/raw_pose` | `ndarray` | (4, 4) | in the world frame
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+ | `current/left_hand/raw_pose` | `ndarray` | (26, 4, 4) | 26 joints of the left hand
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+ | `current/left_hand/mano_params` | `ndarray` | (15,) | not use
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+ | `current/right_hand/raw_pose` | `ndarray` | (26, 4, 4) |
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+ | `current/right_hand/mano_params` | `ndarray` | (15,) |
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+ | `current/head/pose_in_base` | `ndarray` | (9,) | in the base frame
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+ | `current/left_hand/pose_in_base` | `ndarray` | (26, 9) | all 26 joints
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+ | `current/left_hand/wrist_in_base` | `ndarray` | (9,) | only wrist
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+ | `current/left_hand/gripper` | `ndarray` | (1,) |
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+ | `current/right_hand/pose_in_base` | `ndarray` | (26, 9) | all 26 joints
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+ | `current/right_hand/wrist_in_base` | `ndarray` | (9,) |
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+ | `current/right_hand/gripper` | `ndarray` | (1,) | normalized gripper state
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+ | `current/head/move ` | `bool` | - | whether the component is moving in current subtask
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+ | `current/left_hand/move` | `bool` | - |
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+ | `current/right_hand/move` | `bool` | - |
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+ | `history/complete` | `ndarray` | (100,) | future chunk 100
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+ | `history/head/move` | `ndarray` | (100,) |
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+ | `future/head/pose_in_base` | `ndarray` | (100, 9) |
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+ | `future/left_hand/move ` | `ndarray` | (100,) |
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+ | `future/left_hand/wrist_in_base` | `ndarray` | (100, 9) |
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+ | `future/left_hand/gripper` | `ndarray` | (100,1) |
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+ | `future/right_hand/move ` | `ndarray` | (100,) |
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+ | `future/right_hand/wrist_in_base` | `ndarray` | (100, 9) |
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+ | `future/right_hand/gripper` | `ndarray` | (100,1) |
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+ | `history/complete` | `list` | - | history chunk 15, only in this subtask
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+ | `history/head/move` | `list` | - |
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+ | `history/head/pose_in_base` | `list` | - |
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+ | `history/left_hand/move ` | `list` | - |
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+ | `history/left_hand/wrist_in_base` | `list` | - |
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+ | `history/left_hand/gripper` | `list` | - |
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+ | `history/right_hand/move ` | `list` | -
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+ | `history/right_hand/wrist_in_base` | `list` | - |
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+ | `history/right_hand/gripper` | `list` | - |
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+
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+ </details>
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+
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+
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+ <details>
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+ <summary> EgoExo4D </summary>
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+
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+ | Key | Type | Shape | Details |
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+ |--------------------------------------|----------------|----------------|--------------------------------------
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+ | `source` | `str` | - | from which dataset
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+ | `take_name` | `str` | - | |
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+ | `frame_idx` | `int` | - | index of the frame in the filtered take (not continuous) |
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+ | `vision/rgb_image` | `bytes` | - |RGB image of size **(1408, 1408, 3)**
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+ `vision/current_image` |`Image` (hf.feature) | - |head RGB image of size **(224, 224, 3)**
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+ `vision/history_image` |`list(Image)` (hf.feature) | - | 5 history (5s, t-5 ~ t-1) head RGB image of size **(224, 224, 3)**
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+ | `vision/video_frame` | `int` | - |index of the frame in the video
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+ | `vision/histroy_idx` | `list` | - |index of the histroy in the **HF_IMAGE_DATASET** |
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+ | `annotation/language` | `str` | - | coarse_grained or fine_grained |
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+ | `annotation/start_frame` | `int` | - |start_frame of this keystep |
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+ | `annotation/end_frame` | `int` | - |
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+ | `annotation/delta_idx` | `int` | - | index change in the filtered keystep |
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+ | `current/head/raw_pose` | `ndarray` | (4, 4) | in the world frame |
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+ | `current/left_hand/raw_position` | `ndarray` | (26, 3) | 26 joints of the left hand
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+ | `current/left_hand/mano_params` | `ndarray` | (15,) |
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+ | `current/left_hand/wrist_pose` | `ndarray` | (4,4) |wrist pose of left hand, rotation is optimized by MANO
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+ | `current/right_hand/raw_position` | `ndarray` | (26, 3) |
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+ | `current/right_hand/mano_params` | `ndarray` | (15,) |
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+ | `current/right_hand/wrist_pose` | `ndarray` | (4,4) |
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+ | `current/head/pose_in_base` | `ndarray` | (9,) | in the base frame|
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+ | `current/left_hand/wrist_in_base` | `ndarray` | (9,) | only wrist
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+ | `current/left_hand/gripper` | `ndarray` | (1,) | gripper width
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+ | `current/right_hand/wrist_in_base` | `ndarray` | (9,) |
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+ | `current/right_hand/gripper` | `ndarray` | (1,) |
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+ | `current/head/move ` | `bool` | - | whether the component is moving in current subtask
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+ | `current/left_hand/move` | `bool` | - |
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+ | `current/right_hand/move` | `bool` | - |
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+ | `history/complete` | `ndarray` | (100,) | future chunk 100
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+ | `history/head/move` | `ndarray` | (100,) |
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+ | `future/head/pose_in_base` | `ndarray` | (100, 9) |
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+ | `future/left_hand/move ` | `ndarray` | (100,) |
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+ | `future/left_hand/wrist_in_base` | `ndarray` | (100, 9) |
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+ | `future/left_hand/gripper` | `ndarray` | (100,1) |
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+ | `future/right_hand/move ` | `ndarray` | (100,) |
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+ | `future/right_hand/wrist_in_base` | `ndarray` | (100, 9) |
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+ | `future/right_hand/gripper` | `ndarray` | (100,1) |
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+ | `history/complete` | `list` | - | history chunk 15
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+ | `history/head/move` | `list` | - |
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+ | `history/head/pose_in_base` | `list` | - |
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+ | `history/left_hand/move ` | `list` | - |
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+ | `history/left_hand/wrist_in_base` | `list` | - |
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+ | `history/left_hand/gripper` | `list` | - |
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+ | `history/right_hand/move ` | `list` |-
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+ | `history/right_hand/wrist_in_base` | `list` | - |
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+ | `history/right_hand/gripper` | `list` | - |
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+
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+ </details>
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+
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+ <details>
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+ <summary> Monte02 </summary>
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+
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+ | Key | Type | Shape | Details
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+ |--------------------------------------|----------------|----------------|-------------------------
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+ `source` | `str` | - |
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+ `take_name` | `str` | - | sample_...
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+ `frame_idx` |`int` | - |
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+ `vision/video_frame` | `int` | - |
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+ `vision/rgb_image` | `bytes` | - |head RGB image of size **(640, 480, 3)**
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+ `vision/current_image` |`Image` (hf.feature) | - |head RGB image of size **(224, 224, 3)**
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+ `vision/history_image` |`list(Image)` (hf.feature) | - | 5 history (5s, t-5 ~ t-1) head RGB image of size **(224, 224, 3)**
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+ `vision/history_idx ` | `list` | - | [t-15 ~ t]
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+ `annotation/task` | `str` | - | task language
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+ `annotation/language` | `str` | - | subtask language
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+ `annotation/start_frame` | `int` | - |
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+ `annotation/end_frame` | `int` | - |
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+ `annotation/delta_idx` | `int` | - |
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+ `current/complete ` | `bool` | - | whether the subtask is complete
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+ `current/left_hand/gripper ` | `ndarray` | (1,) | 0 or 1 (? 0.065)
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+ `current/right_hand/gripper` | `ndarray` | (1,) | 0 or 1 (? 0.065)
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+ `current/left_hand/gripper_width ` | `ndarray` | (1,) | 0~0.01
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+ `current/right_hand/gripper_width` | `ndarray` | (1,) | 0~0.01
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+ `current/head/angles` | `ndarray` | (2,) | pitch, yaw
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+ `current/chassis/pose_in_init` | `ndarray` | (7,) | xyz + wxyz
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+ `current/head/pose_in_base` | `ndarray` | (9,) | xyz + rot6d, base = init_head
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+ `current/head/pose_in_step_base` | `ndarray` | (9,) | xyz + rot6d, step_base = current init_head
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+ `current/left_hand/wrist_in_base` | `ndarray` | (9,)
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+ `current/right_hand/wrist_in_base ` | `ndarray` | (9,)
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+ `current/left_hand/wrist_in_step_base` | `ndarray` | (9,)
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+ `current/right_hand/wrist_in_step_base` | `ndarray` | (9,)
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+ `current/head/move ` | `bool` | - | whether the component is moving in current subtask
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+ `current/left_hand/move` | `bool` | - |
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+ `current/right_hand/move` | `bool` | - |
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+ `future/complete` | `ndarray` | (100,) |future actions and states
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+ `future/head/move` | `ndarray` | (100,) |
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+ `future/head/pose_in_base` | `ndarray` | (100, 9)
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+ `future/head/pose_in_step_base ` | `ndarray` | (100, 9)
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+ `future/left_hand/move` | `ndarray` | (100,)
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+ `future/left_hand/wrist_in_base` | `ndarray` | (100, 9)
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+ `future/left_hand/wrist_in_step_base` | `ndarray` | (100, 9)
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+ `future/left_hand/gripper ` | `ndarray` | (100, 1)
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+ `future/right_hand/move ` | `ndarray` | (100,)
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+ `future/right_hand/wrist_in_base ` | `ndarray` | (100, 9)
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+ `future/right_hand/wrist_in_step_base ` | `ndarray` | (100, 9)
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+ `future/right_hand/gripper` | `ndarray` | (100, 1)
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+ `history/complete` | `list` | - | history actions and states
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+ `history/head/move` | `list` | - |
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+ `history/head/pose_in_base` | `list` | - |
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+ `history/head/pose_in_step_base ` | `list` | -|
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+ `history/left_hand/move` | `list` | -|
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+ `history/left_hand/wrist_in_base` | `list` | -|
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+ `history/left_hand/wrist_in_step_base` | `list` | -|
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+ `history/left_hand/gripper ` | `list` | - |
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+ `history/right_hand/move ` | `list` | - |
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+ `history/right_hand/wrist_in_base ` | `list` | -|
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+ `history/right_hand/wrist_in_step_base ` | `list` | -|
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+ `history/right_hand/gripper` | `list` | -|
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+ </details>
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+
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+
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+ ## Notes
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+
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+ - We provide preprocessed datasets to ensure consistent quality and reduce preprocessing overhead.
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+ - Human data is filtered with strict criteria to improve learning stability.
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+ - Robot data is collected in real-world environments.