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-13,14 +13,4 @@ tags: This dataset contains egocentric human-humanoid data that can be used to co-train manipulation policy for humanoid robot. For paper, visualization, and example code using this dataset, please refer to https://human-as-robot.github.io/ - -arXiv link: https://arxiv.org/abs/2503.13441 - -## Task Descriptions - -We provide some example dataset config files that we used for our robots [here](https://github.com/RogerQi/human-policy/tree/main/hdt/configs/datasets). - -Data organizations - -- Each folder represents one task. Most HDF5 files contain ONE execution of the task specified by the language, but certain tasks, such as cup passing, contain multiple demonstrations in each HDF5. -- Taskids start with `1` mean the data is a human demonstrations. \ No newline at end of file +arXiv link: https://arxiv.org/abs/2503.13441 \ No newline at end of file diff --git a/ph2d_metadata.json b/ph2d_metadata.json deleted file mode 100644 index a4e7eb50c1c473d5c252e2c7af9fb9920981e69a..0000000000000000000000000000000000000000 --- a/ph2d_metadata.json +++ /dev/null @@ -1,300 +0,0 @@ -{ - "metadata": { - "task_types": [ - "pouring", - "grasping", - "stacking", - "picking", - "cup_passing", - "sorting_cans" - ], - "embodiment_type_camera": { - "h1_inspire": "UCSD_H1_ZED", - "h1_2_inspire_cmu": "CMU_H1_ZED", - "h1_inspire_sim": "h1_inspire_sim_camera", - "human_avp": "UCSD_Vision_pro_1", - "human_zed": "UCSD_HUMAN_ZED", - "gr1_inspire_sim": "gr1_inspire_sim_camera", - "h1_2_inspire_sim": "h1_2_inspire_sim_camera" - }, - "cameras": { - "UCSD_H1_ZED": { - "intrinsics": { - "cx": 622.2891845703125, - "cy": 354.453369140625, - "fx": 730.7215576171875, - "fy": 730.7215576171875 - }, - "resolution": { - "raw_width": 1280, - "raw_height": 720 - } - }, - "UCSD_Vision_pro_1": { - "intrinsics": { - "cx": 960, - "cy": 540, - "fx": 748.9841404939381, - "fy": 768.5409577772721 - }, - "resolution": { - "raw_width": 1920, - "raw_height": 1090 - } - }, - "CMU_H1_ZED": {}, - "UCSD_HUMAN_ZED": {}, - "h1_inspire_sim_camera": {}, - "h1_2_inspire_sim_camera": {}, - "gr1_inspire_sim_camera": {} - } - }, - "per_task_attributes": { - "501-pouring-2024_11_12-23_39_22": { - "task_type": "pouring", - "embodiment_type": "h1_inspire", - "left_hand": true, - "right_hand": true - }, - "401-picking-2024_11_12-22_39_57": { - "task_type": "picking", - "embodiment_type": "h1_inspire", - "right_hand": true, - "left_hand": false - }, - "1061new_sim_pepsi_grasp_h1_2_inspire-2025_02_11-22_20_48": { - "task_type": "grasping", - "embodiment_type": "h1_inspire_sim", - "right_hand": true, - "left_hand": false - }, - "113-picking-blackcube-human_2024-11-13_22-09-05": { - "task_type": "picking", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "502-pouring_random-2025_01_10-20_21_26": { - "task_type": "pouring", - "embodiment_type": "h1_inspire", - "left_hand": true, - "right_hand": true - }, - "105_lars-grasping_2024-11-08_15-47-04": { - "task_type": "grasping", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "104-lars-grasping_2024-11-08_15-23-40": { - "task_type": "grasping", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "1503-pouring_tea_2025-03-12_17-18-12": { - "task_type": "pouring", - "embodiment_type": "human_avp", - "left_hand": true, - "right_hand": true - }, - "1502-pouring_kura_2025-03-12_15-38-26": { - "task_type": "pouring", - "embodiment_type": "human_avp", - "left_hand": true, - "right_hand": true - }, - "404-pick_on_color_pad_right_far-2025_01_12-20_20_57": { - "task_type": "picking", - "embodiment_type": "h1_inspire", - "right_hand": true, - "left_hand": false - }, - "403-pick_on_color_pad_left-2025_01_09-16_58_04": { - "task_type": "picking", - "embodiment_type": "h1_inspire", - "right_hand": true, - "left_hand": false - }, - "1406-picking_orange_2025-03-12_17-08-20": { - "task_type": "picking", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "1403-human_pick_color_pad_left_2025-01-13_13-05-06": { - "task_type": "picking", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "121-pouring-party-cup-human_2024-11-14_01-26-24": { - "task_type": "pouring", - "embodiment_type": "human_avp", - "left_hand": true, - "right_hand": true - }, - "1504-pouring_water_2025-03-12_19-33-52": { - "task_type": "pouring", - "embodiment_type": "human_avp", - "left_hand": true, - "right_hand": true - }, - "1400_grasping_three_items_zed-2025_01_23-20_13_12": { - "task_type": "grasping", - "embodiment_type": "human_zed", - "right_hand": true, - "left_hand": false - }, - "304-grasp_coke_random-2024_12_12-19_58_36": { - "task_type": "grasping", - "embodiment_type": "h1_inspire", - "right_hand": true, - "left_hand": false - }, - "302-grasp_coke_random-2024_12_09-21_39_30": { - "task_type": "grasping", - "embodiment_type": "h1_inspire", - "right_hand": true, - "left_hand": false - }, - "120-pouring-mtn-human_2024-11-14_01-05-21": { - "task_type": "pouring", - "embodiment_type": "human_avp", - "left_hand": true, - "right_hand": true - }, - "903-picking-val-2024_11_18-18_58_16": { - "task_type": "picking", - "embodiment_type": "h1_inspire", - "right_hand": true, - "left_hand": false - }, - "405-pick_on_color_pad_right_far_far-2025_01_13-19_29_04": { - "task_type": "picking", - "embodiment_type": "h1_inspire", - "right_hand": true, - "left_hand": false - }, - "112-picking-brownbox-human_2024-11-13_20-42-14": { - "task_type": "picking", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "1501-pouring_costco_water_2025-03-12_17-23-11": { - "task_type": "pouring", - "embodiment_type": "human_avp", - "left_hand": true, - "right_hand": true - }, - "1407-picking_orange_tj_2025-03-12_16-42-19": { - "task_type": "picking", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "503-pouring-2025_01_27-22_03_40": { - "task_type": "pouring", - "embodiment_type": "h1_inspire", - "left_hand": true, - "right_hand": true - }, - "106-grasping-zedbox-human_2024-11-13_15-27-43": { - "task_type": "grasping", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "1405-picking_3cat_straw_2025-03-12_15-53-25": { - "task_type": "picking", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "108-grasping-water-human _2024-11-13_15-00-20": { - "task_type": "grasping", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "902-pouring-val-2024_11_18-18_49_25": { - "task_type": "pouring", - "embodiment_type": "h1_inspire", - "left_hand": true, - "right_hand": true - }, - "111-picking-colorful-toycube_2024-11-13_20-25-34": { - "task_type": "picking", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "1404-human_more_colorpad_left_picking_2025-01-20_22-23-13": { - "task_type": "picking", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "107-grasping-chocolate-human_2024-11-13_15-15-09": { - "task_type": "grasping", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "2061_rw_pepsi_grasp_alan_2025_02_15-16_27_13": { - "task_type": "grasping", - "embodiment_type": "h1_2_inspire_cmu", - "right_hand": true, - "left_hand": false - }, - "1500-pouring_2025-01-18_13-24-27": { - "task_type": "pouring", - "embodiment_type": "human_avp", - "left_hand": true, - "right_hand": true - }, - "1402_grasping_three_items_whole_2025-01-23_19-37-55": { - "task_type": "grasping", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "303-grasp_coke_random-2024_12_12-19_13_53": { - "task_type": "grasping", - "embodiment_type": "h1_inspire", - "right_hand": true, - "left_hand": false - }, - "402-pick_on_color_pad_right-2025_01_09-16_36_15": { - "task_type": "picking", - "embodiment_type": "h1_inspire", - "right_hand": true, - "left_hand": false - }, - "1401_grasping_three_items_2025-01-23_19-24-05": { - "task_type": "grasping", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "110-picking-dynamixel-human_2024-11-13_17-34-13": { - "task_type": "picking", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - }, - "901-grasping-val-2024_11_18-17_36_04": { - "task_type": "grasping", - "embodiment_type": "h1_inspire", - "right_hand": true, - "left_hand": false - }, - "109-grasping-mtn-human_2024-11-13_14-40-07": { - "task_type": "grasping", - "embodiment_type": "human_avp", - "right_hand": true, - "left_hand": false - } - } -} \ No newline at end of file