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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..5499d198647f72b142fd13bb96a9e6eaa512cf65 --- /dev/null +++ b/README.md @@ -0,0 +1,120 @@ +--- +license: apache-2.0 +configs: + - config_name: default + data_files: + - split: train + path: data/** +annotations_creators: [] +language: en +size_categories: +- n<1K +task_categories: +- robotics +pretty_name: RoboLab-EgoX (FiftyOne multimodal MCAP subset) +tags: +- fiftyone +- multimodal +- mcap +- robotics +- manipulation +- egocentric +- depth +- benchmark +--- + +# RoboLab-EgoX → FiftyOne (Native Multimodal MCAP) + +![preview](preview.gif) + +A 179-take subset of +[DAVIAN-Robotics/RoboLab-EgoX](https://huggingface.co/datasets/DAVIAN-Robotics/RoboLab-EgoX), +policy rollouts recorded on NVIDIA's +[RoboLab](https://github.com/NVLabs/RoboLab) manipulation benchmark, +converted to native multimodal MCAP episodes. + +Each take carries three synchronized camera views with a matching 16-bit +depth stream, per-camera intrinsics, whole-arm telemetry, end-effector pose, +and the task instruction. Takes keep the benchmark's own success label, so +failed rollouts sit alongside successful ones. + +## Installation + +```bash +pip install fiftyone +``` + +## Usage + +```python +import fiftyone as fo +import fiftyone.utils.huggingface as fouh + +dataset = fouh.load_from_hub( + "Voxel51/RoboLab-EgoX", + name="RoboLab-EgoX", + persistent=True, +) +fo.launch_app(dataset) +``` + +Successful rollouts only: + +```python +view = dataset.match({"success": True}) +``` + +## What you get + +- 179 `.mcap` episodes of 81 frames each at 15 fps, 16.1 minutes total +- All **28 RoboLab tasks** across **37 background scenes** +- **67 successful and 112 failed** rollouts, labelled +- Cameras as `foxglove.CompressedVideo`: `/ego-camera` from the wrist, + `/exo-left-camera` and `/exo-right-camera` from the exterior views, all + 640x360 H.264 passed through without re-encoding +- Depth as 16-bit PNG on `/ego-depth`, `/exo-left-depth` and + `/exo-right-depth`, at 320x180 +- `/ego-calibration`, `/exo-left-calibration`, `/exo-right-calibration` as + `foxglove.CameraCalibration` +- `/joint-positions` (13 joints) and `/actions` (8), each with a timeline plot +- `/end-effector-pose` as `foxglove.PoseInFrame` +- `/instruction` carrying the task's language instruction +- Per-episode fields: `take_name`, `task`, `background`, `instruction`, + `success`, `source_episode`, `num_frames`, `duration` + +## Notes on the conversion + +Depth marks no-return pixels with the uint16 ceiling, `65535`, rather than +zero. That is over 60% of a typical exterior frame and about 12% of a wrist +frame, so any viewer that maps the full 16-bit range will render the real +depth as flat black. Mask `65535` before scaling. The values are carried +through unchanged. + +Depth is half the camera resolution, 320x180 against 640x360. + +Eight of the 28 tasks have no successful rollout anywhere in the source, so +those contribute failures only. + +## License & attribution + +The RoboLab benchmark, its tasks and its scene assets are released by NVIDIA +under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0); see +[NVLabs/RoboLab](https://github.com/NVLabs/RoboLab). The rollouts converted +here were recorded and published by +[DAVIAN-Robotics](https://huggingface.co/DAVIAN-Robotics). This subset is +distributed under Apache 2.0 and ships the license text as `LICENSE`. + +Changes from the source: take subsetting, conversion from mp4 and HDF5 to +MCAP, and PNG encoding of the depth stacks. Camera streams are the source +H.264 packets passed through unchanged. + +## Citation + +```bibtex +@article{yang2026robolab, + title={RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies}, + author={Yang, Xuning and Dagli, Rishit and Zook, Alex and Hadfield, Hugo and Goyal, Ankit and Birchfield, Stan and Ramos, Fabio and Tremblay, Jonathan}, + journal={arXiv preprint arXiv:2604.09860}, + year={2026} +} +``` diff --git a/data/BBQSauceInBinTask/BBQSauceInBinTask_aerodynamics_workshop_sf50/episode.fo.mcap b/data/BBQSauceInBinTask/BBQSauceInBinTask_aerodynamics_workshop_sf50/episode.fo.mcap new file mode 100644 index 0000000000000000000000000000000000000000..a6d2cc64d383665d1ba829c9b6e811ce1b8f8b6f --- /dev/null +++ b/data/BBQSauceInBinTask/BBQSauceInBinTask_aerodynamics_workshop_sf50/episode.fo.mcap @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d77b4df8afad6552be538d025f2ba07f5961ffbcfd8862151df66c9ba62e7444 +size 3187760 diff 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