ZUO66/table_clean

Table Clean — robot trajectories with Aria gaze and hands

200 episodes · 43,727 frames · 4 tasks · 30 FPS · LeRobot v3.0.

This version contains the verified robot state/action records, robot head and chest videos, Aria RGB video, eye gaze, and left/right hand tracking. Original source metadata and depth archives are retained in source_metadata/.

Correspondence

correspondence/frame_correspondence.csv provides one row per robot frame. Join using (episode_index, frame_index) to locate the source robot record, VRS recording, Aria RGB index, and zero-based gaze/hand CSV rows (excluding the header). The table includes validity, hand confidence, and nearby review windows. See the correspondence guide, recording-level evidence, and visual samples.

Pairing uses original robot host timestamps and each VRS device-to-realtime clock anchor. This is approximate temporal correspondence, not certified hardware synchronization. Independent checks compare the same Aria wearer's hand as seen by the robot camera and Aria MPS, plus 30 three-view visual checkpoints. Small timing offsets remain uncertain; review windows are candidates for inspection/modeling, not proven error bounds. No inferred delay between different people's gestures and robot reactions has been applied as a clock correction.

Gaze is valid in 43,727 frames; left-hand tracking in 38,619; right-hand tracking in 43,659. Use the validity masks; missing hand coordinates are not real zero poses. Hand 3D coordinates remain in the Aria device frame. Spatial transformation to robot coordinates is not calibrated.

Validation

Dataset verification checks all source timestamps, robot states/actions, 600 video frame counts, loading/decoding, and preserved depth archives. Correspondence verification covers all 43,727 frame mappings.

RGB nearest-sample residual is at most 16.67 ms; this is not an absolute cross-device synchronization bound. Aria images are rotated 90 degrees clockwise and gaze pixels are rotated consistently; see meta/image_orientation.json.