---
pretty_name: Human Ego Data
tags:
  - robotics
  - egocentric-video
  - rgb-d
  - human-demonstrations
---

# Human Ego Data

Example RGB-D episodes collected with the
[ego_realsense_tool](https://github.com/baiyu858/ego_realsense_tool) for the
Ego2Sim benchmark.

Only tasks with completed successful recordings on the collection machine are
included. Each currently available task contributes one raw example episode.

## Layout

```text
Txx_task_name/
  suite/
    session_xxx/
      raw/
        frames/
          *_color.png
          *_depth.png
        frames.csv
        imu.csv
        intrinsics.json
        session.json
        capture_stats.json
        control_events.jsonl
```

Depth images are 16-bit PNG files aligned to the RGB camera. Camera intrinsics
and the depth scale are stored in `intrinsics.json`. Episode instructions,
task/suite identities, capture settings, and completion state are stored in
`session.json`.

## Included Examples

| Task | Suite | Episode | Frames | Instruction |
| --- | --- | --- | ---: | --- |
| `T01_pick_place_block` | `object` | `session_000` | 121 | `[right+white tablecloth]Pick up the green block and place it in the green plate.` |
| `T04_put_object_cabinet` | `spatial` | `session_000` | 315 | `[left+black]Open the bottom drawer and put the red block inside it.` |

See `manifest.json` for machine-readable sizes and paths.