| --- |
| license: other |
| task_categories: |
| - image-segmentation |
| tags: |
| - robotics |
| - video |
| - foreground-segmentation |
| --- |
| |
| # RoboMME demonstration-prefix frames with foreground masks |
|
|
| The **demonstration prefix** of RoboMME episodes -- the video-instruction frames, where `info/is_video_demo` |
| is True -- together with a binary foreground mask for each frame. |
|
|
| These frames are worth publishing separately because they are missing from the usual export: the pickle |
| conversion that training pipelines consume writes a file only when `is_demo` is False, so the demo prefix |
| (292k of RoboMME's 769k frames) exists only in the raw HDF5. Of the 16 tasks, **9 carry a demo prefix**; |
| the other 7 have none. |
|
|
| ## Contents |
|
|
| ``` |
| <Task>/episode_<NNNN>/rgb/00000.png front camera, 256x256 RGB, raw pixels |
| <Task>/episode_<NNNN>/mask/00000.png 1-bit foreground mask, same size |
| <Task>/episode_<NNNN>/done.json demo_len, num_timesteps, per-frame foreground fraction |
| demo_manifest.json the episode list and demo lengths |
| ``` |
|
|
| Frame `00000` is absolute timestep 0 of the episode, and frames run to `demo_len - 1`. RGB is untouched: |
| no crop, no resize, no normalisation, so any preprocessing is the consumer's choice. |
|
|
| ## Masks |
|
|
| `ZhengPeng7/BiRefNet_lite`, run at 1024x1024 and thresholded at 0.5, then resized back to 256. The |
| resolution matters: below roughly 512 the mask comes back essentially empty, which makes a |
| foreground-weighted loss put most of its weight on the wooden table instead of the arm and the objects. |
|
|
| The masks are model output, not ground truth. They are accurate on the arm and the manipulated objects |
| and they do pick up small painted markers, but they are not a substitute for simulator segmentation. |
|
|
| ## Provenance and licence |
|
|
| Frames are derived from the RoboMME dataset; its licence governs their use. The masks are generated by |
| BiRefNet_lite (MIT). Nothing here is human-annotated. |
| |
