---
license: cc-by-4.0
pretty_name: "RPX: Robot Perception X"
task_categories:
- image-segmentation
- depth-estimation
- object-detection
- visual-question-answering
language:
- en
tags:
- robotics
- embodied-ai
- rgb-d
- benchmark
- perception
- manipulation
- stereo
size_categories:
- 100B<n<1T
configs:
- config_name: multi_object
  description: "MOS scenes (3 phases each), tertile-cut by Effort-Stratified Difficulty."
  data_files:
  - split: "easy"
    path: "splits/easy.txt"
  - split: "medium"
    path: "splits/medium.txt"
  - split: "hard"
    path: "splits/hard.txt"
- config_name: single_object
  description: "SOS scenes (one 360° collection per object); no difficulty split."
---

# RPX: Robot Perception X

A real-world RGB-D benchmark for evaluating robot perception under
embodied deployment conditions.

* Code: https://github.com/IRVLUTD/RPX


## Dataset at a glance

| | |
|---|---|
| Multi-object scenes (MOS) | **100** (3 phases each: clutter / interaction / clean) |
| Single-object scenes (SOS) | **220** (one 360° collection per object) |
| Total files | **2,155,056** |
| Total bytes | **328.5 GB** |

## Modality inventory

| modality | files | bytes |
|---|---:|---:|
| `cam_pose` | 185,000 | 102.3 MB |
| `cam_pose_icp` | 16,574 | 312.9 MB |
| `depth` | 185,000 | 24.5 GB |
| `fisheye` | 370,000 | 102.3 GB |
| `jpg` | 750 | 20.3 MB |
| `mask_refinement` | 0 | 0 B |
| `rgb` | 185,000 | 61.6 GB |
| `sam2/_meta` | 1,685 | 562.9 KB |
| `sam2/bbox_overlay` | 1,005 | 254.5 MB |
| `sam2/contour_gt_masks` | 185,000 | 45.5 GB |
| `sam2/dino_output` | 384,926 | 29.2 GB |
| `sam2/mask_refinement` | 10,116 | 1.0 GB |
| `sam2/masks` | 185,000 | 354.0 MB |
| `sam2/masks_contour_with_hidden` | 75,000 | 23.5 GB |
| `sam2/palette` | 185,000 | 413.2 MB |
| `sam2/rgb_and_mask` | 185,000 | 39.4 GB |

## Quick start

```bash
pip install "rpx-benchmark[hub]"
hf auth login
```

```python
from rpx_benchmark.dataset_hub import download_for_task

# Pull just RGB + masks for the Easy difficulty tier — never the whole repo.
res = download_for_task(task="segmentation", split="easy",
                          repo_id="itaykadosh/RPX")
print(res.local_dir, res.matched_scenes)
```

```bash
# Or from the CLI:
python -m rpx_benchmark.dataset_hub.cli download \
    --task segmentation --split easy \
    --repo-id itaykadosh/RPX
```

A subsequent call for a different task on the same split (e.g.
`relative_pose`) reuses the cached RGB tars and only fetches the new
modality (`cam_pose`) as the delta.

## Repo layout

```
itaykadosh/RPX/
├── manifest/
│   ├── frames_v1.parquet     # per-frame metadata (always pulled, ~30 MB)
│   └── current.json          # default version per label modality
├── splits/
│   ├── scene_splits.json
│   ├── easy.txt  medium.txt  hard.txt
├── scenes/<scene_id>/<phase>/                     # MOS
│   ├── rgb.tar  depth.tar  fisheye.tar
│   └── labels/{cam_pose,masks,masks_aux,sam2_meta,vqa}/v1.tar
├── objects/<object_id>/0/                         # SOS
│   └── (same modality structure)
├── objects_meta/                                  # questionnaire dedup
│   ├── _index.json
│   └── <object_id>/questionnaire.json
└── README.md   ←  this file
```

## Tasks

### Multi-object (use a difficulty split)

| recipe | inputs → labels |
|---|---|
| `monocular_depth` | ['rgb'] → ['depth'] |
| `rgbd_segmentation` | ['depth', 'rgb'] → ['masks'] |
| `segmentation` | ['rgb'] → ['masks'] |
| `relative_pose` | ['rgb'] → ['cam_pose'] |
| `rgbd_relative_pose` | ['depth', 'rgb'] → ['cam_pose'] |
| `stereo_depth` | ['fisheye'] → ['depth'] |
| `object_tracking` | ['rgb'] → ['masks'] |
| `vqa` | ['rgb'] → ['questionnaire', 'vqa'] |

### Single-object (no split — these are object templates)

| recipe | inputs → labels |
|---|---|
| `object_templates` | ['rgb'] → ['masks'] |
| `object_templates_rgbd` | ['depth', 'rgb'] → ['masks'] |
| `object_pose_library` | ['depth', 'rgb'] → ['cam_pose', 'masks'] |

## Label versioning

Labels live at `labels/<name>/v<N>.tar`. Newer versions land at new
paths; old versions stay reachable for reproducibility.

| modality | current version |
|---|---|
| `masks` | `v1` |
| `masks_aux` | `v1` |
| `sam2_meta` | `v1` |
| `cam_pose` | `v1` |

To pin to a specific version:

```python
download_for_task(
    task="relative_pose", split="easy", repo_id="itaykadosh/RPX",
    label_versions={"cam_pose": "v1"},   # don't auto-upgrade to v2
)
```

## Citation

```bibtex
@misc{rpx2026,
    title  = {RPX: Robot Perception X — A real-world RGB-D benchmark for
              embodied perception},
    author = {IRVL UT Dallas},
    year   = 2026,
    url    = {https://huggingface.co/datasets/itaykadosh/RPX},
}
```

## License

Released under the **cc-by-4.0** license.