File size: 4,329 Bytes
a37707c da9246f 63e16bc 032f452 da9246f 206ae73 da9246f e304867 da9246f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 | # LingBot-Depth Dataset
Self-curated RGB-D dataset for training [LingBot-Depth](https://github.com/Robbyant/lingbot-depth), a masked depth modeling approach ([arxiv:2601.17895](https://huggingface.co/papers/2601.17895)). Each sample contains an RGB image, raw sensor depth, and ground truth depth.
**Total size:** 2.71 TB
**Depth scale:** millimeters (mm), stored as 16-bit PNG
**License:** [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/)
---
## Sub-datasets
| Name | Description | Samples |
|------|-------------|--------:|
| **RobbyReal** | Real-world indoor scenes captured with multiple RGB-D cameras | 1,400,000 |
| **RobbyVla** | Real-world data collected during VLA (Vision-Language-Action) robot manipulation tasks | 580,960 |
| **RobbySim** | Simulated data rendered from two camera viewpoints | 999,264 |
| **RobbySimVal** | Validation split of simulated data | 38,976 |
| **Total** | | **3,019,200** |
---
## Directory Structure
### RobbyReal
```
RobbyReal/
└── <scene_id>/ # e.g. 00001_01_room
├── orbbec_335_<seq>/
│ ├── color/ # RGB images
│ ├── gtdepth/ # Ground truth depth
│ ├── rawdepth/ # Raw sensor depth
│ └── intrinsic.txt
├── orbbec_335L_<seq>/
│ ├── color/
│ ├── gtdepth/
│ ├── rawdepth/
│ └── intrinsic.txt
├── realsense_D415_<seq>/
│ ├── color/
│ ├── gtdepth/
│ ├── rawdepth/
│ └── intrinsic.txt
├── realsense_D435_<seq>/
│ ├── color/
│ ├── gtdepth/
│ ├── rawdepth/
│ └── intrinsic.txt
└── realsense_D455_<seq>/
├── color/
├── gtdepth/
├── rawdepth/
└── intrinsic.txt
```
### RobbyVla
Data collected during VLA robot manipulation tasks on two robot platforms.
```
RobbyVla/
├── franka/ # Franka robot arm
│ └── <seq>/
│ ├── left_realsense405/
│ │ ├── color/
│ │ ├── gtdepth/
│ │ ├── rawdepth/
│ │ └── intrinsic.txt
│ └── right_realsense405/
│ ├── color/
│ ├── gtdepth/
│ ├── rawdepth/
│ └── intrinsic.txt
└── ur7e/ # UR7e robot arm
└── <seq>/
├── left_realsense405/
│ ├── color/
│ ├── gtdepth/
│ ├── rawdepth/
│ └── intrinsic.txt
└── right_realsense405/
├── color/
├── gtdepth/
├── rawdepth/
└── intrinsic.txt
```
### RobbySim
Simulated data rendered from two camera viewpoints: `object_view` and `rrt_view`.
```
RobbySim/
├── intrinsics.txt
├── object_view/
│ └── <scene_id>/<cam_id>/ # e.g. xxxx/00, xxxx/01
│ ├── 0001_cam0_left.jpg # RGB image
│ ├── 0001_cam0_depth.png # Ground truth depth
│ └── 0001_cam0_rmd2c.png # Raw depth
└── rrt_view/
└── <scene_id>/<cam_id>/
├── 0001_cam0_left.jpg
├── 0001_cam0_depth.png
└── 0001_cam0_rmd2c.png
```
### RobbySimVal
Validation split of simulated data.
```
RobbySimVal/
└── val_view/
└── <scene_id>/<cam_id>/ # e.g. xxxx/00, xxxx/01
├── intrinsics.txt
├── 0001_cam0_rgb.left.jpg # RGB image
├── 0001_cam0_depth_left.png # Ground truth depth
└── 0001_cam0_rawdepth.left.png # Raw depth
```
---
## File Description
| File/Folder | Description |
|-------------|-------------|
| `color/` / `*_rgb*.jpg` | RGB images |
| `gtdepth/` / `*_depth*.png` | Ground truth depth maps (16-bit PNG, unit: mm) |
| `rawdepth/` / `*_rawdepth*.png` / `*_rmd2c*.png` | Raw depth from sensor before post-processing (16-bit PNG, unit: mm) |
| `intrinsic.txt` / `intrinsics.txt` | Camera intrinsic parameters |
|