| # LingBot-Depth Dataset |
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| 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. |
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| **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/) |
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| --- |
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| ## Sub-datasets |
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| | 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** | |
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| --- |
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| ## Directory Structure |
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| ### RobbyReal |
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| ``` |
| 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 |
| ``` |
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| ### RobbyVla |
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| Data collected during VLA robot manipulation tasks on two robot platforms. |
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| ``` |
| 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 |
| ``` |
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| ### RobbySim |
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| Simulated data rendered from two camera viewpoints: `object_view` and `rrt_view`. |
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| ``` |
| 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 |
| ``` |
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| ### RobbySimVal |
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| Validation split of simulated data. |
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| ``` |
| 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 |
| ``` |
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| --- |
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| ## File Description |
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| | 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 | |
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