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README.md

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+# lingbot-depth Dataset
+
+Self-curated RGB-D dataset for training [lingbot-depth](https://github.com/lingbot/lingbot-depth), a depth estimation model. 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 |
+|------|-------------|
+| **RobbyReal** | Real-world indoor scenes captured with multiple RGB-D cameras |
+| **RobbyVla** | Real-world data collected during VLA (Vision-Language-Action) robot manipulation tasks |
+| **RobbySim** | Simulated data rendered from two camera viewpoints |
+| **RobbySimVal** | Validation split of simulated data |
+
+---
+
+## 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 |