# 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.

![teaser](teaser.png)

**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 |