Hugging Face's logo

Datasets:
shanyangmie
/
physdojo-annotations

Modalities:
Text
Formats:
webdataset
Size:
10K - 100K
Libraries:
Datasets
WebDataset
Dataset card Data Studio Files
xet
 Community
1
Dataset Viewer (First 5GB)
Auto-converted to Parquet Duplicate
The dataset viewer is not available for this split.
Parquet error: Scan size limit exceeded: attempted to read 309654303 bytes, limit is 300000000 bytes Make sure that 1. the Parquet files contain a page index to enable random access without loading entire row groups2. otherwise use smaller row-group sizes when serializing the Parquet files 
Error code:   TooBigContentError

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

YAML Metadata Warning:empty or missing yaml metadata in repo card

Check out the documentation for more information.

PhysDojo: Dense Physics Annotations for DreamDojo

Per-frame per-object physics labels extracted from DreamDojo robot manipulation episodes using off-the-shelf foundation models (no VLM).

Pipeline

  • RAFT optical flow → per-pixel velocities
  • Depth Anything V2 → metric depth → 3D positions
  • DINOv2 → material features

Format

Each episode has physics_dense.npz containing:

  • positions: (T, N_obj, 2) — normalized [0,1] centroids
  • velocities: (T, N_obj, 2) — pixels/sec
  • accelerations: (T, N_obj, 2) — pixels/sec²
  • depths: (T, N_obj) — relative depth
  • contacts: (T, N_obj, N_obj) — binary contact matrix
  • masks: (T, N_obj) — object presence mask
  • optical_flow: (T-1, 2, H, W) — dense flow fields
  • material_features: (T, feature_dim) — DINOv2 CLS features

Stats

  • Episodes annotated: 11643
  • Source: miemiebabu/efference-wm-16k
Downloads last month
56
Number of rows:
1,700
Estimated number of rows:
11,622
Total file size:
19.4 GB