license: cc-by-sa-4.0
task_categories:
- robotics
- reinforcement-learning
language:
- en
- zh
tags:
- video
- vla
- dual-arm
- embodied intelligence
size_categories:
- 100B<n<1T
Summary
- This is a sample of our Gen EgoData.
- The dataset contains 500 ego-centric samples with a total duration of 4.23h, including ego-SLAM pose information generated by our algorithm. The dataset covers household scenarios and includes 10 tasks, with 50 samples for each task, totaling 500 data samples.
- More details about our ego data collection device can be found here: https://www.genrobot.ai/products/ego
Data Structure
The dataset follows a hierarchical structure to organize robotic manipulation behaviors. Each sample is described using four semantic levels: Domain, Scenario, Task, and Skill.
| Domain | Scenario | Task | Skill |
|---|---|---|---|
| domestic_services | bedroom | clothing_organization | fold_clothes |
| domestic_services | bedroom | clothing_organization | fold_pants |
| domestic_services | kitchen | organization | organize_utensils |
| domestic_services | kitchen | organization | organize_plates_and_bowls |
| domestic_services | living_room | organization | organize_tabletop |
| domestic_services | living_room | organization | organize_medications |
| domestic_services | living_room | shoes_handling | organize_scattered_shoes |
| domestic_services | living_room | shoes_handling | lace_up_shoes |
| domestic_services | study | organization | organize_books |
| domestic_services | study | organization | organize_desk |
Data Format and How to Load Data
The dataset is stored in .mcap files. Each .mcap file corresponds to a single skill instance and contains all associated multimodal data streams, including observations, actions, and metadata. To load and parse the data, please use the official toolkit: GitHub - genrobot-ai/das-datakit
How to Vis Data
https://monitor.genrobot.click/#/index
Contact Us
Any questions, suggestions or desired data collection scenarios/skills are welcome during usage. Let’s co-build this project to digitize all human skills. X：https://x.com/GenrobotAI Linkin：https://www.linkedin.com/company/108767412/admin/dashboard/ Email：opendata@genrobot.ai