| --- |
| 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 |
| 1. This is a sample of our Gen EgoData. |
| 2. 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. |
| 3. More details about our ego data collection device can be found here: |
| https://www.genrobot.ai/products/ego |
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| # 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 | |
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| # 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](https://github.com/genrobot-ai/das-datakit) |
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| # How to Vis Data |
| https://monitor.genrobot.click/#/index |
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| # 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 |
