README.md

metadata

license: mit

CSV Schema

Column	Type	Description
dis_path	string	Distorted image filename
ref_path	string	Reference image filename
reality_type	char	R=Real, S=Simulation
perspective	char	T=Third-person, F=First-person
main_object	int	Object category (1-5)
scene	char	Scene context (H/I/V/L/O)
dis_type	string	Distortion type code (e.g., T01)
dis_level	string	Distortion severity (e.g., S7)
vla_score_1	float	VLA Position score
vla_score_2	float	VLA Rotation score
vla_score_3	float	VLA Gripper score
vla_score	float	VLA final aggregated score
vlm_score	float	VLM score

Class Label Mappings

Scene Context Classification

Symbol	Category	Description
H	Home Environment	Kitchens, living rooms, home appliances, residential settings
I	Industrial Environment	Factories, warehouses, assembly lines, manufacturing facilities
V	Virtual Simulation	Synthetic environments, VR/AR generated scenes, simulation software output
L	Lab Environment	Research laboratories, experimental setups, testing facilities
O	Other	Scenes that do not fit above categories or unclassifiable contexts

Main Object Categorization

Symbol	Category	Examples
1	Mechanical Components	Bolts, gears, pipes, mechanical parts, structural elements
2	Daily Objects	Cups, tableware, household items, domestic articles
3	Electronic Devices	Buttons, displays, power outlets, circuit boards, screens
4	Tools	Wrenches, calipers, safety equipment, hand tools, instruments
5	Other	Composite objects, unknown items, unclassifiable entities

Perspective Identification

Symbol	Meaning	Description
F	First-person	Robot egocentric view (wrist camera, onboard camera)
T	Third-person	External observation view (stationary camera, external observer)

Reality Type Detection

Symbol	Meaning	Description
R	Real	Real-world captured photography, authentic sensor data
S	Simulation	Rendered or simulated generation, synthetic data