cyberorigin/cyber_fold_towels · Datasets at Hugging Face

token_dtype stringclasses 1 value	s int64 16 16	h int64 16 16	w int64 16 16	vocab_size int64 262k 262k	hz int64 30 30	tokenizer_ckpt stringclasses 1 value	num_images int64 7.64k 504k
uint32	16	16	16	262,144	30	imagenet_256_L.ckpt	451,010
uint32	16	16	16	262,144	30	imagenet_256_L.ckpt	142,409
uint32	16	16	16	262,144	30	imagenet_256_L.ckpt	504,486
uint32	16	16	16	262,144	30	imagenet_256_L.ckpt	502,831
uint32	16	16	16	262,144	30	imagenet_256_L.ckpt	462,158
uint32	16	16	16	262,144	30	imagenet_256_L.ckpt	406,734
uint32	16	16	16	262,144	30	imagenet_256_L.ckpt	7,638
uint32	16	16	16	262,144	30	imagenet_256_L.ckpt	171,681
uint32	16	16	16	262,144	30	imagenet_256_L.ckpt	302,218

token_dtype

stringclasses

1 value

int64

vocab_size

int64

262k

int64

tokenizer_ckpt

stringclasses

1 value

num_images

int64

7.64k

504k

uint32

262,144

imagenet_256_L.ckpt

451,010

uint32

262,144

imagenet_256_L.ckpt

142,409

uint32

262,144

imagenet_256_L.ckpt

504,486

uint32

262,144

imagenet_256_L.ckpt

502,831

uint32

262,144

imagenet_256_L.ckpt

462,158

uint32

262,144

imagenet_256_L.ckpt

406,734

uint32

262,144

imagenet_256_L.ckpt

7,638

uint32

262,144

imagenet_256_L.ckpt

171,681

uint32

262,144

imagenet_256_L.ckpt

302,218

CyberOrigin Dataset

Our data includes information from home services, the logistics industry, and laboratory scenarios. For more details, please refer to our Offical Data Website

contents of the dataset:

cyber_fold_towels # dataset root path
  └── data/
      ├── metadata_ID1_240808.json
      ├── segment_ids_ID1_240808.bin # for each frame segment_ids uniquely points to the segment index that frame i came from. You may want to use this to separate non-contiguous frames from different videos (transitions).
      ├── videos_ID1_240808.bin # 16x16 image patches at 30hz, each patch is vector-quantized into 2^18 possible integer values. These can be decoded into 256x256 RGB images using the provided magvit2.ckpt weights.
      ├── ...
  └── ...

{
    "task": "Fold Towels",
    "total_episodes": 6927,
    "total_frames": 2951165,
    "token_dtype": "uint32",
    "vocab_size": 262144,
    "fps": 30,
    "manipulation_type": "Bi-Manual",
    "language_annotation": "None",
    "scene_type": "Table Top",
    "data_collect_method": "Directly Collection on Human"
}