dd1581334/RoboDojoData

RoboDojo Reviewed Dataset

This dataset contains human-reviewed robot manipulation episodes generated with RoboDojo. It is organized by task and robot, with 50 valid episodes selected for each task/robot pair.

本数据集包含由 RoboDojo 生成、经过人工视频审核的机器人操作数据。每个 task/robot 组合选取 50 条有效 episode。

Tasks and robots

Tasks:

• pick_anything
• stack_blocks
• dual_bottles_pick
• general_pickup
• insert_tube — legacy single-tube insertion (formerly insert_tubes)

Robots:

• x5
• piper_x
• franka
• aloha_agilex

The dataset contains 20 task/robot groups and 1,000 episodes in total. Piper is not included.

Review and selection

The head-view preview videos were reviewed manually. Only episodes marked as valid by the reviewer were eligible for this release. For each task/robot group, 50 valid episode IDs were selected in deterministic filename order. The exact IDs are recorded in selection_manifest.json.

审核时统一查看 head-view 视频，并人工标记有效数据。每个组合从有效 episode 中按文件名 顺序选取 50 条；完整 ID 清单见 selection_manifest.json。

Directory layout

<task>/<robot>/
├── data/
│   └── episode_XXXXXXX.hdf5
└── preview_video/
    ├── episode_XXXXXXX_cam_head.mp4
    ├── episode_XXXXXXX_cam_left_wrist.mp4
    └── episode_XXXXXXX_cam_right_wrist.mp4

Only HDF5 episode data and the three review camera views are included. Extra generated artifacts, such as trajectory pickles, scene-layout JSON files, front-view videos, and third-view videos, are intentionally excluded to keep the format consistent.

Known exception

general_pickup/x5 source episodes do not contain left- or right-wrist videos. Those 50 episodes therefore contain only the HDF5 file and head-view video. No synthetic or substituted wrist views were added.

Loading an episode

Each filename uses the same episode ID across the HDF5 file and its camera videos. For example:

pick_anything/franka/data/episode_0000001.hdf5
pick_anything/franka/preview_video/episode_0000001_cam_head.mp4
pick_anything/franka/preview_video/episode_0000001_cam_left_wrist.mp4
pick_anything/franka/preview_video/episode_0000001_cam_right_wrist.mp4

Consumers should use selection_manifest.json as the authoritative list of included episode IDs and should tolerate the documented missing wrist views for general_pickup/x5.

Notes

• This release contains generated robot-simulation data, not human demonstrations.
• Episode validity was determined by visual human review of the head-view preview.
• No additional normalization or conversion was applied to the HDF5 contents.
• License and citation information have not yet been specified by the dataset owner.

Tube insertion task naming

insert_tube/ contains the historical single-tube insertion task (4 robots, 50 episodes each). It was renamed from insert_tubes/; episode IDs, HDF5 contents, and videos are unchanged.

insert_tubes/ is reserved for the current three-tube insertion task. The historical single-tube episodes must not be counted as three-tube data.

insert_tube/ 为历史单试管任务；insert_tubes/ 留给当前三试管任务。此次仅调整发布目录及清单，原始数据内容不变。