|
{ |
|
"@context": { |
|
"@language": "en", |
|
"@vocab": "https://schema.org/", |
|
"citeAs": "cr:citeAs", |
|
"column": "cr:column", |
|
"conformsTo": "dct:conformsTo", |
|
"cr": "http://mlcommons.org/croissant/", |
|
"rai": "http://mlcommons.org/croissant/RAI/", |
|
"data": { |
|
"@id": "cr:data", |
|
"@type": "@json" |
|
}, |
|
"dataType": { |
|
"@id": "cr:dataType", |
|
"@type": "@vocab" |
|
}, |
|
"dct": "http://purl.org/dc/terms/", |
|
"examples": { |
|
"@id": "cr:examples", |
|
"@type": "@json" |
|
}, |
|
"extract": "cr:extract", |
|
"field": "cr:field", |
|
"fileProperty": "cr:fileProperty", |
|
"fileObject": "cr:fileObject", |
|
"fileSet": "cr:fileSet", |
|
"format": "cr:format", |
|
"includes": "cr:includes", |
|
"isLiveDataset": "cr:isLiveDataset", |
|
"jsonPath": "cr:jsonPath", |
|
"key": "cr:key", |
|
"md5": "cr:md5", |
|
"parentField": "cr:parentField", |
|
"path": "cr:path", |
|
"recordSet": "cr:recordSet", |
|
"references": "cr:references", |
|
"regex": "cr:regex", |
|
"repeated": "cr:repeated", |
|
"replace": "cr:replace", |
|
"sc": "https://schema.org/", |
|
"separator": "cr:separator", |
|
"source": "cr:source", |
|
"subField": "cr:subField", |
|
"transform": "cr:transform" |
|
}, |
|
"@type": "sc:Dataset", |
|
"name": "RoboCAS-v0", |
|
"description": "RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarios", |
|
"conformsTo": "http://mlcommons.org/croissant/1.0", |
|
"citeAs": "@inproceedings{title={RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarios}, \nauthors={Liming Zheng and Feng Yan and Fanfan Liu and Chengjian Feng and Zhuoliang Kang and Lin Ma}, \nyear={2024}, \nbooktitle={NeurIPS: Datasets and Benchmarks Track} \n}", |
|
"keywords": [ |
|
"Embodied AI", |
|
"Manipulation", |
|
"Complex Scenarios", |
|
"cc-by-nc-4.0" |
|
], |
|
"license": "cc-by-nc-4.0", |
|
"url": "https://huggingface.co/datasets/zlm898/RoboCAS-v0", |
|
"distribution": [ |
|
{ |
|
"@type": "cr:FileObject", |
|
"@id": "orderly-scene", |
|
"name": "orderly-scene", |
|
"description": "Root path of the data in orderly scene", |
|
"contentSize": "1037397441 B", |
|
"contentUrl": "https://huggingface.co/datasets/zlm898/RoboCAS-v0/resolve/main/orderly.zip", |
|
"encodingFormat": "application/zip", |
|
"sha256": "c75e6e18fc60c113a6f1566ca2391a3aafd14aa84bdaaa48b420d6f637963e3a" |
|
}, |
|
{ |
|
"@type": "cr:FileObject", |
|
"@id": "scattered-scene", |
|
"name": "scattered-scene", |
|
"description": "Root path of the data in orderly scene", |
|
"contentSize": "1343726922 B", |
|
"contentUrl": "https://huggingface.co/datasets/zlm898/RoboCAS-v0/resolve/main/scattered.zip", |
|
"encodingFormat": "application/zip", |
|
"sha256": "da6557d3936c19404235c02b8ab52e25857786fba9c0acceaf32aa2c1f16ab68" |
|
}, |
|
{ |
|
"@type": "cr:FileObject", |
|
"@id": "stacked-scene", |
|
"name": "stacked-scene", |
|
"description": "Root path of the data in orderly scene", |
|
"contentSize": "2451089390 B", |
|
"contentUrl": "https://huggingface.co/datasets/zlm898/RoboCAS-v0/resolve/main/stacked.zip", |
|
"encodingFormat": "application/zip", |
|
"sha256": "dc44f66e12dfdf4dd72e3101d68049f6b500a38fca8a5e276d3120a901c2f2ce" |
|
}, |
|
{ |
|
"@type": "cr:FileSet", |
|
"@id": "gripper-rgb", |
|
"name": "gripper-rgb", |
|
"description": "rgb images of gripper camera", |
|
"containedIn": [ |
|
{ |
|
"@id": "orderly-scene" |
|
}, |
|
{ |
|
"@id": "stacked-scene" |
|
}, |
|
{ |
|
"@id": "scattered-scene" |
|
} |
|
], |
|
"encodingFormat": "image/png", |
|
"includes": "*/episode_*/gripper_camera/rgb/*.png" |
|
}, |
|
{ |
|
"@type": "cr:FileSet", |
|
"@id": "gripper-depth", |
|
"name": "gripper-depth", |
|
"description": "depth images of gripper camera", |
|
"containedIn": [ |
|
{ |
|
"@id": "orderly-scene" |
|
}, |
|
{ |
|
"@id": "stacked-scene" |
|
}, |
|
{ |
|
"@id": "scattered-scene" |
|
} |
|
], |
|
"encodingFormat": "image/png", |
|
"includes": "*/episode_*/gripper_camera/depth/*.png" |
|
}, |
|
{ |
|
"@type": "cr:FileSet", |
|
"@id": "static-rgb", |
|
"name": "static-rgb", |
|
"description": "rgb images of static camera", |
|
"containedIn": [ |
|
{ |
|
"@id": "orderly-scene" |
|
}, |
|
{ |
|
"@id": "stacked-scene" |
|
}, |
|
{ |
|
"@id": "scattered-scene" |
|
} |
|
], |
|
"encodingFormat": "image/png", |
|
"includes": "*/episode_*/static_camera/rgb/*.png" |
|
}, |
|
{ |
|
"@type": "cr:FileSet", |
|
"@id": "static-depth", |
|
"name": "static-depth", |
|
"description": "depth images of static camera", |
|
"containedIn": [ |
|
{ |
|
"@id": "orderly-scene" |
|
}, |
|
{ |
|
"@id": "stacked-scene" |
|
}, |
|
{ |
|
"@id": "scattered-scene" |
|
} |
|
], |
|
"encodingFormat": "image/png", |
|
"includes": "*/episode_*/static_camera/depth/*.png" |
|
}, |
|
{ |
|
"@type": "cr:FileSet", |
|
"@id": "base-rgb", |
|
"name": "base-rgb", |
|
"description": "rgb images of base camera", |
|
"containedIn": [ |
|
{ |
|
"@id": "orderly-scene" |
|
}, |
|
{ |
|
"@id": "stacked-scene" |
|
}, |
|
{ |
|
"@id": "scattered-scene" |
|
} |
|
], |
|
"encodingFormat": "image/png", |
|
"includes": "*/episode_*/base_camera/rgb/*.png" |
|
}, |
|
{ |
|
"@type": "cr:FileSet", |
|
"@id": "base-depth", |
|
"name": "base-depth", |
|
"description": "depth images of base camera", |
|
"containedIn": [ |
|
{ |
|
"@id": "orderly-scene" |
|
}, |
|
{ |
|
"@id": "stacked-scene" |
|
}, |
|
{ |
|
"@id": "scattered-scene" |
|
} |
|
], |
|
"encodingFormat": "image/png", |
|
"includes": "*/episode_*/base_camera/depth/*.png" |
|
} |
|
], |
|
"recordSet": [ |
|
{ |
|
"@type": "cr:RecordSet", |
|
"@id": "gripper_rgb_image", |
|
"name": "gripper_rgb_image", |
|
"field": [ |
|
{ |
|
"@type": "cr:Field", |
|
"@id": "gripper_rgb_image/rgb", |
|
"name": "rgb", |
|
"description": "Image data", |
|
"dataType": "sc:ImageObject", |
|
"source": { |
|
"fileSet": { |
|
"@id": "gripper-rgb" |
|
}, |
|
"extract": { |
|
"fileProperty": "content" |
|
} |
|
} |
|
}, |
|
{ |
|
"@type": "cr:Field", |
|
"@id": "gripper_rgb_image/rgb_name", |
|
"name": "rgb_name", |
|
"description": "Name of the image, e.g. 0023.npg", |
|
"dataType": "sc:Text", |
|
"source": { |
|
"fileSet": { |
|
"@id": "gripper-rgb" |
|
}, |
|
"extract": { |
|
"fileProperty": "filename" |
|
} |
|
} |
|
} |
|
] |
|
}, |
|
{ |
|
"@type": "cr:RecordSet", |
|
"@id": "gripper_depth_image", |
|
"name": "gripper_depth_image", |
|
"field": [ |
|
{ |
|
"@type": "cr:Field", |
|
"@id": "gripper_depth_image/depth", |
|
"name": "depth", |
|
"description": "Image data", |
|
"dataType": "sc:ImageObject", |
|
"source": { |
|
"fileSet": { |
|
"@id": "gripper-depth" |
|
}, |
|
"extract": { |
|
"fileProperty": "content" |
|
} |
|
} |
|
}, |
|
{ |
|
"@type": "cr:Field", |
|
"@id": "gripper_depth_image/depth_name", |
|
"name": "depth_name", |
|
"description": "Name of the image, e.g. 0023.npg", |
|
"dataType": "sc:Text", |
|
"source": { |
|
"fileSet": { |
|
"@id": "gripper-depth" |
|
}, |
|
"extract": { |
|
"fileProperty": "filename" |
|
} |
|
} |
|
} |
|
] |
|
}, |
|
{ |
|
"@type": "cr:RecordSet", |
|
"@id": "static_rgb_image", |
|
"name": "static_rgb_image", |
|
"field": [ |
|
{ |
|
"@type": "cr:Field", |
|
"@id": "static_rgb_image/rgb", |
|
"name": "rgb", |
|
"description": "Image data", |
|
"dataType": "sc:ImageObject", |
|
"source": { |
|
"fileSet": { |
|
"@id": "static-rgb" |
|
}, |
|
"extract": { |
|
"fileProperty": "content" |
|
} |
|
} |
|
}, |
|
{ |
|
"@type": "cr:Field", |
|
"@id": "static_rgb_image/rgb_name", |
|
"name": "rgb_name", |
|
"description": "Name of the image, e.g. 0023.npg", |
|
"dataType": "sc:Text", |
|
"source": { |
|
"fileSet": { |
|
"@id": "static-rgb" |
|
}, |
|
"extract": { |
|
"fileProperty": "filename" |
|
} |
|
} |
|
} |
|
] |
|
}, |
|
{ |
|
"@type": "cr:RecordSet", |
|
"@id": "static_depth_image", |
|
"name": "static_depth_image", |
|
"field": [ |
|
{ |
|
"@type": "cr:Field", |
|
"@id": "static_depth_image/depth", |
|
"name": "depth", |
|
"description": "Image data", |
|
"dataType": "sc:ImageObject", |
|
"source": { |
|
"fileSet": { |
|
"@id": "static-depth" |
|
}, |
|
"extract": { |
|
"fileProperty": "content" |
|
} |
|
} |
|
}, |
|
{ |
|
"@type": "cr:Field", |
|
"@id": "static_depth_image/depth_name", |
|
"name": "depth_name", |
|
"description": "Name of the image, e.g. 0023.npg", |
|
"dataType": "sc:Text", |
|
"source": { |
|
"fileSet": { |
|
"@id": "static-depth" |
|
}, |
|
"extract": { |
|
"fileProperty": "filename" |
|
} |
|
} |
|
} |
|
] |
|
}, |
|
{ |
|
"@type": "cr:RecordSet", |
|
"@id": "base_rgb_image", |
|
"name": "base_rgb_image", |
|
"field": [ |
|
{ |
|
"@type": "cr:Field", |
|
"@id": "base_rgb_image/rgb", |
|
"name": "rgb", |
|
"description": "Image data", |
|
"dataType": "sc:ImageObject", |
|
"source": { |
|
"fileSet": { |
|
"@id": "base-rgb" |
|
}, |
|
"extract": { |
|
"fileProperty": "content" |
|
} |
|
} |
|
}, |
|
{ |
|
"@type": "cr:Field", |
|
"@id": "base_rgb_image/rgb_name", |
|
"name": "rgb_name", |
|
"description": "Name of the image, e.g. 0023.npg", |
|
"dataType": "sc:Text", |
|
"source": { |
|
"fileSet": { |
|
"@id": "base-rgb" |
|
}, |
|
"extract": { |
|
"fileProperty": "filename" |
|
} |
|
} |
|
} |
|
] |
|
}, |
|
{ |
|
"@type": "cr:RecordSet", |
|
"@id": "base_depth_image", |
|
"name": "base_depth_image", |
|
"field": [ |
|
{ |
|
"@type": "cr:Field", |
|
"@id": "base_depth_image/depth", |
|
"name": "depth", |
|
"description": "Image data", |
|
"dataType": "sc:ImageObject", |
|
"source": { |
|
"fileSet": { |
|
"@id": "base-depth" |
|
}, |
|
"extract": { |
|
"fileProperty": "content" |
|
} |
|
} |
|
}, |
|
{ |
|
"@type": "cr:Field", |
|
"@id": "base_depth_image/depth_name", |
|
"name": "depth_name", |
|
"description": "Name of the image, e.g. 0023.npg", |
|
"dataType": "sc:Text", |
|
"source": { |
|
"fileSet": { |
|
"@id": "base-depth" |
|
}, |
|
"extract": { |
|
"fileProperty": "filename" |
|
} |
|
} |
|
} |
|
] |
|
} |
|
] |
|
} |
|
|