{ "@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" } } } ] } ] }