| --- |
| pretty_name: Piston Long-Horizon Videos |
| tags: |
| - robotics |
| - simulation |
| - video |
| - isaaclab |
| - replay |
| --- |
| |
| # Piston Long-Horizon Videos |
|
|
| This dataset contains 107 long-horizon piston replay recordings generated from the local archive `piston_long_horizon_ego_wrist_videos_20260726.tar`. |
|
|
| Each trajectory has two synchronized camera-view videos: |
|
|
| - `ego/`: ego/front camera recordings |
| - `wrist/`: right wrist camera recordings |
|
|
| The videos were rendered from the 50 Hz replay pipeline used for the Piston task. The replay uses a free-physics object mode rather than strictly forcing the object pose at every frame, so the videos are intended for visual observation/replay inspection rather than as a ground-truth physical-state dataset. |
|
|
| ## Directory Structure |
|
|
| ```text |
| ego/ |
| trajectory_csv_1/ |
| episode_trial0_env0.mp4 |
| ... |
| trajectory_csv_2/ |
| ... |
| trajectory_csv_3/ |
| ... |
| wrist/ |
| trajectory_csv_1/ |
| episode_trial0_env0.mp4 |
| ... |
| trajectory_csv_2/ |
| ... |
| trajectory_csv_3/ |
| ... |
| manifest.csv |
| ``` |
|
|
| ## Manifest |
|
|
| `manifest.csv` contains one row per trajectory and aligns the two camera views: |
|
|
| | Column | Description | |
| | --- | --- | |
| | `trajectory_group` | Source trajectory group, for example `trajectory_csv_1`. | |
| | `episode` | Episode identifier, for example `episode_trial0_env0`. | |
| | `ego_video` | Relative path to the ego/front camera video. | |
| | `wrist_video` | Relative path to the right wrist camera video. | |
|
|
| ## Counts |
|
|
| - Trajectories: 107 |
| - Ego/front camera videos: 107 |
| - Right wrist camera videos: 107 |
| - Total MP4 files: 214 |
|
|
| ## Loading Example |
|
|
| ```python |
| import pandas as pd |
| |
| manifest = pd.read_csv("manifest.csv") |
| row = manifest.iloc[0] |
| |
| ego_path = row["ego_video"] |
| wrist_path = row["wrist_video"] |
| ``` |
|
|
| ## Limitations |
|
|
| - This dataset contains rendered replay videos only. |
| - It does not include the original CSV trajectories, actions, robot states, or object states. |
| - The recordings are simulated IsaacLab/Unitree G1 replay outputs, not real robot camera footage. |
| - No train/validation/test split is provided. |
|
|
