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InsertPeg/episode_0001/done.json

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+{"task": "InsertPeg", "episode": 1, "demo_len": 284, "num_timesteps": 568, "view": "front_rgb", "foreground_fraction": [0.02502, 0.02509, 0.02472, 0.02469, 0.02464, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02467, 0.02464, 0.02454, 0.02464, 0.02429, 0.02434, 0.02208, 0.02455, 0.02377, 0.02277, 0.0231, 0.02432, 0.024, 0.02376, 0.02399, 0.02361, 0.02461, 0.02185, 0.02185, 0.03841, 0.02231, 0.02185, 0.02467, 0.02557, 0.05644, 0.05905, 0.06198, 0.06415, 0.08533, 0.09148, 0.09708, 0.09956, 0.10254, 0.10355, 0.1042, 0.10454, 0.10455, 0.10451, 0.10434, 0.10417, 0.104, 0.10399, 0.104, 0.10402, 0.104, 0.10402, 0.10405, 0.10419, 0.10393, 0.10402, 0.10371, 0.10326, 0.10208, 0.09959, 0.09747, 0.09279, 0.08687, 0.06586, 0.06453, 0.06256, 0.06007, 0.05745, 0.03307, 0.05161, 0.02315, 0.0464, 0.02185, 0.02185, 0.02803, 0.0276, 0.02727, 0.0274, 0.02727, 0.02721, 0.02727, 0.02635, 0.02739, 0.0275, 0.02573, 0.02768, 0.02783, 0.0266, 0.02815, 0.02185, 0.02185, 0.02185, 0.02556, 0.02318, 0.02185, 0.02185, 0.0285, 0.02542, 0.02185, 0.05078, 0.02791, 0.0499, 0.04129, 0.06099, 0.06084, 0.06297, 0.06438, 0.06546, 0.04384, 0.06012, 0.06073, 0.05853, 0.06049, 0.05934, 0.06406, 0.06615, 0.07471, 0.07344, 0.07227, 0.07088, 0.06938, 0.06738, 0.06534, 0.06343, 0.06253, 0.0546, 0.05817, 0.05653, 0.0551, 0.0545, 0.05408, 0.05428, 0.05441, 0.05499, 0.05508, 0.05534, 0.05574, 0.05653, 0.05772, 0.05875, 0.05983, 0.06131, 0.0631, 0.06543, 0.06804, 0.07076, 0.07339, 0.07655, 0.07959, 0.08276, 0.08548, 0.0883, 0.09132, 0.09531, 0.0992, 0.10291, 0.09604, 0.09447, 0.09399, 0.09308, 0.08835, 0.0883, 0.08784, 0.08635, 0.08363, 0.08148, 0.08063, 0.07738, 0.07567, 0.07477, 0.07271, 0.07062, 0.0688, 0.06706, 0.06566, 0.06375, 0.06276, 0.06198, 0.0611, 0.0605, 0.05988, 0.05966, 0.05928, 0.0593, 0.0594, 0.05986, 0.061, 0.05547, 0.06403, 0.0688, 0.07338, 0.06816, 0.08328, 0.08833, 0.09546, 0.134, 0.12529, 0.1662, 0.19167, 0.1973, 0.20082, 0.2027, 0.1913, 0.19385, 0.18652, 0.1866, 0.18936, 0.19406, 0.19366, 0.205, 0.19484, 0.19214, 0.20908, 0.20813, 0.19392, 0.20697, 0.21686, 0.20782, 0.21904, 0.2166, 0.21359, 0.21675, 0.21811, 0.2153, 0.2016, 0.21074, 0.21738, 0.20766, 0.2132, 0.20892, 0.2009, 0.19275, 0.18367, 0.17813, 0.17397, 0.17091, 0.16676, 0.16414, 0.16205, 0.16119, 0.16145, 0.16209, 0.16312], "seg_model": "ZhengPeng7/BiRefNet_lite", "seg_input_size": 1024, "packed": false}

README.md

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+---
+license: other
+task_categories:
+- image-segmentation
+tags:
+- robotics
+- video
+- foreground-segmentation
+---
+
+# RoboMME demonstration-prefix frames with foreground masks
+
+The **demonstration prefix** of RoboMME episodes -- the video-instruction frames, where `info/is_video_demo`
+is True -- together with a binary foreground mask for each frame.
+
+These frames are worth publishing separately because they are missing from the usual export: the pickle
+conversion that training pipelines consume writes a file only when `is_demo` is False, so the demo prefix
+(292k of RoboMME's 769k frames) exists only in the raw HDF5. Of the 16 tasks, **9 carry a demo prefix**;
+the other 7 have none.
+
+## Contents
+
+```
+<Task>/episode_<NNNN>/rgb/00000.png    front camera, 256x256 RGB, raw pixels
+<Task>/episode_<NNNN>/mask/00000.png   1-bit foreground mask, same size
+<Task>/episode_<NNNN>/done.json        demo_len, num_timesteps, per-frame foreground fraction
+demo_manifest.json                     the episode list and demo lengths
+```
+
+Frame `00000` is absolute timestep 0 of the episode, and frames run to `demo_len - 1`. RGB is untouched:
+no crop, no resize, no normalisation, so any preprocessing is the consumer's choice.
+
+## Masks
+
+`ZhengPeng7/BiRefNet_lite`, run at 1024x1024 and thresholded at 0.5, then resized back to 256. The
+resolution matters: below roughly 512 the mask comes back essentially empty, which makes a
+foreground-weighted loss put most of its weight on the wooden table instead of the arm and the objects.
+
+The masks are model output, not ground truth. They are accurate on the arm and the manipulated objects
+and they do pick up small painted markers, but they are not a substitute for simulator segmentation.
+
+## Provenance and licence
+
+Frames are derived from the RoboMME dataset; its licence governs their use. The masks are generated by
+BiRefNet_lite (MIT). Nothing here is human-annotated.

VideoPlaceButton/episode_0000/done.json

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+{"task": "VideoPlaceButton", "episode": 0, "demo_len": 765, "num_timesteps": 1048, "view": "front_rgb", "foreground_fraction": [0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02789, 0.02792, 0.02789, 0.05206, 0.05365, 0.05779, 0.02789, 0.06052, 0.06165, 0.06247, 0.06302, 0.06348, 0.06363, 0.06361, 0.06355, 0.06357, 0.06351, 0.06348, 0.06349, 0.06346, 0.06361, 0.06427, 0.06496, 0.06615, 0.06607, 0.06883, 0.06969, 0.07237, 0.07307, 0.07404, 0.07521, 0.07639, 0.07726, 0.07797, 0.07884, 0.07951, 0.08026, 0.0808, 0.08141, 0.08226, 0.08426, 0.08177, 0.08189, 0.08186, 0.08504, 0.08511, 0.08513, 0.08511, 0.08183, 0.08153, 0.08144, 0.08144, 0.08144, 0.08144, 0.08144, 0.08144, 0.08141, 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VideoPlaceButton/episode_0001/done.json

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+{"task": "VideoPlaceButton", "episode": 1, "demo_len": 757, "num_timesteps": 1002, "view": "front_rgb", "foreground_fraction": [0.02275, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.02277, 0.03059, 0.02278, 0.02278, 0.02274, 0.05287, 0.05995, 0.06555, 0.07036, 0.07404, 0.07339, 0.07785, 0.07704, 0.0782, 0.07913, 0.07864, 0.07857, 0.0786, 0.07854, 0.07848, 0.07852, 0.0787, 0.07869, 0.07878, 0.07864, 0.07913, 0.07971, 0.08049, 0.08162, 0.08229, 0.08238, 0.0826, 0.08266, 0.08278, 0.08379, 0.08479, 0.08582, 0.08565, 0.08763, 0.08984, 0.09129, 0.0923, 0.09326, 0.0939, 0.09441, 0.09464, 0.09468, 0.09462, 0.09456, 0.09439, 0.09413, 0.09413, 0.09413, 0.09413, 0.09415, 0.09415, 0.09413, 0.09412, 0.0939, 0.09358, 0.09317, 0.09233, 0.09155, 0.08925, 0.08205, 0.08687, 0.08447, 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VideoUnmaskSwap/episode_0000/done.json

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VideoUnmaskSwap/episode_0001/done.json

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demo_manifest.json

@@ -0,0 +1,133 @@
+{
+ "h5_dir": "/sjw_alinlab3/home/hyeonmo/project/robomme_h5_extract",
+ "view": "front_rgb",
+ "episodes": [
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+   "file": "record_dataset_InsertPeg.h5",
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+   "num_timesteps": 475,
+   "demo_len": 238
+  },
+  {
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+   "file": "record_dataset_InsertPeg.h5",
+   "episode": 1,
+   "num_timesteps": 568,
+   "demo_len": 284
+  },
+  {
+   "task": "MoveCube",
+   "file": "record_dataset_MoveCube.h5",
+   "episode": 0,
+   "num_timesteps": 425,
+   "demo_len": 234
+  },
+  {
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+   "file": "record_dataset_MoveCube.h5",
+   "episode": 1,
+   "num_timesteps": 441,
+   "demo_len": 258
+  },
+  {
+   "task": "PatternLock",
+   "file": "record_dataset_PatternLock.h5",
+   "episode": 0,
+   "num_timesteps": 96,
+   "demo_len": 48
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+  {
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+   "file": "record_dataset_PatternLock.h5",
+   "episode": 1,
+   "num_timesteps": 126,
+   "demo_len": 63
+  },
+  {
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+   "file": "record_dataset_RouteStick.h5",
+   "episode": 0,
+   "num_timesteps": 200,
+   "demo_len": 100
+  },
+  {
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+   "file": "record_dataset_RouteStick.h5",
+   "episode": 1,
+   "num_timesteps": 200,
+   "demo_len": 100
+  },
+  {
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+   "file": "record_dataset_VideoPlaceButton.h5",
+   "episode": 0,
+   "num_timesteps": 1048,
+   "demo_len": 765
+  },
+  {
+   "task": "VideoPlaceButton",
+   "file": "record_dataset_VideoPlaceButton.h5",
+   "episode": 1,
+   "num_timesteps": 1002,
+   "demo_len": 757
+  },
+  {
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+   "file": "record_dataset_VideoPlaceOrder.h5",
+   "episode": 0,
+   "num_timesteps": 1200,
+   "demo_len": 940
+  },
+  {
+   "task": "VideoPlaceOrder",
+   "file": "record_dataset_VideoPlaceOrder.h5",
+   "episode": 1,
+   "num_timesteps": 1367,
+   "demo_len": 1105
+  },
+  {
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+   "file": "record_dataset_VideoRepick.h5",
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+   "num_timesteps": 756,
+   "demo_len": 321
+  },
+  {
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+   "num_timesteps": 933,
+   "demo_len": 343
+  },
+  {
+   "task": "VideoUnmask",
+   "file": "record_dataset_VideoUnmask.h5",
+   "episode": 0,
+   "num_timesteps": 239,
+   "demo_len": 66
+  },
+  {
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+   "file": "record_dataset_VideoUnmask.h5",
+   "episode": 1,
+   "num_timesteps": 225,
+   "demo_len": 66
+  },
+  {
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+   "file": "record_dataset_VideoUnmaskSwap.h5",
+   "episode": 0,
+   "num_timesteps": 326,
+   "demo_len": 168
+  },
+  {
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+   "episode": 1,
+   "num_timesteps": 326,
+   "demo_len": 168
+  }
+ ],
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+}