LingBot-Depth
Collection
5 items • Updated • 7
Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 80, in _split_generators
first_examples = list(islice(pipeline, self.NUM_EXAMPLES_FOR_FEATURES_INFERENCE))
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 33, in _get_pipeline_from_tar
for filename, f in tar_iterator:
^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/utils/track.py", line 49, in __iter__
for x in self.generator(*self.args):
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/utils/file_utils.py", line 1380, in _iter_from_urlpath
yield from cls._iter_tar(f)
File "/usr/local/lib/python3.12/site-packages/datasets/utils/file_utils.py", line 1331, in _iter_tar
stream = tarfile.open(fileobj=f, mode="r|*")
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/tarfile.py", line 1886, in open
t = cls(name, filemode, stream, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/tarfile.py", line 1762, in __init__
self.firstmember = self.next()
^^^^^^^^^^^
File "/usr/local/lib/python3.12/tarfile.py", line 2750, in next
raise ReadError(str(e)) from None
tarfile.ReadError: invalid header
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 65, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
YAML Metadata Warning:empty or missing yaml metadata in repo card
Check out the documentation for more information.
LingBot-Depth Dataset
Self-curated RGB-D dataset for training LingBot-Depth, a depth estimation model. Each sample contains an RGB image, raw sensor depth, and ground truth depth.
Total size: 2.71 TB
Depth scale: millimeters (mm), stored as 16-bit PNG
License: CC BY-NC-SA 4.0
Sub-datasets
| Name | Description | Samples |
|---|---|---|
| RobbyReal | Real-world indoor scenes captured with multiple RGB-D cameras | 1,400,000 |
| RobbyVla | Real-world data collected during VLA (Vision-Language-Action) robot manipulation tasks | 580,960 |
| RobbySim | Simulated data rendered from two camera viewpoints | 999,264 |
| RobbySimVal | Validation split of simulated data | 38,976 |
| Total | 3,019,200 |
Directory Structure
RobbyReal
RobbyReal/
└── <scene_id>/ # e.g. 00001_01_room
├── orbbec_335_<seq>/
│ ├── color/ # RGB images
│ ├── gtdepth/ # Ground truth depth
│ ├── rawdepth/ # Raw sensor depth
│ └── intrinsic.txt
├── orbbec_335L_<seq>/
│ ├── color/
│ ├── gtdepth/
│ ├── rawdepth/
│ └── intrinsic.txt
├── realsense_D415_<seq>/
│ ├── color/
│ ├── gtdepth/
│ ├── rawdepth/
│ └── intrinsic.txt
├── realsense_D435_<seq>/
│ ├── color/
│ ├── gtdepth/
│ ├── rawdepth/
│ └── intrinsic.txt
└── realsense_D455_<seq>/
├── color/
├── gtdepth/
├── rawdepth/
└── intrinsic.txt
RobbyVla
Data collected during VLA robot manipulation tasks on two robot platforms.
RobbyVla/
├── franka/ # Franka robot arm
│ └── <seq>/
│ ├── left_realsense405/
│ │ ├── color/
│ │ ├── gtdepth/
│ │ ├── rawdepth/
│ │ └── intrinsic.txt
│ └── right_realsense405/
│ ├── color/
│ ├── gtdepth/
│ ├── rawdepth/
│ └── intrinsic.txt
└── ur7e/ # UR7e robot arm
└── <seq>/
├── left_realsense405/
│ ├── color/
│ ├── gtdepth/
│ ├── rawdepth/
│ └── intrinsic.txt
└── right_realsense405/
├── color/
├── gtdepth/
├── rawdepth/
└── intrinsic.txt
RobbySim
Simulated data rendered from two camera viewpoints: object_view and rrt_view.
RobbySim/
├── intrinsics.txt
├── object_view/
│ └── <scene_id>/<cam_id>/ # e.g. xxxx/00, xxxx/01
│ ├── 0001_cam0_left.jpg # RGB image
│ ├── 0001_cam0_depth.png # Ground truth depth
│ └── 0001_cam0_rmd2c.png # Raw depth
└── rrt_view/
└── <scene_id>/<cam_id>/
├── 0001_cam0_left.jpg
├── 0001_cam0_depth.png
└── 0001_cam0_rmd2c.png
RobbySimVal
Validation split of simulated data.
RobbySimVal/
└── val_view/
└── <scene_id>/<cam_id>/ # e.g. xxxx/00, xxxx/01
├── intrinsics.txt
├── 0001_cam0_rgb.left.jpg # RGB image
├── 0001_cam0_depth_left.png # Ground truth depth
└── 0001_cam0_rawdepth.left.png # Raw depth
File Description
| File/Folder | Description |
|---|---|
color/ / *_rgb*.jpg |
RGB images |
gtdepth/ / *_depth*.png |
Ground truth depth maps (16-bit PNG, unit: mm) |
rawdepth/ / *_rawdepth*.png / *_rmd2c*.png |
Raw depth from sensor before post-processing (16-bit PNG, unit: mm) |
intrinsic.txt / intrinsics.txt |
Camera intrinsic parameters |
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