| { |
| "@context": { |
| "@language": "en", |
| "@vocab": "https://schema.org/", |
| "citeAs": "cr:citeAs", |
| "column": "cr:column", |
| "conformsTo": "dct:conformsTo", |
| "cr": "http://mlcommons.org/croissant/", |
| "data": { |
| "@id": "cr:data", |
| "@type": "@json" |
| }, |
| "dataBiases": "cr:dataBiases", |
| "dataCollection": "cr:dataCollection", |
| "dataType": { |
| "@id": "cr:dataType", |
| "@type": "@vocab" |
| }, |
| "dct": "http://purl.org/dc/terms/", |
| "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", |
| "personalSensitiveInformation": "cr:personalSensitiveInformation", |
| "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": "RPX", |
| "description": "RPX (Robot Perception X) is a unified real-world RGB-D benchmark for evaluating robot perception under embodied deployment conditions. It comprises 110,000 released MOS/SOS frames across 100 indoor multi-object scenes and 70 selected single-object captures, using Intel D435 and T265 sensors. Ground-truth annotations include instance masks, tracklets, metric depth, 6-DoF camera pose, and language attributes, enabling evaluation of perception tasks on identical scenes and objects.\n\nNote on on-disk shape: per-frame records are physically packed into per-(scene, phase, modality) tar shards on the HF repo (scenes/<scene>/<phase>/<modality>.tar for raw modalities; labels/<modality>/v<N>.tar for versioned labels). RGB and fisheye frames use lossless WebP; depth and masks use lossless PNG; camera poses use per-frame NPY float64 vectors. Every transformed file was round-trip verified against its source. The rpx_benchmark.dataset_hub downloader resolves selective task+split downloads from these shards transparently.", |
| "conformsTo": "http://mlcommons.org/croissant/1.0", |
| "citeAs": "TODO: add bibtex citation after paper is published", |
| "license": "https://creativecommons.org/licenses/by/4.0/", |
| "url": "https://huggingface.co/datasets/IRVLUTD/RPX", |
| "version": "1.1.0", |
| "isLiveDataset": false, |
| "creator": { |
| "@type": "Organization", |
| "name": "Anonymous (for review)", |
| "url": "https://anonymous.4open.science/r/RPX" |
| }, |
| "dataCollection": "Data was collected using a hand-held sensor rig (Intel RealSense D435 RGB-D + T265 tracking camera) by human operators in indoor environments. Each of 100 scenes was captured across three phases: clutter, human interaction, and clean. Per-frame instance masks were generated using SAM2 with iterative human refinement. Camera poses are from T265 visual-inertial odometry. Language annotations are derived from FewSOL object questionnaires.", |
| "dataBiases": "The dataset is limited to indoor tabletop and room-scale environments with D435 depth range (0.3-3m). Object categories skew toward household and laboratory manipulation objects. Capture trajectories are human-driven and may not cover all robot motion profiles. All capture was performed by lab personnel; annotator diversity is limited.", |
| "personalSensitiveInformation": "The dataset contains video footage of human hands during the interaction phase. No faces, biometric identifiers, or personally identifiable information are captured or released. Participants provided informed consent for data collection and release.", |
| "distribution": [ |
| { |
| "@type": "cr:FileObject", |
| "@id": "rpx-sample", |
| "name": "rpx-sample", |
| "description": "5-scene reviewer sample (<4GB), available without registration", |
| "contentUrl": "https://anonymous.4open.science/r/RPX/sample", |
| "encodingFormat": "application/zip", |
| "sha256": "TODO" |
| }, |
| { |
| "@type": "cr:FileObject", |
| "@id": "rpx-full", |
| "name": "rpx-full", |
| "description": "Full 110,000-frame MOS/SOS dataset with all annotations", |
| "contentUrl": "https://anonymous.4open.science/r/RPX/full", |
| "encodingFormat": "application/zip", |
| "sha256": "TODO" |
| }, |
| { |
| "@type": "cr:FileObject", |
| "@id": "rpx-manifests", |
| "name": "rpx-manifests", |
| "description": "JSON manifest files for train/val/test splits and ESD labels", |
| "contentUrl": "https://anonymous.4open.science/r/RPX/manifests", |
| "encodingFormat": "application/json" |
| } |
| ], |
| "recordSet": [ |
| { |
| "@type": "cr:RecordSet", |
| "@id": "frames", |
| "name": "frames", |
| "description": "Per-frame records with RGB, depth, instance mask, camera pose, phase, and ESD label", |
| "field": [ |
| { |
| "@type": "cr:Field", |
| "@id": "frames/id", |
| "name": "id", |
| "description": "Unique frame identifier (scene_phase_framenum)", |
| "dataType": "sc:Text" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "frames/scene_id", |
| "name": "scene_id", |
| "description": "Scene index (0-99)", |
| "dataType": "sc:Integer" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "frames/phase", |
| "name": "phase", |
| "description": "Scene phase: clutter | interaction | clean", |
| "dataType": "sc:Text" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "frames/difficulty", |
| "name": "difficulty", |
| "description": "ESD difficulty level: easy | medium | hard", |
| "dataType": "sc:Text" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "frames/rgb_path", |
| "name": "rgb_path", |
| "description": "Relative path to RGB image (lossless WebP, RGB uint8)", |
| "dataType": "sc:Text" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "frames/depth_path", |
| "name": "depth_path", |
| "description": "Relative path to depth map (lossless PNG, uint16 millimetres)", |
| "dataType": "sc:Text" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "frames/mask_path", |
| "name": "mask_path", |
| "description": "Relative path to instance mask (PNG, pixel values = instance IDs)", |
| "dataType": "sc:Text" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "frames/camera_pose", |
| "name": "camera_pose", |
| "description": "Relative path to a (7,) float64 NPY pose vector [x, y, z, qx, qy, qz, qw] from T265", |
| "dataType": "sc:Text" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "frames/split", |
| "name": "split", |
| "description": "Dataset split: train | val | test", |
| "dataType": "sc:Text" |
| } |
| ] |
| }, |
| { |
| "@type": "cr:RecordSet", |
| "@id": "tracklets", |
| "name": "tracklets", |
| "description": "Per-object tracklets with consistent IDs across frames within a phase", |
| "field": [ |
| { |
| "@type": "cr:Field", |
| "@id": "tracklets/scene_id", |
| "name": "scene_id", |
| "dataType": "sc:Integer" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "tracklets/phase", |
| "name": "phase", |
| "dataType": "sc:Text" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "tracklets/track_id", |
| "name": "track_id", |
| "description": "Unique object track identifier within scene+phase", |
| "dataType": "sc:Text" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "tracklets/object_category", |
| "name": "object_category", |
| "description": "Object category name", |
| "dataType": "sc:Text" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "tracklets/language_description", |
| "name": "language_description", |
| "description": "Natural language referring expression from FewSOL attributes", |
| "dataType": "sc:Text" |
| } |
| ] |
| }, |
| { |
| "@type": "cr:RecordSet", |
| "@id": "esd_scores", |
| "name": "esd_scores", |
| "description": "Per-(scene, phase) ESD feature values and RPX-DS scores", |
| "field": [ |
| { |
| "@type": "cr:Field", |
| "@id": "esd/scene_id", |
| "name": "scene_id", |
| "dataType": "sc:Integer" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "esd/phase", |
| "name": "phase", |
| "dataType": "sc:Text" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "esd/rpx_ds", |
| "name": "rpx_ds", |
| "description": "RPX Difficulty Score (higher = harder)", |
| "dataType": "sc:Float" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "esd/difficulty", |
| "name": "difficulty", |
| "description": "ESD split assignment: easy | medium | hard", |
| "dataType": "sc:Text" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "esd/occ_mean", |
| "name": "occ_mean", |
| "dataType": "sc:Float" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "esd/iter_mean", |
| "name": "iter_mean", |
| "dataType": "sc:Float" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "esd/area_cv", |
| "name": "area_cv", |
| "dataType": "sc:Float" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "esd/depth_invalid_mask", |
| "name": "depth_invalid_mask", |
| "dataType": "sc:Float" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "esd/vis_instability", |
| "name": "vis_instability", |
| "dataType": "sc:Float" |
| }, |
| { |
| "@type": "cr:Field", |
| "@id": "esd/jerk", |
| "name": "jerk", |
| "dataType": "sc:Float" |
| } |
| ] |
| } |
| ] |
| } |
|
|
