Apache 2.0
The publisher's licence permits commercial use and redistribution, with attribution. Hub card tag apache-2.0; the card body could not be read in full, so the sentence covering the video files is unconfirmed. The publisher's institutional affiliation is in the paper.
hf download EgoSteer/EgoSteer-RealWorld --repo-type dataset --local-dir ./EgoSteer-RealWorldPublic, no gate. 3.2 TB; pull selectively with --include.
Specification, as published
- Hours (stated)
- 192 h
- Episodes (stated)
- 54,454 episodes
- Scale
- 54,454 episodes, 20.75 million frames
- Task
- Pick & place, Assembly, Tidying & put-away, Other
- Environment
- Indoor – lab
- Modality
- RGB, Depth, Proprioception, Actions, Language, Camera calibration
- Capture
- Egocentric
- In frame
- Robot hands
- Captured in
- Undisclosed
- Embodiment
- RealMan dual-arm robot with Ruiyan dexterous hands
- Frame rate
- 30 fps
- Resolution
- 640x480
- Formats
- LeRobot v3, Parquet, MP4
- Size
- 3.2 TB
- Hosted on
- Hugging Face
Figures are the publisher's own. Kinetic Blocks has not measured this dataset.
About this dataset
EgoSteer-RealWorld records a RealMan dual-arm robot with Ruiyan dexterous hands under teleoperation across 193 tasks in seven categories (pick-and-place easy, medium and hard, non-prehensile, tool use, assembly, articulation): 56 common everyday tasks and 137 long-tail ones, with one to twelve English instructions per episode. Head and chest RGB-D cameras at 640x480 and 30 Hz, a 74-dimensional state and action, per-frame head and chest camera extrinsics and timestamps. 20.75 million frames across 54,454 episodes (54,261 train, 193 validation), 3.2 TB in LeRobot v3.
Publisher's own task names: 193 tasks in seven categories, non-prehensile manipulation, tool use, articulated objects.
What Kinetic Blocks did, and did not do
Indexed and linked from the publisher. Not hosted, verified or graded by Kinetic Blocks. The publisher's terms govern. The licence shown is the one stated on the publisher's page, linked above. Nothing on this page is a claim by Kinetic Blocks.
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