Datasetpublic

zmliu1122/UWM-test

UWM-test A held-out test set sampled from four RoboMIND 2.0 robot-manipulation subsets (Franka, Tianyi, Tienkung, UR5). For every task that belongs to the test split (is_training = 0), 25 episodes are sampled. UR5 uses a pre-existing 8 × 25 subtest selection. Total: 600 episodes, 24 tasks, ~288 GiB. Directory layout UWM-test/ ├── uwm_test_index.csv # master index (paths point into this folder) ├── README.md ├── franka/<task>/<episode_id>/ │ ├──… See the full description on the dataset page: https://huggingface.co/datasets/zmliu1122/UWM-test.

sourceHugging Faceupdated 12d agoView on Hugging Face

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UWM-test

A held-out test set sampled from four RoboMIND 2.0 robot-manipulation subsets (Franka, Tianyi, Tienkung, UR5). For every task that belongs to the test split (is_training = 0), 25 episodes are sampled. UR5 uses a pre-existing 8 × 25 subtest selection.

Total: 600 episodes, 24 tasks, ~288 GiB.

Directory layout

UWM-test/
├── uwm_test_index.csv          # master index (paths point into this folder)
├── README.md
├── franka/<task>/<episode_id>/
│   ├── trajectory.hdf5         # RGB (+ depth) trajectory
│   ├── seg.npz                 # segmentation
│   └── flow.npz                # optical flow
├── tianyi/<task>/<episode_id>/
│   ├── trajectory.hdf5         # RGB trajectory
│   ├── depth.npz               # depth (separate file)
│   ├── seg.npz
│   └── flow.b2
├── tienkung/<task>/<episode_id>/
│   ├── trajectory.hdf5         # RGB (+ depth) trajectory
│   ├── seg.npz
│   └── flow.b2
└── ur5/<task>/<episode_id>/
    ├── trajectory.hdf5         # RGB (+ depth) trajectory
    ├── seg.npz
    └── flow.b2

Notes on modalities:

—Franka / Tienkung / UR5: video_path and depth_path reference the same trajectory.hdf5 (RGB and depth are stored together), so only one HDF5 is stored per episode and both columns point to it.
—Tianyi: depth is a separate depth.npz file.
—Optical-flow extension varies by subset: .npz (Franka) or .b2 (Tianyi / Tienkung / UR5).

index file — `uwm_test_index.csv`

Columns:

column	description
`dataset`	one of `franka`, `tianyi`, `tienkung`, `ur5`
`episode_id`	episode identifier
`task`	task name
`video_path`	absolute path to `trajectory.hdf5` under `/mnt/UWM-test`
`depth_path`	path to depth source (== `video_path` except Tianyi)
`seg_path`	path to segmentation file
`flow_path`	path to optical-flow file
`fps`	frames per second
`h`, `w`	frame height / width
`n_frames`	number of frames
`caption`	natural-language task description
`is_training`	always `0` (test split)

All path columns point into /mnt/UWM-test/....

Data distribution

Summary

dataset	tasks	episodes	size
franka	11	275	130 GiB
tianyi	2	50	28 GiB
tienkung	3	75	54 GiB
ur5	8	200	77 GiB
total	24	600	~288 GiB

Every task contributes exactly 25 episodes.

Tasks per dataset (25 episodes each)

franka (11 tasks)

—closelaptopwithbotharmsfrombehind
—passtowelandhangon_rack
—placebearinggearfromtraytopile
—placefruitsandboxwithbotharms
—placelemonandlettuceinplates1
—placemouseandphonewitharms1
—placeredcookieboxon_tray
—placesandwichfrombasketto_tray
—plugchargerintopowerstrip
—transferpotatofrompotto_plate
—turnandplaceswitchwithbotharms

tianyi (2 tasks)

—placewhitetoyintoblueboxwithlefthand
—placeyellowpepperonplatewithright_hand

tienkung (3 tasks)

—flipyellowbuttonandstanditwithbotharms
—pourwinefrommeasuringcuptoshaker
—pressgreenstart_button

ur5 (8 tasks)

—collecttennisballsintobucket
—flip_cup
—inserttennisballverticallyintoholderwith_arms
—openupperdrawer
—placebreadonblueplatewitharms
—placeplateon_table
—placeteaon_tray
—setupstudyscenewithlaptopmouseand_lamp

Source

Sampled from RoboMIND 2.0 (Franka / Tianyi / Tienkung / UR5) test splits used by the UWM project.