README.md

metadata

license: apache-2.0
task_categories:
  - robotics
  - video-classification
tags:
  - robot-learning
  - egocentric-video
  - manufacturing
  - lerobot
pretty_name: Ego2Robot Factory Episodes
size_categories:
  - n<1K

Ego2Robot: Factory Manipulation Episodes

Dataset Description

50 curated episodes of factory worker manipulation tasks, converted from egocentric video into LeRobot-compatible format for robot learning research.

Key Features

• 50 episodes (~1,800 frames total)
• Real factory work from 85 manufacturing facilities
• 10 skill clusters discovered via unsupervised learning
• LeRobot v3.0 format with observations + pseudo-actions
• Rich annotations: VideoMAE embeddings, CLIP labels, quality scores

Data Structure

Each episode contains:

• Observations:
  • observation.images.top: RGB frames (360x640, 6fps)
  • observation.state: Hand bounding box [x_min, y_min, x_max, y_max]
• Actions: 2D hand motion vectors [delta_x, delta_y] (pseudo-actions for representation learning)
• Metadata: Skill cluster ID, zero-shot action label, quality scores

Skill Distribution

• Quality Inspection: 50% (25 episodes)
• Assembly: 17% (9 episodes)
• Fastening: 17% (8 episodes)
• Machine Operation: 8% (4 episodes)
• Mixed: 8% (4 episodes)

Intended Use

Primary: Representation learning and pretraining for vision-language-action (VLA) models

• Pretrain visual encoders on diverse manipulation tasks
• Learn spatial reasoning from egocentric perspective
• Discover manipulation primitives via clustering
• Domain adaptation for manufacturing robotics

NOT intended for: Direct robot policy learning (actions are pseudo-actions from human hand motion, not robot joint commands)

Data Collection

• Source: BuildAI Egocentric-10K dataset
• Processing pipeline:
  1. Quality filtering (motion + hand visibility)
  2. VideoMAE embeddings (768-dim)
  3. CLIP zero-shot labeling
  4. K-means clustering (10 skills)
  5. Hand tracking (MediaPipe)
  6. LeRobot format conversion

Citation

@dataset{ego2robot2025,
  title={Ego2Robot: Factory Manipulation Episodes for Robot Learning},
  author={Michelle Sun},
  year={2025},
  url={https://huggingface.co/datasets/msunbot1/ego2robot-factory-episodes}
}

License

Apache 2.0 (inherits from Egocentric-10K source dataset)

Contact

For questions or collaboration: x.com/michellelsun