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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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- video-classification |
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tags: |
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- robot-learning |
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- egocentric-video |
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- manufacturing |
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- lerobot |
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pretty_name: Ego2Robot Factory Episodes |
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size_categories: |
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- n<1K |
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--- |
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# Ego2Robot: Factory Manipulation Episodes |
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## Dataset Description |
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50 curated episodes of factory worker manipulation tasks, converted from egocentric video into LeRobot-compatible format for robot learning research. |
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### Key Features |
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- **50 episodes** (~1,800 frames total) |
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- **Real factory work** from 85 manufacturing facilities |
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- **10 skill clusters** discovered via unsupervised learning |
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- **LeRobot v3.0 format** with observations + pseudo-actions |
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- **Rich annotations**: VideoMAE embeddings, CLIP labels, quality scores |
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### Data Structure |
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Each episode contains: |
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- **Observations**: |
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- `observation.images.top`: RGB frames (360x640, 6fps) |
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- `observation.state`: Hand bounding box [x_min, y_min, x_max, y_max] |
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- **Actions**: 2D hand motion vectors `[delta_x, delta_y]` (pseudo-actions for representation learning) |
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- **Metadata**: Skill cluster ID, zero-shot action label, quality scores |
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### Skill Distribution |
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- Quality Inspection: 50% (25 episodes) |
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- Assembly: 17% (9 episodes) |
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- Fastening: 17% (8 episodes) |
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- Machine Operation: 8% (4 episodes) |
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- Mixed: 8% (4 episodes) |
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### Intended Use |
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**Primary**: Representation learning and pretraining for vision-language-action (VLA) models |
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- Pretrain visual encoders on diverse manipulation tasks |
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- Learn spatial reasoning from egocentric perspective |
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- Discover manipulation primitives via clustering |
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- Domain adaptation for manufacturing robotics |
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**NOT intended for**: Direct robot policy learning (actions are pseudo-actions from human hand motion, not robot joint commands) |
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### Data Collection |
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- **Source**: BuildAI Egocentric-10K dataset |
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- **Processing pipeline**: |
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1. Quality filtering (motion + hand visibility) |
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2. VideoMAE embeddings (768-dim) |
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3. CLIP zero-shot labeling |
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4. K-means clustering (10 skills) |
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5. Hand tracking (MediaPipe) |
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6. LeRobot format conversion |
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### Citation |
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```bibtex |
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@dataset{ego2robot2025, |
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title={Ego2Robot: Factory Manipulation Episodes for Robot Learning}, |
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author={Michelle Sun}, |
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year={2025}, |
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url={https://huggingface.co/datasets/msunbot1/ego2robot-factory-episodes} |
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} |
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``` |
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### License |
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Apache 2.0 (inherits from Egocentric-10K source dataset) |
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### Contact |
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For questions or collaboration: x.com/michellelsun |
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