rsj2003/StreamingWAM-RealWorld

StreamingWAM Real-World Dataset

This repository contains the raw real-world robot trajectories used for the StreamingWAM experiments. It contains 590 trajectories covering seven semantic tasks. Static and dynamic apple-to-bowl conditions are sampled independently with 50 trajectories each and stored as separate subsets, giving eight top-level task-condition subsets.

Dataset summary

• Trajectories: 590
• Semantic tasks: 7
• Task-condition subsets: 8
• Control/video rate: 15 Hz
• Camera views: 3 synchronized MP4 streams per trajectory
• Videos: 1,770 H.264 files
• Action/state files: one JSON and one HDF5 file per trajectory
• Timestamp files: one JSON file per trajectory
• Payload size: 18,688,099,319 bytes

Directory	English description	Trajectories
先称苹果，然后把它放进碗里（统一15Hz版）	Weigh an apple, then place it in a bowl	100
关上抽屉（统一15Hz版）	Close a drawer	80
打地鼠（统一15Hz版）	Whack-a-mole	30
打开抽屉（统一15Hz版）	Open a drawer	80
把苹果放进碗里_小车（统一15Hz版）	Place an apple in a bowl with a moving cart	100
把苹果放进碗里_静态（统一15Hz版）	Place an apple in a bowl: static condition	50
把苹果放进碗里_动态（统一15Hz版）	Place an apple in a bowl: dynamic condition	50
搭积木	Stack blocks	100

Record layout

Each trajectory contains one action JSON, one action HDF5, one frame-timestamp JSON, and three synchronized camera MP4 files. The action data include robot joint state, end-effector pose, gripper state, and timestamps. All streams are aligned at 15 Hz. Most videos are 1920×1080; the moving-cart subset uses 1280×720 video.

Selection and integrity

Static and dynamic apple-to-bowl records were sampled independently with 50 trajectories each. Other subsets retain the original publication policy of at most 100 trajectories. Sampling is without replacement after sorting record names and uses seed 42. The exact selection is recorded in SELECTION_MANIFEST.json.

SHA256SUMS.tsv contains the SHA-256 digest, byte size, and repository-relative path of all 3,540 payload files. Every payload file was hashed after the final static/dynamic split. DATASET_BUILD.md and each subset's SOURCE_README.md document the preparation procedure.

Loading

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="rsj2003/StreamingWAM-RealWorld",
    repo_type="dataset",
    local_dir="StreamingWAM-RealWorld",
)

This is a raw-data release. Use the 15 Hz timestamps when converting trajectories to a training format, and do not apply a second 30 Hz-to-15 Hz downsampling pass.

Privacy and license

The videos were recorded in a laboratory robot workcell. Before making this private repository public, confirm the intended release scope, institutional consent requirements, and any incidental human appearance in the full video collection. No dataset license has been selected yet; external components and benchmark assets retain their respective terms.