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observation.state list | timestamp float32 0 326 | frame_index int64 0 9.76k | episode_index int64 0 4 | index int64 0 40k | task_index int64 0 4 | observation.hand_pose.left list | observation.hand_pose.right list | observation.hand_world.left list | observation.hand_world.right list |
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End of preview. Expand in Data Studio
EgoStation GoPro Pick-and-Place v1
First-person human demonstration data for donut pick-and-place, captured with a head-mounted GoPro Hero 9/11 (4K HEVC) and processed by the ZenO Studio pipeline. LeRobot v2.1 layout at repo root — drops straight into the LeRobot training pipeline or the official Visualizer.
Visualizers
LeRobot Dataset Visualizer (Rerun)
Shows video + state time series + hand keypoint plots:
ZenO Studio Viewer (per-episode 3D scene)
Full 3D timeline — egocentric video + 6-DoF head trajectory + 3D hand skeleton in world frame, all synced. Public links (3000 views/code limit):
Contents
- 5 episodes, 40,037 frames @ 30 fps (~22 minutes)
- Tasks:
jn donut,integro 790,JB Donut2,JB Donut,aucro donut - LeRobot v2.1 standard layout
Per-frame features
| Feature | Type | Shape | Description |
|---|---|---|---|
observation.state |
float32 | [7] | Head 6-DoF: x, y, z, qx, qy, qz, qw (mono-inertial SLAM) |
observation.hand_pose.left |
float32 | [21, 3] | Left hand 21 keypoints in image/depth space (MediaPipe) |
observation.hand_pose.right |
float32 | [21, 3] | Right hand 21 keypoints in image/depth space |
observation.hand_world.left |
float32 | [21, 3] | Left hand 21 keypoints in world frame (depth-fused, head-anchored scale) |
observation.hand_world.right |
float32 | [21, 3] | Right hand 21 keypoints in world frame |
observation.images.head |
video | [1080, 1920, 3] | Egocentric GoPro view (4K HEVC original) |
observation.images.depth |
video | [540, 1920, 3] | Colorized relative depth overlay |
timestamp, frame_index, episode_index, index, task_index |
int / float | [1] | LeRobot standard indexing |
Frames with no detected hand have hand_world filled with zeros — check
hand_pose.*_visible(implicit from non-zero values) when training.
Usage
from datasets import load_dataset
ds = load_dataset("zeno-labs/egostation-gopro-pick-and-place-v1", split="train")
# Access world-frame hand keypoints for a frame
import numpy as np
left_world = np.array(ds[0]["observation.hand_world.left"]) # (21, 3)
head_pose = np.array(ds[0]["observation.state"]) # (7,) x,y,z,qx,qy,qz,qw
Or with LeRobot:
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("zeno-labs/egostation-gopro-pick-and-place-v1")
Related
- Catalog of all EgoStation domains: zeno-labs/egostation-catalog-v1
- Raw smartphone catalog: zeno-labs/egostation-smartphone-raw-v1
License
CC-BY-NC 4.0. Commercial use requires agreement — contact support@zen-o.xyz.
Contact
- Data partnerships: support@zen-o.xyz
- Website: https://zen-o.xyz
- Pipeline (ZenO Studio): https://studio.zen-o.xyz
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