简体中文 | English
覆盖全部四个 SKU 的 50 小时样本数据集，建议从这里开始。
所有参与者均已提供知情同意，涵盖数据采集、标注、受控数据集发布，以及仓库许可证所允许的用途。
| Collection: EgoSuite-Open100K | |||
|---|---|---|---|
| SKU | Sub-SKU | Format | Planned Duration |
| EgoStandard | EgoStand | Hand Pose | 80,000 h |
EgoStand-body | Hand Pose + Full Body Pose | 10,000 h | |
| EgoPro | EgoProStandard | Wrist + Hand Pose | 8,000 h |
EgoProStandard-body | Wrist + Hand Pose + Full Body Pose | 2,000 h | |
| EgoDemo | Four SKUs + Two Raw Videos | Raw Video | 50 h |
EgoSuite-Open100K 是一个分阶段发布的 100,000 小时开放数据集，兼顾标注质量、规模和多样性。数据覆盖 15,000+ 项任务和 15,000+ 个不同场景，提供手部与全身姿态；部分数据包含腕部相机视角，并额外提供子任务级语义标注。
EgoDemo 是从 EgoStandard 和 EgoPro 中抽取的 50 小时样本，覆盖全部四个已标注子集和两个原始视频变体。上文中的 15,000+ 项任务及场景数据描述的是完整合集，而非 EgoDemo 本身。同一批样本同时提供 LeRobot v3 和 MCAP 格式。
| Source SKU | Variant | Core content | Summary |
|---|---|---|---|
| EgoStandard | EgoStand | Head-view video + hand pose | A high-volume head-view sample for hand-centric activity. |
| EgoStandard | EgoStand-body | Head-view video + hand pose + full-body pose | Adds whole-body motion context to head-view hand interaction. |
| EgoPro | EgoProStandard | Head-view and wrist-view video + hand pose | Adds a close-range wrist view for contact and grasp. |
| EgoPro | EgoProStandard-body | Head-view and wrist-view video + hand pose + full-body pose | Combines close-range hand detail with whole-body motion. |
| EgoDemo | EgoRaw | Raw head-view video | A pose-free raw head-view sample for lightweight inspection. |
| EgoDemo | EgoProRaw | Raw head-view and wrist-view video | A pose-free synchronized head-and-wrist raw sample. |
EgoRaw 和 EgoProRaw 是 EgoDemo 独有的原始视频变体。它们是独立交付变体，不属于 EgoStandard 或 EgoPro 的标准已标注 Sub-SKU。
| Modality | EgoStand | EgoStand-body | EgoProStandard | EgoProStandard-body | EgoRaw | EgoProRaw |
|---|---|---|---|---|---|---|
| Head-view video | Yes | Yes | Yes | Yes | Yes | Yes |
| Wrist-view video | No | No | Yes | Yes | No | Yes |
| Left/right hand pose | Yes | Yes | Yes | Yes | No | No |
| Full-body pose | No | Yes | No | Yes | No | No |
| Standard SKU includes semantics | No | No | No | No | Not applicable | Not applicable |
| Complimentary semantic annotations in this release | Yes | Yes | Yes | Yes | No | No |
已标注变体中的姿态值使用 float32 类型和世界坐标。手部位置数组的 shape 为 (21, 3)，手部旋转为 (21, 4)，全身位置为 (22, 3)，全身旋转为 (22, 4)。四元数值遵循 (qw, qx, qy, qz) 顺序。
四个已标注变体使用两类标准标注：手部姿态，以及 body 变体中的全身姿态。两个原始视频变体不包含姿态标注。在本次开源发布中，光轮智能为四个已标注变体免费附赠时序事件级语义标注；该附加标注不适用于原始视频变体。
| Format | Recommended use | Directory | Episode contents and documentation |
|---|---|---|---|
| LeRobot v3.0 | Annotated samples and LeRobot-compatible workflows | EgoStand/lerobot/, EgoStand-body/lerobot/, EgoProStandard/lerobot/, EgoProStandard-body/lerobot/ | Per-episode Parquet, video, metadata, and release annotations; see the Sub-SKU README files |
| MCAP | Annotated synchronized multimodal samples | EgoStand/mcap/, EgoStand-body/mcap/, EgoProStandard/mcap/, EgoProStandard-body/mcap/ | Per-episode MCAP package and verified sidecar files; see the Sub-SKU README files |
| MP4 | Two EgoDemo-only Raw Video variants | EgoRaw/mp4/, EgoProRaw/mp4/ | MP4 video files; variant manifests are stored beside each Raw Video directory |
EgoDemo/
├── README.md
├── EgoStand/
│ ├── README.md
│ ├── lerobot/
│ ├── mcap/
│ └── manifests/
├── EgoStand-body/
│ ├── README.md
│ ├── lerobot/
│ ├── mcap/
│ └── manifests/
├── EgoProStandard/
│ ├── README.md
│ ├── lerobot/
│ ├── mcap/
│ └── manifests/
├── EgoProStandard-body/
│ ├── README.md
│ ├── lerobot/
│ ├── mcap/
│ └── manifests/
├── EgoRaw/
│ ├── README.md
│ ├── mp4/
│ └── manifests/
└── EgoProRaw/
├── README.md
├── mp4/
└── manifests/每个变体均位于各自的 Sub-SKU 目录下。若某个格式目录不存在，则表示该变体不提供相应格式的交付内容。
所有已发布数据均使用上述 Sub-SKU 优先路径。两个原始视频变体分别使用 EgoRaw 和 EgoProRaw 目录名称。
已标注 EgoDemo 格式的 manifest 保留来源仓库、来源 Sub-SKU、来源 Episode UUID、不可变来源版本、格式路径、模态标志及校验和。同一个 source_episode_uuid 用于关联 LeRobot 和 MCAP 两种表示，不会被计为不同样本。
原始视频 manifest 记录以 Lightwheel/EgoDemo 作为来源，不包含来源 Sub-SKU、姿态模态或标注版本。
| Field | Description |
|---|---|
demo_episode_id | Stable EgoDemo episode identifier |
source_repo | Source repository |
source_sku | Source SKU |
source_sub_sku | Source Sub-SKU for annotated variants; null for Raw Video |
source_episode_uuid | Original episode UUID used for cross-format matching |
source_revision | Immutable source revision |
variant | Annotated Sub-SKU name or Raw Video directory label |
task_name | Normalized task name |
scene_id | Audited scene identifier |
scene_family | Top-level scene family |
duration_s | Audited usable duration in seconds |
episode_path | Repository-relative path for this format |
format | lerobot-v3.0, mcap, or mp4-json |
has_wrist_video | Whether wrist-view video is present |
has_hand_pose | Whether hand pose is present |
has_body_pose | Whether full-body pose is present |
annotation_version | Internal schema identifier for annotated release samples; null for Raw Video |
annotation_distribution | Complimentary add-on marker when applicable |
sha256 | Integrity checksum |
| Release item | Value |
|---|---|
| Dataset release version | v1.0.0 |
| LeRobot format | v3.0 |
| MCAP container | MCAP0 |
| MCAP schema encoding | Embedded Protobuf schemas |
| MCAP writer library | mcap-python 1.4.0 |
| Raw Video format | MP4 + JSON |
git clone https://ai.atomgit.com/Lightwheel/EgoDemo.git
cd EgoDemo
git lfs pull --include="*/lerobot/**"下载已标注 MCAP 数据时使用 */mcap/**；下载原始视频时使用 EgoRaw/mp4/** 或 EgoProRaw/mp4/**。