robbyant/mdm_depth

LingBot-Depth Dataset

Self-curated RGB-D dataset for training LingBot-Depth, a masked depth modeling approach (arxiv:2601.17895). Each sample contains an RGB image, raw sensor depth, and ground truth depth.

Total size: 2.71 TB
Depth scale: millimeters (mm), stored as 16-bit PNG
License: CC BY-NC-SA 4.0

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Sub-datasets

Name	Description	Samples
RobbyReal	Real-world indoor scenes captured with multiple RGB-D cameras	1,400,000
RobbyVla	Real-world data collected during VLA (Vision-Language-Action) robot manipulation tasks	580,960
RobbySim	Simulated data rendered from two camera viewpoints	999,264
RobbySimVal	Validation split of simulated data	38,976
Total		3,019,200

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Directory Structure

RobbyReal

RobbyReal/
└── <scene_id>/                         # e.g. 00001_01_room
    ├── orbbec_335_<seq>/
    │   ├── color/                      # RGB images
    │   ├── gtdepth/                    # Ground truth depth
    │   ├── rawdepth/                   # Raw sensor depth
    │   └── intrinsic.txt
    ├── orbbec_335L_<seq>/
    │   ├── color/
    │   ├── gtdepth/
    │   ├── rawdepth/
    │   └── intrinsic.txt
    ├── realsense_D415_<seq>/
    │   ├── color/
    │   ├── gtdepth/
    │   ├── rawdepth/
    │   └── intrinsic.txt
    ├── realsense_D435_<seq>/
    │   ├── color/
    │   ├── gtdepth/
    │   ├── rawdepth/
    │   └── intrinsic.txt
    └── realsense_D455_<seq>/
        ├── color/
        ├── gtdepth/
        ├── rawdepth/
        └── intrinsic.txt

RobbyVla

Data collected during VLA robot manipulation tasks on two robot platforms.

RobbyVla/
├── franka/                             # Franka robot arm
│   └── <seq>/
│       ├── left_realsense405/
│       │   ├── color/
│       │   ├── gtdepth/
│       │   ├── rawdepth/
│       │   └── intrinsic.txt
│       └── right_realsense405/
│           ├── color/
│           ├── gtdepth/
│           ├── rawdepth/
│           └── intrinsic.txt
└── ur7e/                               # UR7e robot arm
    └── <seq>/
        ├── left_realsense405/
        │   ├── color/
        │   ├── gtdepth/
        │   ├── rawdepth/
        │   └── intrinsic.txt
        └── right_realsense405/
            ├── color/
            ├── gtdepth/
            ├── rawdepth/
            └── intrinsic.txt

RobbySim

Simulated data rendered from two camera viewpoints: object_view and rrt_view.

RobbySim/
├── intrinsics.txt
├── object_view/
│   └── <scene_id>/<cam_id>/            # e.g. xxxx/00, xxxx/01
│       ├── 0001_cam0_left.jpg          # RGB image
│       ├── 0001_cam0_depth.png         # Ground truth depth
│       └── 0001_cam0_rmd2c.png         # Raw depth
└── rrt_view/
    └── <scene_id>/<cam_id>/
        ├── 0001_cam0_left.jpg
        ├── 0001_cam0_depth.png
        └── 0001_cam0_rmd2c.png

RobbySimVal

Validation split of simulated data.

RobbySimVal/
└── val_view/
    └── <scene_id>/<cam_id>/            # e.g. xxxx/00, xxxx/01
        ├── intrinsics.txt
        ├── 0001_cam0_rgb.left.jpg      # RGB image
        ├── 0001_cam0_depth_left.png    # Ground truth depth
        └── 0001_cam0_rawdepth.left.png # Raw depth

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File Description

File/Folder	Description
color/ / *_rgb*.jpg	RGB images
gtdepth/ / *_depth*.png	Ground truth depth maps (16-bit PNG, unit: mm)
rawdepth/ / *_rawdepth*.png / *_rmd2c*.png	Raw depth from sensor before post-processing (16-bit PNG, unit: mm)
intrinsic.txt / intrinsics.txt	Camera intrinsic parameters