Datasets:
What is the difference between sim_updated and sim directory?
Why does the sim directory have 632k episodes, but sim_updated only has 550k?
Dear aplmike,
The sim_updated dataset includes annotations for camera intrinsics, extrinsics, end-effector poses, and TCP poses, whereas the sim directory does not contain these annotations.
As for the data volume, we have removed partially duplicated pick-and-place data, low-quality recordings, and any data from the original collection that lacked the annotations mentioned above.
All remaining data has been verified and is ready for use.
Best regards,
Yang Tian
2026.2.5
Dear aplmike,
The sim_updated dataset includes annotations for camera intrinsics, extrinsics, end-effector poses, and TCP poses, whereas the sim directory does not contain these annotations.
As for the data volume, we have removed partially duplicated pick-and-place data, low-quality recordings, and any data from the original collection that lacked the annotations mentioned above.
All remaining data has been verified and is ready for use.
Best regards,
Yang Tian2026.2.5
Thank you for your answer. Approximately how many hours will the sim_updated dataset take?
Dear aplmike,
The sim_updated contains:
Episodes: 587,946
Frames: 395,857,225
Recorded at 15 FPS, this corresponds to roughly 7,330 hours.
Best regards,
Yang Tian
2026.2.5