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.

👁 teaser

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

Sub-datasets

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

File Description