FlywheelAI/excavator-dataset

Flywheel - Frodobots : Excavator 100 Dataset

A comprehensive multi-modal dataset for excavator operation, featuring synchronized video recordings from multiple camera angles (front, left, back, and right angle) and precise joystick control data for machine learning applications in construction automation and operator behavior analysis. This dataset is made with collaboration with frodobots.ai and bitrobot.ai.

Dataset Description

This dataset captures real excavator operations through synchronized multi-camera video recordings and corresponding joystick control inputs. Common usecases of the dataset:

• Machine Learning Applications: Training models for excavator operation prediction, automation, and operator assistance systems
• Computer Vision Research: Multi-view video analysis, object tracking, and scene understanding in construction environments

Dataset Statistics

• Total Sessions: 176
• Total Unique Duration: 24h 38m 28.4s
• Total Raw Video Duration: 96h 26m 6.5s
• Total File Size: 84.30 GB

Video Description

Each recording session contains synchronized video footage from 4 different camera angles, providing comprehensive coverage of the excavator operation from multiple perspectives.

Video Metadata

• Resolution: 1920 x 1080
• FPS: 25 frames per second
• Compression: HEVC(H.265)

Camera Angles & Naming Convention

Each folder contains 4 synchronized video files with the naming pattern D0X_YYYYMMDDHHMMSS.mp4

Prefix	Camera Angle
D01	Front Angle
D02	Left Angle
D03	Back Angle
D04	Right Angle

Filename Structure

D0X_YYYYMMDDHHMMSS.mp4
└─┬─┘ └──────┬──────┘
  │          └── Timestamp: Year-Month-Day-Hour-Minute-Second
  └── Camera ID: 01=Front, 02=Left, 03=Right, 04=Rear

Example: D01_20250828132109.mp4 = Front camera recording from August 28, 2025 at 13:21:09 (timestamp start time)

Data Structure

excavator_dataset/
├── 20250828132109/
│   ├── D01_20250828132109.mp4    # Front camera
│   ├── D02_20250828132109.mp4    # Left side camera  
│   ├── D03_20250828132109.mp4    # Back side camera
│   ├── D04_20250828132109.mp4    # Right camera
│   └── D05_20250828132109.csv    # Synchronized control data
├── 20250829112715/
│   ├── D01_20250829112715.mp4
│   ├── D02_20250829112715.mp4
│   ├── D03_20250829112715.mp4  
│   ├── D04_20250829112715.mp4
│   └── D05_20250829112715.csv
└── ...

Parquet Dataset File

Overview

For efficient data access and analysis, the entire dataset has been consolidated into a single Parquet file: excavator_dataset.parquet. This file provides a session-level index of all recordings with direct file path references and dual timestamp formats.

Parquet File Structure

Each row in the parquet file represents one complete recording session with all associated files and metadata.

Column Description

Column	Data Type	Description	Example
session_folder	string	Session directory name (timestamp format YYYYMMDDHHMMSS)	"20250828132109"
timestamp_start	int64	Session start time (Unix timestamp in milliseconds)	1756387269080
timestamp_stop	int64	Session end time (Unix timestamp in milliseconds)	1756387478920
timestamp_start_str	string	Human-readable start time	"2025-08-28 13:21:09.080"
timestamp_stop_str	string	Human-readable stop time	"2025-08-28 13:24:38.920"
duration_seconds	float	Total session duration in seconds	209.83999633789062
front_angle_file	string	Relative path to front camera video (D01)	"20250828132109\D01_20250828132109.mp4"
left_angle_file	string	Relative path to left camera video (D02)	"20250828132109\D02_20250828132109.mp4"
back_angle_file	string	Relative path to back camera video (D04)	"20250828132109\D04_20250828132109.mp4"
right_angle_file	string	Relative path to right camera video (D03)	"20250828132109\D03_20250828132109.mp4"
action_data_file	string	Relative path to joystick control data CSV	"20250828132109\D05_20250828132109.csv"

Action Data Format

CSV Structure

Each joystick_data.csv file contains timestamped joystick positions with the following columns:

timestamp,filename,marker_id,normalized_x,normalized_y
2025-08-28 13:21:09.080,D05_20250828132109.mp4,0.0,-0.0042733113763212,-0.0030821448966519
2025-08-28 13:21:09.080,D05_20250828132109.mp4,1.0,0.0250226657342554,-0.00076719496794
2025-08-28 13:21:09.120,D05_20250828132109.mp4,0.0,-0.0041104821925982,-0.001967974023523
2025-08-28 13:21:09.120,D05_20250828132109.mp4,1.0,0.0210680148333473,0.0003680537962328
...

• timestamp: Time in seconds from recording start (matches video timestamps)
• filename: The filename of the CSV
• marker_id: Which side of the joystick (0 = Right Joystick, 1 = Left Joystick)
• normalized_x: Joystick X-axis position
• normalized_y: Joystick Y-axis position

Sampling Rate

• Video: 25 FPS (40ms intervals)
• Joystick Data: 25 Hz (40ms intervals, synchronized with video frames)

Action Data Coordinate System

Marker Assignment & Excavator Functions

• Marker ID 0: Right joystick (operator's right hand)
  • Controls: Bucket (X-axis) and Boom (Y-axis)
• Marker ID 1: Left joystick (operator's left hand)
  • Controls: Cab (X-axis) and Arm (Y-axis)

Axis Definition & Excavator Operations

Marker ID 0 - Right Joystick

X-axis: Bucket Control (lateral movement)

• Negative values (-1.0): Bucket close/curl in (scoop material)
• Positive values (+1.0): Bucket open/curl out (dump material)

Y-axis: Boom Control (longitudinal movement)

• Negative values (-1.0): Boom down (lower boom arm)
• Positive values (+1.0): Boom up (raise boom arm)

Marker ID 1 - Left Joystick

X-axis: Cab Control (lateral movement)

• Negative values (-1.0): Cab rotate left (counterclockwise)
• Positive values (+1.0): Cab rotate right (clockwise)

Y-axis: Arm Control (longitudinal movement)

• Negative values (-1.0): Arm down/retract (pull arm toward cab)
• Positive values (+1.0): Arm up/extend (push arm away from cab)

Excavator Function Summary

Marker	Axis	Function	-1.0	0.0	+1.0
0 (Right)	X	Bucket	Close/Curl In	Neutral	Open/Curl Out
0 (Right)	Y	Boom	Down	Neutral	Up
1 (Left)	X	Cab	Rotate Left	Neutral	Rotate Right
1 (Left)	Y	Arm	Down/Retract	Neutral	Up/Extend

Coordinate Range

All coordinates are normalized to the range [-1, 1] where:

• 0, 0: Neutral/center position (joystick at rest, no excavator movement)
• ±1: Maximum deflection in respective direction (full excavator function activation)
• Values are clipped/normalized to ensure the ranges of joystick motion remain within bounds

Excavator Operation Context

This coordinate system directly maps to standard excavator controls:

• Digging sequence: Boom down (-Y₀) → Arm extend (+Y₁) → Bucket close (-X₀)
• Dumping sequence: Boom up (+Y₀) → Bucket open (+X₀)
• Positioning: Cab rotation (±X₁) for directional changes
• Reach adjustment: Arm retract/extend (±Y₁) for distance control

How to Use the Dataset

This dataset provides synchronized multi-angle video recordings (.mp4 at 25 FPS) and joystick control data (.csv at 25 Hz, 40 ms intervals). Each video frame directly corresponds to a row in the joystick CSV, so all sensor and visual information is time-aligned for frame-by-frame analysis.