| --- |
| license: other |
| license_name: xperience-10m-derived |
| license_link: https://huggingface.co/datasets/ropedia-ai/xperience-10m |
| viewer: false |
| --- |
| |
| # annotate_3d_tracking |
|
|
| Working repository for a long-form, real-world 3D point-tracking dataset built from |
| [Xperience-10M](https://huggingface.co/datasets/ropedia-ai/xperience-10m): which episodes are used, the moving-object |
| masks, and (later) the GPT-6 annotation requests and answers. This is not a public release. |
|
|
| ## Access and terms |
|
|
| Everything here is derived from Xperience-10M, a gated dataset released for research and non-commercial use. Access to |
| this repository is reviewed manually and given only to collaborators who are also approved for Xperience-10M. Do not |
| redistribute these files or upload them anywhere else. No raw video or depth is stored here: download it from |
| `ropedia-ai/xperience-10m` (revision `ce943cf`) with your own approved account. |
|
|
| ## Layout |
|
|
| | path | what | |
| |---|---| |
| | `lists/episodes.csv` | one row per episode: category, frames at 10 fps, hours, raw-data path, note | |
| | `lists/base_A_built.txt` | 761 episodes, 31.7 h: masks, SLAM, moved-verdict threshold < 1; episode files already built | |
| | `lists/base_B_threshold_ge1.txt` | 573 episodes, 27.1 h: masks and SLAM, threshold >= 1 (usable, see the labelling rule) | |
| | `lists/base_D_needs_gmos.txt` / `.jsonl` | 1,176 episodes, 94.8 h: SLAM, usable depth, no pose jumps; masks still to be made. The `.jsonl` is in `motion-seg`'s list format (file sizes and SHA-256 at revision `ce943cf`) | |
| | `masks/xperience/<episode>/` | moving-object masks of 1,669 episodes (`instances.npz`, `decisions.json`, `cameras.npz`, `manifest.json`, `provenance.json`) | |
| | `masks/xperience/README.md` | format of those files; `known_issues.json` and `provenance.csv` alongside | |
| | `requests/<batch>/`, `predictions/<batch>/` | later: GPT-6 requests (`requests.jsonl` + `images/`, the benchmark format) and the answers | |
|
|
| Episode names are `<capture uuid>_ep<n>`; the raw files are `<capture uuid>/ep<n>/annotation.hdf5` and |
| `stereo_left.mp4` in Xperience-10M. Mask frame `t` is frame `2t` of `stereo_left.mp4` (10 fps, 512x512); the depth is |
| the same view at 256x256. Rows marked `excluded` in `episodes.csv` (no SLAM, unusable depth, no instances, too short, |
| or SLAM jumps above 5 m/s) are not used. |
|
|
| ## Labelling rule |
|
|
| - **Static**: only pixels outside every GMOS instance, and only where several views agree (multi-view consistency). |
| A GMOS instance never joins the static set, whatever its verdict; anything uncertain stays out. Static points are |
| accumulated over the whole episode. |
| - **Dynamic**: every GMOS instance. Its points are used per frame (the current frame only), never accumulated. |
| - The moved / static verdicts in `decisions.json` are kept for statistics only. In episodes with threshold >= 1 they |
| cannot report "moved": the clip's background noise floor (stereo depth errors on large textureless surfaces) is above |
| the largest possible statistic. |
|
|
| ## Making the masks for base D (Rivanna) |
|
|
| The code is `motion-seg/` in [vlm_3d_tracking_annotator](https://github.com/XuweiyiChen/vlm_3d_tracking_annotator) |
| (setup, checkpoints and the Slurm jobs are in its README). From `motion-seg/`: |
|
|
| ```bash |
| huggingface-cli download 2inf/annotate_3d_tracking --repo-type dataset --include "lists/*" --local-dir hf_lists |
| env/bin/python download_data.py --root /scratch/$USER/xperience-10m --list hf_lists/lists/base_D_needs_gmos.jsonl |
| DATA=/scratch/$USER/xperience-10m OUT=/scratch/$USER/motion_seg_out \ |
| EXTRA="--list hf_lists/lists/base_D_needs_gmos.jsonl" sbatch --array=0-1175%32 --mem=96G --time=08:00:00 slurm/run.sbatch |
| ``` |
|
|
| These episodes are about 5 minutes long (most of them 4.8-5.0 min), longer than the earlier runs. `motion-seg`'s own |
| estimate for a 5-minute clip: 76 GB peak host RAM (hence `--mem=96G`), 2.8-5.0 h on an A100-80GB, 1.2-2.2 h on a B200 |
| (about 2,000 B200 hours for all 1,176). Upload each finished episode folder as `masks/xperience/<episode>/` in the |
| layout above. |
|
|
| ## Download |
|
|
| ```bash |
| huggingface-cli download 2inf/annotate_3d_tracking --repo-type dataset --include "lists/*" --local-dir annotate_3d_tracking |
| huggingface-cli download 2inf/annotate_3d_tracking --repo-type dataset --include "masks/xperience/<episode>/*" --local-dir annotate_3d_tracking |
| ``` |
|
|
