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4DCodeBench-RealWorld release: 77 videos, 100 dynamic masks, metadata, and the rebuild script for 23 link-only videos

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  1. .gitattributes +60 -0
  2. README.md +48 -0
  3. annotations/abc_130k_01_dual_arm_robotic/dynamic_mask.npz +3 -0
  4. annotations/abc_130k_02_robot_arm_uses/dynamic_mask.npz +3 -0
  5. annotations/abc_130k_04_dual_arm_robot/dynamic_mask.npz +3 -0
  6. annotations/abc_130k_05_dual_robotic_arms/dynamic_mask.npz +3 -0
  7. annotations/abc_130k_06_dual_robot_grippers/dynamic_mask.npz +3 -0
  8. annotations/agi_bot_world_02_dual_arm_robot/dynamic_mask.npz +3 -0
  9. annotations/agi_bot_world_04_dual_arm_robot/dynamic_mask.npz +3 -0
  10. annotations/aloha_unleashed_01_tying_shoelace_bow/dynamic_mask.npz +3 -0
  11. annotations/internet_01_purple_granular_sand/dynamic_mask.npz +3 -0
  12. annotations/internet_06_extruding_piping_pink/dynamic_mask.npz +3 -0
  13. annotations/internet_07_spreading_viscous_chocolate/dynamic_mask.npz +3 -0
  14. annotations/internet_08_coffee_beans_falling/dynamic_mask.npz +3 -0
  15. annotations/internet_09_soccer_ball_thrown/dynamic_mask.npz +3 -0
  16. annotations/internet_11_fabric_flag_flapping/dynamic_mask.npz +3 -0
  17. annotations/internet_12_straight_rigid_rod/dynamic_mask.npz +3 -0
  18. annotations/internet_14_heavy_bowling_ball/dynamic_mask.npz +3 -0
  19. annotations/internet_15_dry_rice_grains/dynamic_mask.npz +3 -0
  20. annotations/internet_17_oscillating_tapping_handheld/dynamic_mask.npz +3 -0
  21. annotations/internet_18_thin_sheet_dough/dynamic_mask.npz +3 -0
  22. annotations/internet_19_fabric_laundry_tumbles/dynamic_mask.npz +3 -0
  23. annotations/internet_20_red_shovel_cuts/dynamic_mask.npz +3 -0
  24. annotations/internet_21_green_plastic_toy/dynamic_mask.npz +3 -0
  25. annotations/internet_22_viscous_honey_dripping/dynamic_mask.npz +3 -0
  26. annotations/internet_24_fresh_pasta_strands/dynamic_mask.npz +3 -0
  27. annotations/internet_25_transparent_rectangular_block/dynamic_mask.npz +3 -0
  28. annotations/internet_26_multi_needle_rigid/dynamic_mask.npz +3 -0
  29. annotations/internet_27_wooden_mallet_forcefully/dynamic_mask.npz +3 -0
  30. annotations/internet_28_plastic_blade_cuts/dynamic_mask.npz +3 -0
  31. annotations/internet_30_rigid_kitchen_utensils/dynamic_mask.npz +3 -0
  32. annotations/internet_31_liquid_egg_yolk/dynamic_mask.npz +3 -0
  33. annotations/internet_32_spinning_top_precessing/dynamic_mask.npz +3 -0
  34. annotations/internet_33_bridge_traffic_flowing/dynamic_mask.npz +3 -0
  35. annotations/internet_34_dart_striking_board/dynamic_mask.npz +3 -0
  36. annotations/internet_35_prayer_flags_flapping/dynamic_mask.npz +3 -0
  37. annotations/internet_36_ball_through_hoop/dynamic_mask.npz +3 -0
  38. annotations/internet_37_putt_rolling_in/dynamic_mask.npz +3 -0
  39. annotations/manip_arena_02_robotic_arm_tilting/dynamic_mask.npz +3 -0
  40. annotations/phys101_01_solid_object_dropped/dynamic_mask.npz +3 -0
  41. annotations/phys101_03_soft_dough_slides/dynamic_mask.npz +3 -0
  42. annotations/phys101_04_suspended_spring_mass/dynamic_mask.npz +3 -0
  43. annotations/phys_ad_01_rigid_mechanical_gripper/dynamic_mask.npz +3 -0
  44. annotations/phys_ad_03_mechanical_arm_rotating/dynamic_mask.npz +3 -0
  45. annotations/phys_ad_04_meshing_gears_rotating/dynamic_mask.npz +3 -0
  46. annotations/physics_iq_benchmark_01_ball_wooden_block/dynamic_mask.npz +3 -0
  47. annotations/physics_iq_benchmark_02_domino_effect_row/dynamic_mask.npz +3 -0
  48. annotations/physics_iq_benchmark_03_rolling_ball_collides/dynamic_mask.npz +3 -0
  49. annotations/physics_iq_benchmark_05_continuous_stream_viscous/dynamic_mask.npz +3 -0
  50. annotations/physics_iq_benchmark_06_pouring_liquid_cup/dynamic_mask.npz +3 -0
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+ *.7z filter=lfs diff=lfs merge=lfs -text
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+ *.arrow filter=lfs diff=lfs merge=lfs -text
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+ *.avro filter=lfs diff=lfs merge=lfs -text
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+ *.bin filter=lfs diff=lfs merge=lfs -text
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+ *.bz2 filter=lfs diff=lfs merge=lfs -text
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+ *.ckpt filter=lfs diff=lfs merge=lfs -text
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+ *.ftz filter=lfs diff=lfs merge=lfs -text
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+ *.gz filter=lfs diff=lfs merge=lfs -text
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+ *.h5 filter=lfs diff=lfs merge=lfs -text
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+ *.joblib filter=lfs diff=lfs merge=lfs -text
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+ *.lfs.* filter=lfs diff=lfs merge=lfs -text
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+ *.lz4 filter=lfs diff=lfs merge=lfs -text
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+ *.mds filter=lfs diff=lfs merge=lfs -text
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+ *.mlmodel filter=lfs diff=lfs merge=lfs -text
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+ *.model filter=lfs diff=lfs merge=lfs -text
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+ *.msgpack filter=lfs diff=lfs merge=lfs -text
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+ *.parquet filter=lfs diff=lfs merge=lfs -text
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+ *.pkl filter=lfs diff=lfs merge=lfs -text
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+ *.pth filter=lfs diff=lfs merge=lfs -text
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+ *.rar filter=lfs diff=lfs merge=lfs -text
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+ *.safetensors filter=lfs diff=lfs merge=lfs -text
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+ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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+ *.tar.* filter=lfs diff=lfs merge=lfs -text
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+ *.tar filter=lfs diff=lfs merge=lfs -text
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+ *.tflite filter=lfs diff=lfs merge=lfs -text
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+ *tfevents* filter=lfs diff=lfs merge=lfs -text
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+ # Audio files - uncompressed
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+ *.pcm filter=lfs diff=lfs merge=lfs -text
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+ *.sam filter=lfs diff=lfs merge=lfs -text
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+ *.raw filter=lfs diff=lfs merge=lfs -text
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+ # Audio files - compressed
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+ *.aac filter=lfs diff=lfs merge=lfs -text
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+ *.flac filter=lfs diff=lfs merge=lfs -text
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+ *.mp3 filter=lfs diff=lfs merge=lfs -text
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+ *.ogg filter=lfs diff=lfs merge=lfs -text
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+ *.wav filter=lfs diff=lfs merge=lfs -text
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+ # Image files - uncompressed
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+ *.bmp filter=lfs diff=lfs merge=lfs -text
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+ *.png filter=lfs diff=lfs merge=lfs -text
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+ *.tiff filter=lfs diff=lfs merge=lfs -text
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+ # Image files - compressed
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+ *.jpg filter=lfs diff=lfs merge=lfs -text
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+ *.jpeg filter=lfs diff=lfs merge=lfs -text
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+ *.webp filter=lfs diff=lfs merge=lfs -text
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+ # Video files - compressed
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+ *.mp4 filter=lfs diff=lfs merge=lfs -text
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+ *.webm filter=lfs diff=lfs merge=lfs -text
README.md ADDED
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+ # 4DCodeBench-RealWorld
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+
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+ The 100 real-world cases of 4DCodeBench: a video of a physical event and a hand-annotated mask of the pixels that move in it. 23 of the videos cannot be redistributed; one script rebuilds them from their public sources.
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+
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+ ## Layout
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+
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+ ```text
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+ videos/<case>.mp4 the reference video, as the benchmark reads it
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+ annotations/<case>/dynamic_mask.npz the dynamic mask
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+ metadata.jsonl one row per case
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+ scripts/ prepare_videos.py and what it needs
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+ ```
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+
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+ 135 MB of video and 95 MB of masks. Every video has at most 300 frames, at most 30 fps and a long side of at most 1280 px. `dynamic_mask.npz` holds `mask`, uint8 (frames, height, width) with 1 on a moving pixel, at the video's frame count and resolution.
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+
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+ ## Completing the videos
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+
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+ ```bash
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+ pip install numpy opencv-python # plus ffmpeg and ffprobe on PATH
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+ python scripts/prepare_videos.py
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+ ```
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+
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+ The script downloads the 23 sources into `downloads/` and writes `videos/<case>.mp4` with the same steps that made the benchmark. Frame count, frame rate and resolution match exactly; pixels can differ slightly with the H.264 encoder. The benchmark's `download_data.py` runs this step itself.
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+
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+ ## Metadata
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+
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+ Each row of `metadata.jsonl` has `case`, `dataset`, `availability` (`included`, or `script` for the 23 rebuilt videos), `source`, `width`, `height`, `fps`, `frames`, `categories` (the materials involved) and `description` (the physical event). `source` is the URL of a web video and the file path inside its dataset otherwise; YouTube rows also carry `channel`, `title` and `license`.
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+
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+ ## Sources
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+
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+ | dataset | videos | link |
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+ |---|---|---|
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+ | WISA-80K | 33 | https://github.com/360CVGroup/WISA |
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+ | Web (Pexels, Mixkit, Pixabay, YouTube) | 28 | per video in `metadata.jsonl` |
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+ | Physics-IQ | 12 | https://github.com/google-deepmind/physics-IQ-benchmark |
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+ | ABC-130K | 5 | https://huggingface.co/datasets/XDOF/ABC-130k |
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+ | T-REX | 4 | https://huggingface.co/datasets/zekaiwang/trex_dataset |
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+ | Phys101 | 3 | http://phys101.csail.mit.edu/ |
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+ | Phys-AD | 3 | https://guyao2023.github.io/Phys-AD/ |
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+ | Robo360 | 3 | https://arxiv.org/abs/2312.06686 |
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+ | AgiBot World | 2 | https://huggingface.co/datasets/agibot-world/AgiBotWorld-Alpha |
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+ | RoboCook | 2 | https://hshi74.github.io/robocook/ |
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+ | RoboCraft | 2 | http://hxu.rocks/robocraft/ |
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+ | ALOHA Unleashed | 1 | https://aloha-unleashed.github.io/ |
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+ | ManipArena | 1 | https://github.com/maniparena/maniparena-repo |
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+ | TaskLevel-ILC | 1 | https://www.youtube.com/watch?v=FLiILOyQQbw |
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+
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+ The five web videos from YouTube are used under CC BY, from the channels Morten Møller, Philip Yecko, ASMR City and Madly Satisfying.
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