Release update 2026-11-05: new sessions, instructions, annotations (part 367)

actions/locomanipulation/LM36/session_019/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM36",
+ "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03926171215696095
+  }
+ ],
+ "episodes": [
+  {
+   "id": "3df8d645-05c7-48ac-958b-42ac77b80fdb",
+   "segment": "segment1",
+   "action": "LM36",
+   "quality": "valid",
+   "start_s": 1.192,
+   "end_s": 135.234,
+   "t_start": 1.2313,
+   "t_end": 135.2733,
+   "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
+  }
+ ]
+}

actions/locomanipulation/LM36/session_019/cameras/slam.npz

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actions/locomanipulation/LM36/session_019/meta.json

@@ -364,8 +364,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -513,12 +513,126 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 33.74,
+    "offset_rotvec": [
+     0.5487,
+     -0.2134,
+     0.013
+    ],
+    "dev_deg": {
+     "median": 11.9,
+     "p90": 24.22
+    },
+    "samples": 3272,
+    "accepted": 3091,
+    "wrist_pos_err_mm_median": 72.1,
+    "per_camera": {
+     "head": {
+      "samples": 3272,
+      "accepted": 3091,
+      "gate_deg": 30.0,
+      "offset_deg": 33.74,
+      "tier": "primary",
+      "dev_deg_median": 11.9,
+      "wrist_pos_err_mm_median": 72.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12526,
+     "interpolated": 2998,
+     "mean_hand": 1153,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9305,
+    "observed_fraction_of_valid": 0.9309,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 33.94,
+     "smplx": 0.68
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 2.9,
+      "p90": 3.9
+     },
+     "registered": {
+      "median": 4.1,
+      "p90": 5.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 24.55,
+    "offset_rotvec": [
+     0.4188,
+     0.0662,
+     -0.0618
+    ],
+    "dev_deg": {
+     "median": 10.66,
+     "p90": 25.02
+    },
+    "samples": 3609,
+    "accepted": 3370,
+    "wrist_pos_err_mm_median": 54.9,
+    "per_camera": {
+     "head": {
+      "samples": 3609,
+      "accepted": 3370,
+      "gate_deg": 30.0,
+      "offset_deg": 24.55,
+      "tier": "primary",
+      "dev_deg_median": 10.66,
+      "wrist_pos_err_mm_median": 54.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13544,
+     "interpolated": 1396,
+     "mean_hand": 1737,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.8955,
+    "observed_fraction_of_valid": 0.8958,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.26,
+     "smplx": 0.9
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.6,
+      "p90": 6.2
+     },
+     "registered": {
+      "median": 4.5,
+      "p90": 6.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:08:46.984232+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM36/session_019",
   "family": "locomanipulation",
   "primitive": "LM36",
   "source_session": "20261013/LM36/20261013_060603_session95"
  },
+ "task": {
+  "primitive": "LM36",
+  "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
+ },
  "objects": [
   {
    "name": "LittleBox1",
@@ -537,12 +651,6 @@
    "object_type": "LittleBox",
    "source": "mocap",
    "pose_frame": "mesh"
-  },
-  {
-   "name": "LittleBox4",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
   }
  ]
 }

actions/locomanipulation/LM36/session_019/motions/hands_mano.npz

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actions/locomanipulation/LM36/session_019/motions/smplx.npz

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actions/locomanipulation/LM36/session_020/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM36",
+ "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966622,
+   "video": "left_eye",
+   "video_t_start": 0.039122252426023074
+  }
+ ],
+ "episodes": [
+  {
+   "id": "2c5696f3-67da-4e78-9deb-12f9a79ec207",
+   "segment": "segment1",
+   "action": "LM36",
+   "quality": "valid",
+   "start_s": 1.272,
+   "end_s": 120.813,
+   "t_start": 1.3111,
+   "t_end": 120.8521,
+   "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
+  }
+ ]
+}

actions/locomanipulation/LM36/session_020/cameras/slam.npz

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+size 713243

actions/locomanipulation/LM36/session_020/meta.json

@@ -508,6 +508,10 @@
   "primitive": "LM36",
   "source_session": "20261013/LM36/20261013_060845_session96"
  },
+ "task": {
+  "primitive": "LM36",
+  "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
+ },
  "objects": [
   {
    "name": "LittleBox1",
@@ -515,12 +519,6 @@
    "source": "mocap",
    "pose_frame": "rigid_body"
   },
-  {
-   "name": "LittleBox2",
-   "object_type": "LittleBox",
-   "source": "mocap",
-   "pose_frame": "rigid_body"
-  },
   {
    "name": "LittleBox3",
    "object_type": "LittleBox",

actions/locomanipulation/LM36/session_020/motions/hands_mano.npz

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