diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..5d5005384950f1714469191a491c50dc31ad1a76 --- /dev/null +++ b/README.md @@ -0,0 +1,93 @@ +--- +pretty_name: RevoTac OXT — Ten Simulated Tactile Manipulation Episodes +language: +- en +tags: +- robotics +- tactile +- simulation +- zarr +- open-x-tactile +size_categories: +- n<1K +--- + +# RevoTac OXT + +Ten scripted **simulated** tactile manipulation episodes, one per task, from RevoBench / RevoSim. Contributing institutions: **HKUST(GZ), BrainCo, Georgia Tech**. Contact: Lixin Xu, davidxulixin@gmail.com. + +Project: https://braincotech.github.io/RevoSim-web/ +Code: https://github.com/BrainCoTech/RevoBench +Format and contribution requirements: **[Open-X-Tactile](https://open-x-tactile.github.io/)** and [OXT-QC](https://github.com/nolann030628/OXT-QC). + +This release follows section 4.1 of the OXT submission guide: task subdirectories contain ZIP archives of the processed Zarr data. Uploading this repository does not mean that OXT organizers have accepted the dataset. + +## Contents + +Version 0.1.0 contains **10 episodes, 32,272 frames at 60 Hz**. The unpacked Zarr files total **62,347,719,867 bytes (62.348 GB)**. Exact archive sizes, SHA-256 hashes and source file counts are in `manifest.json`. + +| Task | Frames | Archive | +| --- | ---: | --- | +| cup_hang | 4178 | `cup_hang/cup_hang.zip` | +| hammer | 1856 | `hammer/hammer.zip` | +| insert_peg | 3406 | `insert_peg/insert_peg.zip` | +| insert_pipette | 2937 | `insert_pipette/insert_pipette.zip` | +| kitchen | 5655 | `kitchen/kitchen.zip` | +| plug_charger | 2671 | `plug_charger/plug_charger.zip` | +| pour_can | 4653 | `pour_can/pour_can.zip` | +| power_drill | 2866 | `power_drill/power_drill.zip` | +| rotate_knob | 2459 | `rotate_knob/rotate_knob.zip` | +| tray_carry | 1591 | `tray_carry/tray_carry.zip` | + +Each ZIP contains one `.zarr/` directory, including `data`, auxiliary observations and `edit_provenance`. Extract all entries; do not discard auxiliary or edit-provenance arrays. ZIP64 is used. ZIP storage preserves the already-compressed Zarr chunk bytes. + +## Download and open + +```python +from huggingface_hub import hf_hub_download +from pathlib import Path +import hashlib +import json +import zipfile +import zarr + +repo = "BrainCoTech/RevoTac-OXT" +manifest = json.loads(Path(hf_hub_download(repo, "manifest.json", repo_type="dataset")).read_text()) +entry = next(x for x in manifest["archives"] if x["task"] == "cup_hang") +archive = Path(hf_hub_download(repo, entry["path"], repo_type="dataset")) +digest = hashlib.sha256() +with archive.open("rb") as stream: + for block in iter(lambda: stream.read(16 * 1024 * 1024), b""): + digest.update(block) +assert digest.hexdigest() == entry["sha256"] +with zipfile.ZipFile(archive) as packed: + packed.extractall("data") +episode = zarr.open_group("data/cup_hang.zarr", mode="r") +print(episode.tree()) +``` + +## Signals and editing + +The bimanual robot has 56 joint coordinates. The dataset includes measured joints and commands, four scene RGB cameras, canonical ego/wrist poses, five optical tactile pads per hand, numeric indentation depth in **meters**, marker displacement, pad-contact wrenches, and 285 pressure taxels per hand. Stiffness and damping are omitted from this OXT view. + +Pressure is a **nonnegative normalized response**, not Pa or N. DIP optical pads and palm/MCP/PIP pressure regions have different spatial coverage. The sensor facade is target-specific. Simulated Taxim RGB marker warping is not implemented; these are not real sensor recordings. + +Long stationary holds were removed offline, reducing 34,528 original frames to 32,272. Modalities share the same retained source-frame indices. Native retained values, sensor resolution and chunk codecs are preserved; timestamps were reindexed at 60 Hz. Original capture frame indices/times are retained in `edit_provenance`. No interpolation or physics rerun was performed. These ten development demonstrations are not a statistical task-success benchmark. + +## Quality checks and known limitations + +See `qc/` for the review records. The official metadata check passed all ten dataset structures; its historical report still notes the then-missing download URL and FTP-1 `code_trigger`. This release fills `metadata.json.url`; `code_trigger` remains unassigned. The release metadata check was rerun after adding the URL: all ten dataset structures passed, with only `code_trigger` still missing (see `qc/release_metadata_check/`). + +The official external VLM stage was attempted without dry-run but could not produce scores because no API key was available. Its reports are preserved with `missing_api_key` and null scores. A separate Codex multimodal agent review examined sampled scene/both-hand tactile evidence plus all-frame numerical checks. This does not constitute organizer approval or a completed external VLM API check. Published JSON reports replace internal source-directory prefixes with descriptive placeholders; the original private audit reports remain unchanged. + +- **pour_can:** right pinky force reaches 416.2466 N at retained/original frame 600, an isolated peak much larger than neighboring values. The value is preserved and flagged for contact-model review. +- **plug_charger:** the left thumb DIP records contact in only eight frames. Source validation supports successful insertion and post-release stability, but does not establish continuous three-fingertip contact. +- **rotate_knob:** peak angle is about 34.16 degrees; the knob returns near zero after release. This is not a demonstration of maintaining a 35-degree final angle. +- Active-hand pressure is zero throughout eight tasks. Optical and pressure regions differ; these pressure channels should not be described as rich contact observations. +- 4D recordings use a full-duration 10 Hz inspection view with 320x240 RGB and documented nominal intrinsics/display adaptations. No scene depth was available, so point clouds were disabled. All 32,272 native pose frames were checked numerically against previously validated FK sources. The recording is sampled coordinate-review evidence, not a full native-rate task video or pixel-accurate calibration certificate. + +The kitchen task targets one potato piece and two meat pieces; carrots remaining in the pan are distractors. The drill task requires alignment above the board, not actual drilling. The pipette task ends with the grasp maintained. + +## Citation + +See `citation.bib` for the citation supplied on the project website. No paper identifier is inferred. A separate dataset license has not been specified in this release. diff --git a/citation.bib b/citation.bib new file mode 100644 index 0000000000000000000000000000000000000000..000cc9d78e5dae920aca01bd39b696d7efdc5387 --- /dev/null +++ b/citation.bib @@ -0,0 +1,6 @@ +@misc{zhang2026revosim, + title = {{RevoSim}: Scalable Multimodal Tactile Simulation for Dexterous Manipulation}, + author = {Zhang, Ke and Xu, Lixin and Wang, Ziyi and Dong, Xiyue and Tan, Jie and Shao, Lianghu and Wang, Xianpeng and Li, Chuanyu and Xu, Renjing}, + year = {2026}, + url = {https://braincotech.github.io/RevoSim-web/} +} diff --git a/manifest.json b/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..f097669f761e695a9e56a81ecfde6d14d4e70f44 --- /dev/null +++ b/manifest.json @@ -0,0 +1,134 @@ +{ + "repo_id": "BrainCoTech/RevoTac-OXT", + "version": "0.1.0", + "tasks": 10, + "episodes": 10, + "frames": 32272, + "native_rate_hz": 60, + "source_zarr_bytes": 62347719867, + "archive_bytes": 62376728083, + "archives": [ + { + "task": "cup_hang", + "path": "cup_hang/cup_hang.zip", + "source_files": 18422, + "source_bytes": 8661113099, + "archive_bytes": 8664721659, + "sha256": "f22be7e5331bf7d6e68fbfb7faa88c4b0768c8cc5774960ba57f13547390ae0e", + "compression": "ZIP_STORED; 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chunks retain original codec", + "all_member_crc_verified": true, + "root_directory": "tray_carry.zarr", + "elapsed_seconds": 24.17 + } + ], + "data_unchanged_by_packaging": true, + "archive_format": "ZIP64 with task.zarr/ root; one archive per task" +} diff --git a/metadata.json b/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7f1904a24c33fc73a6219f1a8b2e5fcb1f50a880 --- /dev/null +++ b/metadata.json @@ -0,0 +1,35 @@ +{ + "name": "RevoBenchSimTactile10NoIdle", + "url": [ + "https://huggingface.co/datasets/BrainCoTech/RevoTac-OXT" + ], + "version": "0.1.0", + "description": "Ten scripted simulated tactile manipulation episodes from RevoBench: bimanual Revo3 dexterous hands; 32272 frames at 60 Hz. Rendered Taxim RGB, numeric indentation depth, HydroShear marker displacements, normalized pressure response, and target-specific PhysX pad contact wrench. Simulated data; development trajectories, one episode per task. Stable long holds removed offline without interpolation; original capture frame indices and times retained under edit_provenance. Not physics re-executed. Contributing institutions: HKUST(GZ), BrainCo, Georgia Tech.", + "type": "dexhand", + "sensor_image": [ + "RevoBenchSimTaxim" + ], + "sensor_array": [ + "RevoBenchSimDepth" + ], + "sensor_state": [ + "RevoBenchSimHydroShear", + "RevoBenchSimPhysXContactWrench", + "RevoBenchSimPressure" + ], + "task": 10, + "trajectory": 10, + "frame": 32272, + "label": [ + "ego" + ], + "contact": [ + "davidxulixin@gmail.com" + ], + "reference": { + "paper": "RevoSim: Scalable Multimodal Tactile Simulation for Dexterous Manipulation", + "website": "https://braincotech.github.io/RevoSim-web/", + "authors": "Ke Zhang, Lixin Xu, Ziyi Wang, Xiyue Dong, Jie Tan, Lianghu Shao, Xianpeng Wang, Chuanyu Li, Renjing Xu." + }, + "code_trigger": "" +} diff --git a/qc/4d_invocations/cup_hang.json b/qc/4d_invocations/cup_hang.json new file mode 100644 index 0000000000000000000000000000000000000000..f98549c9b6f149a2e52b3527c2424c1d893a3821 --- /dev/null +++ b/qc/4d_invocations/cup_hang.json @@ -0,0 +1,21 @@ +{ + "task": "cup_hang", + "upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126", + "upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a", + "patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425", + "entrypoint": "precheck_4dvis.main(args), complete upstream function", + "input": "QC_OUTPUT/inspection_samples/cup_hang.zarr", + "original_submission_data": "SOURCE_DATASET/zarr/cup_hang.zarr", + "inspection_frames": 698, + "time_range_seconds": [ + 0.0, + 69.61666870117188 + ], + "nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.", + "display_hooks": [ + "server port and capture controls", + "represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI", + "camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation" + ], + "point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth" +} diff --git a/qc/4d_invocations/hammer.json b/qc/4d_invocations/hammer.json new file mode 100644 index 0000000000000000000000000000000000000000..7f342fb4628d0d8a9d605c7dc1e685ef434d107a --- /dev/null +++ b/qc/4d_invocations/hammer.json @@ -0,0 +1,21 @@ +{ + "task": "hammer", + "upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126", + "upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a", + "patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425", + "entrypoint": "precheck_4dvis.main(args), complete upstream function", + "input": "QC_OUTPUT/inspection_samples/hammer.zarr", + "original_submission_data": "SOURCE_DATASET/zarr/hammer.zarr", + "inspection_frames": 311, + "time_range_seconds": [ + 0.0, + 30.91666603088379 + ], + "nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.", + "display_hooks": [ + "server port and capture controls", + "represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI", + "camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation" + ], + "point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth" +} diff --git a/qc/4d_invocations/insert_peg.json b/qc/4d_invocations/insert_peg.json new file mode 100644 index 0000000000000000000000000000000000000000..21ef467f3685694dca8aa57ebb2ac393a3a26bbc --- /dev/null +++ b/qc/4d_invocations/insert_peg.json @@ -0,0 +1,21 @@ +{ + "task": "insert_peg", + "upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126", + "upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a", + "patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425", + "entrypoint": "precheck_4dvis.main(args), complete upstream function", + "input": "QC_OUTPUT/inspection_samples/insert_peg.zarr", + "original_submission_data": "SOURCE_DATASET/zarr/insert_peg.zarr", + "inspection_frames": 569, + "time_range_seconds": [ + 0.0, + 56.75 + ], + "nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.", + "display_hooks": [ + "server port and capture controls", + "represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI", + "camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation" + ], + "point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth" +} diff --git a/qc/4d_invocations/insert_pipette.json b/qc/4d_invocations/insert_pipette.json new file mode 100644 index 0000000000000000000000000000000000000000..04c008a889e0084be08974e3afe28f7f2bbeb316 --- /dev/null +++ b/qc/4d_invocations/insert_pipette.json @@ -0,0 +1,21 @@ +{ + "task": "insert_pipette", + "upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126", + "upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a", + "patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425", + "entrypoint": "precheck_4dvis.main(args), complete upstream function", + "input": "QC_OUTPUT/inspection_samples/insert_pipette.zarr", + "original_submission_data": "SOURCE_DATASET/zarr/insert_pipette.zarr", + "inspection_frames": 491, + "time_range_seconds": [ + 0.0, + 48.93333435058594 + ], + "nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.", + "display_hooks": [ + "server port and capture controls", + "represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI", + "camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation" + ], + "point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth" +} diff --git a/qc/4d_invocations/kitchen.json b/qc/4d_invocations/kitchen.json new file mode 100644 index 0000000000000000000000000000000000000000..7ae8d6196fc2f89d1e2a268e3d2c86fe8e051f45 --- /dev/null +++ b/qc/4d_invocations/kitchen.json @@ -0,0 +1,21 @@ +{ + "task": "kitchen", + "upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126", + "upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a", + "patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425", + "entrypoint": "precheck_4dvis.main(args), complete upstream function", + "input": "QC_OUTPUT/inspection_samples/kitchen.zarr", + "original_submission_data": "SOURCE_DATASET/zarr/kitchen.zarr", + "inspection_frames": 944, + "time_range_seconds": [ + 0.0, + 94.23332977294922 + ], + "nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. This is nominal visualization, not pixel-accurate calibration acceptance.", + "display_hooks": [ + "server port and capture controls", + "represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI", + "camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation" + ], + "point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth" +} diff --git a/qc/4d_invocations/plug_charger.json b/qc/4d_invocations/plug_charger.json new file mode 100644 index 0000000000000000000000000000000000000000..1afbb868eb6377997d639baf54f67e1cc4149eb2 --- /dev/null +++ b/qc/4d_invocations/plug_charger.json @@ -0,0 +1,21 @@ +{ + "task": "plug_charger", + "upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126", + "upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a", + "patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425", + "entrypoint": "precheck_4dvis.main(args), complete upstream function", + "input": "QC_OUTPUT/inspection_samples/plug_charger.zarr", + "original_submission_data": "SOURCE_DATASET/zarr/plug_charger.zarr", + "inspection_frames": 446, + "time_range_seconds": [ + 0.0, + 44.5 + ], + "nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. 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This is nominal visualization, not pixel-accurate calibration acceptance.", + "display_hooks": [ + "server port and capture controls", + "represent ego camera as coordinate axes instead of an occluding image plane; synchronized original RGB in GUI", + "camera-forward and oblique camera viewpoints; preserve upstream fixed world display rotation" + ], + "point_clouds": "disabled with -d: scene depth was not recorded; tactile indentation is not scene depth" +} diff --git a/qc/4d_invocations/power_drill.json b/qc/4d_invocations/power_drill.json new file mode 100644 index 0000000000000000000000000000000000000000..7b4355e1d9fadad50b60f60bd9775158a71092c1 --- /dev/null +++ b/qc/4d_invocations/power_drill.json @@ -0,0 +1,21 @@ +{ + "task": "power_drill", + "upstream_git_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126", + "upstream_sha256": "375ca30268f460053325cc7716beaae76d33efb9c6466046f99fb46618639a3a", + "patched_sha256": "5e33274371c8b3a6260d13f3a3321f92ab8c1be4664f66d6259f5fe2902b5425", + "entrypoint": "precheck_4dvis.main(args), complete upstream function", + "input": "QC_OUTPUT/inspection_samples/power_drill.zarr", + "original_submission_data": "SOURCE_DATASET/zarr/power_drill.zarr", + "inspection_frames": 479, + "time_range_seconds": [ + 0.0, + 47.75 + ], + "nominal_intrinsics_note": "Head USD focal length 8mm / horizontal aperture 25mm; half-resolution 320x240, square-pixel assumption. 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a/qc/4d_recordings/tray_carry.review_sheet.jpg b/qc/4d_recordings/tray_carry.review_sheet.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5c22827144c520a9633a82b5fb79584afe5340a2 --- /dev/null +++ b/qc/4d_recordings/tray_carry.review_sheet.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:433302f4f9a501a2dc3dacdc0b8eabd249ffe25d6de91792f3e8862802ed0219 +size 77565 diff --git a/qc/4d_recordings/tray_carry_4d_viser_check.mp4 b/qc/4d_recordings/tray_carry_4d_viser_check.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..52b7ff60e68ad920483126e95949e6f4d3a47d24 --- /dev/null +++ b/qc/4d_recordings/tray_carry_4d_viser_check.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34bc57c9378f6e28484c6e20398e379cfeeedbf656f6adf99c413742e9a2ca16 +size 317511 diff --git a/qc/4d_viser_check.mp4 b/qc/4d_viser_check.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4ca80f498d2bce1af3092a61e1f2d43fc6da5892 --- /dev/null +++ b/qc/4d_viser_check.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb585ffeec631dacb46bb76d41c27b80978eeb314d15856ffaebc73a97344f8d +size 2488939 diff --git a/qc/4d_visual_review.json b/qc/4d_visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..306252d5ff6ab2833b5b4579a7e300c891c765f7 --- /dev/null +++ b/qc/4d_visual_review.json @@ -0,0 +1,100 @@ +{ + "status": "reviewed_with_limitations", + "tasks": [ + { + "task": "cup_hang", + "reviewer": "Codex multimodal agent", + "visual_evidence": "4d_recordings/cup_hang.review_sheet.jpg", + "sha256": "9b51d068b17997dcc171a374a8a94383c330ff57bec26c3fe23298fe487d03d7", + "viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots", + "finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.", + "limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check." + }, + { + "task": "hammer", + "reviewer": "Codex multimodal agent", + "visual_evidence": "4d_recordings/hammer.review_sheet.jpg", + "sha256": "68c33fd8a0da99471357925c40cf38a79aec4b3ae88aa8eaca13603d3aa8e229", + "viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots", + "finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.", + "limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check." + }, + { + "task": "insert_peg", + "reviewer": "Codex multimodal agent", + "visual_evidence": "4d_recordings/insert_peg.review_sheet.jpg", + "sha256": "3a87fd50d128fd825ee6a3fb05f9ae334296506271eaa2fe5760e0137c215b5e", + "viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots", + "finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.", + "limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check." + }, + { + "task": "insert_pipette", + "reviewer": "Codex multimodal agent", + "visual_evidence": "4d_recordings/insert_pipette.review_sheet.jpg", + "sha256": "a07fd60acee09cb73ffb39e45d8c8c78725f6c20fad08d7fb0124bbea9dafbf6", + "viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots", + "finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.", + "limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check." + }, + { + "task": "kitchen", + "reviewer": "Codex multimodal agent", + "visual_evidence": "4d_recordings/kitchen.review_sheet.jpg", + "sha256": "01abdeacdecf0d6a855b3f45a948f45611c26eb4a91b1ebc2cb36c75051dfa99", + "viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots", + "finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.", + "limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check." + }, + { + "task": "plug_charger", + "reviewer": "Codex multimodal agent", + "visual_evidence": "4d_recordings/plug_charger.review_sheet.jpg", + "sha256": "223836ff5336f3344cbc626c3e2794bfcc683fe6d50e23ac34705f6a800fa4b9", + "viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots", + "finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.", + "limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check." + }, + { + "task": "pour_can", + "reviewer": "Codex multimodal agent", + "visual_evidence": "4d_recordings/pour_can.review_sheet.jpg", + "sha256": "14688e605b7f044fde86e7a074f9e47d9579b1726f1b547b28e2b1873d1da155", + "viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots", + "finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.", + "limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check." + }, + { + "task": "power_drill", + "reviewer": "Codex multimodal agent", + "visual_evidence": "4d_recordings/power_drill.review_sheet.jpg", + "sha256": "d3bda89aa34b73c44c297bb1165a52aeff3697fede563f8fd5644156761ddbf7", + "viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots", + "finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.", + "limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check." + }, + { + "task": "rotate_knob", + "reviewer": "Codex multimodal agent", + "visual_evidence": "4d_recordings/rotate_knob.review_sheet.jpg", + "sha256": "c1d11af608127c9ac50cf1d8fd27e206330d4a3b0e95a34f020b7a24e4469562", + "viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots", + "finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.", + "limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check." + }, + { + "task": "tray_carry", + "reviewer": "Codex multimodal agent", + "visual_evidence": "4d_recordings/tray_carry.review_sheet.jpg", + "sha256": "433302f4f9a501a2dc3dacdc0b8eabd249ffe25d6de91792f3e8862802ed0219", + "viewed": "forward and oblique, start/middle/end keyframes; cup also full resolution middle screenshots", + "finding": "No gross left/right hand swap or inconsistent direction trend observed in inspected views.", + "limits": "Sparse visual review; no calibrated pixel reprojection or scene depth check." + } + ], + "full_frame_numeric_evidence": "full_frame_numeric_checks.json", + "axis_evidence": "palm_axis_semantic_checks.json", + "recording_validation": "media_validation.json", + "adaptations": "4d_invocations/.json and reference/4d_intrinsics.patch", + "not_an_automatic_official_pass": true +} diff --git a/qc/agent_semantic_review.json b/qc/agent_semantic_review.json new file mode 100644 index 0000000000000000000000000000000000000000..39d62741bd8a3e54886865667bda56e75fc0f0d7 --- /dev/null +++ b/qc/agent_semantic_review.json @@ -0,0 +1,1550 @@ +{ + "reviewer": "Codex multimodal agent in this conversation", + "generated_at": "2026-10-23T15:22:58.076479+00:00", + "review_type": "agent_semantic_review", + "official_external_vlm_result": false, + "external_api_called_successfully": false, + "upstream_commit": "cadbf5e7d1cfcec861a6d58779fc6d6e057f3126", + "dataset_root": "SOURCE_DATASET/zarr", + "scope": { + "tasks": 10, + "full_numeric_frames": 32272, + "visual_review": "Sampled scene and both-hand optical montages, force-change events, plus 4D browser review sheets. Not visual inspection of every native video frame.", + "originals_preserved": true, + "physics_rerun": false, + "numeric_api_scores": null + }, + "limitations": [ + "官方 precheck_vlm.py 的模型返回为空，原因 missing_api_key；官方 JSON 原样保存。本报告是用户授权的另一种审查证据，不冒充官方 API 结果或 organizer 验收。", + "官方脚本只选排序后的首个 RGB 与首个触觉字段；本次补查双手光学、深度、wrench、marker、压力，避免右手任务只看左手触觉。", + "压力是非负归一化响应，不是 Pa/N；光学为 DIP，压力为掌心/MCP/PIP，二者覆盖不同。", + "数据来自模拟 Taxim；RGB marker warping 未实现，不能声称真实触觉传感器保真度或 marker 图像动态完整。", + "触觉 facade 为单目标，证据只覆盖声明的当前目标；不证明未记录的所有物体/桌面接触。", + "4D 使用 10 Hz、320x240 RGB 检查副本和完整官方主函数；无场景深度所以 -d 禁用点云。名义内参及显示适配另有记录，不是像素级相机标定验收。", + "全部 32272 帧规范位姿与之前验证的 FK 源逐帧对应；源采集成功标志不是剪辑时间线动力学重跑或统计成功率。" + ], + "results": [ + { + "task": "cup_hang", + "frames": 4178, + "instruction": "Pick up the cup and hang it securely on the rack branch, then release it and withdraw the hand.", + "review_status": "reviewed_with_limitations", + "sync": { + "assessment": "no_gross_mismatch_observed_in_sampled_evidence", + "evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。", + "limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。" + }, + "contact_consistency": { + "assessment": "plausible_in_reviewed_evidence", + "observation": "右手触觉在持杯期间变化，释放后回落，左手保持无接触。" + }, + "signal_health": { + "assessment": "reviewed_with_coverage_limits", + "full_frame_checks": { + "left": { + "contact_frames_per_finger": [ + 0, + 0, + 0, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 0.0, + "force_peak_retimed_frame": 0, + "force_peak_original_frame": 0, + "force_peak_finger": "thumb", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.0, + 0.0, + 0.0 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + }, + "right": { + "contact_frames_per_finger": [ + 3121, + 2993, + 2988, + 2988, + 2986 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 15.581062316894531, + "force_peak_retimed_frame": 2652, + "force_peak_original_frame": 2652, + "force_peak_finger": "ring", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 15.155916213989258, + 15.145098686218262, + 15.581062316894531, + 15.145913124084473, + 15.10184097290039 + ], + "pressure_all_zero": false, + "pressure_peak_response": 0.4910048842430115, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + } + }, + "sampled_depth_peak_m": { + "left": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "right": [ + 0.0, + 0.0013553071767091751, + 0.00125783309340477, + 0.0015480490401387215, + 0.0012643225491046906 + ] + } + }, + "instruction_consistency": { + "assessment": "supported_by_sampled_scene_and_source_checks", + "observation": "右手抓杯、抬起并移向架枝，松手撤回后杯子仍挂在枝上。", + "auxiliary_evidence": "原始采集报告包含 100 个稳定支撑样本和释放后零手部接触；这不是剪辑时间线的物理重跑。", + "progress_numeric": {} + }, + "sampling": { + "method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.", + "retimed_frame_indices": [ + 0, + 278, + 346, + 556, + 835, + 1113, + 1392, + 1670, + 1949, + 2227, + 2506, + 2547, + 2604, + 2784, + 3017, + 3063, + 3325, + 3326, + 3341, + 3620, + 3898, + 4177 + ] + }, + "evidence": [ + { + "path": "signal_review/cup_hang/review_montage.png", + "sha256": "96c1eddf5ecd9dfda370c5ac123d97f9dbaf03d31ff7153f39bdbd282abbb2ca" + }, + { + "path": "signal_review/cup_hang/signal_review.json", + "sha256": "66f2cf1ec37561f09449e941eaf2ce6ab643b5d2a16114ee345fc1d6027ec690" + }, + { + "path": "4d_recordings/cup_hang.review_sheet.jpg", + "sha256": "9b51d068b17997dcc171a374a8a94383c330ff57bec26c3fe23298fe487d03d7" + }, + { + "path": "4d_recordings/cup_hang.recording.json", + "sha256": "2aa7bec7c4af705aff0b6760e9d8620f3c871667dc758178be0e0197c541e947" + } + ], + "warnings": [] + }, + { + "task": "hammer", + "frames": 1856, + "instruction": "Pick up the hammer and use it to drive the nail into the board.", + "review_status": "reviewed_with_limitations", + "sync": { + "assessment": "no_gross_mismatch_observed_in_sampled_evidence", + "evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。", + "limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。" + }, + "contact_consistency": { + "assessment": "plausible_in_reviewed_evidence", + "observation": "持锤期间右手光学触觉与力信号变化，左手无接触。" + }, + "signal_health": { + "assessment": "reviewed_with_coverage_limits", + "full_frame_checks": { + "left": { + "contact_frames_per_finger": [ + 0, + 0, + 0, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 0.0, + "force_peak_retimed_frame": 0, + "force_peak_original_frame": 0, + "force_peak_finger": "thumb", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.0, + 0.0, + 0.0 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + }, + "right": { + "contact_frames_per_finger": [ + 1447, + 1457, + 1458, + 0, + 739 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 21.91008186340332, + "force_peak_retimed_frame": 529, + "force_peak_original_frame": 529, + "force_peak_finger": "index", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 16.36745262145996, + 15.037910461425781, + 21.91008186340332, + 17.81552505493164, + 16.0438232421875 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + } + }, + "sampled_depth_peak_m": { + "left": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "right": [ + 0.004106936976313591, + 0.003909296356141567, + 0.0039843348786234856, + 0.0, + 0.003217014018446207 + ] + } + }, + "instruction_consistency": { + "assessment": "supported_by_sampled_scene_and_source_checks", + "observation": "右手拿起锤子并敲击板上的钉子；指令不要求最后放下锤子。", + "auxiliary_evidence": "原始验证记录钉子行程 0.0698794 m，手与钉子峰值接触力为零。", + "progress_numeric": {} + }, + "sampling": { + "method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.", + "retimed_frame_indices": [ + 0, + 123, + 247, + 371, + 444, + 494, + 527, + 529, + 618, + 742, + 865, + 989, + 995, + 1113, + 1236, + 1360, + 1484, + 1533, + 1534, + 1607, + 1731, + 1855 + ] + }, + "evidence": [ + { + "path": "signal_review/hammer/review_montage.png", + "sha256": "cfdd58373e2dfdd3a5e3943562ba85d59413ebbcedde63720f549741e6e8784d" + }, + { + "path": "signal_review/hammer/signal_review.json", + "sha256": "710a6d8900d62274d6fca9a3e967e818db0d1e80513205c7117c85f6a998e7a6" + }, + { + "path": "4d_recordings/hammer.review_sheet.jpg", + "sha256": "68c33fd8a0da99471357925c40cf38a79aec4b3ae88aa8eaca13603d3aa8e229" + }, + { + "path": "4d_recordings/hammer.recording.json", + "sha256": "83d6ba82eed8a159fd7f0bd37f76c1dae1d034b2060ec29fa9d4f3e9a5b2cba4" + } + ], + "warnings": [ + { + "code": "active_hand_pressure_zero", + "severity": "coverage_note", + "hands": [ + "right" + ], + "detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。" + } + ] + }, + { + "task": "insert_peg", + "frames": 3406, + "instruction": "Pick up the peg with the left thumb, index and middle fingers, insert it into the hole, release and withdraw.", + "review_status": "reviewed_with_limitations", + "sync": { + "assessment": "no_gross_mismatch_observed_in_sampled_evidence", + "evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。", + "limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。" + }, + "contact_consistency": { + "assessment": "plausible_in_reviewed_evidence", + "observation": "左拇指、食指、中指有接触，释放后光学响应回落，右手无接触。" + }, + "signal_health": { + "assessment": "reviewed_with_coverage_limits", + "full_frame_checks": { + "left": { + "contact_frames_per_finger": [ + 2124, + 2142, + 2061, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 6.584502696990967, + "force_peak_retimed_frame": 1100, + "force_peak_original_frame": 1137, + "force_peak_finger": "thumb", + 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"supported_by_sampled_scene_and_source_checks", + "observation": "左手抓取插销、对准孔插入、松手并撤回，终态插销留在孔中。", + "auxiliary_evidence": "最终 insertion_depth=0.07708171 m；几何标量需要结合画面解释。", + "progress_numeric": { + "observation.insertion_depth": { + "first": 1.178782227384545e-07, + "last": 0.07708171010017395, + "minimum": -0.04022303968667984, + "maximum": 0.079926036298275, + "peak_frame": 2984 + } + } + }, + "sampling": { + "method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.", + "retimed_frame_indices": [ + 0, + 227, + 454, + 681, + 908, + 935, + 981, + 1088, + 1089, + 1101, + 1135, + 1362, + 1589, + 1816, + 2043, + 2270, + 2497, + 2724, + 2951, + 2990, + 3178, + 3405 + ] + }, + "evidence": [ + { + "path": "signal_review/insert_peg/review_montage.png", + "sha256": "45df849435215626343db00e152be841a7c83ded3be7b7d74c57a4724477c1bd" + }, + { + "path": "signal_review/insert_peg/signal_review.json", + "sha256": "af2b942b8e97bce5ea04dbfc8c256452d91b5f4540c0a5fc0121f3e92500c744" + }, + { + "path": "4d_recordings/insert_peg.review_sheet.jpg", + "sha256": "3a87fd50d128fd825ee6a3fb05f9ae334296506271eaa2fe5760e0137c215b5e" + }, + { + "path": "4d_recordings/insert_peg.recording.json", + "sha256": "650938cd6fce3cc6cb930dc09af3b24715e18c3c1ccc1d3f6d503d270c658666" + } + ], + "warnings": [ + { + "code": "active_hand_pressure_zero", + "severity": "coverage_note", + "hands": [ + "left" + ], + "detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。" + } + ] + }, + { + "task": "insert_pipette", + "frames": 2937, + "instruction": "Grasp the black handle of the pipette with three left fingers, turn its tip downward and insert it 5 cm into the container while maintaining the grasp.", + "review_status": "reviewed_with_limitations", + "sync": { + "assessment": "no_gross_mismatch_observed_in_sampled_evidence", + "evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。", + "limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。" + }, + "contact_consistency": { + "assessment": "plausible_in_reviewed_evidence", + "observation": "左手三指触觉在持握和插入期间保持响应；末帧仍接触符合指令。" + }, + "signal_health": { + "assessment": "reviewed_with_coverage_limits", + "full_frame_checks": { + "left": { + "contact_frames_per_finger": [ + 1988, + 1986, + 1955, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 15.653146743774414, + "force_peak_retimed_frame": 1067, + "force_peak_original_frame": 1067, + "force_peak_finger": "thumb", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 14.216329574584961, + 14.87771987915039, + 15.653146743774414, + 14.890497207641602, + 15.266229629516602 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + }, + "right": { + "contact_frames_per_finger": [ + 0, + 0, + 0, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 0.0, + "force_peak_retimed_frame": 0, + "force_peak_original_frame": 0, + "force_peak_finger": "thumb", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.0, + 0.0, + 0.0 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + } + }, + "sampled_depth_peak_m": { + "left": [ + 0.0017392244189977646, + 0.0, + 0.0015710433945059776, + 0.0, + 0.0 + ], + "right": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + "instruction_consistency": { + "assessment": "supported_by_sampled_scene_and_source_checks", + "observation": "左手抓黑色柄、将尖端转向下插入容器，结束时继续持握。", + "auxiliary_evidence": "最终 insertion_depth=0.05033607 m，与要求的 5 cm 相符；初始标量不是单调任务进度。", + "progress_numeric": { + "observation.insertion_depth": { + "first": 0.10240007191896439, + "last": 0.050336066633462906, + "minimum": -0.08164524286985397, + "maximum": 0.10242033749818802, + "peak_frame": 957 + } + } + }, + "sampling": { + "method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.", + "retimed_frame_indices": [ + 0, + 195, + 391, + 587, + 782, + 978, + 1061, + 1174, + 1198, + 1316, + 1327, + 1356, + 1357, + 1370, + 1565, + 1761, + 1957, + 2153, + 2348, + 2544, + 2740, + 2936 + ] + }, + "evidence": [ + { + "path": "signal_review/insert_pipette/review_montage.png", + "sha256": "10e80bf9f1f7b48adf0b0f92e04724137131f53002b0c44ceeee3bd049458d94" + }, + { + "path": "signal_review/insert_pipette/signal_review.json", + "sha256": "26d37c18ef741e11d0330f6bafbe9b5435b259e7da235b39a55a13e77d90ce74" + }, + { + "path": "4d_recordings/insert_pipette.review_sheet.jpg", + "sha256": "a07fd60acee09cb73ffb39e45d8c8c78725f6c20fad08d7fb0124bbea9dafbf6" + }, + { + "path": "4d_recordings/insert_pipette.recording.json", + "sha256": "47393a3f8b4780476754e5ae7c1064d362e06dd5fff8707ffae1d75336fb11ce" + } + ], + "warnings": [ + { + "code": "active_hand_pressure_zero", + "severity": "coverage_note", + "hands": [ + "left" + ], + "detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。" + } + ] + }, + { + "task": "kitchen", + "frames": 5655, + "instruction": "Transfer the potato piece and both meat pieces from the pan into the bowl, one at a time.", + "review_status": "reviewed_with_limitations", + "sync": { + "assessment": "no_gross_mismatch_observed_in_sampled_evidence", + "evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。", + "limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。" + }, + "contact_consistency": { + "assessment": "plausible_in_reviewed_evidence", + "observation": "三次取放对应分段的右手触觉响应，其他手指的指尖接触计数为零。" + }, + "signal_health": { + "assessment": "reviewed_with_coverage_limits", + "full_frame_checks": { + "left": { + "contact_frames_per_finger": [ + 0, + 0, + 0, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 0.0, + "force_peak_retimed_frame": 0, + "force_peak_original_frame": 0, + "force_peak_finger": "thumb", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.0, + 0.0, + 0.0 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + }, + "right": { + "contact_frames_per_finger": [ + 3081, + 2900, + 0, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 4.874019145965576, + "force_peak_retimed_frame": 2680, + "force_peak_original_frame": 2680, + "force_peak_finger": "thumb", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.8695693016052246, + 1.0460257530212402, + 4.874019145965576, + 2.2692904472351074, + 1.7413698434829712 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + } + }, + "sampled_depth_peak_m": { + "left": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "right": [ + 0.0033081797882914543, + 0.00158772524446249, + 0.0, + 0.0, + 0.0 + ] + } + }, + "instruction_consistency": { + "assessment": "supported_by_sampled_scene_and_source_checks", + "observation": "右拇指和食指依次把土豆块及两块肉放进同一个碗。", + "auxiliary_evidence": "源报告三个目标均 inside_bowl=true。锅中剩余橙色物体是非目标胡萝卜，不是漏取的肉块。", + "progress_numeric": {} + }, + "sampling": { + "method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.", + "retimed_frame_indices": [ + 0, + 376, + 709, + 753, + 1130, + 1507, + 1884, + 2261, + 2575, + 2638, + 2676, + 2678, + 2680, + 2681, + 3015, + 3392, + 3769, + 4146, + 4523, + 4900, + 5277, + 5654 + ] + }, + "evidence": [ + { + "path": "signal_review/kitchen/review_montage.png", + "sha256": "473d5da83b655ae73aabdce746275b476275bf297b4dc45f49b7a323c0e52800" + }, + { + "path": "signal_review/kitchen/signal_review.json", + "sha256": "fec13e00b4cf12bdd949f7a0dcd0b80c91a79138cb3209fe7c3f19d6c370068e" + }, + { + "path": "4d_recordings/kitchen.review_sheet.jpg", + "sha256": "01abdeacdecf0d6a855b3f45a948f45611c26eb4a91b1ebc2cb36c75051dfa99" + }, + { + "path": "4d_recordings/kitchen.recording.json", + "sha256": "ad41ac73cfe9bbdae1a060a0d814b49423091e6aa5393a6a194e0507634729e2" + } + ], + "warnings": [ + { + "code": "active_hand_pressure_zero", + "severity": "coverage_note", + "hands": [ + "right" + ], + "detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。" + } + ] + }, + { + "task": "plug_charger", + "frames": 2671, + "instruction": "Pick up the charger with the left thumb, index and middle fingers, align both prongs with the receptacle, insert, release and withdraw.", + "review_status": "reviewed_with_warnings", + "sync": { + "assessment": "no_gross_mismatch_observed_in_sampled_evidence", + "evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。", + "limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。" + }, + "contact_consistency": { + "assessment": "warning", + "observation": "食指和中指触觉明显；拇指 DIP 只有 8 帧接触，不能证明全程三指指尖稳定夹持。" + }, + "signal_health": { + "assessment": "reviewed_with_coverage_limits", + "full_frame_checks": { + "left": { + "contact_frames_per_finger": [ + 8, + 1546, + 1534, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 4.836563587188721, + "force_peak_retimed_frame": 1112, + "force_peak_original_frame": 1157, + "force_peak_finger": "middle", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 4.399824619293213, + 4.549205303192139, + 4.836563587188721, + 4.227552890777588, + 4.071086406707764 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + }, + "right": { + "contact_frames_per_finger": [ + 0, + 0, + 0, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 0.0, + "force_peak_retimed_frame": 0, + "force_peak_original_frame": 0, + "force_peak_finger": "thumb", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.0, + 0.0, + 0.0 + ], + 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+ 0, + 178, + 356, + 534, + 712, + 834, + 837, + 838, + 890, + 1029, + 1068, + 1112, + 1246, + 1424, + 1602, + 1780, + 1958, + 2136, + 2252, + 2314, + 2492, + 2670 + ] + }, + "evidence": [ + { + "path": "signal_review/plug_charger/review_montage.png", + "sha256": "3a9279447fd05d503e0d2e63adb0a31ceecbe83d2e6acca25e085ccbd9ae21bd" + }, + { + "path": "signal_review/plug_charger/signal_review.json", + "sha256": "651ebc7317db2a070c35ab52af412d58c25b9c93389d4c21c27931838f8bd4f4" + }, + { + "path": "4d_recordings/plug_charger.review_sheet.jpg", + "sha256": "223836ff5336f3344cbc626c3e2794bfcc683fe6d50e23ac34705f6a800fa4b9" + }, + { + "path": "4d_recordings/plug_charger.recording.json", + "sha256": "990eae80b0e43ff9e987ec1f0d14db4dd26f42f127207e8b5471ac76543a9480" + } + ], + "warnings": [ + { + "code": "active_hand_pressure_zero", + "severity": "coverage_note", + "hands": [ + "left" + ], + "detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。" + }, + { + "code": "thumb_DIP_coverage", + "severity": "warning", + "frames": 8, + "detail": "动作完成和双插脚稳定性有源验证；拇指 DIP 接触覆盖不足以验证全程三指指尖夹持。" + } + ] + }, + { + "task": "pour_can", + "frames": 4653, + "instruction": "Grasp the can, pour its granular contents into the bowl, return the can to the table, release and withdraw.", + "review_status": "reviewed_with_warnings", + "sync": { + "assessment": "no_gross_mismatch_observed_in_sampled_evidence", + "evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。", + "limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。" + }, + "contact_consistency": { + "assessment": "warning", + "observation": "右手光学触觉和压力在持罐期间变化，左手无接触；力峰值与压入深度不完全一致，需保留警告。" + }, + "signal_health": { + "assessment": "warning", + "full_frame_checks": { + "left": { + "contact_frames_per_finger": [ + 0, + 0, + 0, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 0.0, + "force_peak_retimed_frame": 0, + "force_peak_original_frame": 0, + "force_peak_finger": "thumb", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.0, + 0.0, + 0.0 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + }, + "right": { + "contact_frames_per_finger": [ + 3707, + 0, + 3757, + 3771, + 3790 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 416.24664306640625, + "force_peak_retimed_frame": 600, + "force_peak_original_frame": 600, + "force_peak_finger": "pinky", + "force_frames_gt_100N": 1, + "force_peak_neighbors_N": [ + 47.88862228393555, + 38.98980712890625, + 416.24664306640625, + 0.0, + 46.34372329711914 + ], + "pressure_all_zero": false, + "pressure_peak_response": 0.13444577157497406, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + } + }, + "sampled_depth_peak_m": { + "left": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "right": [ + 0.000799356319475919, + 0.0, + 0.0, + 0.0, + 4.626810550689697e-05 + ] + } + }, + "instruction_consistency": { + "assessment": "supported_by_sampled_scene_and_source_checks", + "observation": "右手抓罐、倾斜倒出颗粒到碗、放回罐子并松手撤回。", + "auxiliary_evidence": "最大罐倾角 119.843°；采样画面看到碗中颗粒，但未独立逐粒计数。", + "progress_numeric": { + "observation.can_tilt_deg": { + "first": 4.7902711230563e-05, + "last": 4.785704004461877e-05, + "minimum": 6.156649305921746e-06, + "maximum": 119.843017578125, + "peak_frame": 2551 + } + } + }, + "sampling": { + "method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.", + "retimed_frame_indices": [ + 0, + 310, + 554, + 585, + 586, + 600, + 601, + 620, + 930, + 1240, + 1550, + 1860, + 2170, + 2481, + 2791, + 3101, + 3411, + 3721, + 4031, + 4341, + 4652 + ] + }, + "evidence": [ + { + "path": "signal_review/pour_can/review_montage.png", + "sha256": "284b03ad3e31e67387b46c77ab298897c90ae68814bbfd31bc63e9dd45623ae1" + }, + { + "path": "signal_review/pour_can/signal_review.json", + "sha256": "64c7e68775c54fcb044b0c372614a4fb7160fd947469b785a10f88c5a0f62879" + }, + { + "path": "4d_recordings/pour_can.review_sheet.jpg", + "sha256": "14688e605b7f044fde86e7a074f9e47d9579b1726f1b547b28e2b1873d1da155" + }, + { + "path": "4d_recordings/pour_can.recording.json", + "sha256": "ca17f3a97aedc1f15c1ed039442f5dfe298802ed6c234acdd15526278138df25" + } + ], + "warnings": [ + { + "code": "isolated_force_peak", + "severity": "warning", + "retimed_frame": 600, + "original_frame": 600, + "force_N": 416.24664306640625, + "finger": "right_pinky", + "detail": "单帧峰值远高于邻帧约 40–50 N；该时刻采样光学深度为零。保留原值，不裁剪、平滑或声称信号健康。需检查求解器/接触模型或附说明。" + } + ] + }, + { + "task": "power_drill", + "frames": 2866, + "instruction": "Grasp the power drill, align its chuck vertically above the board, hold, return it upright to the table, release and withdraw.", + "review_status": "reviewed_with_limitations", + "sync": { + "assessment": "no_gross_mismatch_observed_in_sampled_evidence", + "evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。", + "limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。" + }, + "contact_consistency": { + "assessment": "plausible_in_reviewed_evidence", + "observation": "左手持握期间触觉有响应，放下释放后回落；右手无接触。" + }, + "signal_health": { + "assessment": "reviewed_with_coverage_limits", + "full_frame_checks": { + "left": { + "contact_frames_per_finger": [ + 2321, + 2135, + 2236, + 2156, + 2372 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 6.9494099617004395, + "force_peak_retimed_frame": 408, + "force_peak_original_frame": 488, + "force_peak_finger": "pinky", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 5.768026351928711, + 6.823105812072754, + 6.9494099617004395, + 6.723233699798584, + 5.406896114349365 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + }, + "right": { + "contact_frames_per_finger": [ + 0, + 0, + 0, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 0.0, + "force_peak_retimed_frame": 0, + "force_peak_original_frame": 0, + "force_peak_finger": "thumb", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.0, + 0.0, + 0.0 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + } + }, + "sampled_depth_peak_m": { + "left": [ + 0.0007601277902722359, + 0.0010298071429133415, + 0.0, + 0.00012343283742666245, + 0.0025220545940101147 + ], + "right": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + "instruction_consistency": { + "assessment": "supported_by_sampled_scene_and_source_checks", + "observation": "左手拿起电钻、把夹头垂直对准板面上方，随后放回桌面并松手。", + "auxiliary_evidence": "最小 alignment_error=0.00134280；指令要求对准，不要求实际钻孔，最后放回时误差变大不算对准阶段失败。", + "progress_numeric": { + "observation.alignment_error": { + "first": 0.34241315722465515, + "last": 0.3245687484741211, + "minimum": 0.0013428006786853075, + "maximum": 0.34858763217926025, + "peak_frame": 475 + } + } + }, + "sampling": { + "method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.", + "retimed_frame_indices": [ + 0, + 191, + 382, + 476, + 480, + 497, + 565, + 573, + 650, + 764, + 955, + 1146, + 1337, + 1528, + 1719, + 1910, + 2101, + 2107, + 2292, + 2483, + 2674, + 2865 + ] + }, + "evidence": [ + { + "path": "signal_review/power_drill/review_montage.png", + "sha256": "74a573eba682233837a8bbab8921ecdb62c1a0498cf38d7c0bf8d85922f31719" + }, + { + "path": "signal_review/power_drill/signal_review.json", + "sha256": "de0f39f980f03c61f67b4711de35e3bc195e5510c0e23c3c54c8541c7ada676f" + }, + { + "path": "4d_recordings/power_drill.review_sheet.jpg", + "sha256": "d3bda89aa34b73c44c297bb1165a52aeff3697fede563f8fd5644156761ddbf7" + }, + { + "path": "4d_recordings/power_drill.recording.json", + "sha256": "ab5312fd83dd18be21cf29cfe2978a2f93f5827a807dc4fa36056f6cf66086a1" + } + ], + "warnings": [ + { + "code": "active_hand_pressure_zero", + "severity": "coverage_note", + "hands": [ + "left" + ], + "detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。" + } + ] + }, + { + "task": "rotate_knob", + "frames": 2459, + "instruction": "Grasp the knob with the left hand, turn upward approximately 35 degrees, release and withdraw.", + "review_status": "reviewed_with_warnings", + "sync": { + "assessment": "no_gross_mismatch_observed_in_sampled_evidence", + "evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。", + "limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。" + }, + "contact_consistency": { + "assessment": "plausible_in_reviewed_evidence", + "observation": "左手转动期间有触觉响应，右手无接触。" + }, + "signal_health": { + "assessment": "reviewed_with_coverage_limits", + "full_frame_checks": { + "left": { + "contact_frames_per_finger": [ + 1030, + 1225, + 1085, + 1146, + 1189 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 5.132035732269287, + "force_peak_retimed_frame": 1448, + "force_peak_original_frame": 1448, + "force_peak_finger": "ring", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 3.6580851078033447, + 4.032366752624512, + 5.132035732269287, + 4.170233249664307, + 4.468057632446289 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + }, + "right": { + "contact_frames_per_finger": [ + 0, + 0, + 0, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 0.0, + "force_peak_retimed_frame": 0, + "force_peak_original_frame": 0, + "force_peak_finger": "thumb", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.0, + 0.0, + 0.0 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + } + }, + "sampled_depth_peak_m": { + "left": [ + 5.778111517429352e-05, + 0.0, + 0.0009075924754142761, + 0.002457796595990658, + 0.0 + ], + "right": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + }, + "instruction_consistency": { + "assessment": "qualified_peak_goal", + "observation": "左手抓住旋钮、向上转动、松开并撤回。", + "auxiliary_evidence": "最大角度 0.59616238 rad（34.16°），末帧约 0°。满足曾转到约 35°的解释，不能称终态保持 35°；若验收要求保持则需重新确认。", + "progress_numeric": { + "observation.knob_angle": { + "first": 0.0, + "last": 2.2130212528281845e-05, + "minimum": -0.010987844318151474, + "maximum": 0.5961623787879944, + "peak_frame": 1972 + } + } + }, + "sampling": { + "method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.", + "retimed_frame_indices": [ + 0, + 163, + 327, + 491, + 655, + 819, + 983, + 1147, + 1310, + 1428, + 1448, + 1474, + 1535, + 1638, + 1802, + 1908, + 1966, + 1973, + 1997, + 2130, + 2294, + 2458 + ] + }, + "evidence": [ + { + "path": "signal_review/rotate_knob/review_montage.png", + "sha256": "bd768aa6203b14deba7a8db9f6ce1194fafeac79d1129646565a2e3765c5269d" + }, + { + "path": "signal_review/rotate_knob/signal_review.json", + "sha256": "0854e0027545c2c312a38108f3994437be4015a183b26b9e3e14dc0e631eae7c" + }, + { + "path": "4d_recordings/rotate_knob.review_sheet.jpg", + "sha256": "c1d11af608127c9ac50cf1d8fd27e206330d4a3b0e95a34f020b7a24e4469562" + }, + { + "path": "4d_recordings/rotate_knob.recording.json", + "sha256": "81d7f15de0f19ee11f8c3719e5d2fad992e7d0e970ce412ddd850984118b6999" + } + ], + "warnings": [ + { + "code": "active_hand_pressure_zero", + "severity": "coverage_note", + "hands": [ + "left" + ], + "detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。" + }, + { + "code": "peak_vs_terminal_angle", + "severity": "warning", + "detail": "最大角度 0.59616238 rad（34.16°），末帧约 0°。满足曾转到约 35°的解释，不能称终态保持 35°；若验收要求保持则需重新确认。" + } + ] + }, + { + "task": "tray_carry", + "frames": 1591, + "instruction": "Lift the food tray with both hands, hold it level, then put it back on the table and release it.", + "review_status": "reviewed_with_limitations", + "sync": { + "assessment": "no_gross_mismatch_observed_in_sampled_evidence", + "evidence": "全量时间戳连续 60 Hz；全部模态使用共同保留帧索引。采样接近、持握、释放阶段大体对应。", + "limit": "不是独立时钟延迟标定；触觉压入 SDF 与 PhysX 接触模型边界可不同，不能证明逐帧零延迟。" + }, + "contact_consistency": { + "assessment": "plausible_in_reviewed_evidence", + "observation": "双手光学触觉在托举阶段均响应，放回后回落；没有发现左右手互换。" + }, + "signal_health": { + "assessment": "reviewed_with_coverage_limits", + "full_frame_checks": { + "left": { + "contact_frames_per_finger": [ + 693, + 986, + 988, + 989, + 846 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 7.750674247741699, + "force_peak_retimed_frame": 1480, + "force_peak_original_frame": 1530, + "force_peak_finger": "ring", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 2.2729578018188477, + 4.111724376678467, + 7.750674247741699, + 2.534925937652588, + 0.8822319507598877 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + }, + "right": { + "contact_frames_per_finger": [ + 693, + 951, + 959, + 947, + 789 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 7.334367752075195, + "force_peak_retimed_frame": 509, + "force_peak_original_frame": 509, + "force_peak_finger": "middle", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.0, + 0.0, + 7.334367752075195, + 4.215703010559082, + 1.03274667263031 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + } + }, + "sampled_depth_peak_m": { + "left": [ + 0.002705005928874016, + 0.0029127486050128937, + 0.0027836887165904045, + 0.002403341233730316, + 0.002683281898498535 + ], + "right": [ + 0.002364237792789936, + 0.0028113964945077896, + 0.0025008153170347214, + 0.002669968642294407, + 0.0009592156857252121 + ] + } + }, + "instruction_consistency": { + "assessment": "supported_by_sampled_scene_and_source_checks", + "observation": "双手托起托盘、保持水平，再放回桌面并释放。", + "auxiliary_evidence": "原始采集验证作为辅助证据；剪辑后的时间线没有重新进行动力学仿真。", + "progress_numeric": {} + }, + "sampling": { + "method": "16 uniform frames plus top 5 summed pad-force changes and maximum force; all labels use the final retimed trajectory.", + "retimed_frame_indices": [ + 0, + 106, + 212, + 318, + 424, + 509, + 530, + 636, + 742, + 848, + 954, + 1060, + 1166, + 1196, + 1197, + 1272, + 1378, + 1461, + 1481, + 1484, + 1590 + ] + }, + "evidence": [ + { + "path": "signal_review/tray_carry/review_montage.png", + "sha256": "b31da8bfd2dbd74031180b881d4b0824b4039e4465244ff02e3c33c37c940144" + }, + { + "path": "signal_review/tray_carry/signal_review.json", + "sha256": "932477d10175d6e0854399d28ec7c882b2804f8af7cb424bb2583330492744f2" + }, + { + "path": "4d_recordings/tray_carry.review_sheet.jpg", + "sha256": "433302f4f9a501a2dc3dacdc0b8eabd249ffe25d6de91792f3e8862802ed0219" + }, + { + "path": "4d_recordings/tray_carry.recording.json", + "sha256": "afbaba415f3f1d7d302d5f83534e10fa3316a8502975a650e66c4bacfe42d1ee" + } + ], + "warnings": [ + { + "code": "active_hand_pressure_zero", + "severity": "coverage_note", + "hands": [ + "left", + "right" + ], + "detail": "DIP 光学垫与掌心/MCP/PIP 压力覆盖不同，零压力不等于零指尖接触；不能把该压力通道描述为丰富的接触训练信号。" + } + ] + } + ] +} diff --git a/qc/agent_semantic_review_result.json b/qc/agent_semantic_review_result.json new file mode 100644 index 0000000000000000000000000000000000000000..99767699e2f05ef6eda80ea01d7f0a4e6c55526e --- /dev/null +++ b/qc/agent_semantic_review_result.json @@ -0,0 +1,23 @@ +{ + "review_type": "agent_semantic_review", + "official_external_vlm_result": false, + "tasks_reviewed": 10, + "full_numeric_frames": 32272, + "status": "completed_with_warnings", + "warning_tasks": [ + "plug_charger", + "pour_can", + "rotate_knob" + ], + "active_hand_zero_pressure_tasks": [ + "hammer", + "insert_peg", + "insert_pipette", + "kitchen", + "plug_charger", + "power_drill", + "rotate_knob", + "tray_carry" + ], + "requires_external_acceptance": "Organizer must decide whether agent review satisfies their VLM requirement; no submission performed." +} diff --git a/qc/full_frame_numeric_checks.json b/qc/full_frame_numeric_checks.json new file mode 100644 index 0000000000000000000000000000000000000000..097a9ca80796aaa018d8c7b5609683a8d638b1b3 --- /dev/null +++ b/qc/full_frame_numeric_checks.json @@ -0,0 +1,951 @@ +{ + "frames": 32272, + "tasks": 10, + "all_pose_frames_equal_to_validated_source": true, + "no_physics_rerun": true, + "results": [ + { + "task": "cup_hang", + "frames": 4178, + "instruction": "Pick up the cup and hang it securely on the rack branch, then release it and withdraw the hand.", + "timestamps_contiguous_60hz": true, + "source_frame_indices_strictly_increasing": true, + "poses": { + "camera_ego_pose": { + "all_frames_equal_to_previously_validated_FK_source": true, + "finite": true, + "max_abs_rotation_determinant_error": 2.220446049250313e-16, + "max_translation_step_m": 0.0 + }, + "left_wrist_pose": { + "all_frames_equal_to_previously_validated_FK_source": true, + "finite": true, + "max_abs_rotation_determinant_error": 1.1102230246251565e-16, + "max_translation_step_m": 0.0 + }, + "right_wrist_pose": { + "all_frames_equal_to_previously_validated_FK_source": true, + "finite": true, + "max_abs_rotation_determinant_error": 1.7763568394002505e-15, + "max_translation_step_m": 0.001513331423518295 + } + }, + "hands": { + "left": { + "contact_frames_per_finger": [ + 0, + 0, + 0, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 0.0, + "force_peak_retimed_frame": 0, + "force_peak_original_frame": 0, + "force_peak_finger": "thumb", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.0, + 0.0, + 0.0 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + }, + "right": { + 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"right_wrist_pose": { + "all_frames_equal_to_previously_validated_FK_source": true, + "finite": true, + "max_abs_rotation_determinant_error": 7.771561172376096e-16, + "max_translation_step_m": 0.0 + } + }, + "hands": { + "left": { + "contact_frames_per_finger": [ + 1030, + 1225, + 1085, + 1146, + 1189 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 5.132035732269287, + "force_peak_retimed_frame": 1448, + "force_peak_original_frame": 1448, + "force_peak_finger": "ring", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 3.6580851078033447, + 4.032366752624512, + 5.132035732269287, + 4.170233249664307, + 4.468057632446289 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + }, + "right": { + "contact_frames_per_finger": [ + 0, + 0, + 0, + 0, + 0 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 0.0, + "force_peak_retimed_frame": 0, + "force_peak_original_frame": 0, + "force_peak_finger": "thumb", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.0, + 0.0, + 0.0 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + } + }, + "progress": { + "observation.knob_angle": { + "first": 0.0, + "last": 2.2130212528281845e-05, + "minimum": -0.010987844318151474, + "maximum": 0.5961623787879944, + "peak_frame": 1972 + } + }, + "original_collection_physical_success": true, + "physical_success_scope": "Original recorded execution only; not a rerun of edited timing or a statistical success rate." + }, + { + "task": "tray_carry", + "frames": 1591, + "instruction": "Lift the food tray with both hands, hold it level, then put it back on the table and release it.", + "timestamps_contiguous_60hz": true, + "source_frame_indices_strictly_increasing": true, + "poses": { + "camera_ego_pose": { + "all_frames_equal_to_previously_validated_FK_source": true, + "finite": true, + "max_abs_rotation_determinant_error": 2.220446049250313e-16, + "max_translation_step_m": 0.0 + }, + "left_wrist_pose": { + "all_frames_equal_to_previously_validated_FK_source": true, + "finite": true, + "max_abs_rotation_determinant_error": 1.7763568394002505e-15, + "max_translation_step_m": 0.003160896790799136 + }, + "right_wrist_pose": { + "all_frames_equal_to_previously_validated_FK_source": true, + "finite": true, + "max_abs_rotation_determinant_error": 1.6653345369377348e-15, + "max_translation_step_m": 0.002977335693618236 + } + }, + "hands": { + "left": { + "contact_frames_per_finger": [ + 693, + 986, + 988, + 989, + 846 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 7.750674247741699, + "force_peak_retimed_frame": 1480, + "force_peak_original_frame": 1530, + "force_peak_finger": "ring", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 2.2729578018188477, + 4.111724376678467, + 7.750674247741699, + 2.534925937652588, + 0.8822319507598877 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + }, + "right": { + "contact_frames_per_finger": [ + 693, + 951, + 959, + 947, + 789 + ], + "noncontact_force_gt_1mN_frames": 0, + "force_peak_N": 7.334367752075195, + "force_peak_retimed_frame": 509, + "force_peak_original_frame": 509, + "force_peak_finger": "middle", + "force_frames_gt_100N": 0, + "force_peak_neighbors_N": [ + 0.0, + 0.0, + 7.334367752075195, + 4.215703010559082, + 1.03274667263031 + ], + "pressure_all_zero": true, + "pressure_peak_response": 0.0, + "pressure_nonnegative": true, + "finite_wrench_marker_pressure": true + } + }, + "progress": {}, + "original_collection_physical_success": true, + "physical_success_scope": "Original recorded execution only; not a rerun of edited timing or a statistical success rate." + } + ] +} diff --git a/qc/media_validation.json b/qc/media_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..b8228b828bffb86f2913435a0b1c2eafab4784ce --- /dev/null +++ b/qc/media_validation.json @@ -0,0 +1,112 @@ +{ + "videos": [ + { + "task": "cup_hang", + "video": "4d_recordings/cup_hang_4d_viser_check.mp4", + "frames": 40, + "fps": 4, + "duration_seconds": 10, + "unique_decoded_frames": 40, + "sha256": "155029f249de66801100122bb0f7120dbcd231eea6ffb9d60104c44cd0af8dd7", + "endpoint_mapping_verified": true + }, + { + "task": "hammer", + "video": "4d_recordings/hammer_4d_viser_check.mp4", + "frames": 40, + "fps": 4, + "duration_seconds": 10, + "unique_decoded_frames": 40, + "sha256": "88b3069fb183da7999dca8f9cf5fab13ac324f9e7c5225b384f0b865c4c9f836", + "endpoint_mapping_verified": true + }, + { + "task": "insert_peg", + "video": "4d_recordings/insert_peg_4d_viser_check.mp4", + "frames": 40, + "fps": 4, + "duration_seconds": 10, + "unique_decoded_frames": 40, + "sha256": "c15f47c286558d7355bbf78a227e070fa6467b8e04046129e985ba0c557ed3da", + "endpoint_mapping_verified": true + }, + { + "task": "insert_pipette", + "video": "4d_recordings/insert_pipette_4d_viser_check.mp4", + "frames": 40, + "fps": 4, + "duration_seconds": 10, + "unique_decoded_frames": 40, + "sha256": "fc8784fbd702811a9170a27fde8275f70fe6ccb29214e27dd5f130873af1fd2d", + "endpoint_mapping_verified": true + }, + { + "task": "kitchen", + "video": "4d_recordings/kitchen_4d_viser_check.mp4", + "frames": 40, + "fps": 4, + "duration_seconds": 10, + "unique_decoded_frames": 40, + "sha256": "ade807d31b85d47e654f27aa71b31c7ce1be053c432cde77fcb1b7e9d37c4ef5", + "endpoint_mapping_verified": true + }, + { + "task": "plug_charger", + "video": "4d_recordings/plug_charger_4d_viser_check.mp4", + "frames": 40, + "fps": 4, + "duration_seconds": 10, + "unique_decoded_frames": 40, + "sha256": "a83d3fd294ace2e2bbee3a0492bfd41131feb445489c7a85097442c76386a797", + "endpoint_mapping_verified": true + }, + { + "task": "pour_can", + "video": "4d_recordings/pour_can_4d_viser_check.mp4", + "frames": 40, + "fps": 4, + "duration_seconds": 10, + "unique_decoded_frames": 40, + "sha256": "827cdf74e4640e1d5ca201d6c15c561b62e3e60df27b32fd4cbaa07289c88454", + "endpoint_mapping_verified": true + }, + { + "task": "power_drill", + "video": "4d_recordings/power_drill_4d_viser_check.mp4", + "frames": 40, + "fps": 4, + "duration_seconds": 10, + "unique_decoded_frames": 40, + "sha256": "a37c973bf4f1cccddca258973e0ef7510f31514f784e2195c3a63def97f0b2be", + "endpoint_mapping_verified": true + }, + { + "task": "rotate_knob", + "video": "4d_recordings/rotate_knob_4d_viser_check.mp4", + "frames": 40, + "fps": 4, + "duration_seconds": 10, + "unique_decoded_frames": 40, + "sha256": "a054617fd2621c9a6130b5b337890d62d7f5c9e8ceb6e781bbba7dca7cecb9a1", + "endpoint_mapping_verified": true + }, + { + "task": "tray_carry", + "video": "4d_recordings/tray_carry_4d_viser_check.mp4", + "frames": 40, + "fps": 4, + "duration_seconds": 10, + "unique_decoded_frames": 40, + "sha256": "34bc57c9378f6e28484c6e20398e379cfeeedbf656f6adf99c413742e9a2ca16", + "endpoint_mapping_verified": true + } + ], + "combined": { + "path": "4d_viser_check.mp4", + "frames": 400, + "fps": 4, + "duration_seconds": 100, + "sha256": "eb585ffeec631dacb46bb76d41c27b80978eeb314d15856ffaebc73a97344f8d" + }, + "note": "Actual Viser browser captures at 20 positions per view, two viewpoints; not native-rate full playback." +} diff --git a/qc/official/precheck_report.json b/qc/official/precheck_report.json new file mode 100644 index 0000000000000000000000000000000000000000..8a6f8f15e1291b1b6c2ddcee16b6eb6275a910a8 --- /dev/null +++ b/qc/official/precheck_report.json @@ -0,0 +1,46325 @@ +{ + "tool": "openxtactile_check_zarr", + "version": "1.0.0", + "generated_at": "2026-10-23T14:58:18", + "input_path": "SOURCE_DATASET/zarr", + "num_datasets": 10, + "num_passed": 10, + "num_failed": 0, + "metadata_export": { + "output": "metadata.json", + "source_name": "RevoBenchSimTactile10NoIdle", + "num_zarr_aggregated": 10, + "merged_from": "QC_OUTPUT/metadata.input.json", + "auto_filled_from_zarr": [ + "task", + "trajectory", + "frame", + "type", + "sensor_image", + "sensor_array", + "sensor_state" + ], + "derived_counts": { + "task": 10, + "trajectory": 10, + "frame": 32272 + }, + "needs_review": [ + "Please fill these human-authored fields manually: ['url', 'code_trigger']" + ], + "merge_discrepancy": null + }, + "datasets": [ + { + "name": "cup_hang.zarr", + "path": "SOURCE_DATASET/zarr/cup_hang.zarr", + "passed": true, + "num_errors": 0, + "num_warnings": 0, + "checks": [ + { + "name": "open_zarr", + "status": "pass", + "message": "zarr group opened successfully" + }, + { + "name": "has_data_group", + "status": "pass", + "message": "'data' group present" + }, + { + "name": "episode_ends", + "status": "pass", + "message": "1 episode(s)", + "detail": { + "num_episodes": 1, + "last": 4178 + } + }, + { + "name": "key_shape_dtype", + "status": "pass", + "message": "catalogued 137 data array(s)", + "detail": { + "num_keys": 137 + } + }, + { + "name": "frame_consistency", + "status": "pass", + "message": "all arrays share T=4178", + "detail": { + "num_frames": 4178 + } + }, + { + "name": "episode_ends_vs_frames", + "status": "pass", + "message": "episode_ends[-1] == T == 4178" + }, + { + "name": "timestamps_present", + "status": "pass", + "message": "timestamps present (4178 values)" + }, + { + "name": "timestamps_monotonic", + "status": "pass", + "message": "timestamps strictly increasing within every episode" + }, + { + "name": "timestamps_gaps", + "status": "pass", + "message": "no gaps (median step=0.0166664, max step=0.0166702)" + }, + { + "name": "rgb_present", + "status": "pass", + "message": "found 4 RGB stream(s)", + "detail": { + "rgb_keys": [ + "camera_ego_rgb", + "camera_main_rgb", + "left_wrist_camera_rgb", + "right_wrist_camera_rgb" + ] + } + }, + { + "name": "tactile_set::left/depth", + "status": "pass", + "message": "complete four-piece set (C=5, type=['matrix'])" + }, + { + "name": "tactile_set::left/marker", + "status": "pass", + "message": "complete four-piece set (C=5, type=['state'])" + }, + { + "name": "tactile_set::left/optical_image", + "status": "pass", + "message": "complete four-piece set (C=5, type=['image'])" + }, + { + "name": "tactile_set::left/pad_wrench", + "status": "pass", + "message": "complete four-piece set (C=5, type=['state'])" + }, + { + "name": "tactile_set::left/pressure_index_mcp", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::left/pressure_index_pip", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::left/pressure_middle_mcp", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::left/pressure_middle_pip", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::left/pressure_palm", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::left/pressure_pinky_mcp", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::left/pressure_pinky_pip", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::left/pressure_ring_mcp", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::left/pressure_ring_pip", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::left/pressure_thumb_mcp", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::left/pressure_thumb_pip", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::right/depth", + "status": "pass", + "message": "complete four-piece set (C=5, type=['matrix'])" + }, + { + "name": "tactile_set::right/marker", + "status": "pass", + "message": "complete four-piece set (C=5, type=['state'])" + }, + { + "name": "tactile_set::right/optical_image", + "status": "pass", + "message": "complete four-piece set (C=5, type=['image'])" + }, + { + "name": "tactile_set::right/pad_wrench", + "status": "pass", + "message": "complete four-piece set (C=5, type=['state'])" + }, + { + "name": "tactile_set::right/pressure_index_mcp", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::right/pressure_index_pip", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::right/pressure_middle_mcp", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::right/pressure_middle_pip", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::right/pressure_palm", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::right/pressure_pinky_mcp", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::right/pressure_pinky_pip", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::right/pressure_ring_mcp", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::right/pressure_ring_pip", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::right/pressure_thumb_mcp", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "tactile_set::right/pressure_thumb_pip", + "status": "pass", + "message": "complete four-piece set (C=1, type=['state'])" + }, + { + "name": "hand_joints::left_hand_joints", + "status": "pass", + "message": "'left_hand_joints' paired with 'left_hand_joints_idx' (N=21)" + }, + { + "name": "hand_joints::right_hand_joints", + "status": "pass", + "message": "'right_hand_joints' paired with 'right_hand_joints_idx' (N=21)" + }, + { + "name": "constant_like_keys", + "status": "pass", + "message": "all 92 constant-like key(s) are stable over time", + "detail": { + "checked_keys": [ + "left_hand_joints_idx", + "left_tactile_area_depth", + "left_tactile_area_marker", + "left_tactile_area_optical_image", + "left_tactile_area_pad_wrench", + "left_tactile_area_pressure_index_mcp", + "left_tactile_area_pressure_index_pip", + "left_tactile_area_pressure_middle_mcp", + "left_tactile_area_pressure_middle_pip", + "left_tactile_area_pressure_palm", + "left_tactile_area_pressure_pinky_mcp", + "left_tactile_area_pressure_pinky_pip", + "left_tactile_area_pressure_ring_mcp", + "left_tactile_area_pressure_ring_pip", + "left_tactile_area_pressure_thumb_mcp", + "left_tactile_area_pressure_thumb_pip", + "left_tactile_sensor_depth", + "left_tactile_sensor_marker", + "left_tactile_sensor_optical_image", + "left_tactile_sensor_pad_wrench", + "left_tactile_sensor_pressure_index_mcp", + "left_tactile_sensor_pressure_index_pip", + "left_tactile_sensor_pressure_middle_mcp", + "left_tactile_sensor_pressure_middle_pip", + "left_tactile_sensor_pressure_palm", + "left_tactile_sensor_pressure_pinky_mcp", + "left_tactile_sensor_pressure_pinky_pip", + "left_tactile_sensor_pressure_ring_mcp", + "left_tactile_sensor_pressure_ring_pip", + "left_tactile_sensor_pressure_thumb_mcp", + "left_tactile_sensor_pressure_thumb_pip", + "left_tactile_type_depth", + "left_tactile_type_marker", + "left_tactile_type_optical_image", + "left_tactile_type_pad_wrench", + "left_tactile_type_pressure_index_mcp", + "left_tactile_type_pressure_index_pip", + "left_tactile_type_pressure_middle_mcp", + "left_tactile_type_pressure_middle_pip", + "left_tactile_type_pressure_palm", + "left_tactile_type_pressure_pinky_mcp", + "left_tactile_type_pressure_pinky_pip", + "left_tactile_type_pressure_ring_mcp", + "left_tactile_type_pressure_ring_pip", + "left_tactile_type_pressure_thumb_mcp", + "left_tactile_type_pressure_thumb_pip", + "right_hand_joints_idx", + "right_tactile_area_depth", + "right_tactile_area_marker", + "right_tactile_area_optical_image", + "right_tactile_area_pad_wrench", + "right_tactile_area_pressure_index_mcp", + "right_tactile_area_pressure_index_pip", + "right_tactile_area_pressure_middle_mcp", + "right_tactile_area_pressure_middle_pip", + "right_tactile_area_pressure_palm", + "right_tactile_area_pressure_pinky_mcp", + "right_tactile_area_pressure_pinky_pip", + "right_tactile_area_pressure_ring_mcp", + "right_tactile_area_pressure_ring_pip", + "right_tactile_area_pressure_thumb_mcp", + "right_tactile_area_pressure_thumb_pip", + "right_tactile_sensor_depth", + "right_tactile_sensor_marker", + "right_tactile_sensor_optical_image", + "right_tactile_sensor_pad_wrench", + "right_tactile_sensor_pressure_index_mcp", + "right_tactile_sensor_pressure_index_pip", + "right_tactile_sensor_pressure_middle_mcp", + "right_tactile_sensor_pressure_middle_pip", + "right_tactile_sensor_pressure_palm", + "right_tactile_sensor_pressure_pinky_mcp", + "right_tactile_sensor_pressure_pinky_pip", + "right_tactile_sensor_pressure_ring_mcp", + "right_tactile_sensor_pressure_ring_pip", + "right_tactile_sensor_pressure_thumb_mcp", + "right_tactile_sensor_pressure_thumb_pip", + "right_tactile_type_depth", + "right_tactile_type_marker", + "right_tactile_type_optical_image", + "right_tactile_type_pad_wrench", + "right_tactile_type_pressure_index_mcp", + "right_tactile_type_pressure_index_pip", + "right_tactile_type_pressure_middle_mcp", + "right_tactile_type_pressure_middle_pip", + "right_tactile_type_pressure_palm", + 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