AGILE: Hand-Object Interaction Reconstruction from Video via Agentic Generation
Paper • 2602.04672 • Published • 3
Dataset Viewer
The dataset viewer is not available for this split.
Cannot extract the features (columns) for the split 'train' of the config 'default' of the dataset.
Error code: FeaturesError
Exception: ArrowInvalid
Message: JSON parse error: Missing a name for object member. in row 0
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 324, in _generate_tables
df = pandas_read_json(f)
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 38, in pandas_read_json
return pd.read_json(path_or_buf, **kwargs)
~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/pandas/io/json/_json.py", line 815, in read_json
return json_reader.read()
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/pandas/io/json/_json.py", line 1014, in read
obj = self._get_object_parser(self.data)
File "/usr/local/lib/python3.14/site-packages/pandas/io/json/_json.py", line 1040, in _get_object_parser
obj = FrameParser(json, **kwargs).parse()
File "/usr/local/lib/python3.14/site-packages/pandas/io/json/_json.py", line 1176, in parse
self._parse()
~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/pandas/io/json/_json.py", line 1391, in _parse
self.obj = DataFrame(
~~~~~~~~~^
ujson_loads(json, precise_float=self.precise_float), dtype=None
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/pandas/core/frame.py", line 782, in __init__
mgr = dict_to_mgr(data, index, columns, dtype=dtype, copy=copy, typ=manager)
File "/usr/local/lib/python3.14/site-packages/pandas/core/internals/construction.py", line 503, in dict_to_mgr
return arrays_to_mgr(arrays, columns, index, dtype=dtype, typ=typ, consolidate=copy)
File "/usr/local/lib/python3.14/site-packages/pandas/core/internals/construction.py", line 114, in arrays_to_mgr
index = _extract_index(arrays)
File "/usr/local/lib/python3.14/site-packages/pandas/core/internals/construction.py", line 677, in _extract_index
raise ValueError("All arrays must be of the same length")
ValueError: All arrays must be of the same length
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 244, in compute_first_rows_from_streaming_response
iterable_dataset = iterable_dataset._resolve_features()
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 4523, in _resolve_features
features = _infer_features_from_batch(self.with_format(None)._head())
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2768, in _head
return next(iter(self.iter(batch_size=n)))
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2972, in iter
for key, pa_table in ex_iterable.iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2483, in _iter_arrow
yield from self.ex_iterable._iter_arrow()
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 547, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 430, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 327, in _generate_tables
raise e
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 290, in _generate_tables
pa_table = paj.read_json(
io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
)
File "pyarrow/_json.pyx", line 364, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
return check_status(status)
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: JSON parse error: Missing a name for object member. in row 0Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
AGILE Data
Prepared inputs and generated objects for AGILE: Hand-Object Interaction Reconstruction from Video via Agentic Generation.
HO3D configurations, prepared inputs and generated objects for 18 sequences are available now. DexYCB and additional datasets will follow.
Download
Using the AGILE code:
python tools/download_ho3d.py --scenes MC1 --output /ABS/data
Omit --scenes to download all released sequences. The downloader includes required initialization files and verifies archive and file checksums. Use --revision COMMIT to pin a release.
Files
| Path | Contents |
|---|---|
ho3d/preprocessed/SCENE.tar.gz |
RGB, masks, depth, hand estimates, object initialization and the optimization input mesh. |
ho3d/generated/SCENE.tar.gz |
Selected generated object mesh, material and texture. |
ho3d/initialization/SCENE.tar.gz |
Additional WiLoR 2D joints for aligned-format sequences. |
| Sequence inputs | Exact component paths and required archives for each sequence. |
| Manifest | Frame coverage, contact frames, archive and file checksums. |
| SHA256SUMS | Archive checksums. |
Archives extract to:
HO3D/
preprocessed/train/SCENE/
generated/train/SCENE/object/
Directory-format sequences store object initialization in object_pose/. Aligned sequences retain their NPZ layout. Generated objects and prepared optimization meshes are separate assets; use the prepared mesh for optimization.
Per-sequence inputs
The release preserves the selected combination of inputs for each sequence:
| Layout | Sequences |
|---|---|
| RGB/masks + MoGe depth + WiLoR + aligned hand + FoundationPose initialization | ABF12, ABF14, GPMF12, GPMF14, MC1, MC4, SM2, SM4, ShSu10, ShSu12 |
| Aligned NPZ inputs + corresponding WiLoR 2D joints | BB12, BB13, GSF13, GSF14, MDF12, MDF14, SMu1, SMu40 |
The directory names were standardized without changing file contents or per-sequence input selections. The previous release remains available by revision. Current loaders also accept that layout.
Coverage and terms
Some prepared sequences end before the raw video. See the manifest for exact ranges. ABF12 includes extra depth-only files; its RGB/mask observations still stop at frame 1023. This release does not claim exact paper metric reproduction.
HO3D-derived content remains subject to the original dataset terms. Obtain evaluation ground truth, MANO and external model weights separately under their respective terms. They are not included here. Do not load pickled research arrays from untrusted sources.
For AGILE's original contributions, the authors specify non-commercial research use; contact Professor Chunhua Shen for commercial use. No new permissive license is granted over third-party content.
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