Datasets:

MIT-Media-Lab
/

egotouch-annotations-v1-leftfix

license: cc-by-nc-4.0
task_categories:
  - robotics
  - image-to-3d
language:
  - en
tags:
  - egotouch
  - tactile
  - vitra
  - mano
  - hand-object-interaction
  - corrected-mano

egotouch-annotations-v1-leftfix

Annotations only. This repository does not contain images or video.

This release corrects the left-hand MANO rotation convention in egotouch-annotations-v1. It keeps the original episode structure, instructions, tactile data, and sample index.

Item	Count
Episodes	111,159
Frames and training samples	3,687,389
Repaired left-hand episodes	54,373
Repaired left-hand frames	1,781,845
Unchanged right-only episodes	56,786

Correction

The source pipeline generated left-hand joints by mirroring a right-hand MANO model. However, it stored the rotation matrices in the original right-hand convention. This mismatch gave incorrect MANO-local coordinates for the left hand.

Let M = diag(-1, 1, 1). This release applies these operations to left-hand episodes:

global_orient_camspace = M @ global_orient_camspace @ M
hand_pose[:, joint] = M @ hand_pose[:, joint] @ M
global_orient_worldspace = R_camera_to_world @ global_orient_camspace

Reflection conjugation keeps each corrected matrix in SO(3). The correction does not mirror joints or translations again.

Unchanged data

The following data is unchanged:

joints_camspace and joints_worldspace
transl_camspace, transl_worldspace, and wrist positions
tactile pressure grids
MANO shape parameters (beta)
camera intrinsics and extrinsics
RGB frame references (video_decode_frame)
instructions and paraphrases
episode membership and frame counts
all right-hand annotations

Files

egotouch.tar
  Annotation/egotouch/episodic_annotations/*.npy

episode_frame_index.npz
  index_frame_pair       (3,687,389, 2) uint32
  index_to_episode_id    (111,159,)

full_repair_audit.json
  source and corrected hashes, counts, and validation results

The index is byte-identical to the parent release. Each row of index_frame_pair gives an episode ordinal and a frame number.

Load one sample

Extract egotouch.tar. Then load a sample with this code:

import numpy as np

sample_id = 0
index = np.load("episode_frame_index.npz", allow_pickle=True)
episode_slot, frame_id = index["index_frame_pair"][sample_id]
episode_id = str(index["index_to_episode_id"][episode_slot])

path = f"Annotation/egotouch/episodic_annotations/{episode_id}.npy"
episode = np.load(path, allow_pickle=True).item()
rgb_frame_id = int(episode["video_decode_frame"][frame_id])

Each episode stores MANO parameters, camera data, world-space joints, camera-space joints, tactile grids, instructions, paraphrases, and absolute RGB frame indices. The anno_type field identifies the target hand for the episode.

Coordinate convention

The per-frame extrinsics matrices use the world-to-camera convention. The global_orient_camspace and global_orient_worldspace fields contain rotation matrices. The world frame stays fixed within each source recording.

Chunk-level anchor-camera conversion belongs in the VITRA data loader. This release does not bake an anchor-camera frame into the stored annotations.

Validation

The full release passed these checks:

all 111,159 archive members load successfully.
archive names and order match the parent release.
episode identifiers and frame counts match the index.
no index row points outside an episode.
the maximum rotation determinant error is 5.65e-7.
the maximum rotation orthogonality error is 6.34e-5.
the maximum camera-to-world orientation consistency error is 0.0.
sampled right-only episodes are byte-identical to the parent release.

The audit file contains the archive hashes and exact validation counts.

Compatibility

Use this release for training that derives left-hand MANO-local coordinates from stored rotations. Rebuild action caches that were made from the uncorrected left-hand rotation fields.

Caches that use only stored joints and tactile grids do not change numerically. Their training protocol can still require a new comparison run for reproducibility.

RGB frames

The video_decode_frame field indexes the source EgoTouch video. Get the video from the EgoTouch source release.

Integrity

egotouch.tar
fe49162862d792861612c6405eebba958197a30df519a6e0fe1aa3e1db3f3088

episode_frame_index.npz
f9908d8733f00382a8fd762a1c8ab6f4b34fa47c5603c512c29fa66e31f47343