| --- |
| license: cc-by-nc-4.0 |
| task_categories: |
| - robotics |
| - image-to-3d |
| language: |
| - en |
| tags: |
| - vitra |
| - mano |
| - hand-object-interaction |
| --- |
| |
| # egotouch-annotations-v1 |
|
|
| **Annotations only — no images, no video.** |
|
|
| VITRA-style hand episodes for **EgoTouch**, with per-hand instructions and paraphrases. |
|
|
| | | | |
| |---|---| |
| | episodes | **107,364** | |
| | training samples (`index_frame_pair` rows) | **3,123,675** | |
| | annotation | MANO pose + world/camera joints + per-frame extrinsics | |
| | text | one instruction per episode + 1.93 paraphrases on average | |
| | **images / video** | **not included** — see *Getting the frames* below | |
|
|
| ### What we did |
|
|
| **Episodes are ours.** The source release ships either raw video or differently-segmented |
| clips, so we re-cut it with VITRA's method — speed minima of the 3D wrist in world space: |
|
|
| gaussian smooth (sigma=1.0) -> local speed minima in a fixed window (win=15, i.e. 0.5 s |
| at 30 Hz) -> merge runs shorter than min_seg=16 -> pad 2 frames on each end |
| |
| sigma and win are quantities in *time*, converted per source frame rate. Left and right hands |
| are cut independently, with the other hand's motion ignored. |
|
|
| **Instructions are ours.** Two rounds, both with `Qwen3.5-122B-A10B-FP8`: |
| round 1 captions 8 frames per episode with the palm's future trajectory drawn on them; |
| round 2 checks the sentence belongs to that hand, strips same-hand references |
| ("Rinse the right hand." -> "Rinse the hand.", because training already prepends |
| `Left hand: ... Right hand: ...`), and writes 1-3 paraphrases. |
|
|
| **Episodes with no instruction are not included.** Round 1 returns `N/A` when an episode |
| shows no object interaction. Those episodes are excluded from both the archive and the |
| index, so every episode here has a usable instruction. |
|
|
| ### Tactile |
|
|
| **This is the only domain here that carries tactile data.** Each episode has an extra |
| top-level `tactile` dict (not part of VITRA's original format): |
|
|
| ``` |
| d["tactile"]["left"] ndarray (T, 21, 21) float32 # NaN outside the sensor area |
| d["tactile"]["right"] ndarray (T, 21, 21) float32 |
| ``` |
|
|
| Row `t` of `tactile[hand]` is the pressure map for the **same frame** as row `t` of |
| `joints_worldspace` and of `video_decode_frame` — i.e. tactile and pose are aligned |
| frame-for-frame, no resampling. |
|
|
| We verified that mapping end to end rather than assuming it: |
|
|
| - the source release ships one pressure row per video frame (`frame_index` runs |
| `0..n-1`, strictly increasing, at exactly 30.00 fps) — checked on sampled scenes; |
| - pressure length equals video frame count for **all 1,566 scenes x 2 hands**, with zero |
| exceptions, so nothing was silently truncated; |
| - our stored values reproduce the official `pressure_grids.npz` at every frame; the |
| per-frame pressure totals cross-correlate at **lag 0 with r = 1.0000**, and a spatial |
| transpose does *not* match, ruling out both a time shift and an axis swap; |
| - within an episode, the tactile slice is the same `[a:b]` window as the pose slice |
| (byte-identical on every sampled episode). |
|
|
| Values are the official ones passed through **float16** at one intermediate stage, so they |
| differ from the source by at most one float16 half-ULP (max observed 2.41e-4 on a |
| 0-1 normalised map). Positions of `NaN` are preserved exactly. |
|
|
| ### Files |
|
|
| ``` |
| egotouch.tar -> Annotation/egotouch/episodic_annotations/*.npy |
| episode_frame_index.npz index_frame_pair (N,2) uint32 + index_to_episode_id (E,) |
| ``` |
|
|
| `index_frame_pair` **row number is the sample id**: row r = (episode ordinal, frame within |
| that episode). `len(index_frame_pair)` is the size of the training set. |
|
|
| ```python |
| import numpy as np |
| # tar -xf egotouch.tar |
| z = np.load("episode_frame_index.npz", allow_pickle=True) |
| ep_slot, frame_id = z["index_frame_pair"][sample_id] |
| eid = str(z["index_to_episode_id"][ep_slot]) |
| d = np.load(f"Annotation/egotouch/episodic_annotations/{eid}.npy", allow_pickle=True).item() |
| rgb_frame_id = int(d["video_decode_frame"][frame_id]) |
| ``` |
|
|
| Each `.npy` is a dict with `video_name`, `video_decode_frame`, `intrinsics`, |
| per-frame `extrinsics` (world->camera), `anno_type` (which hand this episode is for), |
| `text`, `text_rephrase`, and a `left`/`right` dict holding `beta`, `hand_pose`, |
| `global_orient_worldspace`, `transl_worldspace`, `joints_worldspace`, `kept_frames`. |
| `text[hand] = [(sentence, (0, T))]` and `text_rephrase[hand] = [([paraphrases...], (0, T))]`. |
|
|
| ### Getting the frames |
|
|
| `video_decode_frame` indexes the **source** video, which we do not redistribute. |
| Get it from EgoTouch — https://huggingface.co/datasets/zhouzhoujy/EgoTouch, then decode by index (we use `decord`; a self-maintained |
| sequential counter drifts silently if the decoder ever skips a frame). |
|
|
| ### Known limitations |
|
|
| - Paraphrase count averages 1.93, not a fixed number. Past 3 the model starts inventing; |
| a sentence with no prepositional phrase honestly supports only one or two. |
| - Verified: the index lists exactly the episodes that have an instruction, every episode's |
| stored frame count matches its index rows, and no index entry points at a missing episode. |
|
|
| --- |
|
|
| ## Revision — 2026-09-08 (re-cut) |
|
|
| **This release replaces the previous one. The previous episodes contained invalid frames |
| and should not be used.** |
|
|
| A defect in our episode-cutting step let frames with `kept_frames == False` |
| (invalid hand pose — all-zero or NaN wrist coordinates) stay inside published episodes. |
| The validity mask was only used to keep a cut point from landing on an invalid frame; it did |
| not constrain what a segment contained. Worse, a run of invalid frames could suppress cutting |
| altogether, so the gap was swallowed into one long segment instead of being excluded. |
|
|
| Every episode here is now built from a run of consecutive valid frames, so `kept_frames` is |
| all-`True` by construction — verified over the whole collection: **568,369 episodes / |
| 16.5 M frames, zero `kept_frames == False`**. Both instruction rounds were regenerated for the |
| new segmentation. |
| |
| Segment counts and episode ids therefore changed, and the index and splits were rebuilt: |
| |
| | | previous | this release | |
| |---|---:|---:| |
| | episodes on disk | 147,386 | 143,525 | |
| | episodes published (with an instruction) | 111,159 | 107,364 | |
| | training samples | 3,687,389 | 3,123,675 | |
| |
| Splits are `video_test` (test owns whole videos disjoint from train/val; train and val share |
| the remaining videos and are split at the episode level), balanced on **frames** at 90/5/5, |
| seed 1. |
|
|
| <!-- COLLECTION_TABLE_START --> |
| | dataset | episodes | training samples | our contribution | size | HF | |
| |---|---:|---:|---|---:|---| |
| | **EPIC-KITCHENS-100** | 149,570 | 4,019,534 | episodes + text | 8.70 GB | [`epic30-annotations-v1`](https://huggingface.co/datasets/MIT-Media-Lab/epic30-annotations-v1) | |
| | **EgoTouch** | 107,364 | 3,123,675 | episodes + text + **tactile** | 17.02 GB | [`egotouch-annotations-v1`](https://huggingface.co/datasets/MIT-Media-Lab/egotouch-annotations-v1) | |
| | **GigaHands** | 70,486 | 2,266,087 | episodes + text | 2.89 GB | [`gigahands-annotations-v1`](https://huggingface.co/datasets/MIT-Media-Lab/gigahands-annotations-v1) | |
| | **Ego-Exo4D** | 67,051 | 1,757,474 | text only | 4.09 GB | [`egoexo4d-annotations-v1`](https://huggingface.co/datasets/MIT-Media-Lab/egoexo4d-annotations-v1) | |
| | **OakInk2** | 29,058 | 1,052,924 | episodes + text | 1.56 GB | [`oakink2-annotations-v1`](https://huggingface.co/datasets/MIT-Media-Lab/oakink2-annotations-v1) | |
| | **TACO** | 23,757 | 736,136 | episodes + text | 1.34 GB | [`taco-annotations-v1`](https://huggingface.co/datasets/MIT-Media-Lab/taco-annotations-v1) | |
| | **HOT3D** | 18,805 | 619,680 | episodes + text | 1.51 GB | [`hot3d-annotations-v1`](https://huggingface.co/datasets/MIT-Media-Lab/hot3d-annotations-v1) | |
| | **ARCTIC** | 12,610 | 425,796 | episodes + text | 0.85 GB | [`arctic-annotations-v1`](https://huggingface.co/datasets/MIT-Media-Lab/arctic-annotations-v1) | |
| | **H2O** | 5,845 | 200,332 | episodes + text | 0.40 GB | [`h2o-annotations-v1`](https://huggingface.co/datasets/MIT-Media-Lab/h2o-annotations-v1) | |
| | **Tachin** | 2,669 | 79,584 | episodes + text + **tactile** | 3.38 GB | [`tachin-annotations-v1`](https://huggingface.co/datasets/MIT-Media-Lab/tachin-annotations-v1) | |
| | **total** | **487,215** | **14,281,222** | | **41.7 GB** | | |
|
|
| > **Something-Something V2 was dropped** from the collection (12 fps against |
| > 30 fps everywhere else, so a 16-step action chunk spans 1.33 s instead of 0.53 s). |
| > The repository still exists but should not be used. |
| <!-- COLLECTION_TABLE_END --> |
|
|
