Stage ARCTIC shared-v1.1 54303/55417

ARCTIC/shared-v1.1/doc/history-v1.0/PUBLICATION.md

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+# ARCTIC publication layout
+
+[Standardized data](https://huggingface.co/datasets/ParityLab/Hand-Datasets/tree/main/ARCTIC/shared-v1.0)
+
+[Original archives](https://huggingface.co/datasets/ParityLab/Hand-Datasets-Raw/tree/main/ARCTIC/raw)
+
+Local raw archives are retained. Temporary files and runtime logs are excluded.
+Upload completion is recorded separately after all files match fixed remote commits.
+
+[Accepted full-output random review](validation/full_random/index.html)

ARCTIC/shared-v1.1/doc/history-v1.0/RAW_TO_SHARED.md

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+# ARCTIC：raw → shared 字段映射
+
+本序列原包的 top.obj / bottom.obj 引用 material_0.mtl，但包内实际为 material.mtl；已核对 newmtl/usemtl 均为 material_0。共享层仅修正 mtllib 文件路径，不改材质、UV或纹理，raw 原包保持不变。
+
+本次选择 `s09/laptop_use_03`，原图 ZIP 的全部九路相机各 541 张。输出序列名 `s09_laptop_use_03`；相机 0 为 ego，其余 1–8 为 exo。选择官方 P1，split=train。
+
+2026-09-20复核：此前顶盖/底座编码解释反了，现已按官方ObjectTensors重新映射。9路相机的index 0/1是原始欠曝图，各动态几何组件valid=false；camera 6的index 270手部对齐问题仅记录，按用户要求撤销单帧屏蔽，恢复原MANO数值及valid=true。不针对单个可疑投影硬编码排除。曝光筛选不构成其他帧质量保证。整套试点未验收，详见[问题与证据](validation/ARCTIC_FINDINGS.md)。
+
+| raw 中实际数据 | 共享层 | 转换与保留范围 |
+|---|---|---|
+| images_zips/s09/laptop_use_03.zip，0–8/00001.jpg…00541.jpg | observation/rgb.mkv | 所有原图，无裁剪、缩放、旋转或重新压缩；全部 4869 帧 |
+| meta.zip：misc.json 的 ioi_offset=2 | camera/frames.jsonl | 动捕索引=原图编号−2；原图 1 没有标注，2…541 对应标注 0…539；同步标识含源序列和图号 |
+| raw_seqs.zip：*.egocam.dist.npy 的 intrinsics、dist8、R_k_cam_np、T_k_cam_np | camera/intrinsic.pt、distortion.pt、extrinsic.pt | 相机 0 rational8，畸变顺序 k1,k2,p1,p2,k3,k4,k5,k6；外参 camera_from_world；首图外参缺失，其余 540 帧有效 |
+| meta.zip：misc.json 的 intris_mat、world2cam | 八个外部相机的 camera/ | 官方 processing.forward_project2d 以针孔模型投影；静态参数展开为 T 份，全部 541 帧有标定 |
+| raw_seqs.zip：*.mano.npy，左右 rot、pose、shape、trans | annotation/mano/motion.pt [541,2,61] | 非平手均值加回，48 轴角+10形状+3平移；世界系转相机系，按形状相关腕根修正 translation；首帧两手 valid=false |
+| raw_seqs.zip：*.object.npy [540,7] | object/laptop/pose.pt、parts/*/pose.pt、joint_state.pt | 角度 rad；全局旋转轴角转 SE(3)；物体平移 mm→m；顶盖相对底座绕 -Z 旋转，首帧无效 |
+| meta.zip：object_vtemplates/laptop/mesh.obj、top.obj、bottom.obj、MTL/JPG | object/laptop/assets/ | OBJ 顶点 mm→m；顶点顺序/拓扑/UV、材质和纹理引用保留；每个视图一份 |
+| 同目录 parts.json | object/laptop/vertex_part_ids.pt 和 metainfo.json | 源0顶盖/1底座，转换为 int64：shared_id=1-source_id，统一0底座/1顶盖；绑定 mesh_ref 和 topology_id |
+| object_params.json：keypoints_top、keypoints_bottom | object/laptop/keypoints/xyz.pt [541,32,3] | 原模板各16点的固定顺序，按已发布姿态驱动到相机系；标记 derived，不冒充实测手关键点 |
+| splits_json.zip：protocol_p1.json | 视图 metainfo 的 split 与来源 | 保留官方划分；不随意拆帧 |
+
+未作为 shared 模态发布：fitting_err、身体数据、动捕 marker、替代采样产物。选定原始包没有独立深度图、像素分割、接触标签或实测手关键点数组；MANO 派生网格只在内存中做校验，不保存 hand_mesh。当前 raw 未提供可直接核实的逐帧时间，timestamp_ns 与 source_fps 保留 null，不用容器 1 fps 伪造真实采集时间。
+
+依据固定官方提交 [`49f3eb4`](https://github.com/zc-alexfan/arctic/tree/49f3eb4b7f01663172576357bb3d95695d7a7689)：`src/datasets/arctic_dataset.py` 的 ioi_offset 映射、`common/body_models.py` 的非平手均值、`common/object_tensors.py` 的 -Z 关节轴与毫米单位、`src/arctic/processing.py` 和 `common/transforms.py` 的九相机投影。
+
+## 公共约定与运行
+
+这是完整短序列试点，不是全量发布。每个视图使用 [CONTRACT.md](CONTRACT.md) 与 [schema.json](schema.json)。输入是本轮全新下载的 E 盘 raw，不读取 F 盘旧数据或旧试点产物。原始 ZIP/VRS 不改写，临时解包与日志只在数据集 tmp。
+
+统一下标 `frame_index=0..T-1`；原帧号与已知时间在 `camera/frames.jsonl`。数值张量是 CPU float32，长度为米，角度为弧度；布尔 valid 表示是否有对应可用标注，缺失的浮点位置填 NaN。valid 不表示可见性。手槽固定左、右。
+
+图像由源 JPEG 直接装入 MJPEG/MKV，每包字节不变。容器使用 1 fps、`timebase_role=index_only`，不能按播放器的时长推断真实时间。FFmpeg 固定关闭自动旋转、输出 rgb24，源/目标逐帧 SHA256 相等。实际版本与像素格式写入各视图 metainfo。预览图缩小以方便审核，不是训练输入。
+
+校验范围和数值结果见 [validation/REPORT.md](validation/REPORT.md) 与 [validation/report.json](validation/report.json)，原始输入 SHA256 见 [pilot-source-manifest.json](pilot-source-manifest.json)。源官方摘要和原包 CRC 在 raw/doc 的下载验收记录中。人工确认仍待完成，不以数学一致性替代投影核验。
+
+运行脚本来自本项目 scripts；已将所需本地模块快照放入本发布 script。当前运行环境为 Python 3、PyTorch 2.5.1 CPU、NumPy、smplx、SciPy、Pillow、OpenCV、trimesh、imageio-ffmpeg；HOT3D 另需官方 VRS 工具。MANO v1.2 模型由使用者依授权在本地提供，不包含在发布目录。
+
+脚本默认 `E:/hand-datasets` 数据根目录，项目 `tmp/pilot-runtime` 运行环境和 `tmp/pilot-models` 模型目录；迁移时需按机器调整 `fresh_sequence_common.py` 的 DATA_ROOT/VRS 和本地模型路径。这份试点脚本不是无需配置的独立安装包。
+
+```text
+python scripts/convert_fresh_sequence_pilots.py ARCTIC
+python scripts/convert_fresh_sequence_pilots.py HOT3D
+python scripts/document_fresh_sequence_pilots.py
+python scripts/diagnose_arctic_review.py exposure
+python scripts/diagnose_arctic_review.py geometry
+python scripts/repair_arctic_pilot.py
+python scripts/render_full_sequence_review.py ARCTIC
+python scripts/render_full_sequence_review.py HOT3D
+```
+
+## 新增固定相机物体组
+
+在原s09/laptop_use_03九视角之外，新增s06相机6的11物体完整序列。字段规则相同，具体选择、来源、帧数和校验见[逐物体报告](validation/objects/REPORT.md)及[来源摘要](validation/objects/source-manifest.json)。本组ioi_offset=1，图像编号减1对应标注索引；末图超出标注范围，保留RGB且几何valid=false。本组前两帧暗图只记录，没有套用旧s09曝光排除。仍非全量验收。
+
+
+## 全量转换范围（2026-09-20）
+
+339个完整采集序列，3051个相机视图。遵循同一物体部件映射和单位约定，对所有有效帧的物体顶点与关键点执行官方参考计算对照。backgrounds.zip仅为背景参考图，保留在raw，不作为采集序列转换；ZIP内的__MACOSX资源叉不作为图像。
+
+逐序列自动检查见[全量检查目录](validation/full/README.md)。[全量处理脚本及摘要](validation/full/script-manifest.json)描述当前实现；既有试点报告内脚本摘要仅描述历史试点运行。试点已获人工确认，全量抽查与发布仍待确认。
+
+
+### 官方隐藏测试真值
+
+339段按P1划分为267段train、34段val与38段test。前301段原包提供MANO、物体姿态和ego标定；38段s03 test无这些文件，与[官方测试真值隐藏说明](https://github.com/zc-alexfan/arctic/blob/master/docs/model/README.md#training)一致。逐序列证据见[源覆盖清单](validation/full/source-availability.json)。
+
+测试序列保留全部9路RGB、misc.json已提供的8路固定相机内外参、米制物体网格与静态铰接结构。第一视角camera0的标定不借用其它序列，metainfo声明model=unknown、schema_id=null并省略内外参数组。没有MANO、物体姿态/关节状态及依赖它们的关键点或visibility。未知标定与缺失模态均为原有CONTRACT允许的缺省情况，无需新增schema。
+
+
+## 加速版生产校验（2026-09-20）
+
+以上完整像素检查描述历史试点。当前全量生产仍逐帧检查 JPEG 码流 SHA256、数量、顺序及尺寸；RGB 像素改为每视图固定抽查最多 16 帧，最终抽中的完整序列再逐帧复核 RGB。数值模态及几何验收不变，详见[媒体校验策略](validation/full/MEDIA_VALIDATION.md)。

ARCTIC/shared-v1.1/doc/history-v1.0/pilot-source-manifest.json

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+[
+  {
+    "path": "raw/data/images_zips/s09/laptop_use_03.zip",
+    "bytes": 1546860019,
+    "sha256": "c91cba7c38478cbbda653365ed002373cdaa9e0869a0c6a3c235c879a0d2710f",
+    "matches_verified_official_download": true,
+    "zip_crc_at_download": "passed_all_members"
+  },
+  {
+    "path": "raw/data/meta.zip",
+    "bytes": 95270963,
+    "sha256": "2ec627bcb8f17be33defc985a79d1dd744ee44b1f1b5732ed163ecef217c0c6e",
+    "matches_verified_official_download": true,
+    "zip_crc_at_download": "passed_all_members"
+  },
+  {
+    "path": "raw/data/raw_seqs.zip",
+    "bytes": 225334351,
+    "sha256": "3c74f8cdb5fb4f521d99132faf0471432bab5db97c7653493b01920d2ad48535",
+    "matches_verified_official_download": true,
+    "zip_crc_at_download": "passed_all_members"
+  },
+  {
+    "path": "raw/data/splits_json.zip",
+    "bytes": 2734,
+    "sha256": "99af5f6759c727df07ef897db6d293cc866d465e6b3d6095579fcb62ac831b7d",
+    "matches_verified_official_download": true,
+    "zip_crc_at_download": "passed_all_members"
+  }
+]

ARCTIC/shared-v1.1/doc/history-v1.0/schema.json

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+{
+  "schema_version": "hand-warehouse/1.0",
+  "validity_revision": "usable-annotation-2026-09-20",
+  "annotation_validity": {
+    "meaning": "annotation usable for supervision, not merely record presence",
+    "formula": "source_annotation_present AND numerical_checks_pass AND applicable_official_QA_pass AND NOT explicitly_reviewed_local_exclusion",
+    "without_official_qa": "omit QA term; declare source rules; do not fabricate QA",
+    "policy_field": "components.<name>.valid_policy",
+    "visibility_is_independent": true,
+    "invalid_float_value": "NaN",
+    "hot3d": "broadcast per-camera frame manual QA conservatively to hand/object labels and pose-derived visibility; retain RGB and source calibration; keep native QA in raw and review report",
+    "hot3d_visibility": "native visibility_ratio[%] already ranges from 0 to 1; do not divide by 100"
+  },
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "view_metadata": {
+    "required_fields": [
+      "view_type"
+    ],
+    "view_type_values": [
+      "ego",
+      "exo",
+      "unknown"
+    ],
+    "view_type_policy": "required per camera view; use ego or exo whenever the source data or capture setup establishes the viewpoint; use unknown only when no trustworthy source determines it; never omit or guess"
+  },
+  "keypoints": {
+    "mano21/v1": {
+      "count": 21,
+      "names": [
+        "wrist",
+        "thumb_1",
+        "thumb_2",
+        "thumb_3",
+        "thumb_4",
+        "index_1",
+        "index_2",
+        "index_3",
+        "index_4",
+        "middle_1",
+        "middle_2",
+        "middle_3",
+        "middle_4",
+        "ring_1",
+        "ring_2",
+        "ring_3",
+        "ring_4",
+        "little_1",
+        "little_2",
+        "little_3",
+        "little_4"
+      ],
+      "source_index_map": null,
+      "note": "adapter maps official MANO joint and fingertip convention"
+    },
+    "rhd21/v1": {
+      "count": 21,
+      "names": [
+        "wrist",
+        "thumb_1",
+        "thumb_2",
+        "thumb_3",
+        "thumb_4",
+        "index_1",
+        "index_2",
+        "index_3",
+        "index_4",
+        "middle_1",
+        "middle_2",
+        "middle_3",
+        "middle_4",
+        "ring_1",
+        "ring_2",
+        "ring_3",
+        "ring_4",
+        "little_1",
+        "little_2",
+        "little_3",
+        "little_4"
+      ],
+      "source_index_map_per_hand": [
+        0,
+        4,
+        3,
+        2,
+        1,
+        8,
+        7,
+        6,
+        5,
+        12,
+        11,
+        10,
+        9,
+        16,
+        15,
+        14,
+        13,
+        20,
+        19,
+        18,
+        17
+      ]
+    }
+  },
+  "camera": {
+    "opencv_fisheye4": {
+      "K": [
+        3,
+        3
+      ],
+      "distortion": [
+        "k1",
+        "k2",
+        "k3",
+        "k4"
+      ],
+      "projection": "theta=atan(r); theta_d=theta*(1+k1*theta^2+k2*theta^4+k3*theta^6+k4*theta^8); source ReInterHand"
+    },
+    "pinhole": {
+      "K": [
+        3,
+        3
+      ]
+    },
+    "fisheye624": {
+      "parameters": [
+        "f",
+        "cx",
+        "cy",
+        "k0",
+        "k1",
+        "k2",
+        "k3",
+        "k4",
+        "k5",
+        "p0",
+        "p1",
+        "s0",
+        "s1",
+        "s2",
+        "s3"
+      ]
+    },
+    "rational8": {
+      "K": [
+        3,
+        3
+      ],
+      "distortion": [
+        "k1",
+        "k2",
+        "p1",
+        "p2",
+        "k3",
+        "k4",
+        "k5",
+        "k6"
+      ]
+    }
+  },
+  "segmentation": {
+    "segment/uint16_labels/v1": {
+      "storage": "mask.mkv",
+      "dtype": "uint16",
+      "mapping": "instances.jsonl",
+      "valid_shape": [
+        "T"
+      ],
+      "required_metadata": [
+        "segmentation_type",
+        "coverage",
+        "mapping_ref",
+        "storage"
+      ],
+      "shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "reserved_codes": {
+        "0": "unassigned",
+        "65535": "ignore"
+      },
+      "region_codes": [
+        1,
+        65534
+      ],
+      "allowed_storage_profiles": [
+        "mkv/uint16_ffv1/v1"
+      ]
+    },
+    "segment/instance_polygons/v1": {
+      "storage": "polygons.jsonl",
+      "mapping": "instances.jsonl",
+      "frame_keys": [
+        "frame_index",
+        "instances"
+      ],
+      "instance_keys": [
+        "mask_value",
+        "polygons"
+      ],
+      "coordinate_unit": "pixel",
+      "overlap_allowed": true,
+      "valid_shape": [
+        "T"
+      ],
+      "required_metadata": [
+        "segmentation_type",
+        "coverage",
+        "mapping_ref"
+      ],
+      "polygon_shape": [
+        "N",
+        2
+      ],
+      "holes_supported": false
+    },
+    "segment/foreground_intensity/v1": {
+      "storage": "mask.mkv",
+      "dtype": "uint16",
+      "value_range": [
+        0,
+        255
+      ],
+      "normalization_scale": 0.00392156862745098,
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "meaning": "native hand foreground intensity; individual hand or union declared in metadata; not instance codes or calibrated probability",
+      "zero": "background",
+      "full_scale": "foreground",
+      "mapping": "foreground_category in component metadata",
+      "valid_shape": [
+        "T"
+      ],
+      "required_metadata": [
+        "segmentation_type",
+        "coverage",
+        "value_range",
+        "normalization_scale",
+        "foreground_category",
+        "entity_id",
+        "storage"
+      ],
+      "shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "allowed_storage_profiles": [
+        "mkv/uint16_ffv1/v1"
+      ]
+    }
+  },
+  "note": "Registry for hand-warehouse/1.0. Read CONTRACT.md for field semantics. This is not a JSON Schema document or executable validator.",
+  "components": {
+    "mano/axis_angle61/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        2,
+        61
+      ],
+      "valid_shape": [
+        "T",
+        2
+      ],
+      "unit": "m",
+      "angle_unit": "rad",
+      "coordinate_frame": "camera",
+      "layout": {
+        "pose_axis_angle": [
+          0,
+          48
+        ],
+        "shape": [
+          48,
+          58
+        ],
+        "translation": [
+          58,
+          61
+        ]
+      }
+    },
+    "keypoints/uv/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        2,
+        21,
+        2
+      ],
+      "valid_shape": [
+        "T",
+        2,
+        21
+      ],
+      "unit": "pixel",
+      "required_metadata": [
+        "keypoint_schema"
+      ]
+    },
+    "keypoints/xyz/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        2,
+        21,
+        3
+      ],
+      "valid_shape": [
+        "T",
+        2,
+        21
+      ],
+      "unit": "m",
+      "required_metadata": [
+        "keypoint_schema"
+      ]
+    },
+    "depth/z_float32/v1": {
+      "storage": "mkv",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "valid_shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "unit": "m",
+      "depth_type": "z",
+      "pixel_grid": "current_rgb",
+      "coordinate_frame": "current_rgb_camera",
+      "valid_storage": "mkv",
+      "allowed_storage_profiles": [
+        "mkv/depth_float32_bits/v1"
+      ],
+      "allowed_valid_storage_profiles": [
+        "mkv/bool_ffv1/v1"
+      ],
+      "required_metadata": [
+        "storage",
+        "valid_storage",
+        "depth_origin"
+      ],
+      "depth_origin_values": [
+        "measured",
+        "rendered",
+        "unknown"
+      ]
+    },
+    "transform/se3/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        4,
+        4
+      ],
+      "valid_shape": [
+        "T"
+      ],
+      "unit": "m",
+      "required_metadata": [
+        "convention"
+      ]
+    },
+    "object/rigid/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        4,
+        4
+      ],
+      "valid_shape": [
+        "T"
+      ],
+      "unit": "m",
+      "required_metadata": [
+        "convention"
+      ]
+    },
+    "camera/pinhole/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        3,
+        3
+      ],
+      "valid_shape": [
+        "T"
+      ]
+    },
+    "camera/rational8/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        3,
+        3
+      ],
+      "valid_shape": [
+        "T"
+      ]
+    },
+    "camera/opencv_fisheye4/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        3,
+        3
+      ],
+      "valid_shape": [
+        "T"
+      ]
+    },
+    "camera/fisheye624/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        15
+      ],
+      "valid_shape": [
+        "T"
+      ]
+    },
+    "camera/distortion8/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        8
+      ],
+      "valid_shape": [
+        "T"
+      ]
+    },
+    "camera/fisheye4_distortion/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        4
+      ],
+      "valid_shape": [
+        "T"
+      ]
+    },
+    "object/joint_state/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        "J"
+      ],
+      "valid_shape": [
+        "T",
+        "J"
+      ],
+      "required_metadata": [
+        "joint_order"
+      ],
+      "unit_rule": "revolute radians; prismatic metres; mixed types declared per joint"
+    },
+    "object_keypoints/camera/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        "K",
+        3
+      ],
+      "valid_shape": [
+        "T",
+        "K"
+      ],
+      "unit": "m",
+      "coordinate_frame": "camera",
+      "required_metadata": [
+        "keypoint_schema"
+      ]
+    },
+    "object/dimensions/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        3
+      ],
+      "valid_shape": [
+        "T"
+      ],
+      "unit": "m",
+      "required_metadata": [
+        "dimensions_semantics"
+      ],
+      "axis_order": [
+        "length",
+        "width",
+        "height"
+      ],
+      "scale_rule": "do not apply to mesh without source-supported size/scale relation"
+    },
+    "object_keypoints/template/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "K",
+        3
+      ],
+      "valid_shape": [
+        "K"
+      ],
+      "unit": "m",
+      "coordinate_frame": "object",
+      "static": true,
+      "required_metadata": [
+        "keypoint_schema"
+      ]
+    },
+    "mesh/obj/v1": {
+      "storage": "obj",
+      "unit": "m",
+      "static": true,
+      "valid_shape": [],
+      "dependencies": "MTL and textures retained under owning object"
+    },
+    "rgb/uint8/v1": {
+      "storage": "mkv",
+      "dtype": "uint8",
+      "shape": [
+        "T",
+        "H",
+        "W",
+        3
+      ],
+      "valid_shape": [
+        "T"
+      ],
+      "color_order": "RGB",
+      "allowed_storage_profiles": [
+        "mkv/mjpeg_copy/v1",
+        "mkv/source_copy/v1",
+        "mkv/h264_rgb_lossless/v1",
+        "mkv/ffv1_rgb/v1"
+      ],
+      "required_metadata": [
+        "storage"
+      ]
+    },
+    "contact/relations/v1": {
+      "storage": "jsonl",
+      "valid_shape": [
+        "T"
+      ],
+      "frame_keys": [
+        "frame_index",
+        "relations"
+      ],
+      "absence_semantics": "no record is not a negative contact annotation"
+    },
+    "contact/vertex_region/v1": {
+      "storage": "pt",
+      "dtype": "bool",
+      "shape": [
+        "T",
+        "V"
+      ],
+      "valid_shape": [
+        "T",
+        "V"
+      ],
+      "required_metadata": [
+        "source_geometry_ref",
+        "target_geometry_ref",
+        "topology_id"
+      ],
+      "pilot_status": "defined_not_empirically_validated"
+    },
+    "contact/vertex_distance/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        "V"
+      ],
+      "valid_shape": [
+        "T",
+        "V"
+      ],
+      "unit": "m",
+      "required_metadata": [
+        "source_geometry_ref",
+        "target_geometry_ref",
+        "topology_id",
+        "distance_definition"
+      ],
+      "pilot_status": "defined_not_empirically_validated"
+    },
+    "object/articulated/v1": {
+      "storage": "json",
+      "required_keys": [
+        "parts",
+        "joints"
+      ],
+      "part_keys": [
+        "part_id",
+        "parent_id",
+        "has_model",
+        "mesh_ref"
+      ],
+      "hierarchy_semantics": "declare mechanical articulation or semantic containment; containment alone does not imply joints",
+      "acyclic": true
+    },
+    "segment/uint16_labels/v1": {
+      "storage": "mkv",
+      "dtype": "uint16",
+      "mapping": "instances.jsonl",
+      "valid_shape": [
+        "T"
+      ],
+      "required_metadata": [
+        "segmentation_type",
+        "coverage",
+        "mapping_ref",
+        "storage"
+      ],
+      "shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "reserved_codes": {
+        "0": "unassigned",
+        "65535": "ignore"
+      },
+      "region_codes": [
+        1,
+        65534
+      ],
+      "allowed_storage_profiles": [
+        "mkv/uint16_ffv1/v1"
+      ]
+    },
+    "segment/instance_polygons/v1": {
+      "storage": "jsonl",
+      "mapping": "instances.jsonl",
+      "frame_keys": [
+        "frame_index",
+        "instances"
+      ],
+      "instance_keys": [
+        "mask_value",
+        "polygons"
+      ],
+      "coordinate_unit": "pixel",
+      "overlap_allowed": true,
+      "valid_shape": [
+        "T"
+      ],
+      "required_metadata": [
+        "segmentation_type",
+        "coverage",
+        "mapping_ref"
+      ],
+      "polygon_shape": [
+        "N",
+        2
+      ],
+      "holes_supported": false
+    },
+    "segment/foreground_intensity/v1": {
+      "storage": "mkv",
+      "dtype": "uint16",
+      "value_range": [
+        0,
+        255
+      ],
+      "normalization_scale": 0.00392156862745098,
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "meaning": "native hand foreground intensity; individual hand or union declared in metadata; not instance codes or calibrated probability",
+      "zero": "background",
+      "full_scale": "foreground",
+      "mapping": "foreground_category in component metadata",
+      "valid_shape": [
+        "T"
+      ],
+      "required_metadata": [
+        "segmentation_type",
+        "coverage",
+        "value_range",
+        "normalization_scale",
+        "foreground_category",
+        "entity_id",
+        "storage"
+      ],
+      "shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "allowed_storage_profiles": [
+        "mkv/uint16_ffv1/v1"
+      ]
+    }
+  },
+  "storage_revision": "lossless-video-2026-09-18",
+  "sampling": {
+    "image": {
+      "single": {
+        "T": 1
+      },
+      "independent": {
+        "T": ">=2",
+        "required_frame_fields": [
+          "sample_id",
+          "source_locator"
+        ],
+        "temporal_relationship": false
+      },
+      "source_fps": null
+    },
+    "video": {
+      "sampling_types": [
+        "dense",
+        "sparse"
+      ]
+    }
+  },
+  "storage_profiles": {
+    "mkv/mjpeg_copy/v1": {
+      "container": "matroska",
+      "codec": "mjpeg",
+      "method": "stream_copy_from_source_jpeg",
+      "logical_dtype": "uint8",
+      "decoded_pixel_format": "rgb24",
+      "validation": [
+        "source_jpeg_packet_sha256_exact",
+        "all_packet_count_order_and_dimensions_exact",
+        "deterministic_decoded_rgb_sample_exact",
+        "pilot_and_final_selected_whole_sequences_decoded_rgb_exact"
+      ],
+      "validation_policy": {
+        "id": "jpeg-packets-all-rgb-sample16/v1",
+        "sample_count_per_view": 16,
+        "short_views": "all_frames_if_T_less_than_16",
+        "fixed_indices": "0,T-1,T//4,T//2,3*T//4, deduplicated",
+        "remaining_indices": "sample without replacement to min(T,16) using Python random.Random(seed)",
+        "seed": "first 8 bytes of SHA256(sequence_id/camera_id/20260920), big-endian integer",
+        "report": "policy, exact selected frame indices, seed, separate packet and pixel coverage",
+        "legacy_all_frame_pixel_proofs": "still accepted; preserve historical evidence"
+      }
+    },
+    "mkv/source_copy/v1": {
+      "container": "matroska",
+      "codec": "source_codec_declared_in_metadata",
+      "method": "stream_copy_only",
+      "logical_dtype": "uint8",
+      "decoded_pixel_format": "rgb24",
+      "validation": [
+        "no_reencoding",
+        "all_decoded_rgb_frames_exact",
+        "presentation_frame_order_exact"
+      ]
+    },
+    "mkv/h264_rgb_lossless/v1": {
+      "container": "matroska",
+      "codec": "h264",
+      "encoder": "libx264rgb",
+      "crf": 0,
+      "decoded_pixel_format": "rgb24",
+      "logical_dtype": "uint8",
+      "gop": "declared_in_encoder_parameters",
+      "validation": [
+        "all_decoded_rgb_frames_exact"
+      ],
+      "forbidden": [
+        "lossy_rate_control",
+        "rgb_to_yuv420_subsampling"
+      ]
+    },
+    "mkv/ffv1_rgb/v1": {
+      "container": "matroska",
+      "codec": "ffv1",
+      "decoded_pixel_format": "rgb24",
+      "logical_dtype": "uint8",
+      "validation": [
+        "all_decoded_rgb_frames_exact"
+      ]
+    },
+    "mkv/depth_float32_bits/v1": {
+      "container": "matroska",
+      "codec": "ffv1",
+      "pixel_format": "gray16le",
+      "logical_dtype": "float32",
+      "logical_shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "encoded_shape": [
+        "T",
+        "H",
+        "2*W"
+      ],
+      "packing": "IEEE754 little-endian float32 bits; low uint16 in first W columns, high uint16 in last W columns",
+      "decode": "reinterpret_float32(uint32(low) | (uint32(high) << 16))",
+      "validation": [
+        "all_float32_bits_exact_including_nan"
+      ]
+    },
+    "mkv/bool_ffv1/v1": {
+      "container": "matroska",
+      "codec": "ffv1",
+      "pixel_format": "gray",
+      "logical_dtype": "bool",
+      "stored_values": [
+        0,
+        1
+      ],
+      "validation": [
+        "all_bool_values_exact"
+      ]
+    },
+    "mkv/uint16_ffv1/v1": {
+      "container": "matroska",
+      "codec": "ffv1",
+      "pixel_formats": [
+        "gray",
+        "gray16le"
+      ],
+      "logical_dtype": "uint16",
+      "gray_condition": "all values <=255; decode by exact uint8-to-uint16 promotion",
+      "validation": [
+        "all_integer_values_exact"
+      ]
+    }
+  },
+  "video_metadata": {
+    "required": [
+      "profile",
+      "codec",
+      "pixel_format",
+      "encoded_size",
+      "decoder",
+      "encoder_parameters",
+      "source_lossy"
+    ],
+    "source_lossy_values": [
+      true,
+      false,
+      "unknown"
+    ],
+    "timebase_role": "index_only",
+    "lossless_reference": "source compressed packets or fixed-decoder source pixels; depth uses normalized standard float32 bits",
+    "selection": "choose smaller complete candidate only after exact roundtrip validation"
+  }
+}

ARCTIC/shared-v1.1/doc/history-v1.0/validation/ARCTIC_FINDINGS.md

@@ -0,0 +1,21 @@
+# ARCTIC 试点问题复核（2026-09-20）
+
+范围：s09/laptop_use_03，全部9相机，每相机541帧。**未通过整体人工验收，不用于训练发布；未全量转换、未上传。** 本文随共享层放在doc/validation/ARCTIC_FINDINGS.md，以下链接以该位置为准。
+
+|问题|查证结果|当前处理|
+|---|---|---|
+|index 0/1近黑，但index 1有MANO|官方原始JPEG就是欠曝。9路相机均如此；全部4869张源图的缩略亮度统计中，p95<35的仅各相机前两帧。前两帧p95为19–23，第三帧为106–240（8位亮度）。图像与动捕分别存在，不代表能组合成可用监督。|保留原图、原帧号和raw；明确排除本序列各相机index 0/1的MANO、物体位姿/关节/派生物体关键点监督，valid=false、浮点值NaN。该阈值仅辅助核对已观察的异常，不是全库自动曝光规则。|
+|物体关节投影|转换器误把原parts.json的1解释为顶盖。官方加载先加1，再对parts_ids==1应用关节，因此原0才是顶盖。先前自洽测试用了同一个错误假设，结论不成立。|共享层统一0底座/1顶盖，改为shared_id=1-raw_id。修复转换器和所有9路试点的vertex_part_ids；位姿本身无需改动。|
+|camera 6，index 270/source 271手部偏移|部件修复不会修好手部。按官方非平手均值MANO配置、原世界位姿和官方相机变换重建，仍得到相同手投影。全部540个有效源时刻、9相机中，源手几何与共享层数值差小于0.000001m；这不能证明源标注贴合图像，也不能据此认定具体是拟合或标定误差。|按用户要求撤销单帧屏蔽：恢复原MANO数值，左右手valid=true。仅记录已知问题，不针对单个可疑投影硬编码排除；未挪帧、未调整相机、未重新拟合。整个试点保持待验收。|
+|官方valid能否过滤上述问题|官方forward_valid检查物体中心、手根与至少3个关节点是否落入定义的框；这是几何取景规则，未检查RGB曝光，也不证明手轮廓对齐。|不把这个值称为准确性QA，更不能用它盖过已发现的黑图/错位。当前所选raw没有HOT3D那样的人工准确性QA。|
+
+检查证据：
+
+- [物体修复前后与原图](diagnosis/camera6-270-before-after.jpg)：MANO未被人为移动，残余问题可见。
+- [全部帧曝光统计](exposure.json)，各相机开头10帧：[0](diagnosis/exposure-0.jpg)、[1](diagnosis/exposure-1.jpg)、[2](diagnosis/exposure-2.jpg)、[3](diagnosis/exposure-3.jpg)、[4](diagnosis/exposure-4.jpg)、[5](diagnosis/exposure-5.jpg)、[6](diagnosis/exposure-6.jpg)、[7](diagnosis/exposure-7.jpg)、[8](diagnosis/exposure-8.jpg)。
+- [独立几何验算和排除清单](diagnosis.json)：执行固定提交的官方ObjectTensors类，使用真实raw张量，旋转运算由等价SciPy四元数实现；每个时刻抽559个顶点，检查9路相机。不是重新运行原来同假设的自洽测试。
+- [完整序列视频](index.html)：左原图、中排除前原参数诊断、右目前valid允许的监督。视频全部帧已渲染，不等于全部帧已人工审核；无源深度/分割/接触时明确缺省。
+
+官方依据：[部件与关节代码](https://github.com/zc-alexfan/arctic/blob/49f3eb4b7f01663172576357bb3d95695d7a7689/common/object_tensors.py)、[几何valid定义](https://github.com/zc-alexfan/arctic/blob/49f3eb4b7f01663172576357bb3d95695d7a7689/src/arctic/processing.py)、[MANO配置](https://github.com/zc-alexfan/arctic/blob/49f3eb4b7f01663172576357bb3d95695d7a7689/common/body_models.py)。
+
+raw保持官方字节不变，转换前诊断缓存仅在tmp。监督排除可从raw重建，不增加quality组件，不将排除前参数重新作为有效训练标注分发。

ARCTIC/shared-v1.1/doc/history-v1.0/validation/REPORT.md

@@ -0,0 +1,32 @@
+# ARCTIC 完整序列审核 v2
+
+[离线完整视频](index.html) · [机器结果](report.json)
+
+人工确认待完成；旧抽帧投影通过结论撤回。已修正转换器颠倒顶盖/底座编码的错误：原parts.json的0是顶盖、1是底座，共享层重新映射为0底座/1顶盖。9路相机前两帧均为源欠曝图，已排除对应几何监督；camera 6 index 270的手部偏移作为已知问题记录，按用户要求撤销单帧屏蔽，恢复原标注和valid。整套试点仍待验收。中栏显示源参数诊断，右栏按当前valid绘制。详见 <a href="ARCTIC_FINDINGS.md">问题与修复证据</a>、<a href="diagnosis/camera6-270-before-after.jpg">修复前后对照</a>。预览30fps仅用于播放，不代表真实采集帧率；没有源准确性QA。
+
+|相机|源帧数|渲染帧数|左右手有效标注帧数|官方QA通过帧数|
+|---|---:|---:|---|---:|
+| 0 | 541 | 541 | [539, 539] | None |
+| 1 | 541 | 541 | [539, 539] | None |
+| 2 | 541 | 541 | [539, 539] | None |
+| 3 | 541 | 541 | [539, 539] | None |
+| 4 | 541 | 541 | [539, 539] | None |
+| 5 | 541 | 541 | [539, 539] | None |
+| 6 | 541 | 541 | [539, 539] | None |
+| 7 | 541 | 541 | [539, 539] | None |
+| 8 | 541 | 541 | [539, 539] | None |
+
+## 逐模态覆盖
+
+- RGB：全部帧原图与逐帧码流/像素校验。
+- 相机内参/畸变：投影使用声明模型和全部参数；HUD显示相机模型。
+- 相机外参：全帧姿态、米制相机位置与世界XZ轨迹。
+- MANO：逐帧网格线框、派生关节点、左右手valid。
+- 物体姿态/几何：逐帧轮廓、局部XYZ轴、物体ID。
+- 材质/纹理：每个物体的原纹理与完整旋转预览。
+- 部件/关节：底座/顶盖分别着色，逐帧关节角。
+- 物体关键点：源32个物体点逐帧叠加。
+- visibility：原数据未提供，明确缺省。
+- 深度/像素分割/接触：本次raw范围未提供，不以投影或帧筛选CSV冒充。
+
+完整视频表示每帧已渲染，并不等于每帧人工审核通过。被官方QA排除的源标注仅在诊断栏显示；不挪帧、不隐藏原始异常。所有有效性筛选、可见性与图像编码验收分开记录。源标注质量问题无法通过格式转换修好；通过valid屏蔽，并保留raw溯源。

ARCTIC/shared-v1.1/doc/history-v1.0/validation/assets/laptop.mp4

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ARCTIC/shared-v1.1/doc/history-v1.0/validation/diagnosis.json

@@ -0,0 +1,228 @@
+{
+  "issue": "Raw parts.json 0=top,1=bottom; previous converter wrongly treated 1 as top. Official code adds 1 and articulates parts_ids==1.",
+  "correction": "Shared convention remains 0=bottom,1=top; shared_id=1-raw_id. No time shift, pose change or image edit.",
+  "upstream_code": "https://github.com/zc-alexfan/arctic/blob/49f3eb4b7f01663172576357bb3d95695d7a7689/common/object_tensors.py",
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+  "tests": [
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+}

ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/MEDIA_VALIDATION.md

@@ -0,0 +1,11 @@
+# 全量媒体校验与并行策略
+
+原 JPEG 直接封装 MKV，不重新编码。每个视图对全部 JPEG 的 SHA256、数量、顺序、尺寸逐一核对。所有数值标注、单位、坐标系、官方 QA 与独立几何检查沿用原规则。
+
+生产像素检查采用 `jpeg-packets-all-rgb-sample16/v1`：每视图固定抽取最多 16 帧，包含首尾及四分位，其余按固定种子选取，直接解码原 JPEG 与目标 MKV 比较 RGB 字节。报告分别声明逐包全查和像素抽查；不把抽查声称为全量像素检查。最终随机抽查所选完整序列的相机，再对全部帧执行源/目标解码像素精确核验并渲染完整视频。深度、标签或重新编码媒体不适用本加速策略。
+
+并行只发生于同一数据集内部的媒体任务；一个序列的数值计算与媒体任务交错，最多一个重型数据集 worker。实测范围、各并行度耗时和可用内存见 [加速验收](acceleration-benchmark.json)，实际设置见 [配置](../../../script/acceleration-config.json)。完整像素回归包含 ARCTIC 全分辨率相机及 HOT3D 彩色/灰度相机。
+
+切换前已完成产物保留原来的逐帧像素证明。旧脚本版本由本报告保留的脚本清单与 SHA256、以及仓库固定提交历史追溯；当前入口与冻结实现位于 `script/`。一次性重新核验所有已完成产物的内容摘要和现行结构/valid 规则，记录在 `acceleration-revalidation/`，不修改旧检查点的历史脚本摘要。早期 HOT3D 烟雾测试没有内嵌脚本摘要，重新核验另补全输入资产依赖，不能将其视为当时已记录代码指纹。
+
+以上是自动检查；全量人工确认仍待完成，未授权发布。运行日志只在 tmp，原始包永久保留。

ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/README.md

@@ -0,0 +1,8 @@
+# 全量预处理
+
+试点已获用户确认；全量人工核验及发布授权待完成。
+
+- [媒体校验与并行策略](MEDIA_VALIDATION.md)
+- [全量随机抽查](../full_random/index.html)（全量完成后生成）
+
+逐序列自动检查在 sequences/；历史已完成产物的切换复验在 acceleration-revalidation/。原始包保留，缺失模态不虚构；运行日志和断点仅在 tmp，不自动上传。

ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/acceleration-revalidation/s03_box_use_01.json

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+}

ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/acceleration-revalidation/s03_capsulemachine_use_04.json

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ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/acceleration-revalidation/s03_waffleiron_grab_01.json

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+        {
+          "test": "tensor_exact_roundtrip",
+          "file": "camera/extrinsic.pt",
+          "shape": [
+            587,
+            4,
+            4
+          ],
+          "valid_count": 587,
+          "passed": true
+        },
+        {
+          "test": "source_static_mesh_vertices_metres_and_part_ids",
+          "passed": true,
+          "vertices": 3580
+        },
+        {
+          "test": "all_source_JPEG_packets_and_RGB_pixels_exact",
+          "passed": true,
+          "frames": 587,
+          "packet_manifest_sha256": "11aed956be46cb9c91e9adb8a1a1b3a425243d7c1cdc26364ede458e2b950417",
+          "pixel_manifest_sha256": "1830e3c11166ac8e55404694ef04bfc1a23a44456b633e6f94b1878398eb1215",
+          "output_bytes": 207996971
+        }
+      ],
+      "structure_and_references": "passed",
+      "mano": "source modality absent, omitted"
+    }
+  ],
+  "numerical_proof": "Every historical output byte/digest rechecked and current schema/validity validators rerun; unchanged source geometry proofs retained; no relabelling or tensor conversion",
+  "media_proof": "Historical complete JPEG and RGB equality proof retained for byte-identical files"
+}

ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/script-manifest.json

@@ -0,0 +1,66 @@
+{
+  "created_at": "2026-09-20T22:37:10.722417+08:00",
+  "scope": "Current production converter and validation scripts; earlier pilot manifests describe their historical run",
+  "files": [
+    {
+      "path": "script/preprocess_fresh_full.py",
+      "sha256": "eb7cd8a9b8fdaee3d2a65fb3d4750ffb90a597fd57c55236f6b27e31b020c07d"
+    },
+    {
+      "path": "script/accelerated_media.py",
+      "sha256": "0e89bb52a2426c1bbfa3ec69722ca268dcc8eb29749312032c70f5d03ce91c5c"
+    },
+    {
+      "path": "script/convert_fresh_sequence_pilots.py",
+      "sha256": "88d27a1113fb5eed2906a720eb6bdcd21223089bddfc01bd76eb30a30fb75682"
+    },
+    {
+      "path": "script/apply_hot3d_qa.py",
+      "sha256": "7158b0512e59220930d88d04e15f7f6684acdccd0279f3179095d27b66ed3f7b"
+    },
+    {
+      "path": "script/review_fresh_sequence_pilots.py",
+      "sha256": "f50b6b3bbf205e105def9dcf6d3ea5616304024bdc6de4e2bc59d6c6ec603838"
+    },
+    {
+      "path": "script/render_full_sequence_review.py",
+      "sha256": "5b471845025266f8a82dfebb185dda213bfbeaba8e98d0e6cc467826efa9e628"
+    },
+    {
+      "path": "script/fresh_sequence_common.py",
+      "sha256": "0744e026cc3a8feedddcd6170ce81a628ec03afe3c0425dabc3f60a3ac9b4d99"
+    },
+    {
+      "path": "script/diagnose_arctic_review.py",
+      "sha256": "75a264b9b2cb4749e7705770a7e1141b860679b2fbee7d710e0414c83814802d"
+    },
+    {
+      "path": "script/pilot_build.py",
+      "sha256": "b45c92503fae4ee1d5163a52179b3bcb136338231096f100e721489e80cb0ac2"
+    },
+    {
+      "path": "script/pilot_fetch.py",
+      "sha256": "05ed8bc88df4492861ba46471906647a95e5392dd93f1a4eb419f2c396511e2d"
+    },
+    {
+      "path": "script/pilot_mano.py",
+      "sha256": "96ceb450b07bff040015072b6572e11af3aec310d54e575d2eb549da8d80bed0"
+    },
+    {
+      "path": "script/sequence_pilot_common.py",
+      "sha256": "9fdce711983c18be88f79fbbace8ed0e42fabb6a375cf167c98041a80a89579e"
+    },
+    {
+      "path": "script/sequence_pilot_world.py",
+      "sha256": "271c4829cae29af87c3fcb1b1668dfcab1df369aaabfc8a333de9965fb580126"
+    },
+    {
+      "path": "script/pilot_hot_normalize.py",
+      "sha256": "fea5bfaaac248a1f33bd799d837760cf23080a9efc1cf715436e2358825f433a"
+    },
+    {
+      "path": "script/audit_source_fields.py",
+      "sha256": "bdcc4818189a8f4bc74f75c2b507d2feec5c2d0b59040c69cd99ab86ba92eac5"
+    }
+  ]
+}