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用户已确认本页试点，授权全量预处理。 全量完成后另行随机抽查；尚未授权上传。

ARCTIC · 完整序列审核 v2

试点人工确认已通过；全量产物待单独验收。旧“抽帧投影通过”结论撤回，本页替代旧报告；尚未全量或发布。

视频三栏：原图 ｜ 原始标注诊断 ｜ 共享层有效监督。所有相机、所有帧都已渲染；青=左手，橙=右手，其他色=物体/部件，白点=MANO派生关节点或源物体关键点。投影不做遮挡剔除，也不是分割真值。

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 问题与修复证据、修复前后对照。预览30fps仅用于播放，不代表真实采集帧率；没有源准确性QA。

标注 valid=实际标注存在且数值合法，并通过适用官方QA及已明确登记的本地排除规则；可见性不代替valid，剩余帧不因此自动认定人工通过。诊断中被排除的参数不进入有效监督，raw保留。MP4经过缩放与展示编码，仅为doc预览，训练输入仍是无新增损失的shared MKV。

正式说明 · 逐相机检查结果 · 字段映射 · 更新后的valid定义

逐模态检查覆盖

模态检查/可视化方式
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

新增：固定相机6，切换11种物体的完整序列预览 · 逐物体验收结果

Camera 0 · 541 帧 · 有效MANO左右 [539, 539]

全部541帧已渲染，无码帧跳过。官方QA通过/未通过：None/None（null表示来源无此QA）。

Camera 1 · 541 帧 · 有效MANO左右 [539, 539]

全部541帧已渲染，无码帧跳过。官方QA通过/未通过：None/None（null表示来源无此QA）。

Camera 2 · 541 帧 · 有效MANO左右 [539, 539]

全部541帧已渲染，无码帧跳过。官方QA通过/未通过：None/None（null表示来源无此QA）。

Camera 3 · 541 帧 · 有效MANO左右 [539, 539]

全部541帧已渲染，无码帧跳过。官方QA通过/未通过：None/None（null表示来源无此QA）。

Camera 4 · 541 帧 · 有效MANO左右 [539, 539]

全部541帧已渲染，无码帧跳过。官方QA通过/未通过：None/None（null表示来源无此QA）。

Camera 5 · 541 帧 · 有效MANO左右 [539, 539]

全部541帧已渲染，无码帧跳过。官方QA通过/未通过：None/None（null表示来源无此QA）。

Camera 6 · 541 帧 · 有效MANO左右 [539, 539]

全部541帧已渲染，无码帧跳过。官方QA通过/未通过：None/None（null表示来源无此QA）。

Camera 7 · 541 帧 · 有效MANO左右 [539, 539]

全部541帧已渲染，无码帧跳过。官方QA通过/未通过：None/None（null表示来源无此QA）。

Camera 8 · 541 帧 · 有效MANO左右 [539, 539]

全部541帧已渲染，无码帧跳过。官方QA通过/未通过：None/None（null表示来源无此QA）。

物体资产检查

物体 laptop

纹理点云旋转预览及原始材质图；此预览不证明完整PBR渲染等价。

\ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/README.md b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/README.md new file mode 100644 index 0000000000000000000000000000000000000000..05477384661ee152588858aac30f1d9e17e8d4e9 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/README.md @@ -0,0 +1,42 @@ +# ARCTIC 固定相机、切换物体验收 + +本轮在原有“s09/laptop_use_03、九路相机”的基础上增加另一组：**固定s06的外部相机6，11种物体各一个完整序列**。s09缺少box，因此新增组统一采用s06；这组所有物体的相机内外参相同。不是99路相机，也不是全数据集预处理。 + +此文分发到share/doc/validation/objects/README.md，链接相对此位置。 + +[预览与逐物体结果](index.html) · [序列选择](selection.json) · [机器报告](report.json) · [原laptop九视角](../index.html) + +## 选择方法 + +扫描s06的官方物体参数序列；每种物体计算角度第95和第5百分位的差。选择开合幅度至少达到该物体在s06最大幅度的65%、且不小于0.35rad的最短完整序列。不截短视频、不删除源帧；原帧号通过官方ioi_offset对应标注。 + +## 两条独立路径 + +1. **官方路径**：从raw读取原始网格、parts.json、物体参数；执行固定提交49f3eb4的官方ObjectTensors.forward，用SciPy实现等价四元数基本运算。保存全部标注时刻、全部网格顶点的世界坐标作为临时参考。 +2. **共享路径**：从实际shared输出读取米制OBJ、vertex_part_ids、父子关系、关节角、各部件pose和相机参数，重建相机坐标下的顶点，与官方路径比较。不能直接用参考顶点代替shared重建。 + +每段检查全部有源标注的帧、全部物体网格顶点和32个物体关键点；MANO从raw世界参数独立重建，和shared相机参数的几何比较。数值容差为0.00002m，实际最大差值逐物体记录。 + +额外反例：故意交换部件、反转关节角、将毫米当米，三种错误都必须明显超过容差，证明检查能捕获此前那类错误。 + +`mesh.obj`、`mesh_tex.obj`、`top.obj`、`bottom.obj`分别检查米制顶点、拓扑、UV与法线。它们的拓扑不同，不能将mesh.obj的parts数组套到另一份网格。 + +## 媒体与可视化 + +- shared RGB由完整原JPEG码流封装MKV，所有包SHA256及统一解码RGB像素逐帧对照。 +- 完整视频三栏：shared原图、源标注诊断、当前valid监督。视频使用预览缩放与有损展示编码；不会替换无新增损失的训练媒体。 +- 展示MANO线框与派生关节点、物体两个部件、关节角、物体关键点、局部坐标轴、相机参数/轨迹、valid；纹理与资产另有旋转预览。 +- 对本组缺少的深度、像素分割、接触及源visibility明确缺省，不伪造。 +- 每段生成包含起止、均匀时间位置及开合极值的视觉对照图。代理检查记录实际看过的样本；完整视频已渲染不代表每帧已人工看过。 + +## 验收含义 + +分别记录数值转换、媒体一致性、代理视觉检查和用户人工确认。原数据的拟合误差或相机误差，不能被“数值转换通过”掩盖。可疑暗帧按预览亮度p95<35标记为候选，仅用于定位；不因单个可疑投影硬编码修改valid。新增s06序列不会套用原s09 laptop的前两帧排除规则。 + +用户确认前不全量处理，不上传。所有诊断日志与参考数组在ARCTIC/tmp/object-review-11；可分发的报告和视频在share/doc/validation/objects。 + +## 复现 + +在本项目既有CPU环境及授权MANO v1.2模型配置下，运行 `python scripts/arctic_object_review.py run`。选择清单是项目tmp/arctic-object-selection.json，其可分发副本为本目录selection.json；迁移时将此清单复制到脚本配置的位置。复用原包与已完成视图，不更改raw。 + +官方依据：[物体实现](https://github.com/zc-alexfan/arctic/blob/49f3eb4b7f01663172576357bb3d95695d7a7689/common/object_tensors.py)。官方说明文字与实现的parts编码存在矛盾，本轮按实际执行路径及几何结果验算，不能仅照文字解释。 diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/REPORT.md b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/REPORT.md new file mode 100644 index 0000000000000000000000000000000000000000..07a369c9393bdbd728dd27890a8108e27e504c48 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/REPORT.md @@ -0,0 +1,32 @@ +# ARCTIC 11种物体验收结果 + +[固定相机切换物体](index.html) · [原laptop九视角](../index.html) · [方法](README.md) + +新增组：s06、静态相机6，11个完整序列，共7617帧；内外参逐帧恒定且在11个物体间完全一致。原s09/laptop_use_03九视角视频摘要未变。 + +**转换数值检查通过；源图像和标注质量仍有已知问题，用户确认待完成。** 不据此启动全量处理或上传。 + +| 物体 | 完整序列 | 帧数 | 最大几何差/m | 视觉抽查结果 | +|---|---|---:|---:|---| +| [box](box/index.html) | s06/box_use_04 | 682 | 4.49e-07 | 开合方向与部件位置抽查未见明显转换错误；暗帧及手指贴合偏差保留为问题。 | +| [capsulemachine](capsulemachine/index.html) | s06/capsulemachine_use_02 | 722 | 4.59e-07 | 机器主体与铰接部件开合抽查正常；部分手部接触位置有残余偏差。 | +| [espressomachine](espressomachine/index.html) | s06/espressomachine_use_02 | 616 | 4.22e-07 | 整体位姿和铰接小部件转换数值通过；操作区遮挡较多，视觉把握有限。 | +| [ketchup](ketchup/index.html) | s06/ketchup_use_02 | 859 | 4.26e-07 | 瓶身与翻盖开合抽查未见方向错误；小瓶盖与手指接触处仍有局部贴合不确定性。 | +| [laptop](laptop/index.html) | s06/laptop_use_01_retake | 708 | 4.3e-07 | 屏幕与底座开合/整体翻转抽查正常；手指局部贴合仍需人工确认。 | +| [microwave](microwave/index.html) | s06/microwave_use_01 | 771 | 4.34e-07 | 箱体与门扇开合抽查正常；局部手指/门把手遮挡处不能判定为完全贴合。 | +| [mixer](mixer/index.html) | s06/mixer_use_02 | 692 | 4.18e-07 | 抬头机构与底座关系抽查正常；操作手遮挡造成局部对齐判定受限。 | +| [notebook](notebook/index.html) | s06/notebook_use_02 | 625 | 4.45e-07 | 封面与底页从闭合至接近平展的关系抽查正常；手指细节仍有偏差。 | +| [phone](phone/index.html) | s06/phone_use_02 | 702 | 4.64e-07 | 翻盖手机开合关系抽查正常；物体小且被手遮挡，精细轮廓对齐判定受限。 | +| [scissors](scissors/index.html) | s06/scissors_use_01 | 640 | 4.37e-07 | 两片剪刀的相对开合抽查正常；刀片细、手部遮挡多，不能据抽图认定精确对齐。 | +| [waffleiron](waffleiron/index.html) | s06/waffleiron_use_03 | 600 | 4.46e-07 | 上下烤盘开合及整体转动抽查正常；手部局部贴合仍有偏差。 | + +## 检查边界 + +- 数值：全部有标注帧、全部物体顶点/关键点和双手MANO几何，对照raw及固定官方实现；最大差4.63614e-07m，容差2e-5m。交换部件、反转关节角、误用毫米的反例在11个物体上均被检出。 +- 媒体：全部原JPEG包和统一解码RGB逐帧一致；完整预览视频再次全部解码，无缺帧/解码错误。MP4仅用于doc展示，不替代原码流MKV。 +- 视觉：实际查看198个原图/投影对照时刻（每段的起止、均匀样本及开合极值），检查资产旋转预览的3个方位。完整视频已全部渲染；代理未逐帧人工观看全部视频。 +- 模态：MANO、物体姿态/铰接/32个模板关键点、内外参、同步索引、RGB、资产纹理、valid均有检查/展示。未提供的深度、像素分割、接触、源visibility没有伪造。 +- 开头暗帧与局部手指贴合误差如实记录；本轮没有修改按帧号的排除mask。末帧无源动捕标注是源范围边界，RGB保留、几何valid=false。 +- 数值忠实不证明原标注准确；本次检查11种物体各一段，不能推导其它所有序列质量通过。 + +[资产预览抽查1](assets-contact-1.jpg) · [资产预览抽查2](assets-contact-2.jpg) diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/artifact-manifest.json b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/artifact-manifest.json new file mode 100644 index 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a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/box/contact-camera-6.jpg b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/box/contact-camera-6.jpg new file mode 100644 index 0000000000000000000000000000000000000000..f713acf361dfe80dea36da2b7c7acb06a618973b --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/box/contact-camera-6.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52e40d3028d0526cc0628931ee8874a152a6e93f973924ed0c32d4a3cc70380d +size 637013 diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/box/index.html b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/box/index.html new file mode 100644 index 0000000000000000000000000000000000000000..b41acc3e158a291cdd6e1a564180a9349dfd5222 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/box/index.html @@ -0,0 +1 @@ +ARCTIC box 完整序列验收

用户已确认本页试点，授权全量预处理。 全量完成后另行随机抽查；尚未授权上传。

全部物体

box · s06/box_use_04

固定相机6、682个相机帧，全部已渲染。最大几何数值差4.49e-07米。完整结果 · 官方对照及反例测试

代理视觉检查：开合方向与部件位置抽查未见明显转换错误；暗帧及手指贴合偏差保留为问题。；用户试点人工确认已通过；全量产物待单独验收，不自动全量或上传。

左：shared原图；中：源参数诊断投影；右：shared当前valid监督。顶盖紫、底座绿，左手青、右手橙。透视线框显示遮挡面，不是分割。播放30fps仅用于预览，源采集FPS未知。

暗帧指标仅作候选；除已有laptop曝光规则外，未添加按帧号的人工屏蔽。该序列通过不代表该物体全部序列通过。

Camera 6 · 682帧

几何数值检查通过；暗帧候选索引：[0, 1]。有效MANO左右：[681, 681]。

资产及纹理

视觉抽查对照（不代替完整视频）

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p95<35 flags a candidate only, does not modify valid", + "suspect_dark_frame_indices": [ + 0, + 1 + ] + } + }, + "visual_sample_indices": [ + 0, + 1, + 2, + 12, + 58, + 115, + 171, + 191, + 228, + 284, + 341, + 397, + 454, + 510, + 567, + 623, + 680, + 681 + ], + "human_review": "pending" + } + ], + "contact_sheets": [ + "contact-camera-6.jpg" + ], + "asset_preview": { + "object_id": "box", + "video_ref": "assets/box.mp4", + "frames": 72, + "texture_present": true, + "texture_source": { + "file": "annotation/object/box/assets/material.jpg", + "sha256": "214eb1c195d788cf54d1d11bcaac090a7a01e0f56f7cf488e36f73b8c3501e4e", + "size": [ + 2048, + 2048 + ], + "resolution_method": "explicit official MTL map_Kd; reject loader placeholder" + }, + "extent_m": [ + 0.2570633021824272, + 0.24853544141400932, + 0.3409394406146374 + ], + "method": "diagnostic textured point turntable, not photoreal material rendering" + }, + "agent_visual_review": { + "status": "reviewed_with_findings", + "summary": "开合方向与部件位置抽查未见明显转换错误；暗帧及手指贴合偏差保留为问题。", + "notes": [ + "已查看完整contact-camera-6.jpg中的18个时刻，包含起止、均匀位置及关节极值；未逐帧人工观看完整视频。", + "盒盖开合和底座刚体运动在抽查中一致；没有看到顶盖/底座交换或关节方向相反。", + "index 0/1原图很暗但源标注存在；未添加按帧号屏蔽。index 681保留RGB，但超出源标注范围，valid=false。", + "部分抓握位置手指轮廓仍有局部偏差；线框包含遮挡面，仅凭叠加图不能把全部差异归因于转换或源拟合。" + ], + "asset_visual_review": { + "status": "sampled", + "turntable_frame_indices": [ + 12, + 36, + 60 + ], + "notes": "木盒色彩与纹理图可见。 三个方位已查看；点绘制存在稀疏颗粒，不等同于完整材质光照渲染。" + }, + "inspected_frame_indices": [ + 0, + 1, + 2, + 12, + 58, + 115, + 171, + 191, + 228, + 284, + 341, + 397, + 454, + 510, + 567, + 623, + 680, + 681 + ], + "entire_video_watched": false, + "sample_method": "beginning/end, uniform temporal samples, joint-angle extremes; exact indices recorded" + }, + "human_review": "approved", + "dark_candidates": { + "6": [ + 0, + 1 + ] + }, + "valid_policy_note": "Existing laptop reviewed exposure exclusion is retained. New sequences preserve source availability; dark candidates and suspicious alignment are reported, not silently blacklisted.", + "delivery_checks": { + "preview_fully_decoded_frames": 682, + "preview_sha256": "c4587644f8da42c606d7c55210b6b3d8e0668c6179fe39f2b1d3ed27d607f40d", + "asset_preview_frames": 72, + "asset_video_sha256": "7347a00734a25b29a93f289ba2d792d485ea4b7871df958e42f982d67974d77a", + "texture_and_material_files": [ + { + "file": "material.jpg", + "sha256": "214eb1c195d788cf54d1d11bcaac090a7a01e0f56f7cf488e36f73b8c3501e4e", + "raw_bytes_equal": true + }, + { + "file": "material.mtl", + "sha256": "8acd0e50271437df54d60e2f6056800e3575a8ce789620948a884314393e69ca", + "raw_bytes_equal": true + } + ] + }, + "full_preprocessing_authorized": true, + "upload_authorized": false, + "pilot_confirmation": { + "confirmed_at": "2026-09-20T13:08:41.218959+08:00", + "user_statement": "HOT3D和ARCTIC我都确认了，可以开始做预处理了。", + "scope": "Reviewed pilots accepted; full preprocessing authorized for ARCTIC and HOT3D Aria only", + "full_preprocessing_authorized": true, + "full_output_review": "pending", + "upload_authorized": false, + "raw_retention": true + } +} \ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/box/video_snapshots/6/000000.jpg b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/box/video_snapshots/6/000000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1812546b1316f8c6b2a74a05b346e53ce042e7e5 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/box/video_snapshots/6/000000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9db5e0c31a857d486d195912ef68e45bb008bc67025a221b0396cc9ed6c0c3de +size 140099 diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/box/video_snapshots/6/000001.jpg b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/objects/box/video_snapshots/6/000001.jpg new file mode 100644 index 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