File size: 5,860 Bytes
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"schema_version": "1.0.0",
"name": "diffraction-egocentric-kitchen-sample",
"type": "human_egocentric_observation",
"release_status": "public_evaluation_sample",
"license": "cc-by-4.0",
"min_depth_confidence": 1,
"coordinate_frame": "ARKit camera-to-world, metres, xyzw quaternion; OpenCV unprojection requires diag(1,-1,-1) camera-axis conversion",
"pose_source": "device_vio_estimate",
"robot_actions": "absent",
"episodes": [
{
"capture_id": "onion-preparation",
"instruction": "Prepare and peel the onion on the cutting board using hands and a kitchen knife.",
"split": "sample",
"session_group": "kitchen_capture_group_unverified",
"video": "videos/onion-preparation.mp4",
"preview": "previews/onion-preparation.mp4",
"sensors": "sensors/onion-preparation.zip",
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"camera_intrinsics": "annotations/onion-preparation/camera_intrinsics.parquet",
"device_imu": "annotations/onion-preparation/device_imu.parquet",
"hand_pose_raw": "annotations/onion-preparation/hand_pose_raw.parquet",
"hand_pose": "annotations/onion-preparation/hand_pose.parquet",
"hand_world_trajectory": "annotations/onion-preparation/hand_world_trajectory.parquet",
"contact": "annotations/onion-preparation/contact.parquet",
"contact_events": "annotations/onion-preparation/contact_events.parquet"
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{
"capture_id": "pepper-slicing",
"instruction": "Prepare and slice the bell pepper on the cutting board using a kitchen knife.",
"split": "sample",
"session_group": "kitchen_capture_group_unverified",
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{
"capture_id": "pepper-dicing",
"instruction": "Dice the bell pepper strips on the cutting board using a kitchen knife.",
"split": "sample",
"session_group": "kitchen_capture_group_unverified",
"video": "videos/pepper-dicing.mp4",
"preview": "previews/pepper-dicing.mp4",
"sensors": "sensors/pepper-dicing.zip",
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"overview": "media/sample-overview.jpg",
"validation_report": "validation.json",
"huggingface_repo_id": "diffracting/egocentric-kitchen-sample"
} |