| { | |
| "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", | |
| "signals": { | |
| "quality": "annotations/onion-preparation/quality.parquet", | |
| "tracks_raw": "annotations/onion-preparation/tracks_raw.parquet", | |
| "tracks": "annotations/onion-preparation/tracks.parquet", | |
| "arkit_poses": "annotations/onion-preparation/arkit_poses.parquet", | |
| "frame_mapping": "annotations/onion-preparation/frame_mapping.parquet", | |
| "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" | |
| }, | |
| "frame_count": 4543, | |
| "duration_s": 75.733333, | |
| "width": 1920, | |
| "height": 1440, | |
| "nominal_fps": 59.9868, | |
| "source_archive_sha256": "4a25f7c7080ee803ce6e9d4837ae2de68df296b37f60e37b43dce02ce04d87a4", | |
| "video_sha256": "7279f0d51cfc9ea5d01088aaa45a1777036da8300f0316462befad9a25bdbcab", | |
| "sensor_archive_sha256": "f3257b74551aed7ed90adffc7d2462a11234b984ad9d2b393c241420cb0520ca" | |
| }, | |
| { | |
| "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", | |
| "video": "videos/pepper-slicing.mp4", | |
| "preview": "previews/pepper-slicing.mp4", | |
| "sensors": "sensors/pepper-slicing.zip", | |
| "signals": { | |
| "quality": "annotations/pepper-slicing/quality.parquet", | |
| "tracks_raw": "annotations/pepper-slicing/tracks_raw.parquet", | |
| "tracks": "annotations/pepper-slicing/tracks.parquet", | |
| "arkit_poses": "annotations/pepper-slicing/arkit_poses.parquet", | |
| "frame_mapping": "annotations/pepper-slicing/frame_mapping.parquet", | |
| "camera_intrinsics": "annotations/pepper-slicing/camera_intrinsics.parquet", | |
| "device_imu": "annotations/pepper-slicing/device_imu.parquet", | |
| "hand_pose_raw": "annotations/pepper-slicing/hand_pose_raw.parquet", | |
| "hand_pose": "annotations/pepper-slicing/hand_pose.parquet", | |
| "hand_world_trajectory": "annotations/pepper-slicing/hand_world_trajectory.parquet", | |
| "contact": "annotations/pepper-slicing/contact.parquet", | |
| "contact_events": "annotations/pepper-slicing/contact_events.parquet" | |
| }, | |
| "frame_count": 3465, | |
| "duration_s": 57.75, | |
| "width": 1920, | |
| "height": 1440, | |
| "nominal_fps": 60.0, | |
| "source_archive_sha256": "166703cbbc48dea22dbde6b7ef461c51199f244bb5d86a60fce1449066d062b4", | |
| "video_sha256": "8a7efeadc9a2bd2cdac97c7f55df35ef6cb144b64c98d707251f5caae168f1da", | |
| "sensor_archive_sha256": "a6ad8727007b28c635c0626b0e250c34981e46ac681d2009b143ed5117b139bc" | |
| }, | |
| { | |
| "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", | |
| "signals": { | |
| "quality": "annotations/pepper-dicing/quality.parquet", | |
| "tracks_raw": "annotations/pepper-dicing/tracks_raw.parquet", | |
| "tracks": "annotations/pepper-dicing/tracks.parquet", | |
| "arkit_poses": "annotations/pepper-dicing/arkit_poses.parquet", | |
| "frame_mapping": "annotations/pepper-dicing/frame_mapping.parquet", | |
| "camera_intrinsics": "annotations/pepper-dicing/camera_intrinsics.parquet", | |
| "device_imu": "annotations/pepper-dicing/device_imu.parquet", | |
| "hand_pose_raw": "annotations/pepper-dicing/hand_pose_raw.parquet", | |
| "hand_pose": "annotations/pepper-dicing/hand_pose.parquet", | |
| "hand_world_trajectory": "annotations/pepper-dicing/hand_world_trajectory.parquet", | |
| "contact": "annotations/pepper-dicing/contact.parquet", | |
| "contact_events": "annotations/pepper-dicing/contact_events.parquet" | |
| }, | |
| "frame_count": 2062, | |
| "duration_s": 34.366667, | |
| "width": 1920, | |
| "height": 1440, | |
| "nominal_fps": 60.0, | |
| "source_archive_sha256": "fa7c7f295d02aab54901688f44d666283ba43f35a97a2b03c3ea7fe2351ce49b", | |
| "video_sha256": "e164e7b06fa2f73e41f87eba48f59ef9b808a9b99516a9a02e6cda3afcf7558b", | |
| "sensor_archive_sha256": "477b42ac2c8044dc3ecec64a9f86429cc379f3e6ab7ba1a0c7ad24f48db45fa5" | |
| } | |
| ], | |
| "overview": "media/sample-overview.jpg", | |
| "validation_report": "validation.json", | |
| "huggingface_repo_id": "diffracting/egocentric-kitchen-sample" | |
| } |