| { | |
| "schema_version": "1.0.0", | |
| "asset_id": "166703cbbc48dea2", | |
| "dataset_type": "human_egocentric_observation", | |
| "channels": { | |
| "quality": { | |
| "rows": 58, | |
| "source": "measured", | |
| "estimator": null, | |
| "columns": { | |
| "t_s": "Float64", | |
| "sharpness": "Float64", | |
| "exposure": "Float64" | |
| }, | |
| "null_counts": { | |
| "t_s": 0, | |
| "sharpness": 0, | |
| "exposure": 0 | |
| }, | |
| "unique_timestamps": 58 | |
| }, | |
| "tracks_raw": { | |
| "rows": 931, | |
| "source": "estimated", | |
| "estimator": "owlv2:base-patch16-ensemble+openvocab+bytetrack", | |
| "columns": { | |
| "t_s": "Float64", | |
| "track_id": "Int64", | |
| "label": "String", | |
| "confidence": "Float64", | |
| "x1": "Float64", | |
| "y1": "Float64", | |
| "x2": "Float64", | |
| "y2": "Float64" | |
| }, | |
| "null_counts": { | |
| "t_s": 0, | |
| "track_id": 0, | |
| "label": 0, | |
| "confidence": 0, | |
| "x1": 0, | |
| "y1": 0, | |
| "x2": 0, | |
| "y2": 0 | |
| }, | |
| "unique_timestamps": 289 | |
| }, | |
| "tracks": { | |
| "rows": 1002, | |
| "source": "estimated", | |
| "estimator": "owlv2:base-patch16-ensemble+openvocab+bytetrack+track_temporal:bridge+oneeuro:v1", | |
| "columns": { | |
| "t_s": "Float64", | |
| "track_id": "Int64", | |
| "label": "String", | |
| "confidence": "Float64", | |
| "x1": "Float64", | |
| "y1": "Float64", | |
| "x2": "Float64", | |
| "y2": "Float64", | |
| "provenance": "String" | |
| }, | |
| "null_counts": { | |
| "t_s": 0, | |
| "track_id": 0, | |
| "label": 0, | |
| "confidence": 71, | |
| "x1": 0, | |
| "y1": 0, | |
| "x2": 0, | |
| "y2": 0, | |
| "provenance": 0 | |
| }, | |
| "unique_timestamps": 289, | |
| "provenance_rows": [ | |
| { | |
| "provenance": "interpolated", | |
| "len": 71 | |
| }, | |
| { | |
| "provenance": "smoothed", | |
| "len": 881 | |
| }, | |
| { | |
| "provenance": "detected", | |
| "len": 50 | |
| } | |
| ] | |
| }, | |
| "hand_pose_raw": { | |
| "rows": 34398, | |
| "source": "estimated", | |
| "estimator": "rtmpose:rtmw-x+hand5-cascade+ego_duplicate_suppression:v1", | |
| "columns": { | |
| "t_s": "Float64", | |
| "hand": "Int64", | |
| "handedness": "String", | |
| "hand_score": "Float64", | |
| "kp_index": "Int64", | |
| "kp_name": "String", | |
| "x": "Float64", | |
| "y": "Float64", | |
| "z": "Float64", | |
| "wx": "Float64", | |
| "wy": "Float64", | |
| "wz": "Float64", | |
| "kp_score": "Float64" | |
| }, | |
| "null_counts": { | |
| "t_s": 0, | |
| "hand": 0, | |
| "handedness": 0, | |
| "hand_score": 0, | |
| "kp_index": 0, | |
| "kp_name": 0, | |
| "x": 0, | |
| "y": 0, | |
| "z": 34398, | |
| "wx": 34398, | |
| "wy": 34398, | |
| "wz": 34398, | |
| "kp_score": 0 | |
| }, | |
| "unique_timestamps": 866, | |
| "handedness_rows": [ | |
| { | |
| "handedness": "right", | |
| "len": 5061 | |
| }, | |
| { | |
| "handedness": "left", | |
| "len": 3192 | |
| }, | |
| { | |
| "handedness": "unknown", | |
| "len": 26145 | |
| } | |
| ] | |
| }, | |
| "hand_pose": { | |
| "rows": 35427, | |
| "source": "estimated", | |
| "estimator": "rtmpose:rtmw-x+hand5-cascade+ego_duplicate_suppression:v1+hands_temporal:greedy+oneeuro:v1", | |
| "columns": { | |
| "t_s": "Float64", | |
| "hand": "Int64", | |
| "handedness": "String", | |
| "hand_score": "Float64", | |
| "kp_index": "Int64", | |
| "kp_name": "String", | |
| "x": "Float64", | |
| "y": "Float64", | |
| "z": "Float64", | |
| "wx": "Float64", | |
| "wy": "Float64", | |
| "wz": "Float64", | |
| "kp_score": "Float64", | |
| "provenance": "String", | |
| "det_index": "Int64" | |
| }, | |
| "null_counts": { | |
| "t_s": 0, | |
| "hand": 0, | |
| "handedness": 0, | |
| "hand_score": 0, | |
| "kp_index": 0, | |
| "kp_name": 0, | |
| "x": 0, | |
| "y": 0, | |
| "z": 35427, | |
| "wx": 35427, | |
| "wy": 35427, | |
| "wz": 35427, | |
| "kp_score": 0, | |
| "provenance": 0, | |
| "det_index": 1218 | |
| }, | |
| "unique_timestamps": 866, | |
| "provenance_rows": [ | |
| { | |
| "provenance": "detected", | |
| "len": 399 | |
| }, | |
| { | |
| "provenance": "smoothed", | |
| "len": 33810 | |
| }, | |
| { | |
| "provenance": "interpolated", | |
| "len": 1218 | |
| } | |
| ], | |
| "handedness_rows": [ | |
| { | |
| "handedness": "unknown", | |
| "len": 33852 | |
| }, | |
| { | |
| "handedness": "left", | |
| "len": 882 | |
| }, | |
| { | |
| "handedness": "right", | |
| "len": 693 | |
| } | |
| ] | |
| }, | |
| "hand_world_trajectory": { | |
| "rows": 1582, | |
| "source": "estimated", | |
| "estimator": "arkit_world+rtmpose", | |
| "columns": { | |
| "t_s": "Float64", | |
| "hand": "Int64", | |
| "handedness": "String", | |
| "hand_score": "Float64", | |
| "px": "Float64", | |
| "py": "Float64", | |
| "pz": "Float64", | |
| "qx": "Float64", | |
| "qy": "Float64", | |
| "qz": "Float64", | |
| "qw": "Float64", | |
| "cam_px": "Float64", | |
| "cam_py": "Float64", | |
| "cam_pz": "Float64", | |
| "orient_valid": "Boolean", | |
| "provenance": "String" | |
| }, | |
| "null_counts": { | |
| "t_s": 0, | |
| "hand": 0, | |
| "handedness": 0, | |
| "hand_score": 0, | |
| "px": 0, | |
| "py": 0, | |
| "pz": 0, | |
| "qx": 1525, | |
| "qy": 1525, | |
| "qz": 1525, | |
| "qw": 1525, | |
| "cam_px": 0, | |
| "cam_py": 0, | |
| "cam_pz": 0, | |
| "orient_valid": 0, | |
| "provenance": 0 | |
| }, | |
| "unique_timestamps": 852, | |
| "provenance_rows": [ | |
| { | |
| "provenance": "smoothed", | |
| "len": 1521 | |
| }, | |
| { | |
| "provenance": "detected", | |
| "len": 16 | |
| }, | |
| { | |
| "provenance": "interpolated", | |
| "len": 45 | |
| } | |
| ], | |
| "handedness_rows": [ | |
| { | |
| "handedness": "unknown", | |
| "len": 1514 | |
| }, | |
| { | |
| "handedness": "left", | |
| "len": 39 | |
| }, | |
| { | |
| "handedness": "right", | |
| "len": 29 | |
| } | |
| ] | |
| }, | |
| "contact": { | |
| "rows": 3654, | |
| "source": "estimated", | |
| "estimator": "geometric:handpose-x-tracks+depthgate+debounce", | |
| "columns": { | |
| "t_s": "Float64", | |
| "hand": "Int64", | |
| "handedness": "String", | |
| "track_id": "Int64", | |
| "label": "String", | |
| "target_kind": "String", | |
| "iou": "Float64", | |
| "fingertips_inside": "Int64", | |
| "tip_depth_m": "Float64", | |
| "obj_depth_m": "Float64", | |
| "depth_gap_m": "Float64", | |
| "depth_tier": "String", | |
| "method": "String", | |
| "provenance": "String", | |
| "contact": "Boolean", | |
| "contact_state": "Boolean" | |
| }, | |
| "null_counts": { | |
| "t_s": 0, | |
| "hand": 0, | |
| "handedness": 0, | |
| "track_id": 0, | |
| "label": 0, | |
| "target_kind": 0, | |
| "iou": 0, | |
| "fingertips_inside": 0, | |
| "tip_depth_m": 2, | |
| "obj_depth_m": 0, | |
| "depth_gap_m": 2, | |
| "depth_tier": 2, | |
| "method": 0, | |
| "provenance": 0, | |
| "contact": 0, | |
| "contact_state": 0 | |
| }, | |
| "unique_timestamps": 866, | |
| "provenance_rows": [ | |
| { | |
| "provenance": "detected", | |
| "len": 5 | |
| }, | |
| { | |
| "provenance": "interpolated", | |
| "len": 296 | |
| }, | |
| { | |
| "provenance": "smoothed", | |
| "len": 3353 | |
| } | |
| ], | |
| "handedness_rows": [ | |
| { | |
| "handedness": "unknown", | |
| "len": 3540 | |
| }, | |
| { | |
| "handedness": "left", | |
| "len": 65 | |
| }, | |
| { | |
| "handedness": "right", | |
| "len": 49 | |
| } | |
| ] | |
| }, | |
| "contact_events": { | |
| "rows": 103, | |
| "source": "estimated", | |
| "estimator": "geometric:handpose-x-tracks+depthgate+debounce", | |
| "columns": { | |
| "hand": "Int64", | |
| "handedness": "String", | |
| "track_id": "Int64", | |
| "label": "String", | |
| "target_kind": "String", | |
| "t_on_s": "Float64", | |
| "t_off_s": "Float64", | |
| "duration_s": "Float64", | |
| "n_contact_samples": "Int64", | |
| "method": "String", | |
| "depth_tier": "String", | |
| "provenance": "String" | |
| }, | |
| "null_counts": { | |
| "hand": 0, | |
| "handedness": 0, | |
| "track_id": 0, | |
| "label": 0, | |
| "target_kind": 0, | |
| "t_on_s": 0, | |
| "t_off_s": 1, | |
| "duration_s": 1, | |
| "n_contact_samples": 0, | |
| "method": 0, | |
| "depth_tier": 0, | |
| "provenance": 0 | |
| }, | |
| "provenance_rows": [ | |
| { | |
| "provenance": "interpolated", | |
| "len": 37 | |
| }, | |
| { | |
| "provenance": "smoothed", | |
| "len": 66 | |
| } | |
| ], | |
| "handedness_rows": [ | |
| { | |
| "handedness": "unknown", | |
| "len": 92 | |
| }, | |
| { | |
| "handedness": "right", | |
| "len": 3 | |
| }, | |
| { | |
| "handedness": "left", | |
| "len": 8 | |
| } | |
| ] | |
| }, | |
| "arkit_poses": { | |
| "rows": 3466, | |
| "source": "estimated", | |
| "estimator": "arkit:stray_scanner", | |
| "columns": { | |
| "t_s": "Float64", | |
| "tx": "Float64", | |
| "ty": "Float64", | |
| "tz": "Float64", | |
| "qx": "Float64", | |
| "qy": "Float64", | |
| "qz": "Float64", | |
| "qw": "Float64" | |
| }, | |
| "null_counts": { | |
| "t_s": 0, | |
| "tx": 0, | |
| "ty": 0, | |
| "tz": 0, | |
| "qx": 0, | |
| "qy": 0, | |
| "qz": 0, | |
| "qw": 0 | |
| }, | |
| "unique_timestamps": 3466 | |
| }, | |
| "frame_mapping": { | |
| "rows": 3466, | |
| "source": "measured", | |
| "estimator": "stray:explicit_frame_id", | |
| "columns": { | |
| "t_s": "Float64", | |
| "source_frame_index": "Int64", | |
| "video_pts_s": "Float64", | |
| "sensor_timestamp_s": "Float64", | |
| "sensor_t_s": "Float64", | |
| "rgb_decodable": "Boolean", | |
| "rgb_frame_index": "Int64" | |
| }, | |
| "null_counts": { | |
| "t_s": 0, | |
| "source_frame_index": 0, | |
| "video_pts_s": 0, | |
| "sensor_timestamp_s": 0, | |
| "sensor_t_s": 0, | |
| "rgb_decodable": 0, | |
| "rgb_frame_index": 1 | |
| }, | |
| "unique_timestamps": 3466 | |
| }, | |
| "camera_intrinsics": { | |
| "rows": 3466, | |
| "source": "measured", | |
| "estimator": "stray:device_calibration", | |
| "columns": { | |
| "t_s": "Float64", | |
| "source_frame_index": "Int64", | |
| "fx": "Float64", | |
| "fy": "Float64", | |
| "cx": "Float64", | |
| "cy": "Float64", | |
| "width": "Int64", | |
| "height": "Int64", | |
| "calibration_source": "String" | |
| }, | |
| "null_counts": { | |
| "t_s": 0, | |
| "source_frame_index": 0, | |
| "fx": 0, | |
| "fy": 0, | |
| "cx": 0, | |
| "cy": 0, | |
| "width": 0, | |
| "height": 0, | |
| "calibration_source": 0 | |
| }, | |
| "unique_timestamps": 3466 | |
| }, | |
| "device_imu": { | |
| "rows": 5810, | |
| "source": "measured", | |
| "estimator": "stray:raw_device_imu", | |
| "columns": { | |
| "sensor_timestamp_s": "Float64", | |
| "sensor_t_s": "Float64", | |
| "t_s": "Float64", | |
| "clock_mapping_valid": "Boolean", | |
| "a_x": "Float64", | |
| "a_y": "Float64", | |
| "a_z": "Float64", | |
| "alpha_x": "Float64", | |
| "alpha_y": "Float64", | |
| "alpha_z": "Float64" | |
| }, | |
| "null_counts": { | |
| "sensor_timestamp_s": 0, | |
| "sensor_t_s": 0, | |
| "t_s": 14, | |
| "clock_mapping_valid": 0, | |
| "a_x": 0, | |
| "a_y": 0, | |
| "a_z": 0, | |
| "alpha_x": 0, | |
| "alpha_y": 0, | |
| "alpha_z": 0 | |
| }, | |
| "unique_timestamps": 5796 | |
| } | |
| }, | |
| "annotation_accuracy": "not_independently_evaluated", | |
| "public_release_ready": true, | |
| "release_checks": { | |
| "license": "cc-by-4.0", | |
| "ownership": "owner_attested", | |
| "privacy_review": "automated_full_video_face_scan; sampled_visual_inspection; no_human_attestation", | |
| "annotation_review": "assistant_sampled_visual_review; independent_accuracy_not_measured", | |
| "technical_validation": "passed; see validation.json" | |
| }, | |
| "sensor_completeness": { | |
| "frame_mapping": 3466, | |
| "arkit_poses": 3466, | |
| "camera_intrinsics": 3466, | |
| "measured_depth_index": 3466, | |
| "device_imu": 5810, | |
| "rgb_frames": 3465, | |
| "displayed_rgb_frames": 3465, | |
| "frame_tables_match_rgb": true | |
| }, | |
| "warnings": [ | |
| "Annotation coverage is not an accuracy measurement.", | |
| "Device ARKit pose is a VIO estimate, not independent motion-capture ground truth.", | |
| "Raw device acceleration units require capture-version verification; no conversion applied.", | |
| "No robot commands, force, tactile measurements or execution success are provided." | |
| ], | |
| "hand_candidate_selection": { | |
| "candidates": 3176, | |
| "kept": 1638, | |
| "duplicate_groups": 1346, | |
| "label_conflicts": 1250, | |
| "max_hands": 2 | |
| }, | |
| "clock_mapping": { | |
| "method": "explicit_source_frame_id_with_discard_flags", | |
| "mapping_version": 2, | |
| "displayed_frame_count": 3465, | |
| "discarded_packet_count": 1, | |
| "time_domain": "rgb_pts_relative_to_first_frame", | |
| "frame_count": 3466, | |
| "max_original_clock_difference_ms": 86.05029166598399, | |
| "physical_sync_accuracy": "not_independently_measured" | |
| }, | |
| "internal_only_channels": [ | |
| "body_pose", | |
| "privacy", | |
| "measured_depth_index", | |
| "hand_pose_candidates" | |
| ], | |
| "release_scope": "public evaluation sample; estimated annotations experimental" | |
| } |