{ "schema_version": "1.0.0", "asset_id": "4a25f7c7080ee803", "dataset_type": "human_egocentric_observation", "channels": { "quality": { "rows": 76, "source": "measured", "estimator": null, "columns": { "t_s": "Float64", "sharpness": "Float64", "exposure": "Float64" }, "null_counts": { "t_s": 0, "sharpness": 0, "exposure": 0 }, "unique_timestamps": 76 }, "tracks_raw": { "rows": 1349, "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": 379 }, "tracks": { "rows": 1410, "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": 61, "x1": 0, "y1": 0, "x2": 0, "y2": 0, "provenance": 0 }, "unique_timestamps": 379, "provenance_rows": [ { "provenance": "detected", "len": 60 }, { "provenance": "smoothed", "len": 1289 }, { "provenance": "interpolated", "len": 61 } ] }, "hand_pose_raw": { "rows": 43722, "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": 43722, "wx": 43722, "wy": 43722, "wz": 43722, "kp_score": 0 }, "unique_timestamps": 1136, "handedness_rows": [ { "handedness": "left", "len": 9051 }, { "handedness": "unknown", "len": 26166 }, { "handedness": "right", "len": 8505 } ] }, "hand_pose": { "rows": 45864, "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": 45864, "wx": 45864, "wy": 45864, "wz": 45864, "kp_score": 0, "provenance": 0, "det_index": 2457 }, "unique_timestamps": 1136, "provenance_rows": [ { "provenance": "interpolated", "len": 2457 }, { "provenance": "detected", "len": 399 }, { "provenance": "smoothed", "len": 43008 } ], "handedness_rows": [ { "handedness": "right", "len": 11592 }, { "handedness": "unknown", "len": 31983 }, { "handedness": "left", "len": 2289 } ] }, "hand_world_trajectory": { "rows": 1998, "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": 1565, "qy": 1565, "qz": 1565, "qw": 1565, "cam_px": 0, "cam_py": 0, "cam_pz": 0, "orient_valid": 0, "provenance": 0 }, "unique_timestamps": 1116, "provenance_rows": [ { "provenance": "detected", "len": 11 }, { "provenance": "interpolated", "len": 102 }, { "provenance": "smoothed", "len": 1885 } ], "handedness_rows": [ { "handedness": "right", "len": 448 }, { "handedness": "left", "len": 94 }, { "handedness": "unknown", "len": 1456 } ] }, "contact": { "rows": 4979, "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": 15, "obj_depth_m": 0, "depth_gap_m": 15, "depth_tier": 15, "method": 0, "provenance": 0, "contact": 0, "contact_state": 0 }, "unique_timestamps": 1136, "provenance_rows": [ { "provenance": "detected", "len": 5 }, { "provenance": "interpolated", "len": 348 }, { "provenance": "smoothed", "len": 4626 } ], "handedness_rows": [ { "handedness": "left", "len": 193 }, { "handedness": "right", "len": 1084 }, { "handedness": "unknown", "len": 3702 } ] }, "contact_events": { "rows": 92, "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": 45 }, { "provenance": "smoothed", "len": 47 } ], "handedness_rows": [ { "handedness": "unknown", "len": 58 }, { "handedness": "left", "len": 6 }, { "handedness": "right", "len": 28 } ] }, "arkit_poses": { "rows": 4544, "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": 4544 }, "frame_mapping": { "rows": 4544, "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": 4544 }, "camera_intrinsics": { "rows": 4544, "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": 4544 }, "device_imu": { "rows": 7624, "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": 13, "clock_mapping_valid": 0, "a_x": 0, "a_y": 0, "a_z": 0, "alpha_x": 0, "alpha_y": 0, "alpha_z": 0 }, "unique_timestamps": 7611 } }, "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": 4544, "arkit_poses": 4544, "camera_intrinsics": 4544, "measured_depth_index": 4544, "device_imu": 7624, "rgb_frames": 4543, "displayed_rgb_frames": 4543, "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": 3706, "kept": 2082, "duplicate_groups": 1454, "label_conflicts": 1268, "max_hands": 2 }, "clock_mapping": { "method": "explicit_source_frame_id_with_discard_flags", "mapping_version": 2, "displayed_frame_count": 4543, "discarded_packet_count": 1, "time_domain": "rgb_pts_relative_to_first_frame", "frame_count": 4544, "max_original_clock_difference_ms": 137.34329233423637, "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" }