| # RGB observation schema v1.1.0 | |
| Each episode is an excerpt with preserved displayed-source frame identity. Source MOV masters remain locally preserved. Public videos are H.264, 8-bit SDR derivatives of the original HLG HDR capture; resolution is preserved after applying display rotation. Audio and source container metadata are omitted. The documented transform uses Hable tone mapping with npl=100. No image crop or frame-rate resampling is applied to training videos. Browser previews are resized derivatives. | |
| - `frame_mapping`: `rgb_frame_index` indexes the public training video from zero; `source_frame_index` indexes displayed frames in the original MOV from zero. This RGB-only source index is not a Stray depth/odometry record index. `t_s` is the actual public video timestamp relative to its first displayed frame. `source_timestamp_s` is relative to the original MOV's first displayed frame. `source_pts_s` and `video_pts_s` retain native presentation timestamps. Selection is an inclusive start/exclusive end window. | |
| - `hand_pose_raw`, `hand_pose`: estimated normalized 2D x/y keypoints, track ID, anatomical label or unknown, uncalibrated confidence and provenance. z/wx/wy/wz are null for the 2D model. Temporal interpolation is identified, not presented as an independent detection. Duplicate suppression caps raw detections at two; temporal gap filling can retain short extra tracks. | |
| - `tracks_raw`, `tracks`: estimated normalized object boxes with labels and confidence. Identity and contact are not ground truth. No physical contact labels are inferred by this recipe. | |
| - `quality`: image statistics, channel coverage and missingness; not annotation accuracy. | |
| - `annotations/action_segments.parquet`, when present: reviewed language/action intervals with explicit review method and approximate boundary precision. Intervals are observations, not robot commands or measured outcomes. | |
| The reader returns `None` for depth_m, depth_valid, confidence, K_rgb, camera_pose_xyzw and sensor_timestamp_s. Explicit episode modality flags mark metric depth, calibration, VIO, IMU, audio and robot actions unavailable. `camera_points` raises for RGB-only samples. Estimated monocular geometry is not silently inserted. | |
| All excerpts in the sample are grouped conservatively as one session. Preserve this grouping in downstream splits. Instructions and segment boundaries are curator annotations; no independent accuracy study or task-success benchmark is provided. | |