diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..eb6bf43a4e8eed48adab0b1d874048f940c81b07 --- /dev/null +++ b/LICENSE @@ -0,0 +1,4 @@ +Creative Commons Attribution 4.0 International (CC BY 4.0) +Copyright 2026 Diffraction. +https://creativecommons.org/licenses/by/4.0/legalcode +Attribution: Diffraction Egocentric Maintenance Sample, dataset URL and revision. diff --git a/QUALITY.md b/QUALITY.md new file mode 100644 index 0000000000000000000000000000000000000000..b5cdcec93e9e5ffa3b02eff22317fed27fdcd368 --- /dev/null +++ b/QUALITY.md @@ -0,0 +1,30 @@ +# Quality and review + +All 5,308 training frames are checked against source-frame mappings. Full video decode and standalone reader checks are recorded in [validation.json](validation.json). Face detection ran on every displayed training frame and returned zero detections for these excerpts. Audio and source location/container metadata are omitted from public videos. + +The assistant reviewed RGB storyboards at approximately two-second intervals and clip endpoints, and estimated-overlay frames near the start, middle and end. No visible faces or identifying private text were found in inspected frames. This is a sampled visual review, not an exhaustive manual privacy audit or an independent annotation-accuracy evaluation. + +## Estimated annotation coverage + +Hand keypoints were requested at 10 Hz and object detection at 5 Hz. Counts below describe timestamps with emitted estimates; they do not measure recall against visible objects/hands. Unknown percentages use temporal hand instances (one track at one timestamp), not keypoint rows. A track is not an independent person or physical entity. + +| Excerpt | Raw hand timestamps | Unknown handedness | Max temporal hands at one timestamp | Object timestamps | +|---|---:|---:|---:|---:| +| remove-tape | 290 | 24.2% | 2 | 145 | +| brush-front-grille | 300 | 50.0% | 2 | 150 | +| brush-housing | 300 | 100.0% | 2 | 137 | +| brush-panel-channels | 300 | 99.3% | 3 | 144 | +| wipe-panel | 300 | 13.7% | 3 | 150 | +| wipe-panel-corners | 280 | 24.0% | 3 | 135 | + +The raw hand candidate selection caps detections at two per timestamp. Temporal interpolation can briefly retain extra tracks. The public tables preserve raw and temporal estimates separately, with null z/world coordinates and explicit provenance. Some visible hands are missed; finger placement, small-tool boxes and handedness are imperfect. An object track may change ID during one manipulation. Review overlays intentionally expose these errors. Overlays use a constant-frame-rate display clock and are visual aids, not the alignment reference. + +## Language and grouping + +The assistant prepared the instructions and 13 action intervals from visual review. Boundaries are approximate to two seconds and have not been independently checked by a human annotator. The intervals describe observed actions, not task success or robot commands. One conservative session group covers all six excerpts; do not split excerpts from this session between training and evaluation and then claim independent generalization. + +## Capture limitations and next collection + +This release covers one camera wearer, one appliance/work area and one apparent session. Viewpoint is chest-mounted according to the owner. The public 1920 x 1080 images are tone-mapped from iPhone HLG HDR; full original MOV files remain with the owner. Exposure changes, motion blur, self-occlusion and repetitive activity are visible. Metric geometry, forces, tactile measurements and robot control/state are unavailable. + +For a paid capture pilot, agree on target tasks, full task sequences, multiple workers/sites, tool visibility and acceptance criteria. A labeled evaluation subset and held-out sessions would support measured annotation quality and downstream utility. This sample establishes delivery structure and inspectable footage; it does not report training gains. diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e97f9df3e8c3f79ec49e28c1d4781a52f06a434c --- /dev/null +++ b/README.md @@ -0,0 +1,88 @@ +--- +license: cc-by-4.0 +pretty_name: Diffraction Egocentric Maintenance Sample +configs: +- config_name: default + data_files: + - split: sample + path: data/episodes.parquet +language: +- en +tags: +- video +- egocentric +- human-demonstration +- robotics +- physical-ai +- maintenance +size_categories: +- n<1K +--- +# Diffraction Egocentric Maintenance Sample + +![Diffraction maintenance capture](preview.jpg) + +Chest-mounted iPhone video of hands-on appliance maintenance: tape removal, brushing, panel handling and wiping recessed surfaces. 6 curated excerpts complement [Diffraction's RGB-D kitchen sample](https://huggingface.co/datasets/diffracting/egocentric-kitchen-sample) with a different task domain. + +This is human RGB observation data for evaluating video-language, temporal action understanding and hand/object interaction workflows. Depth, metric camera calibration/pose, IMU, robot commands and execution-success labels are unavailable. Optional hand/object annotations are model estimates with no independently measured accuracy. + +| Excerpt | Seconds | RGB frames | Instruction | +|---|---:|---:|---| +| remove-tape | 28.98 | 870 | Remove pieces of adhesive tape from the air conditioner front housing. | +| brush-front-grille | 29.95 | 899 | Brush the air conditioner front grille while stabilizing the housing. | +| brush-housing | 29.98 | 900 | Prepare the brush and scrub the exposed upper housing of the air conditioner. | +| brush-panel-channels | 29.98 | 900 | Hold the detached front panel and brush along its narrow channels. | +| wipe-panel | 29.98 | 900 | Wipe the detached panel surfaces while stabilizing the panel with the other hand. | +| wipe-panel-corners | 27.95 | 839 | Wipe the recessed corners and channels of the detached panel with a paper towel. | + +**176.84 seconds · 5,308 RGB frames · one session · 13 approximate action intervals.** + +## Download and use + +```bash +pip install huggingface_hub +hf download diffracting/egocentric-maintenance-sample --repo-type dataset --local-dir diffraction-maintenance +cd diffraction-maintenance +pip install -r requirements.txt +python observation_reader.py . +``` + +```python +from observation_reader import ObservationDataset +sample = ObservationDataset('.') +key = next(iter(sample.episodes)) +frame = sample.frame(key, 100) +print(frame['rgb'].shape, frame['timestamp_s'], frame['source_timestamp_s']) +assert frame['depth_m'] is None +hands = sample.annotations_near(key, 'hand_pose', frame['timestamp_s'], max_age_s=0.05) +``` + +## Capture and processing + +The source files identify an iPhone 15 Pro recording 1920 x 1080 HLG HDR video at approximately 30 fps. The owner described a chest-mounted camera setup and authorized the public sample. Full original MOV files are preserved locally with SHA-256 provenance. Public RGB clips are documented 8-bit SDR/H.264 excerpts with original presentation-time spacing and one-to-one source frame mapping. Audio and source-container metadata are omitted. Smaller browser videos are previews; use `videos/` for the training representation. + +All excerpts appear to belong to the same maintenance session. They are one technical sample, not six independent trials or a train/test benchmark. No claim of a completed maintenance procedure or verified appliance operation is made. + +## Quality and intended use + +[QUALITY.md](QUALITY.md) reports review coverage and known failure modes; [validation.json](validation.json) records the executable release checks. [SCHEMA.md](SCHEMA.md) defines clocks, transforms, units and missing-data behavior. Per-excerpt `quality/` reports provide coverage and missingness; review overlays expose optional estimated annotations. Occlusion, close tools, deformable paper and repetitive cleaning are difficult cases. A detection score is not a calibrated error probability. Handedness conflicts become unknown. Any language intervals are explicitly curator annotations with a stated review method. + +A downstream lab should evaluate relevant labels and model outcomes before scaling training. This sample demonstrates capture and delivery structure; no robot-policy performance gain or independent annotation-accuracy result is claimed. + +## Verify and evaluate + +```bash +pip install -r requirements-validation.txt +# Install FFmpeg/ffprobe on PATH, then: +python validate_release.py . +``` + +`checksums.sha256` covers every release artifact. `processing_record.json` records processing tools, source/derivative lineage and the distinction between batch execution and final assembly code. `source_index.json` records selection windows and the owner authorization record. The public preview catalog can also be loaded with `datasets.load_dataset("diffracting/egocentric-maintenance-sample", split="sample")`; install the video decoder dependencies appropriate to your environment, or use `datasets.Video(decode=False)` to retrieve embedded preview bytes. + +## Work with Diffraction + +This sample is a starting point for task-specific professional egocentric capture. A pilot can define the activities, workplaces, camera setup, review protocol and measurable delivery criteria with the receiving lab. Contact Diffraction through the [organization page](https://huggingface.co/diffracting) or start a [dataset discussion](https://huggingface.co/datasets/diffracting/egocentric-maintenance-sample/discussions). + +## License and attribution + +CC BY 4.0 permits reuse under its attribution terms. Attribute Diffraction, Egocentric Maintenance Sample (2026), this dataset URL and the revision used. See [LICENSE](LICENSE). diff --git a/SCHEMA.md b/SCHEMA.md new file mode 100644 index 0000000000000000000000000000000000000000..e11b6050dbceb47f71a5588bebe63904d76af970 --- /dev/null +++ b/SCHEMA.md @@ -0,0 +1,13 @@ +# 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. 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"finding": "No visible faces or identifying private text in inspected frames. Full-frame automated face scan returned zero detections. Audio is omitted. This is not an exhaustive manual frame-by-frame privacy audit." + } +} \ No newline at end of file diff --git a/episodes/brush-front-grille.json b/episodes/brush-front-grille.json new file mode 100644 index 0000000000000000000000000000000000000000..cdf1d753720e1b586b51ef199d6434318d1459a9 --- /dev/null +++ b/episodes/brush-front-grille.json @@ -0,0 +1,79 @@ +{ + "schema_version": "1.1.0", + "capture_id": "brush-front-grille", + "asset_id": "75946a2703139b35", + "embodiment": "human_egocentric", + "dataset_type": "observational_demonstration", + "capture_mode": "rgb_only", + "instruction": "Brush the air conditioner front grille while stabilizing the housing.", + "instruction_source": "curator_supplied", + "session_group": "maintenance-session-001", + "split": "sample", + "modalities": { + "rgb": true, + "audio": false, + "depth": false, + "camera_intrinsics": false, + "camera_pose": false, + "imu": false, + "robot_actions": false + }, + "robot_actions": "absent", + "robot_state": "absent", + "annotation_accuracy": "not_independently_evaluated", + "privacy_review": "automated_full_frame_scan_and_assistant_storyboard_review", + "annotation_review": "assistant_visual_review_with_disclosed_estimation_limits", + "pose_sample_fps": 10.0, + "rights": { + "status": "owner_attested", + "training_use": true, + "public_sample_preparation": true, + "evidence": "The user identified these recordings as iPhone chest-camera captures and authorized curating and publishing the maintenance sample to Diffraction. The existing chosen public sample license is CC BY 4.0. This is a record of user authorization, not an independent signed release." + }, + "source": { + "codec": "hevc", + "width": 1920, + "height": 1080, + "pixel_format": "yuv420p10le", + "color_transfer": "arib-std-b67", + "color_primaries": "bt2020", + "color_space": "bt2020nc", + "rotation_deg": 0, + "audio_present": true, + "device_model": "iPhone 15 Pro", + "device_software": "26.3.1", + "capture_date": "2026-05-20", + "source_filename": "IMG_6490.MOV", + "source_sha256": "fd64ed7eab78adce70287f50e5361b125c3202184092d6335fb75c3f5067b500", + "source_frame_semantics": "zero_based_displayed_source_video_frame", + "source_time_base": [ + 1, + 600 + ], + "selection": { + "requested_start_s": 30.0, + "requested_end_s": 60.0, + "first_source_frame": 900, + "last_source_frame": 1798 + }, + "transform": { + "hdr_to_sdr": true, + "tone_mapper": "hable", + "npl": 100, + "geometry": "display_rotation_applied; no_crop_or_resize", + "encoding": "H264 CRF16 8bit yuv420p", + "audio": "omitted", + "metadata": "source metadata stripped from derivative; selected fields retained here", + "frame_mapping": "one_to_one_source_display_frames; original_PTS_spacing" + } + }, + "license": "cc-by-4.0", + "capture_mount": "chest (owner-described)", + "review_method": { + "reviewer": "assistant_visual_review", + "method": "RGB storyboard approximately every 2 seconds plus final frame; estimated overlays sampled at start, middle and end", + "boundary_precision_s": 2.0, + "independent_human_validation": false, + "finding": "No visible faces or identifying private text in inspected frames. Full-frame automated face scan returned zero detections. Audio is omitted. This is not an exhaustive manual frame-by-frame privacy audit." + } +} \ No newline at end of file diff --git a/episodes/brush-housing.json b/episodes/brush-housing.json new file mode 100644 index 0000000000000000000000000000000000000000..0a0c7be2a8376f4525b242b0b31e5322a49de5f3 --- /dev/null +++ b/episodes/brush-housing.json @@ -0,0 +1,79 @@ +{ + "schema_version": "1.1.0", + "capture_id": "brush-housing", + "asset_id": "60c8eed3939f1c39", + "embodiment": "human_egocentric", + "dataset_type": "observational_demonstration", + "capture_mode": "rgb_only", + "instruction": "Prepare the brush and scrub the exposed upper housing of the air conditioner.", + "instruction_source": "curator_supplied", + "session_group": "maintenance-session-001", + "split": "sample", + "modalities": { + "rgb": true, + "audio": false, + "depth": false, + "camera_intrinsics": false, + "camera_pose": false, + "imu": false, + "robot_actions": false + }, + "robot_actions": "absent", + "robot_state": "absent", + "annotation_accuracy": "not_independently_evaluated", + "privacy_review": "automated_full_frame_scan_and_assistant_storyboard_review", + "annotation_review": "assistant_visual_review_with_disclosed_estimation_limits", + "pose_sample_fps": 10.0, + "rights": { + "status": "owner_attested", + "training_use": true, + "public_sample_preparation": true, + "evidence": "The user identified these recordings as iPhone chest-camera captures and authorized curating and publishing the maintenance sample to Diffraction. The existing chosen public sample license is CC BY 4.0. This is a record of user authorization, not an independent signed release." + }, + "source": { + "codec": "hevc", + "width": 1920, + "height": 1080, + "pixel_format": "yuv420p10le", + "color_transfer": "arib-std-b67", + "color_primaries": "bt2020", + "color_space": "bt2020nc", + "rotation_deg": 0, + "audio_present": true, + "device_model": "iPhone 15 Pro", + "device_software": "26.3.1", + "capture_date": "2026-05-20", + "source_filename": "IMG_6494.MOV", + "source_sha256": "ca1a009f6fb10ee7df2b1a7d191f6bda5f72e77aa940510dfef0ed8fadc8ba92", + "source_frame_semantics": "zero_based_displayed_source_video_frame", + "source_time_base": [ + 1, + 600 + ], + "selection": { + "requested_start_s": 8.0, + "requested_end_s": 38.0, + "first_source_frame": 240, + "last_source_frame": 1139 + }, + "transform": { + "hdr_to_sdr": true, + "tone_mapper": "hable", + "npl": 100, + "geometry": "display_rotation_applied; no_crop_or_resize", + "encoding": "H264 CRF16 8bit yuv420p", + "audio": "omitted", + "metadata": "source metadata stripped from derivative; selected fields retained here", + "frame_mapping": "one_to_one_source_display_frames; original_PTS_spacing" + } + }, + "license": "cc-by-4.0", + "capture_mount": "chest (owner-described)", + "review_method": { + "reviewer": "assistant_visual_review", + "method": "RGB storyboard approximately every 2 seconds plus final frame; estimated overlays sampled at start, middle and end", + "boundary_precision_s": 2.0, + "independent_human_validation": false, + "finding": "No visible faces or identifying private text in inspected frames. Full-frame automated face scan returned zero detections. Audio is omitted. This is not an exhaustive manual frame-by-frame privacy audit." + } +} \ No newline at end of file diff --git a/episodes/brush-panel-channels.json b/episodes/brush-panel-channels.json new file mode 100644 index 0000000000000000000000000000000000000000..374dd057945a009ee5e35b0110bf603846adeff7 --- /dev/null +++ b/episodes/brush-panel-channels.json @@ -0,0 +1,79 @@ +{ + "schema_version": "1.1.0", + "capture_id": "brush-panel-channels", + "asset_id": "fbeaf25b4865abad", + "embodiment": "human_egocentric", + "dataset_type": "observational_demonstration", + "capture_mode": "rgb_only", + "instruction": "Hold the detached front panel and brush along its narrow channels.", + "instruction_source": "curator_supplied", + "session_group": "maintenance-session-001", + "split": "sample", + "modalities": { + "rgb": true, + "audio": false, + "depth": false, + "camera_intrinsics": false, + "camera_pose": false, + "imu": false, + "robot_actions": false + }, + "robot_actions": "absent", + "robot_state": "absent", + "annotation_accuracy": "not_independently_evaluated", + "privacy_review": "automated_full_frame_scan_and_assistant_storyboard_review", + "annotation_review": "assistant_visual_review_with_disclosed_estimation_limits", + "pose_sample_fps": 10.0, + "rights": { + "status": "owner_attested", + "training_use": true, + "public_sample_preparation": true, + "evidence": "The user identified these recordings as iPhone chest-camera captures and authorized curating and publishing the maintenance sample to Diffraction. The existing chosen public sample license is CC BY 4.0. This is a record of user authorization, not an independent signed release." + }, + "source": { + "codec": "hevc", + "width": 1920, + "height": 1080, + "pixel_format": "yuv420p10le", + "color_transfer": "arib-std-b67", + "color_primaries": "bt2020", + "color_space": "bt2020nc", + "rotation_deg": 0, + "audio_present": true, + "device_model": "iPhone 15 Pro", + "device_software": "26.3.1", + "capture_date": "2026-05-20", + "source_filename": "IMG_6498.MOV", + "source_sha256": "ec85fd841efcb0bec77aa857a940a5eee33e551d8f2273fba3fea40c0924fc9b", + "source_frame_semantics": "zero_based_displayed_source_video_frame", + "source_time_base": [ + 1, + 600 + ], + "selection": { + "requested_start_s": 22.0, + "requested_end_s": 52.0, + "first_source_frame": 660, + "last_source_frame": 1559 + }, + "transform": { + "hdr_to_sdr": true, + "tone_mapper": "hable", + "npl": 100, + "geometry": "display_rotation_applied; no_crop_or_resize", + "encoding": "H264 CRF16 8bit yuv420p", + "audio": "omitted", + "metadata": "source metadata stripped from derivative; selected fields retained here", + "frame_mapping": "one_to_one_source_display_frames; original_PTS_spacing" + } + }, + "license": "cc-by-4.0", + "capture_mount": "chest (owner-described)", + "review_method": { + "reviewer": "assistant_visual_review", + "method": "RGB storyboard approximately every 2 seconds plus final frame; estimated overlays sampled at start, middle and end", + "boundary_precision_s": 2.0, + "independent_human_validation": false, + "finding": "No visible faces or identifying private text in inspected frames. Full-frame automated face scan returned zero detections. Audio is omitted. This is not an exhaustive manual frame-by-frame privacy audit." + } +} \ No newline at end of file diff --git a/episodes/remove-tape.json b/episodes/remove-tape.json new file mode 100644 index 0000000000000000000000000000000000000000..bf2742faa1191c531e748248d1faceeaf1830491 --- /dev/null +++ b/episodes/remove-tape.json @@ -0,0 +1,79 @@ +{ + "schema_version": "1.1.0", + "capture_id": "remove-tape", + "asset_id": "38f30779ec2b279d", + "embodiment": "human_egocentric", + "dataset_type": "observational_demonstration", + "capture_mode": "rgb_only", + "instruction": "Remove pieces of adhesive tape from the air conditioner front housing.", + "instruction_source": "curator_supplied", + "session_group": "maintenance-session-001", + "split": "sample", + "modalities": { + "rgb": true, + "audio": false, + "depth": false, + "camera_intrinsics": false, + "camera_pose": false, + "imu": false, + "robot_actions": false + }, + "robot_actions": "absent", + "robot_state": "absent", + "annotation_accuracy": "not_independently_evaluated", + "privacy_review": "automated_full_frame_scan_and_assistant_storyboard_review", + "annotation_review": "assistant_visual_review_with_disclosed_estimation_limits", + "pose_sample_fps": 10.0, + "rights": { + "status": "owner_attested", + "training_use": true, + "public_sample_preparation": true, + "evidence": "The user identified these recordings as iPhone chest-camera captures and authorized curating and publishing the maintenance sample to Diffraction. The existing chosen public sample license is CC BY 4.0. This is a record of user authorization, not an independent signed release." + }, + "source": { + "codec": "hevc", + "width": 1920, + "height": 1080, + "pixel_format": "yuv420p10le", + "color_transfer": "arib-std-b67", + "color_primaries": "bt2020", + "color_space": "bt2020nc", + "rotation_deg": 0, + "audio_present": true, + "device_model": "iPhone 15 Pro", + "device_software": "26.3.1", + "capture_date": "2026-05-20", + "source_filename": "IMG_6489.MOV", + "source_sha256": "58cf0a658435d8a96e72eb241bd5f6f30fbaafcb7e2e5fb9ec63ee24eceeeefe", + "source_frame_semantics": "zero_based_displayed_source_video_frame", + "source_time_base": [ + 1, + 600 + ], + "selection": { + "requested_start_s": 2.0, + "requested_end_s": 31.0, + "first_source_frame": 60, + "last_source_frame": 929 + }, + "transform": { + "hdr_to_sdr": true, + "tone_mapper": "hable", + "npl": 100, + "geometry": "display_rotation_applied; no_crop_or_resize", + "encoding": "H264 CRF16 8bit yuv420p", + "audio": "omitted", + "metadata": "source metadata stripped from derivative; selected fields retained here", + "frame_mapping": "one_to_one_source_display_frames; original_PTS_spacing" + } + }, + "license": "cc-by-4.0", + "capture_mount": "chest (owner-described)", + "review_method": { + "reviewer": "assistant_visual_review", + "method": "RGB storyboard approximately every 2 seconds plus final frame; estimated overlays sampled at start, middle and end", + "boundary_precision_s": 2.0, + "independent_human_validation": false, + "finding": "No visible faces or identifying private text in inspected frames. Full-frame automated face scan returned zero detections. Audio is omitted. This is not an exhaustive manual frame-by-frame privacy audit." + } +} \ No newline at end of file diff --git a/episodes/wipe-panel-corners.json b/episodes/wipe-panel-corners.json new file mode 100644 index 0000000000000000000000000000000000000000..60eb93e6aa913f3c7db9ffa0aecbbc9d2f8c8909 --- /dev/null +++ b/episodes/wipe-panel-corners.json @@ -0,0 +1,79 @@ +{ + "schema_version": "1.1.0", + "capture_id": "wipe-panel-corners", + "asset_id": "cab1dcbfdc31e90e", + "embodiment": "human_egocentric", + "dataset_type": "observational_demonstration", + "capture_mode": "rgb_only", + "instruction": "Wipe the recessed corners and channels of the detached panel with a paper towel.", + "instruction_source": "curator_supplied", + "session_group": "maintenance-session-001", + "split": "sample", + "modalities": { + "rgb": true, + "audio": false, + "depth": false, + "camera_intrinsics": false, + "camera_pose": false, + "imu": false, + "robot_actions": false + }, + "robot_actions": "absent", + "robot_state": "absent", + "annotation_accuracy": "not_independently_evaluated", + "privacy_review": "automated_full_frame_scan_and_assistant_storyboard_review", + "annotation_review": "assistant_visual_review_with_disclosed_estimation_limits", + "pose_sample_fps": 10.0, + "rights": { + "status": "owner_attested", + "training_use": true, + "public_sample_preparation": true, + "evidence": "The user identified these recordings as iPhone chest-camera captures and authorized curating and publishing the maintenance sample to Diffraction. The existing chosen public sample license is CC BY 4.0. This is a record of user authorization, not an independent signed release." + }, + "source": { + "codec": "hevc", + "width": 1920, + "height": 1080, + "pixel_format": "yuv420p10le", + "color_transfer": "arib-std-b67", + "color_primaries": "bt2020", + "color_space": "bt2020nc", + "rotation_deg": 0, + "audio_present": true, + "device_model": "iPhone 15 Pro", + "device_software": "26.3.1", + "capture_date": "2026-05-20", + "source_filename": "IMG_6514.MOV", + "source_sha256": "f97c3ed979296c7e7cda6848d1a09d3eafc1817e24440c5e03f8812f06633c1a", + "source_frame_semantics": "zero_based_displayed_source_video_frame", + "source_time_base": [ + 1, + 600 + ], + "selection": { + "requested_start_s": 42.0, + "requested_end_s": 70.0, + "first_source_frame": 1260, + "last_source_frame": 2098 + }, + "transform": { + "hdr_to_sdr": true, + "tone_mapper": "hable", + "npl": 100, + "geometry": "display_rotation_applied; no_crop_or_resize", + "encoding": "H264 CRF16 8bit yuv420p", + "audio": "omitted", + "metadata": "source metadata stripped from derivative; selected fields retained here", + "frame_mapping": "one_to_one_source_display_frames; original_PTS_spacing" + } + }, + "license": "cc-by-4.0", + "capture_mount": "chest (owner-described)", + "review_method": { + "reviewer": "assistant_visual_review", + "method": "RGB storyboard approximately every 2 seconds plus final frame; estimated overlays sampled at start, middle and end", + "boundary_precision_s": 2.0, + "independent_human_validation": false, + "finding": "No visible faces or identifying private text in inspected frames. Full-frame automated face scan returned zero detections. Audio is omitted. This is not an exhaustive manual frame-by-frame privacy audit." + } +} \ No newline at end of file diff --git a/episodes/wipe-panel.json b/episodes/wipe-panel.json new file mode 100644 index 0000000000000000000000000000000000000000..adc3ad98654c0128a470db7d5d0cf621fc8cd2ed --- /dev/null +++ b/episodes/wipe-panel.json @@ -0,0 +1,79 @@ +{ + "schema_version": "1.1.0", + "capture_id": "wipe-panel", + "asset_id": "1c64a20788535568", + "embodiment": "human_egocentric", + "dataset_type": "observational_demonstration", + "capture_mode": "rgb_only", + "instruction": "Wipe the detached panel surfaces while stabilizing the panel with the other hand.", + "instruction_source": "curator_supplied", + "session_group": "maintenance-session-001", + "split": "sample", + "modalities": { + "rgb": true, + "audio": false, + "depth": false, + "camera_intrinsics": false, + "camera_pose": false, + "imu": false, + "robot_actions": false + }, + "robot_actions": "absent", + "robot_state": "absent", + "annotation_accuracy": "not_independently_evaluated", + "privacy_review": "automated_full_frame_scan_and_assistant_storyboard_review", + "annotation_review": "assistant_visual_review_with_disclosed_estimation_limits", + "pose_sample_fps": 10.0, + "rights": { + "status": "owner_attested", + "training_use": true, + "public_sample_preparation": true, + "evidence": "The user identified these recordings as iPhone chest-camera captures and authorized curating and publishing the maintenance sample to Diffraction. The existing chosen public sample license is CC BY 4.0. This is a record of user authorization, not an independent signed release." + }, + "source": { + "codec": "hevc", + "width": 1920, + "height": 1080, + "pixel_format": "yuv420p10le", + "color_transfer": "arib-std-b67", + "color_primaries": "bt2020", + "color_space": "bt2020nc", + "rotation_deg": 0, + "audio_present": true, + "device_model": "iPhone 15 Pro", + "device_software": "26.3.1", + "capture_date": "2026-05-20", + "source_filename": "IMG_6501.MOV", + "source_sha256": "437c2f662895905136127d7dbfe558b1c1330c07abce6cc18642136aae952222", + "source_frame_semantics": "zero_based_displayed_source_video_frame", + "source_time_base": [ + 1, + 600 + ], + "selection": { + "requested_start_s": 20.0, + "requested_end_s": 50.0, + "first_source_frame": 600, + "last_source_frame": 1499 + }, + "transform": { + "hdr_to_sdr": true, + "tone_mapper": "hable", + "npl": 100, + "geometry": "display_rotation_applied; no_crop_or_resize", + "encoding": "H264 CRF16 8bit yuv420p", + "audio": "omitted", + "metadata": "source metadata stripped from derivative; selected fields retained here", + "frame_mapping": "one_to_one_source_display_frames; original_PTS_spacing" + } + }, + "license": "cc-by-4.0", + "capture_mount": "chest (owner-described)", + "review_method": { + "reviewer": "assistant_visual_review", + "method": "RGB storyboard approximately every 2 seconds plus final frame; estimated overlays sampled at start, middle and end", + "boundary_precision_s": 2.0, + "independent_human_validation": false, + "finding": "No visible faces or identifying private text in inspected frames. Full-frame automated face scan returned zero detections. Audio is omitted. This is not an exhaustive manual frame-by-frame privacy audit." + } +} \ No newline at end of file diff --git a/observation_reader.py b/observation_reader.py new file mode 100644 index 0000000000000000000000000000000000000000..26c44e48e98657b8ca3bc35bb7ffca7cd5d34ac3 --- /dev/null +++ b/observation_reader.py @@ -0,0 +1,98 @@ +"""Standalone reader for Diffraction human egocentric RGB and RGB-D samples. + +Dependencies: numpy, polars, opencv-python. No pipeline or robot software needed. +""" +from __future__ import annotations +import json +import zipfile +from pathlib import Path +import cv2 +import numpy as np +import polars as pl + + +class ObservationDataset: + def __init__(self, root): + self.root = Path(root) + self.info = json.loads((self.root / "dataset.json").read_text(encoding="utf-8")) + self.episodes = {e["capture_id"]: e for e in self.info["episodes"]} + + def table(self, capture_id, name): + e = self.episodes[capture_id] + return pl.read_parquet(self.root / e["signals"][name]) + + def frame(self, capture_id, frame_index): + """Return RGB and available sensor measurements; absent modalities are None. + + ARKit pose is device VIO; no ground-truth or robot-action claim is implied. + Depth zero is invalid. Confidence filtering is explicit and reproducible. + """ + e = self.episodes[capture_id] + if not isinstance(frame_index, int) or not 0 <= frame_index < e["frame_count"]: + raise IndexError(frame_index) + mapping = self.table(capture_id, "frame_mapping").filter(pl.col("rgb_frame_index") == frame_index).row(0, named=True) + source_frame_index = mapping["source_frame_index"] + cap = cv2.VideoCapture(str(self.root / e["video"])) + try: + cap.set(cv2.CAP_PROP_POS_FRAMES, frame_index) + ok, bgr = cap.read() + finally: + cap.release() + if not ok: raise RuntimeError(f"RGB decode failed at frame {frame_index}") + if e.get("modalities", {}).get("depth") is False: + return {"rgb":cv2.cvtColor(bgr,cv2.COLOR_BGR2RGB),"depth_m":None,"depth_valid":None,"confidence":None, + "K_rgb":None,"camera_pose_xyzw":None,"timestamp_s":mapping["t_s"],"sensor_timestamp_s":None, + "source_timestamp_s":mapping["source_timestamp_s"],"instruction":e["instruction"], + "source_frame_index":source_frame_index,"rgb_frame_index":frame_index,"modalities":e["modalities"]} + intr = self.table(capture_id, "camera_intrinsics").filter(pl.col("source_frame_index") == source_frame_index).row(0, named=True) + pose = self.table(capture_id, "arkit_poses").filter(pl.col("t_s") == mapping["t_s"]).row(0, named=True) + stem = f"{source_frame_index:06d}.png" + with zipfile.ZipFile(self.root / e["sensors"]) as z: + depth_raw = cv2.imdecode(np.frombuffer(z.read("depth/" + stem), np.uint8), cv2.IMREAD_UNCHANGED) + conf = cv2.imdecode(np.frombuffer(z.read("confidence/" + stem), np.uint8), cv2.IMREAD_UNCHANGED) + if depth_raw is None or conf is None or depth_raw.shape != conf.shape: + raise ValueError("Invalid depth/confidence pair") + depth = depth_raw.astype(np.float32) / 1000. + valid = (depth > 0) & (conf >= self.info["min_depth_confidence"]) + depth[~valid] = 0 + K = np.array([[intr["fx"], 0, intr["cx"]], [0, intr["fy"], intr["cy"]], [0, 0, 1]], np.float64) + return {"rgb": cv2.cvtColor(bgr, cv2.COLOR_BGR2RGB), "depth_m": depth, + "depth_valid": valid, "confidence": conf, "K_rgb": K, + "camera_pose_xyzw": np.array([pose[k] for k in ("tx", "ty", "tz", "qx", "qy", "qz", "qw")]), + "timestamp_s": mapping["t_s"], "sensor_timestamp_s": mapping["sensor_timestamp_s"], + "instruction": e["instruction"], "source_frame_index": source_frame_index, "rgb_frame_index": frame_index} + + def annotations_near(self, capture_id, channel, timestamp_s, max_age_s=0.05): + """Sparse annotations stay absent beyond the caller's explicit age gate.""" + df = self.table(capture_id, channel) + if df.is_empty(): return df + distance = (pl.col("t_s") - timestamp_s).abs() + nearby = df.filter(distance <= max_age_s) + if nearby.is_empty(): return nearby + nearest = nearby.select((pl.col("t_s") - timestamp_s).abs().arg_min()).item() + return nearby.filter(pl.col("t_s") == nearby["t_s"][nearest]) + + +def camera_points(frame): + """Valid depth pixels backprojected in OpenCV camera axes (+x right,+y down,+z forward).""" + if frame.get("depth_m") is None or frame.get("K_rgb") is None: + raise ValueError("Metric depth and calibrated intrinsics are unavailable for this RGB-only observation") + depth, K = frame["depth_m"], frame["K_rgb"].copy() + dh, dw = depth.shape; rh, rw = frame["rgb"].shape[:2] + K[0, :] *= dw / rw; K[1, :] *= dh / rh + yy, xx = np.indices(depth.shape) + xyz = np.stack([(xx-K[0, 2])*depth/K[0, 0], (yy-K[1, 2])*depth/K[1, 1], depth], -1) + return xyz[frame["depth_valid"]] + + +if __name__ == "__main__": + import argparse + p = argparse.ArgumentParser(); p.add_argument("root", type=Path) + args = p.parse_args(); ds = ObservationDataset(args.root) + for key, episode in ds.episodes.items(): + frame = ds.frame(key, episode["frame_count"] // 2) + if frame["depth_m"] is None: + print(key, frame["rgb"].shape, "RGB-only; metric sensor channels unavailable") + else: + points = camera_points(frame) + print(key, frame["rgb"].shape, frame["depth_m"].shape, len(points), "valid camera points") diff --git a/preview.jpg b/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..10a9f2e15bd65607e3edad5a899280a1c50f51e3 --- /dev/null +++ b/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:312904d8ebaf8d9ef3d6a6f8923d42b288c998b0f1198b502b5781ff416afe37 +size 326463 diff --git a/previews/brush-front-grille.mp4 b/previews/brush-front-grille.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4c30e3003c757a43fadcee7683f4e8f88f9e10b9 --- /dev/null +++ b/previews/brush-front-grille.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0af7ab9c640ac513191246191ca0b368d5110f1f7a41dfd8388446335a7171b +size 4272554 diff --git a/previews/brush-housing.mp4 b/previews/brush-housing.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a0e14314d834304ff92696b7c395b3de11e3633e --- /dev/null +++ b/previews/brush-housing.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b32bb59f91bfd4e57a42a07218d4d0330cc21277495ff4b6aa5f8d3d51ae4099 +size 5251463 diff --git a/previews/brush-panel-channels.mp4 b/previews/brush-panel-channels.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6fae466541eda561d82d4cc59360080855c8873d --- /dev/null +++ b/previews/brush-panel-channels.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:231d6b5dda0fda17eeb2900f84bb74f5ebad961d027f4b2d0849672e5ff9c1d9 +size 5289698 diff --git a/previews/remove-tape.mp4 b/previews/remove-tape.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..71db74e0fdf5b3d99a9e0f191fcd8fe9063a5f00 --- /dev/null +++ b/previews/remove-tape.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62310ae9f252d2d6c54ba15d42c58d6b279613509714ce130b8d166fbdc05a64 +size 3903085 diff --git a/previews/wipe-panel-corners.mp4 b/previews/wipe-panel-corners.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..850147a880df81e092033a67d2b4b391117f7180 --- /dev/null +++ b/previews/wipe-panel-corners.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e224dd6860b139cce89bf1db4ce93c6dd989674527cf7b8f6d8e32f7cf93f61 +size 5522554 diff --git a/previews/wipe-panel.mp4 b/previews/wipe-panel.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..266a72240da6f4916f04fbaca407d6312285dea5 --- /dev/null +++ b/previews/wipe-panel.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30147a70b2a152947ba6fcbfc7c2fe75e0e9aac63f44441e51ec42c4b8b1c0ba +size 5416577 diff --git a/processing_record.json b/processing_record.json new file mode 100644 index 0000000000000000000000000000000000000000..3e707064b65a78654db6c783a8ba9e203d4b9bfa --- /dev/null +++ b/processing_record.json @@ -0,0 +1,2750 @@ +{ + "assembled_at": "2026-09-08T21:56:10.288285+00:00", + "git_head": "aa413018067fa4283774b805cd2588fda1dd3f48", + "working_tree": "dirty; existing work plus RGB recipe changes", + "code_hashes_at_assembly": { + "src/video_processor/ingest/rgb_capture.py": "1efc80edd367d6690c12abf17f62a562fda3b7c225fc9288bcd06735d7ed4ff0", + "src/video_processor/human_capture.py": "c7e5092562c7abc0570c232615bb3656067961f250120173b8cc5dbca8f14584", + "src/video_processor/enrich/privacy.py": "3ced210281d879b9269c1ff39827581a818ce5a8a5da71b69957fbe24ded93a3", + "src/video_processor/adapters/rgb_observation.py": "6f205982abf7e8433fad2f7aef0a5e24ff4acb22ed2a1b831c0096e030daa254", + "src/video_processor/observation_reader.py": "0e1eef81fb245e8dd2dd88d41bcd8aae68c5056ba616731c857ec0d72f233ad8" + }, + "code_snapshot_caveat": "Assembly hashes describe final code, not the exact bytes loaded by the batch process. Display-rotation and final-packet-duration portability fixes landed while the batch was running. Selected sources have zero display rotation and interior trim windows; every produced video passed one-to-one source PTS/frame checks. Byte-identical re-encoding from the final code is not promised.", + "versions": { + "video-processor": "0.1.0", + "numpy": "2.4.6", + "polars": "1.41.0", + "pyarrow": "24.0.0", + "opencv-python": "4.13.0.92", + "torch": "2.11.0+cu128", + "transformers": "5.9.0", + "rtmlib": "0.0.15", + "onnxruntime-gpu": "1.26.0", + "supervision": "0.28.0" + }, + "ffmpeg": "ffmpeg version 7.1.1-full_build-www.gyan.dev Copyright (c) 2000-2025 the FFmpeg developers", + "capture_recipe": { + "hands_sample_fps": 10, + "object_sample_fps": 5, + "object_classes": [ + "air conditioner", + "air conditioner front panel", + "toothbrush", + "paper towel", + "spray bottle", + "adhesive tape" + ], + "private_originals_in_public_release": false, + "public_audio": false, + "privacy": "YuNet full displayed-frame scan plus assistant storyboard review", + "robot_commands": false + }, + "episodes": [ + { + "capture_id": "remove-tape", + "source_sha256": "58cf0a658435d8a96e72eb241bd5f6f30fbaafcb7e2e5fb9ec63ee24eceeeefe", + "ingested_at": "2026-09-08T21:28:18.856454+00:00", + "source": { + "codec": "hevc", + "width": 1920, + "height": 1080, + "pixel_format": "yuv420p10le", + "color_transfer": "arib-std-b67", + "color_primaries": "bt2020", + "color_space": "bt2020nc", + "rotation_deg": 0, + "audio_present": true, + "device_model": "iPhone 15 Pro", + "device_software": "26.3.1", + "capture_date": "2026-05-20", + "source_filename": "IMG_6489.MOV", + "source_sha256": "58cf0a658435d8a96e72eb241bd5f6f30fbaafcb7e2e5fb9ec63ee24eceeeefe", + "source_frame_semantics": "zero_based_displayed_source_video_frame", + "source_time_base": [ + 1, + 600 + ], + "selection": { + "requested_start_s": 2.0, + "requested_end_s": 31.0, + "first_source_frame": 60, + "last_source_frame": 929 + }, + "transform": { + "hdr_to_sdr": true, + "tone_mapper": "hable", + "npl": 100, + "geometry": "display_rotation_applied; no_crop_or_resize", + "encoding": "H264 CRF16 8bit yuv420p", + "audio": "omitted", + "metadata": "source metadata 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"object_timestamps": 144, + "object_labels": [ + "paper towel", + "toothbrush" + ], + "face_detections": 0 + }, + { + "capture_id": "wipe-panel", + "rgb_frames": 900, + "duration_s": 29.983333, + "raw_hand_timestamps": 300, + "temporal_hand_instances": 597, + "unknown_handedness_fraction": 0.1373534338358459, + "max_temporal_hands_per_timestamp": 3, + "max_raw_hands_per_timestamp": 2, + "object_timestamps": 150, + "object_labels": [ + "air conditioner front panel", + "paper towel", + "toothbrush" + ], + "face_detections": 0 + }, + { + "capture_id": "wipe-panel-corners", + "rgb_frames": 839, + "duration_s": 27.95, + "raw_hand_timestamps": 280, + "temporal_hand_instances": 563, + "unknown_handedness_fraction": 0.23978685612788633, + "max_temporal_hands_per_timestamp": 3, + "max_raw_hands_per_timestamp": 2, + "object_timestamps": 135, + "object_labels": [ + "paper towel", + "spray bottle", + "toothbrush" + ], + "face_detections": 0 + } + ], + "review_method": { + "reviewer": "assistant_visual_review", + "method": "RGB storyboard approximately every 2 seconds plus final frame; estimated overlays sampled at start, middle and end", + "boundary_precision_s": 2.0, + "independent_human_validation": false, + "finding": "No visible faces or identifying private text in inspected frames. Full-frame automated face scan returned zero detections. Audio is omitted. This is not an exhaustive manual frame-by-frame privacy audit." + }, + "annotation_accuracy": "not_independently_evaluated" +} \ No newline at end of file diff --git a/requirements-validation.txt b/requirements-validation.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b2a93b060d93a63b10a614a9b952f0487657c14 --- /dev/null +++ b/requirements-validation.txt @@ -0,0 +1,3 @@ +-r requirements.txt +pyarrow>=24,<26 +# FFmpeg / ffprobe must also be available on PATH. diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..18181ba6da4db665eca08cc125f91d9e038a6220 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,3 @@ +numpy>=1.26,<3 +polars>=1,<2 +opencv-python>=4.10,<5 diff --git a/review/brush-front-grille-overlay.mp4 b/review/brush-front-grille-overlay.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6733675eafcaa7cbeee185646b269636c60de0bd --- /dev/null +++ b/review/brush-front-grille-overlay.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:777c19a63797996b22084ea44ec3b60d0e9e0317aa344ac5f3808e9f9a91d7ce +size 8928250 diff --git a/review/brush-housing-overlay.mp4 b/review/brush-housing-overlay.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..42f2be443e7383387d43eddddd0ea104e8f78b5f --- /dev/null +++ b/review/brush-housing-overlay.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:545d94dc3c90dcfb93ea7c34fada95489a272a8501937cbcc323444474ac1407 +size 9560823 diff --git a/review/brush-panel-channels-overlay.mp4 b/review/brush-panel-channels-overlay.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7f2b72e7d2362f905b4fcfde56c6c2441b7c3a75 --- /dev/null +++ b/review/brush-panel-channels-overlay.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd8af86e8753f6ff507fa9173ffd5c78eb73dd6adf93273828630e7b5ae1dcb9 +size 10700223 diff --git a/review/remove-tape-overlay.mp4 b/review/remove-tape-overlay.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8e02aed103671caae5873f48a6fcac3506d2c532 --- /dev/null +++ b/review/remove-tape-overlay.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e6e68f111eeb8548034d67b6bea64daaf1207bccb11cad4ea08392bbdba11b7 +size 7954030 diff --git a/review/wipe-panel-corners-overlay.mp4 b/review/wipe-panel-corners-overlay.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d4b1a5efa8014e41aac0ce27b78ff37eb5d40d64 --- /dev/null +++ b/review/wipe-panel-corners-overlay.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21df4131b1d61933a3c530ead506966b127e4291e8dc81bccdd46f898e72c64d +size 10447652 diff --git a/review/wipe-panel-overlay.mp4 b/review/wipe-panel-overlay.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e29cf8f598918c277d3557ee94aa9d56f453fd40 --- /dev/null +++ b/review/wipe-panel-overlay.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5509cf9cfa6af38abab573677d44eeaa18cc85b7bdba76e380f5bcb9330055cf +size 10886352 diff --git a/source_index.json b/source_index.json new file mode 100644 index 0000000000000000000000000000000000000000..8c1bfcd91d822cae1e0f95c28d347c53216e538b --- /dev/null +++ b/source_index.json @@ -0,0 +1,60 @@ +{ + "selection": [ + { + "source": "IMG_6489.MOV", + "capture_id": "remove-tape", + "start_s": 2.0, + "end_s": 31.0, + "instruction": "Remove pieces of adhesive tape from the air conditioner front housing." + }, + { + "source": "IMG_6490.MOV", + "capture_id": "brush-front-grille", + "start_s": 30.0, + "end_s": 60.0, + "instruction": "Brush the air conditioner front grille while stabilizing the housing." + }, + { + "source": "IMG_6494.MOV", + "capture_id": "brush-housing", + "start_s": 8.0, + "end_s": 38.0, + "instruction": "Prepare the brush and scrub the exposed upper housing of the air conditioner." + }, + { + "source": "IMG_6498.MOV", + "capture_id": "brush-panel-channels", + "start_s": 22.0, + "end_s": 52.0, + "instruction": "Hold the detached front panel and brush along its narrow channels." + }, + { + "source": "IMG_6501.MOV", + "capture_id": "wipe-panel", + "start_s": 20.0, + "end_s": 50.0, + "instruction": "Wipe the detached panel surfaces while stabilizing the panel with the other hand." + }, + { + "source": "IMG_6514.MOV", + "capture_id": "wipe-panel-corners", + "start_s": 42.0, + "end_s": 70.0, + "instruction": "Wipe the recessed corners and channels of the detached panel with a paper towel." + } + ], + "ownership": { + "statement": "The user identified these recordings as iPhone chest-camera captures and authorized curating and publishing the maintenance sample to Diffraction. The existing chosen public sample license is CC BY 4.0. This is a record of user authorization, not an independent signed release.", + "license": "cc-by-4.0", + "source_sha256": [ + "58cf0a658435d8a96e72eb241bd5f6f30fbaafcb7e2e5fb9ec63ee24eceeeefe", + "fd64ed7eab78adce70287f50e5361b125c3202184092d6335fb75c3f5067b500", + "ca1a009f6fb10ee7df2b1a7d191f6bda5f72e77aa940510dfef0ed8fadc8ba92", + "ec85fd841efcb0bec77aa857a940a5eee33e551d8f2273fba3fea40c0924fc9b", + "437c2f662895905136127d7dbfe558b1c1330c07abce6cc18642136aae952222", + "f97c3ed979296c7e7cda6848d1a09d3eafc1817e24440c5e03f8812f06633c1a" + ] + }, + "session_group": "maintenance-session-001", + "not_selected": "Setup clips, redundant maintenance footage, portrait clip and unrelated media are not included." +} \ No newline at end of file diff --git a/validate_release.py b/validate_release.py new file mode 100644 index 0000000000000000000000000000000000000000..f24ae2fdce495e75dd7cf6486cbfcad8b892e62c --- /dev/null +++ b/validate_release.py @@ -0,0 +1,82 @@ +"""Validate a portable RGB-only release without the processing stack.""" +from pathlib import Path +import sys,json,hashlib,argparse,subprocess +sys.dont_write_bytecode=True +import cv2 +import numpy as np +import polars as pl + +def validate(root): + root=Path(root).resolve();sys.path.insert(0,str(root)) + from observation_reader import ObservationDataset,camera_points + import pyarrow.parquet as pq + ds=ObservationDataset(root) + assert ds.info['capture_mode']=='rgb_only' and ds.info['license']=='cc-by-4.0' + assert ds.episodes + report={'status':'passed','scope':'Full video decode, displayed PTS, frame identity tables, missing modalities, segment bounds, embedded preview schema and all checksums. No annotation accuracy or model training evaluation.','episodes':[]} + for key,e in ds.episodes.items(): + mapping=ds.table(key,'frame_mapping');n=e['frame_count'] + assert mapping.height==n and mapping['rgb_frame_index'].to_list()==list(range(n)) + source=mapping['source_frame_index'].to_numpy() + assert np.all(np.diff(source)==1) and source[0]==e['source']['selection']['first_source_frame'] and source[-1]==e['source']['selection']['last_source_frame'] + ts=mapping['t_s'].to_numpy();assert ts[0]==0 and np.all(np.isfinite(ts)) and np.all(np.diff(ts)>0) + assert np.max(np.abs(np.diff(mapping['source_pts_s'].to_numpy())-np.diff(ts)))<1e-6 + assert mapping['rgb_decodable'].all() + probe=json.loads(subprocess.check_output(['ffprobe','-v','error','-show_streams','-show_packets','-of','json',str(root/e['video'])])) + assert len(probe['streams'])==1 + stream=probe['streams'][0] + assert stream['codec_name']=='h264' and stream['pix_fmt']=='yuv420p' and stream['color_transfer']=='bt709' + pts=sorted(float(p['pts_time']) for p in probe['packets'] if 'pts_time' in p and 'D' not in p.get('flags','')) + assert len(pts)==n and np.max(np.abs(np.array(pts)-mapping['video_pts_s'].to_numpy()))<2e-6 + cap=cv2.VideoCapture(str(root/e['video']));decoded=0 + try: + while True: + ok,frame=cap.read() + if not ok:break + assert frame.shape==(e['height'],e['width'],3) + decoded+=1 + finally:cap.release() + assert decoded==n,(key,decoded,n) + indices=sorted({0,n//4,n//2,3*n//4,n-1}) + for index in indices: + frame=ds.frame(key,index) + assert frame['source_frame_index']==int(source[index]) and frame['timestamp_s']==ts[index] + assert all(frame[k] is None for k in ('depth_m','depth_valid','confidence','K_rgb','camera_pose_xyzw','sensor_timestamp_s')) + assert not any(v for k,v in frame['modalities'].items() if k!='rgb') + try:camera_points(frame) + except ValueError:pass + else:raise AssertionError('RGB-only geometry must be unavailable') + for name in ('hand_pose_raw','hand_pose'): + if name not in e['signals']:continue + hand=ds.table(key,name) + assert all(hand[k].null_count()==hand.height for k in ('z','wx','wy','wz')) + assert ds.annotations_near(key,name,1e6).height==0 + assert hashlib.file_digest((root/e['video']).open('rb'),'sha256').hexdigest()==e['video_sha256'] + report['episodes'].append({'capture_id':key,'decoded_frames':decoded,'timestamp_rows':n,'random_access_indices':indices,'metric_channels_absent':True}) + print(key,decoded,'decoded frames and timestamps verified',flush=True) + segments=pl.read_parquet(root/'annotations/action_segments.parquet') + for row in segments.to_dicts(): + assert row['capture_id'] in ds.episodes + assert 0<=row['start_s']