diff --git a/README.md b/README.md index c9cb39014d3da31ba9751ac328989a022f9b8c7a..154df8298fab5ecf322016157858e08cd1bccbe1 100644 --- a/README.md +++ b/README.md @@ -1,120 +1,3 @@ --- -license: cc-by-4.0 -pretty_name: Video to Data (V2D) Challenge Dataset -tags: - - robotics - - robot-learning - - manipulation - - human-object-interaction - - motion-capture - - video - - 4d-reconstruction - - reinforcement-learning - - egocentric-video +license: apache-2.0 --- - -# Video to Data (V2D) Challenge Dataset - -## Dataset Description - -The **Video to Data (V2D) Challenge Dataset** is an NVIDIA-developed benchmark for studying the complete path from human demonstration video to physics-grounded robot behavior. It supports three coupled challenge tracks over shared manipulation tasks: **4D human-object interaction reconstruction**, **robotic grounding**, and **end-to-end egocentric transfer**. - -- [Challenge website](https://nvidia-isaac.github.io/video_to_data/v2d_challenge/) -- [Starter toolkit](https://github.com/nvidia-isaac/video_to_data) -- [Dataset repository](https://huggingface.co/datasets/nvidia/video_to_data_challenge) -- Contact: [v2d_challenge@nvidia.com](mailto:v2d_challenge@nvidia.com) - -## Challenge Tracks - -| Track | Input | Goal | Evaluation summary | -| --- | --- | --- | --- | -| **Track 1: Reconstruction** | Monocular third-person RGB video | Recover the human, object pose, and object geometry as a metric 4D human-object interaction scene in a consistent world frame | Reconstruction accuracy and physical plausibility relative to the multi-view reference | -| **Track 2: Robotic Grounding** | Third-person 4D human-object interaction trajectories at different input-noise tiers | Retarget the demonstration and learn an executable policy for the robotic embodiment and simulator | Object-tracking performance at each input tier | -| **Track 3: Egocentric** | Egocentric human demonstration video | Produce an executable robot policy through either an explicit reconstruct-and-retarget pipeline or an implicit end-to-end method | Final results produced with the official evaluation script | - -### Track 1: Reconstruction - -Track 1 evaluates monocular 4D human-object interaction reconstruction under challenging conditions including occlusion, bimanual coordination, and long-horizon manipulation. - -Participants reconstruct: - -- the human body and hands; -- object pose trajectories; -- object geometry; and -- metric scale. - -Track 1 is evaluated along two equally weighted axes: - -1. **Accuracy** - - Chamfer distance to the multi-view human mesh - - Chamfer distance to the multi-view object mesh -2. **Physical plausibility** - - Human-joint acceleration error - - Object acceleration error - - Contact penetration error - -### Track 2: Robotic Grounding - -Track 2 measures how upstream reconstruction quality affects human-to-robot transfer and downstream policy learning. - -The dataset provides three input tiers: - -1. **Tier 1 — Clean multi-view capture:** an upper-bound input for upstream reconstruction. -2. **Tier 2 — Synthetic corruption:** trajectories with jitter, dropout, and contact errors sampled from Track 1 error distributions. -3. **Tier 3 — Off-the-shelf reconstruction:** trajectories produced by current reconstruction methods. - -Each tier is scored separately. Metrics include **AUC**, **SP-SR**, **MP-SR**, and **MPPE**, as defined by the challenge evaluation protocol. - -### Track 3: Egocentric - -Track 3 evaluates the full pipeline from egocentric human video to robot behavior. The track is method-agnostic: participants may use an explicit reconstruction-and-retargeting pipeline, an end-to-end model, a pretrained vision-language-action model, a world-action model, or a hybrid approach. - -The NVIDIA-collected data includes human-object manipulation recordings and associated assets made available for development and evaluation. Depending on the released split, these assets may include: - -- egocentric videos; -- motion-capture trajectories; -- sequence metadata; -- textured 3D object meshes; and -- URDF object descriptions. - -Use `eval_e2e.py` from the starter toolkit to package the required reconstructions and recorded policy evaluations. - -## Download - -Install the Hugging Face Hub client: - -```bash -python -m pip install -U "huggingface_hub" -``` - -Download the complete dataset repository while preserving its file structure: - -```bash -hf download nvidia/video_to_data_challenge \ - --repo-type dataset \ - --local-dir ./video_to_data_challenge -``` - -If authentication is requested, first run: - -```bash -hf auth login -``` - -The same operation can be performed from Python: - -```python -from huggingface_hub import snapshot_download - -snapshot_download( - repo_id="nvidia/video_to_data_challenge", - repo_type="dataset", - local_dir="./video_to_data_challenge", -) -``` - -Large assets are stored using Hugging Face's large-file infrastructure. Make sure sufficient disk space is available before downloading the complete repository. - -## Support - -For challenge or dataset questions, contact [v2d_challenge@nvidia.com](mailto:v2d_challenge@nvidia.com). For software issues, use the issue tracker in the [Video to Data repository](https://github.com/nvidia-isaac/video_to_data/issues). diff --git a/track_1/README.md b/track_1/README.md index 7cd54d19f6c8425d44e8c616a76f2b11da2efc6d..ab3bc18cc0f732149c4374f420e2729d2701fd03 100644 --- a/track_1/README.md +++ b/track_1/README.md @@ -1,79 +1,147 @@ # Track 1 -Video-only single-view human-object interaction sequences for object tracking. Track 1 -contains 30 selected episodes from the FORM-HOI multiview recordings. Each episode provides -one static third-person RGB video, its physical camera view, the target object identifier -and prompt, and the original action description. +Single-view human-object interaction sequences from the FORM-HOI multiview export +(rig `nova_hawk`, scene `sc_office_4exo_1`). Every episode has **one static third-person +RGB video**, the full-body SOMA-X / MHR reconstruction, and the 6-DoF pose of one tracked +object with a textured mesh. Object poses are **`world_T_object` in the source OpenCV world +frame**, so placing the mesh at a logged pose recovers its reconstructed location. | | | |---|---| -| Episodes | 30 | -| Frames | 16,563 (360–877 per episode, mean 552) | +| Episodes | 67 | +| Frames | 48,846 (245–1034 per episode, mean 729) | | Rate | 30 fps | -| Tasks | 22 original action descriptions | -| Cameras | 1 stream per episode, 30 clips, 4 distinct physical cameras | -| Target objects | 10 | +| Tasks | 62 distinct instructions | +| Cameras | 1 stream per episode, 67 clips, 4 distinct physical cameras | +| Objects | 33, each with one textured mesh | +| Subjects | 14 | ## Layout ``` track_1/ -├── data/chunk-000/episode_0000NN.parquet LeRobot frame indexes only +├── data/chunk-000/episode_0000NN.parquet human + object pose, one row per frame ├── videos/chunk-000/observation.images.exo_camera/episode_0000NN.mp4 +├── mesh//.glb textured mesh, one per object └── meta/ - ├── info.json LeRobot v2.1 schema and counts - ├── episodes.jsonl episode lengths and action descriptions - ├── episodes_metadata.jsonl sequence, camera, and target-object metadata - ├── episodes_stats.jsonl video and index statistics - └── tasks.jsonl original action descriptions + ├── info.json schema, feature shapes/names, counts, tasks, objects + ├── episodes.jsonl episode lengths and tasks + ├── episodes_metadata.jsonl episode → source sequence, camera, object, mesh, person + ├── episodes_stats.jsonl per-episode feature statistics + └── tasks.jsonl task descriptions ``` -## Per-episode metadata +## Video + +Each episode ships exactly one camera under the single feature key `observation.images.exo_camera` +(1536×1152, h264, yuv420p, 30 fps). +Which physical camera it is varies per episode and is recorded in +`meta/episodes_metadata.jsonl` (`camera`) and in every parquet's schema metadata (`camera`): -Each record in `meta/episodes_metadata.jsonl` contains only: +| Camera | Episodes | +|---|---| +| `back_stereo_camera_left` | 11 | +| `front_stereo_camera_left` | 15 | +| `left_stereo_camera_left` | 30 | +| `right_stereo_camera_left` | 11 | -- `episode_index` -- `sequence_id` -- `camera` -- `object` -- `object_prompt` -- `video_key` +Files are byte-identical copies of the source H.264 videos; no re-encoding was performed. +Video is **frame-exact with the parquets**: row *i* is frame *i*, verified on every clip. -The video path is determined from `meta/info.json` using `episode_index` and `video_key`. -The `object` and `object_prompt` fields identify the object to track. The corresponding -action description is resolved through the episode's `task_index` and -`meta/tasks.jsonl`. +No camera intrinsics or extrinsics are included. The source calibration sequence id is kept +per episode (`calibration_sequence`) but is not a calibration matrix. -## Video +## Parquet columns -Videos are 1536×1152 H.264 (`yuv420p`) at 30 fps with no audio. They are byte-identical -copies of the selected source videos and were not re-encoded. +One row per frame. Fixed-size float32 lists; multi-dimensional tensors are flattened +row-major and their shape is declared in `meta/info.json` under `features`. -| Camera | Episodes | -|---|---:| -| `back_stereo_camera_left` | 5 | -| `front_stereo_camera_left` | 9 | -| `left_stereo_camera_left` | 11 | -| `right_stereo_camera_left` | 5 | +### Human, SOMA-X parameters + +| Column | Shape | Meaning | +|---|---|---| +| `observation.human.pose` | 231 | SOMA-X local joint rotations, axis-angle radians, 77 joints x 3 | +| `observation.human.translation` | 3 | SOMA-X root translation, metres | +| `observation.human.identity_coeffs` | 45 | SOMA-X identity coefficients (MHR identity model) | +| `observation.human.scale_params` | 68 | SOMA-X scale parameters | +| `observation.human.bone_length_flexibles` | 6 | SOMA-X flexible bone lengths | + +`observation.human.pose` holds 77 local joint rotation vectors (axis-angle, radians). The +joint order is the `names` list of that feature in `meta/info.json` (`.rx/.ry/.rz`). + +### Human, MHR reconstruction outputs + +| Column | Shape | Meaning | +|---|---|---| +| `observation.mhr.global_rot` | 3 | root orientation, axis-angle rotation vector (radians) | +| `observation.mhr.body_pose_params` | 133 | MHR body pose parameters | +| `observation.mhr.hand_pose_params` | 108 | MHR hand pose parameters (both hands) | +| `observation.mhr.scale_params` | 28 | MHR skeleton scale parameters | +| `observation.mhr.shape_params` | 45 | MHR identity/shape coefficients | +| `observation.mhr.model_params` | 204 | concatenated MHR model parameter vector as emitted by the reconstruction pipeline | +| `observation.mhr.cam_t` | 3 | predicted root translation in the source world frame (metres) | +| `observation.mhr.keypoints_3d` | 70x3 | 70 predicted 3D keypoints, xyz metres, source world frame | +| `observation.mhr.joint_coords` | 127x3 | 127 MHR joint positions, xyz metres, source world frame | +| `observation.mhr.joint_global_rots` | 127x3x3 | 127 MHR joint global rotation matrices, row-major | + +Each feature entry in `meta/info.json` also records `source_key`, the key of the tensor in +the source `mhr_params_mv.pt` it was copied from. -## LeRobot v2.1 indexes +### Object -The per-episode Parquet files contain only the structural columns required to align video -frames with LeRobot episode and task metadata: +| Column | Shape | Meaning | +|---|---|---| +| `observation.object.pose` | 7 | `[x, y, z, qw, qx, qy, qz]`, metres, **quaternion w-first**, `world_T_object` | +| `observation.object.visible` | 1 | false where the source pose was invalid; pose is then all zeros | -- `timestamp` -- `frame_index` -- `episode_index` -- `index` -- `task_index` -- `next.done` +Each episode tracks exactly one object. Its name is in the parquet schema metadata +(`objects`, `object_mesh`) and in `meta/episodes_metadata.jsonl` (`object`, `mesh`). The +mesh is stored once per object: `white_desk` → `mesh/white_desk/white_desk.glb`. Frames with +an invisible object: episode 2 (1 frame), episode 47 (1 frame). -No human pose, body reconstruction, object pose, visibility annotation, or object mesh is -included in the current revision. +### Index columns + +`timestamp` (float32, `frame_index / 30`), `frame_index`, `episode_index`, `index` +(global), `task_index`, `next.done` (true on the last frame of an episode). + +## Quickstart + +```python +import json +import numpy as np +import pyarrow.parquet as pq + +t = pq.read_table("data/chunk-000/episode_000000.parquet") +md = {k.decode(): v.decode() for k, v in t.schema.metadata.items()} +print(md["camera"], md["objects"], md["object_mesh"]) + +def col(name): # (frames, D) float32 + return t[name].combine_chunks().flatten().to_numpy().reshape(t.num_rows, -1) + +obj_pose = col("observation.object.pose") # x y z qw qx qy qz +visible = t["observation.object.visible"].to_numpy(zero_copy_only=False) +human_pose = col("observation.human.pose").reshape(-1, 77, 3) +joint_rots = col("observation.mhr.joint_global_rots").reshape(-1, 127, 3, 3) +``` + +### Placing the mesh at a pose + +```python +import trimesh +from scipy.spatial.transform import Rotation + +mesh = trimesh.load(md["object_mesh"], process=False).to_geometry() +x, y, z, qw, qx, qy, qz = obj_pose[visible][100] +T = np.eye(4) +T[:3, :3] = Rotation.from_quat([qx, qy, qz, qw]).as_matrix() # scipy is xyzw +T[:3, 3] = [x, y, z] +mesh.apply_transform(T) +``` -Episode indexes follow the 30-sequence selection order. Each of the 10 target objects has three episodes. +## Provenance -RGB statistics for retained videos are preserved. For new videos, channel statistics use -uniformly sampled frames (sample count `min(N, max(100, min(10000, floor(N**0.75))))`), -area-downsampled to 154×116 and normalized to [0, 1]. This downsampling is used only -for statistics; the distributed videos retain their original bytes and resolution. +Built from the FORM-HOI `sc_office_4exo_1/data_export_3` export: `soma_params.npz`, +`mhr_params_mv.pt`, `poses.npy`, `pose_valid_mask.npy`, `object_mesh/output_aligned.glb`, +`hoi_metadata.yaml` and the selected `videos/.mp4` of each sequence. Every copied +file was verified against the sha256 in the source `commit.json`. 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track_1/mesh/vacuum/vacuum.glb diff --git a/track_2/tier_1_multiview_caption/mesh/watering_can/watering_can.glb b/track_1/mesh/watering_can/watering_can.glb similarity index 100% rename from track_2/tier_1_multiview_caption/mesh/watering_can/watering_can.glb rename to track_1/mesh/watering_can/watering_can.glb diff --git a/track_2/tier_1_multiview_caption/mesh/wet_floor_sign/wet_floor_sign.glb b/track_1/mesh/wet_floor_sign/wet_floor_sign.glb similarity index 100% rename from track_2/tier_1_multiview_caption/mesh/wet_floor_sign/wet_floor_sign.glb rename to track_1/mesh/wet_floor_sign/wet_floor_sign.glb diff --git a/track_2/tier_1_multiview_caption/mesh/white_desk/white_desk.glb b/track_1/mesh/white_desk/white_desk.glb similarity index 100% rename from track_2/tier_1_multiview_caption/mesh/white_desk/white_desk.glb rename to track_1/mesh/white_desk/white_desk.glb diff --git a/track_2/tier_1_multiview_caption/mesh/woven_basket/woven_basket.glb b/track_1/mesh/woven_basket/woven_basket.glb similarity index 100% rename from track_2/tier_1_multiview_caption/mesh/woven_basket/woven_basket.glb rename to track_1/mesh/woven_basket/woven_basket.glb diff --git a/track_1/meta/episodes.jsonl b/track_1/meta/episodes.jsonl index f9b955051afc807a179b23cee1b483eb76494335..a715211ce205ca2a161f689797475456a63009c2 100644 --- a/track_1/meta/episodes.jsonl +++ b/track_1/meta/episodes.jsonl @@ -1,30 +1,67 @@ {"episode_index": 0, "length": 790, "tasks": ["Walk over to the hula hoop on the floor and step inside the hula hoop. Lift the hula hoop over your entire body and place back on the floor when done."]} {"episode_index": 1, "length": 668, "tasks": ["Walk over to the hula hoop on the floor and grasp it with your right hand keeping the hula hoop vertical. Pass your right foot through the hula hoop and then your head and torso while shifting the hula hoop from your right hand to the left hand. Finally step through the hula hoop using your left leg. Place the hula hoop on the floor."]} {"episode_index": 2, "length": 866, "tasks": ["Walk over to the hula hoop on the floor and pick up the hula hoop using both hands. Jump through the hula hoop as if it was a jump rope 3x."]} -{"episode_index": 3, "length": 592, "tasks": ["Walk over to the big red bowl on the round table and flip the big red bowl onto the round table. Step away when complete."]} -{"episode_index": 4, "length": 747, "tasks": ["Walk over to the big red bowl on the round table and push the red bowl away you using both hands as you walk around the round table. Step away when complete."]} +{"episode_index": 3, "length": 860, "tasks": ["Walk over to the big red bowl on the ground and pick up the bowl using your left hand and place on the round table."]} +{"episode_index": 4, "length": 592, "tasks": ["Walk over to the big red bowl on the round table and flip the big red bowl onto the round table. Step away when complete."]} {"episode_index": 5, "length": 668, "tasks": ["Walk over to the big red bowl on the floor and pick up the red bowl using your right hand and then handover to your left hand and then place the big red bowl on the skinny wood chair. Step away when complete."]} -{"episode_index": 6, "length": 816, "tasks": ["Walk over to the iron on the round table and pick it up with your right hand stand it up vertically. Pick up the iron with your left hand and set it down horizontally on the round table."]} -{"episode_index": 7, "length": 777, "tasks": ["Walk over to the iron on the floor and pick up the iron using both hands and rotate the iron as you walk within the bounding area and place it on the ground, step away when complete."]} -{"episode_index": 8, "length": 634, "tasks": ["Walk over to the iron on the ground and kneel near the iron and pick up the iron using your right hand and proceed to iron the ground infront of you. Place the iron on the ground when complete and stand up."]} -{"episode_index": 9, "length": 415, "tasks": ["Walk to the white desk that is lying on its side. Place both hands on it and use them to carefully flip the desk onto the other side."]} -{"episode_index": 10, "length": 577, "tasks": ["Walk to the white desk, use your left foot to push the desk."]} -{"episode_index": 11, "length": 877, "tasks": ["Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."]} -{"episode_index": 12, "length": 405, "tasks": ["Pick up the pan from the table using one hand. Take a few steps away from the table. Using your other hand, touch the bottom of the pan with your palm, and make some circular motions to wipe it. Walk back to the table and put the pan down."]} -{"episode_index": 13, "length": 425, "tasks": ["Pick up the pan from the table using one hand. Take a few steps away from the table. Using your other hand, touch the bottom of the pan with your palm, and make some circular motions to wipe it. Walk back to the table and put the pan down."]} -{"episode_index": 14, "length": 442, "tasks": ["Pick up the pan from the table using one hand. Take a few steps away from the table. Using your other hand, touch the bottom of the pan with your palm, and make some circular motions to wipe it. Walk back to the table and put the pan down."]} -{"episode_index": 15, "length": 501, "tasks": ["Pick up the block from the table with both hands. Hold it by two opposite corners. Slowly rotate it several rotations while maintaining contact. Put it back on the table."]} -{"episode_index": 16, "length": 360, "tasks": ["Pick up the block from the table with both hands. Hold it by two opposite corners. Slowly rotate it several rotations while maintaining contact. Put it back on the table."]} -{"episode_index": 17, "length": 419, "tasks": ["Pick up the block from the table with both hands. Shift to holding it with one hand from the bottom. take a few steps back and face a different direction. Hold it with both hands again, and put it on the ground."]} -{"episode_index": 18, "length": 535, "tasks": ["Pick up the roller on the table. Slowly roll the roller back and forth on the table surface a few times while moving around the table. Lay the roller back on the table and step back."]} -{"episode_index": 19, "length": 443, "tasks": ["Pick up the roller on the table. Slowly roll the roller back and forth on the table surface a few times while moving around the table. Lay the roller back on the table and step back."]} -{"episode_index": 20, "length": 549, "tasks": ["Pick up the roller on the table. Slowly roll the roller back and forth on the table surface a few times while moving around the table. Lay the roller back on the table and step back."]} -{"episode_index": 21, "length": 563, "tasks": ["Walk over to the pink foam roll, and pick it up from the ground. Hold it from one end using one hand. Touch the other end of the roll on the ground a few times. Switch to the other hand and do the same. Put the roll back on the ground."]} -{"episode_index": 22, "length": 533, "tasks": ["Pick up the foam roll on the table. Use your hands to slowly roll the roller back and forth on the table surface a few times while walking along with it. Lay the roller back on the table and step back."]} -{"episode_index": 23, "length": 552, "tasks": ["Walk over to the pink foam roll, and pick it up from the ground. Hold it from one end using one hand. Touch the other end of the roll on the ground a few times. Switch to the other hand and do the same. Put the roll back on the ground."]} -{"episode_index": 24, "length": 420, "tasks": ["Walk up to the wooden stool and sit on the stool. Rotate the direction you're facing while remaining seated. Stand up."]} -{"episode_index": 25, "length": 365, "tasks": ["Pick up the wooden stool from the ground using both hands. Let go of one hand and take a few steps. hold the stool with both hands again and place it back on the ground."]} -{"episode_index": 26, "length": 399, "tasks": ["Walk up to the wooden stool and sit on the stool. Rotate the direction you're facing while remaining seated. Stand up."]} -{"episode_index": 27, "length": 440, "tasks": ["Use both hands to pick up the white laptop cart, then lay it down sideways on the ground. Release it and stand up."]} -{"episode_index": 28, "length": 366, "tasks": ["Use both hands to pick up the white laptop cart, then lay it down sideways on the ground. Release it and stand up."]} -{"episode_index": 29, "length": 419, "tasks": ["Step up to the white laptop cart, and use one hand to push it forward a few steps. Put both hands on the cart, and pull it side ways a few steps. Release the cart and step away."]} +{"episode_index": 6, "length": 747, "tasks": ["Walk over to the big red bowl on the round table and push the red bowl away you using both hands as you walk around the round table. Step away when complete."]} +{"episode_index": 7, "length": 941, "tasks": ["Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground infront of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."]} +{"episode_index": 8, "length": 723, "tasks": ["Walk over to the big red bowl on the round table and pick up the bowl using your left hand and place on the ground."]} +{"episode_index": 9, "length": 801, "tasks": ["Walk over to the iron on the skinny wood chair and using your left hand lift the iron and place the iron underneath the skinny wood chair."]} +{"episode_index": 10, "length": 730, "tasks": ["Walk over to the iron on the white desk and pull the iron towards you. Step away when complete."]} +{"episode_index": 11, "length": 634, "tasks": ["Walk over to the iron on the ground and kneel near the iron and pick up the iron using your right hand and proceed to iron the ground infront of you. Place the iron on the ground when complete and stand up."]} +{"episode_index": 12, "length": 653, "tasks": ["Walk over to the iron on the white desk and rotate the iron on the table using right hand only. Step away when complete."]} +{"episode_index": 13, "length": 777, "tasks": ["Walk over to the iron on the floor and pick up the iron using both hands and rotate the iron as you walk within the bounding area and place it on the ground, step away when complete."]} +{"episode_index": 14, "length": 245, "tasks": ["Walk over to the iron on the white desk and touch the iron. Step away when complete."]} +{"episode_index": 15, "length": 816, "tasks": ["Walk over to the iron on the round table and pick it up with your right hand stand it up vertically. Pick up the iron with your left hand and set it down horizontally on the round table."]} +{"episode_index": 16, "length": 897, "tasks": ["Walk over to the iron on the floor and pick up the iron using both hands and roatate the iron as you walk within the bounding area. place on the ground Step away when complete."]} +{"episode_index": 17, "length": 664, "tasks": ["Walk over to the iron on the round table and pick it up with your left hand and set it down on the floor."]} +{"episode_index": 18, "length": 342, "tasks": ["Walk over to the iron on the white desk and push the iron away from you. Step away when complete."]} +{"episode_index": 19, "length": 378, "tasks": ["Walk to the white desk and crawl under it to the other end of the desk."]} +{"episode_index": 20, "length": 597, "tasks": ["Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."]} +{"episode_index": 21, "length": 906, "tasks": ["Walk around the desk while continuously wiping its surface with your hands."]} +{"episode_index": 22, "length": 577, "tasks": ["Walk to the white desk, use your left foot to push the desk."]} +{"episode_index": 23, "length": 577, "tasks": ["Walk the white desk and crawl under it to the other end of the desk."]} +{"episode_index": 24, "length": 720, "tasks": ["Walk to the white desk lying on its side. Place both hands on the tabletop and lift the desk back to its upright position."]} +{"episode_index": 25, "length": 606, "tasks": ["white desk right foot push."]} +{"episode_index": 26, "length": 966, "tasks": ["Walk a lap around the desk. Stop beside the desk, crouch down, and move underneath it."]} +{"episode_index": 27, "length": 763, "tasks": ["Walk to the white desk, use your right foot to push the desk."]} +{"episode_index": 28, "length": 833, "tasks": ["Walk to the white desk that is lying on its side. Place both hands on it and use them to carefully flip the desk onto the other side."]} +{"episode_index": 29, "length": 797, "tasks": ["Walk to the white desk, use both of your hands and pick up the desk slightly and move it to the side, and place it back to the ground."]} +{"episode_index": 30, "length": 415, "tasks": ["Walk to the white desk that is lying on its side. Place both hands on it and use them to carefully flip the desk onto the other side."]} +{"episode_index": 31, "length": 1034, "tasks": ["Walk around the desk while continuously wiping its surface with your hands."]} +{"episode_index": 32, "length": 559, "tasks": ["Walk to the white desk, use both of your hands and pick up the desk slightly and move it to the side, and place it back to the ground."]} +{"episode_index": 33, "length": 877, "tasks": ["Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."]} +{"episode_index": 34, "length": 588, "tasks": ["Walk over to the soup can on the white desk and grasp the soup can with one hand and flip on the white desk."]} +{"episode_index": 35, "length": 942, "tasks": ["Walk over to the disinfecting wipes on the round table using your right hand pick up the disinfecting wipes and walk within the bounding area and place on the ground."]} +{"episode_index": 36, "length": 307, "tasks": ["Walk over to the microwave on the round table and shift the microwave slightly to the left."]} +{"episode_index": 37, "length": 778, "tasks": ["Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright."]} +{"episode_index": 38, "length": 747, "tasks": ["Walk over to the vacuum leaning on the tall bar stool and pick up the vacuum using your left hand and hold the vacuum infront of you and perform side to side vacuum motions. Place it back leaning on the stool when complete."]} +{"episode_index": 39, "length": 980, "tasks": ["Walk over to the blue basket on the round table and pick up the blue basket using your right hand and place the basket in a different area within the bounding area. Then pick up the basket and handover to the left hand and place the blue basket in a different area within the bounding area."]} +{"episode_index": 40, "length": 803, "tasks": ["Walk over to the baseball bat and pick up the baseball bat. Slowly begin to rotate the baseball bat and yourself around the bounding area so that every camera gets a visual of the baseball baat."]} +{"episode_index": 41, "length": 1003, "tasks": ["Walk over to the G1 Box and rotate the box around the bounding area."]} +{"episode_index": 42, "length": 546, "tasks": ["Walk over to the monitor on the round table. Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table."]} +{"episode_index": 43, "length": 896, "tasks": ["Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished."]} +{"episode_index": 44, "length": 708, "tasks": ["Walk over to the skinny wood chair and push the skinny wood chair into the round table."]} +{"episode_index": 45, "length": 870, "tasks": ["Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."]} +{"episode_index": 46, "length": 794, "tasks": ["Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."]} +{"episode_index": 47, "length": 901, "tasks": ["Pick up the book from the table and place it on the floor."]} +{"episode_index": 48, "length": 700, "tasks": ["Walk over to the platform on the ground and turn the platform over. Place on the ground when done."]} +{"episode_index": 49, "length": 922, "tasks": ["Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished."]} +{"episode_index": 50, "length": 993, "tasks": ["\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position."]} +{"episode_index": 51, "length": 715, "tasks": ["Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor."]} +{"episode_index": 52, "length": 477, "tasks": ["Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground."]} +{"episode_index": 53, "length": 440, "tasks": ["Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table."]} +{"episode_index": 54, "length": 858, "tasks": ["Walk over to the blue trash can and slide the blue trash can side ways."]} +{"episode_index": 55, "length": 886, "tasks": ["Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete."]} +{"episode_index": 56, "length": 553, "tasks": ["Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table."]} +{"episode_index": 57, "length": 678, "tasks": ["Walk over to the tall bar stool and pull the tall bar stool away from the desk."]} +{"episode_index": 58, "length": 719, "tasks": ["Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence."]} +{"episode_index": 59, "length": 946, "tasks": ["Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area."]} +{"episode_index": 60, "length": 748, "tasks": ["Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand."]} +{"episode_index": 61, "length": 859, "tasks": ["Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table."]} +{"episode_index": 62, "length": 669, "tasks": ["Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area."]} +{"episode_index": 63, "length": 565, "tasks": ["Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk."]} +{"episode_index": 64, "length": 988, "tasks": ["Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you."]} +{"episode_index": 65, "length": 467, "tasks": ["Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete."]} +{"episode_index": 66, "length": 781, "tasks": ["Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table."]} diff --git a/track_1/meta/episodes_metadata.jsonl b/track_1/meta/episodes_metadata.jsonl index 9142de89384b7fac7bf792ec3f6eb9bfbbf2243a..7de27c211c588973ae98b19caf770cff97b60c94 100644 --- a/track_1/meta/episodes_metadata.jsonl +++ b/track_1/meta/episodes_metadata.jsonl @@ -1,30 +1,67 @@ -{"episode_index": 0, "sequence_id": "2026-03-16_15-04-26_hula_hoop_inside_ground_01", "camera": "back_stereo_camera_left", "object": "hula_hoop", "object_prompt": "a shiny skinny hula hoop.", "video_key": "observation.images.exo_camera"} -{"episode_index": 1, "sequence_id": "2026-03-16_15-07-35_hula_hoop_through_01", "camera": "back_stereo_camera_left", "object": "hula_hoop", "object_prompt": "a shiny skinny hula hoop.", "video_key": "observation.images.exo_camera"} -{"episode_index": 2, "sequence_id": "2026-04-25_14-46-14_hula_hoop_jump_rope_06", "camera": "back_stereo_camera_left", "object": "hula_hoop", "object_prompt": "a shiny skinny hula hoop.", "video_key": "observation.images.exo_camera"} -{"episode_index": 3, "sequence_id": "2026-06-03_18-26-12_big_red_bowl_flip_03", "camera": "left_stereo_camera_left", "object": "big_red_bowl", "object_prompt": "A red plastic bowl.", "video_key": "observation.images.exo_camera"} -{"episode_index": 4, "sequence_id": "2026-06-08_15-30-20_big_red_bowl_push_05", "camera": "front_stereo_camera_left", "object": "big_red_bowl", "object_prompt": "A red plastic bowl.", "video_key": "observation.images.exo_camera"} -{"episode_index": 5, "sequence_id": "2026-06-09_11-19-34_big_red_bowl_skinny_wood_chair_05", "camera": "front_stereo_camera_left", "object": "big_red_bowl", "object_prompt": "A red plastic bowl.", "video_key": "observation.images.exo_camera"} -{"episode_index": 6, "sequence_id": "2026-05-29_15-24-23_iron_pick_place_right_left_hand_02", "camera": "left_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 7, "sequence_id": "2026-06-08_15-54-40_iron_rotate_mid_air_04", "camera": "left_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 8, "sequence_id": "2026-06-09_11-34-07_iron_ground_05", "camera": "right_stereo_camera_left", "object": "iron", "object_prompt": "An metallic iron with blue accents.", "video_key": "observation.images.exo_camera"} -{"episode_index": 9, "sequence_id": "2026-03-12_16-43-03_white_desk_side_to_side_01", "camera": "front_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 10, "sequence_id": "2026-03-13_11-18-20_white_desk_left_foot_push_04", "camera": "left_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 11, "sequence_id": "2026-04-29_14-21-44_white_desk_lower_to_ground_09", "camera": "left_stereo_camera_left", "object": "white_desk", "object_prompt": "a medium sized white desk.", "video_key": "observation.images.exo_camera"} -{"episode_index": 12, "sequence_id": "2026-09-11_15-27-19_black_pan_wipe_06", "camera": "front_stereo_camera_left", "object": "black_pan", "object_prompt": "a black frying pan.", "video_key": "observation.images.exo_camera"} -{"episode_index": 13, "sequence_id": "2026-09-11_15-28-23_black_pan_wipe_07", "camera": "left_stereo_camera_left", "object": "black_pan", "object_prompt": "a black frying pan.", "video_key": "observation.images.exo_camera"} -{"episode_index": 14, "sequence_id": "2026-09-11_15-55-29_black_pan_wipe_08", "camera": "front_stereo_camera_left", "object": "black_pan", "object_prompt": "a black frying pan.", "video_key": "observation.images.exo_camera"} -{"episode_index": 15, "sequence_id": "2026-09-10_16-14-06_foam_grass_block_rotate_02", "camera": "right_stereo_camera_left", "object": "foam_grass_block", "object_prompt": "a foam block with a pixalated design of various shades of green and various shades of brown.", "video_key": "observation.images.exo_camera"} -{"episode_index": 16, "sequence_id": "2026-09-11_15-12-36_foam_grass_block_rotate_04", "camera": "front_stereo_camera_left", "object": "foam_grass_block", "object_prompt": "a foam block with a pixalated design of various shades of green and various shades of brown.", "video_key": "observation.images.exo_camera"} -{"episode_index": 17, "sequence_id": "2026-09-11_15-53-19_foam_grass_block_pick_place_05", "camera": "left_stereo_camera_left", "object": "foam_grass_block", "object_prompt": "a foam block with a pixalated design of various shades 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"observation.images.exo_camera", "object": "white_desk", "mesh": "mesh/white_desk/white_desk.glb", "object_prompt": "a medium sized white desk.", "person_id": "002", "calibration_sequence": "2026-03-12_13-41-31_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 559, "task": "Walk to the white desk, use both of your hands and pick up the desk slightly and move it to the side, and place it back to the ground.", "task_index": 29, "source_export_start_frame": 111, "source_export_end_frame": 670, "invisible_object_frames": 0} +{"episode_index": 33, "sequence_id": "2026-04-29_14-21-44_white_desk_lower_to_ground_09", "camera": "left_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "white_desk", "mesh": "mesh/white_desk/white_desk.glb", "object_prompt": "a medium sized white desk.", "person_id": "018", "calibration_sequence": "2026-04-29_13-34-20_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 877, "task": "Walk 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Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table.", "task_index": 38, "source_export_start_frame": 229, "source_export_end_frame": 775, "invisible_object_frames": 0} +{"episode_index": 43, "sequence_id": "2026-05-29_15-20-43_iron_round_table_02", "camera": "front_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "iron", "mesh": "mesh/iron/iron.glb", "object_prompt": "An metallic iron with blue accents.", "person_id": "020", "calibration_sequence": "2026-05-29_12-58-33_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 896, "task": "Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. 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Place on the ground when done.", "task_index": 43, "source_export_start_frame": 232, "source_export_end_frame": 932, "invisible_object_frames": 0} +{"episode_index": 49, "sequence_id": "2026-06-09_10-19-09_snack_box_desk_through_06", "camera": "back_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "snack_box", "mesh": "mesh/snack_box/snack_box.glb", "object_prompt": "a white box with bags of chips images on it.", "person_id": "014", "calibration_sequence": "2026-06-09_09-15-06_calibration_", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 922, "task": "Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished.", "task_index": 44, "source_export_start_frame": 66, "source_export_end_frame": 988, "invisible_object_frames": 0} +{"episode_index": 50, "sequence_id": "2026-05-28_14-44-09_round_table_flip_08", "camera": "back_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "round_table", "mesh": "mesh/round_table/round_table.glb", "object_prompt": "a round oak and white table with wheels.", "person_id": "020", "calibration_sequence": "2026-05-28_13-44-11_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 993, "task": "\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position.", "task_index": 45, "source_export_start_frame": 11, "source_export_end_frame": 1004, "invisible_object_frames": 0} +{"episode_index": 51, "sequence_id": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "camera": "right_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "wet_floor_sign", "mesh": "mesh/wet_floor_sign/wet_floor_sign.glb", "object_prompt": "a yellow wet floor sign with orange tape on it.", "person_id": "011", "calibration_sequence": "2026-05-06_09-28-56_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 715, "task": "Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor.", "task_index": 46, "source_export_start_frame": 132, "source_export_end_frame": 847, "invisible_object_frames": 0} +{"episode_index": 52, "sequence_id": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "camera": "left_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "spray_bottle", "mesh": "mesh/spray_bottle/spray_bottle.glb", "object_prompt": "a spray bottle with blue liquid inside.", "person_id": "001", "calibration_sequence": "2026-03-12_13-41-31_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 477, "task": "Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground.", "task_index": 47, "source_export_start_frame": 117, "source_export_end_frame": 594, "invisible_object_frames": 0} +{"episode_index": 53, "sequence_id": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "camera": "right_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "traffic_cone", "mesh": "mesh/traffic_cone/traffic_cone.glb", "object_prompt": "an orange traffic cone with a reflective strip.", "person_id": "018", "calibration_sequence": "2026-05-01_13-38-21_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 440, "task": "Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table.", "task_index": 48, "source_export_start_frame": 324, "source_export_end_frame": 764, "invisible_object_frames": 0} +{"episode_index": 54, "sequence_id": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "camera": "left_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "blue_trash_can", "mesh": "mesh/blue_trash_can/blue_trash_can.glb", "object_prompt": "a tall blue rectangular trash can.", "person_id": "011", "calibration_sequence": "2026-05-06_09-28-56_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 858, "task": "Walk over to the blue trash can and slide the blue trash can side ways.", "task_index": 49, "source_export_start_frame": 138, "source_export_end_frame": 996, "invisible_object_frames": 0} +{"episode_index": 55, "sequence_id": "2026-05-19_10-19-48_cane_swing_05", "camera": "right_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "cane", "mesh": "mesh/cane/cane.glb", "object_prompt": "A black and orange four-legged cane with a curved top handle and a thick padded black grip.", "person_id": "003", "calibration_sequence": "2026-05-19_09-56-19_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 886, "task": "Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete.", "task_index": 50, "source_export_start_frame": 133, "source_export_end_frame": 1019, "invisible_object_frames": 0} +{"episode_index": 56, "sequence_id": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "camera": "left_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "rice_cooker", "mesh": "mesh/rice_cooker/rice_cooker.glb", "object_prompt": "A white, cylindrical rice cooker.", "person_id": "018", "calibration_sequence": "2026-06-08_13-01-08_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 553, "task": "Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table.", "task_index": 51, "source_export_start_frame": 398, "source_export_end_frame": 951, "invisible_object_frames": 0} +{"episode_index": 57, "sequence_id": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "camera": "left_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "tall_bar_stool", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "object_prompt": "a tall brown bar stool.", "person_id": "017", "calibration_sequence": "2026-04-29_09-10-26_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 678, "task": "Walk over to the tall bar stool and pull the tall bar stool away from the desk.", "task_index": 52, "source_export_start_frame": 92, "source_export_end_frame": 770, "invisible_object_frames": 0} +{"episode_index": 58, "sequence_id": "2026-05-22_16-52-36_step_ladder_drag_03", "camera": "left_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "step_ladder", "mesh": "mesh/step_ladder/step_ladder.glb", "object_prompt": "a black and blue single step ladder.", "person_id": "020", "calibration_sequence": "2026-05-22_13-27-28_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 719, "task": "Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence.", "task_index": 53, "source_export_start_frame": 147, "source_export_end_frame": 866, "invisible_object_frames": 0} +{"episode_index": 59, "sequence_id": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "camera": "left_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "toy_stroller", "mesh": "mesh/toy_stroller/toy_stroller.glb", "object_prompt": "a small pink doll stroller.", "person_id": "021", "calibration_sequence": "2026-06-03_13-51-21_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 946, "task": "Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area.", "task_index": 54, "source_export_start_frame": 90, "source_export_end_frame": 1036, "invisible_object_frames": 0} +{"episode_index": 60, "sequence_id": "2026-05-29_15-43-20_watering_can_pour_right_02", "camera": "left_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "watering_can", "mesh": "mesh/watering_can/watering_can.glb", "object_prompt": "A green toy watering can.", "person_id": "020", "calibration_sequence": "2026-05-29_12-58-33_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 748, "task": "Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand.", "task_index": 55, "source_export_start_frame": 213, "source_export_end_frame": 961, "invisible_object_frames": 0} +{"episode_index": 61, "sequence_id": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "camera": "left_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "cyan_water_bottle", "mesh": "mesh/cyan_water_bottle/cyan_water_bottle.glb", "object_prompt": "big cyan colored water bottle.", "person_id": "003", "calibration_sequence": "2026-03-20_11-13-12_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 859, "task": "Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table.", "task_index": 56, "source_export_start_frame": 127, "source_export_end_frame": 986, "invisible_object_frames": 0} +{"episode_index": 62, "sequence_id": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "camera": "front_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "skateboard", "mesh": "mesh/skateboard/skateboard.glb", "object_prompt": "A black skateboard with colorful wheels.", "person_id": "022", "calibration_sequence": "2026-06-05_13-28-06_calibration_", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 669, "task": "Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area.", "task_index": 57, "source_export_start_frame": 269, "source_export_end_frame": 938, "invisible_object_frames": 0} +{"episode_index": 63, "sequence_id": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "camera": "front_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "woven_basket", "mesh": "mesh/woven_basket/woven_basket.glb", "object_prompt": "a shallow woven basket.", "person_id": "011", "calibration_sequence": "2026-05-01_10-46-06_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 565, "task": "Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk.", "task_index": 58, "source_export_start_frame": 173, "source_export_end_frame": 738, "invisible_object_frames": 0} +{"episode_index": 64, "sequence_id": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "camera": "right_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "squeegee", "mesh": "mesh/squeegee/squeegee.glb", "object_prompt": "a black and orange squeegee.", "person_id": "003", "calibration_sequence": "2026-05-19_09-56-19_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 988, "task": "Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you.", "task_index": 59, "source_export_start_frame": 84, "source_export_end_frame": 1072, "invisible_object_frames": 0} +{"episode_index": 65, "sequence_id": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "camera": "left_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "rolling_luggage", "mesh": "mesh/rolling_luggage/rolling_luggage.glb", "object_prompt": "a black rolling suitcase with the handle extended.", "person_id": "022", "calibration_sequence": "2026-06-05_13-28-06_calibration_", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 467, "task": "Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete.", "task_index": 60, "source_export_start_frame": 353, "source_export_end_frame": 820, "invisible_object_frames": 0} +{"episode_index": 66, "sequence_id": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "camera": "left_stereo_camera_left", "video_key": "observation.images.exo_camera", "object": "contigo_coffee_mug", "mesh": "mesh/contigo_coffee_mug/contigo_coffee_mug.glb", "object_prompt": "A tall metal cylinder that is slightly narrower at the bottom than the top, with silver ends and a black rubber band around the middle for grip.", "person_id": "014", "calibration_sequence": "2026-04-27_09-37-33_calibration", "rig": "nova_hawk", "rig_name": "sc_office_4exo_1", "frames": 781, "task": "Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table.", "task_index": 61, "source_export_start_frame": 136, "source_export_end_frame": 917, "invisible_object_frames": 0} diff --git a/track_1/meta/episodes_stats.jsonl b/track_1/meta/episodes_stats.jsonl index 0e3096a196aca8c398534c772789dabab7e7e073..581d60c84a2895dbba9996d1c93b2974c3ed3230 100644 --- a/track_1/meta/episodes_stats.jsonl +++ b/track_1/meta/episodes_stats.jsonl @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ed9bff1cac70865d95f3d798d82f4aa1da37b032de2c149c03bbcfd539d0c0da -size 57505 +oid sha256:209745187c9d63b43ab7bf8610d528af46ce292cb7ed1c39372e6ce9f2c9759c +size 32836940 diff --git a/track_1/meta/info.json b/track_1/meta/info.json index 4593450430e50a5bf681be228fd2f69c64a055b7..c28e9372cedba42760db2c1c9db269aefa95caba 100644 --- a/track_1/meta/info.json +++ b/track_1/meta/info.json @@ -1,19 +1,23 @@ { "codebase_version": "v2.1", - "robot_type": "video_only_object_tracking", + "robot_type": "human_soma_x_mhr", + "rig": "nova_hawk (sc_office_4exo_1)", "fps": 30, - "total_episodes": 30, - "total_frames": 16563, - "total_tasks": 22, - "total_videos": 30, + "total_episodes": 67, + "total_frames": 48846, + "total_tasks": 62, + "total_videos": 67, "total_chunks": 1, "chunks_size": 1000, "splits": { - "train": "0:30" + "train": "0:67" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "mesh_path": "mesh/{object_name}/{object_name}.glb", "episodes_metadata": "meta/episodes_metadata.jsonl", + "camera_calibration": null, + "camera_calibration_note": "Not included; the source calibration sequence id is recorded per episode.", "cameras": [ "back_stereo_camera_left", "front_stereo_camera_left", @@ -45,6 +49,532 @@ }, "note": "one static third-person camera per episode; the actual camera (front/back/left/right_stereo_camera_left) is in meta/episodes_metadata.jsonl['camera']" }, + "observation.human.pose": { + "dtype": "float32", + "shape": [ + 231 + ], + "names": [ + "Hips.rx", + "Hips.ry", + "Hips.rz", + "Spine1.rx", + "Spine1.ry", + "Spine1.rz", + "Spine2.rx", + "Spine2.ry", + "Spine2.rz", + "Chest.rx", + "Chest.ry", + "Chest.rz", + "Neck1.rx", + "Neck1.ry", + "Neck1.rz", + "Neck2.rx", + "Neck2.ry", + "Neck2.rz", + "Head.rx", + "Head.ry", + "Head.rz", + "HeadEnd.rx", + "HeadEnd.ry", + "HeadEnd.rz", + "Jaw.rx", + "Jaw.ry", + "Jaw.rz", + "LeftEye.rx", + "LeftEye.ry", + "LeftEye.rz", + "RightEye.rx", + "RightEye.ry", + "RightEye.rz", + "LeftShoulder.rx", + "LeftShoulder.ry", + "LeftShoulder.rz", + "LeftArm.rx", + "LeftArm.ry", + "LeftArm.rz", + "LeftForeArm.rx", + "LeftForeArm.ry", + "LeftForeArm.rz", + "LeftHand.rx", + "LeftHand.ry", + "LeftHand.rz", + "LeftHandThumb1.rx", + "LeftHandThumb1.ry", + "LeftHandThumb1.rz", + "LeftHandThumb2.rx", + "LeftHandThumb2.ry", + "LeftHandThumb2.rz", + "LeftHandThumb3.rx", + "LeftHandThumb3.ry", + "LeftHandThumb3.rz", + "LeftHandThumbEnd.rx", + "LeftHandThumbEnd.ry", + "LeftHandThumbEnd.rz", + "LeftHandIndex1.rx", + "LeftHandIndex1.ry", + "LeftHandIndex1.rz", + "LeftHandIndex2.rx", + "LeftHandIndex2.ry", + "LeftHandIndex2.rz", + "LeftHandIndex3.rx", + "LeftHandIndex3.ry", + "LeftHandIndex3.rz", + "LeftHandIndex4.rx", + "LeftHandIndex4.ry", + "LeftHandIndex4.rz", + "LeftHandIndexEnd.rx", + "LeftHandIndexEnd.ry", + "LeftHandIndexEnd.rz", + "LeftHandMiddle1.rx", + "LeftHandMiddle1.ry", + "LeftHandMiddle1.rz", + "LeftHandMiddle2.rx", + "LeftHandMiddle2.ry", + "LeftHandMiddle2.rz", + "LeftHandMiddle3.rx", + "LeftHandMiddle3.ry", + "LeftHandMiddle3.rz", + "LeftHandMiddle4.rx", + "LeftHandMiddle4.ry", + "LeftHandMiddle4.rz", + "LeftHandMiddleEnd.rx", + "LeftHandMiddleEnd.ry", + "LeftHandMiddleEnd.rz", + "LeftHandRing1.rx", + "LeftHandRing1.ry", + "LeftHandRing1.rz", + "LeftHandRing2.rx", + "LeftHandRing2.ry", + "LeftHandRing2.rz", + "LeftHandRing3.rx", + "LeftHandRing3.ry", + "LeftHandRing3.rz", + "LeftHandRing4.rx", + "LeftHandRing4.ry", + "LeftHandRing4.rz", + "LeftHandRingEnd.rx", + "LeftHandRingEnd.ry", + "LeftHandRingEnd.rz", + "LeftHandPinky1.rx", + "LeftHandPinky1.ry", + "LeftHandPinky1.rz", + "LeftHandPinky2.rx", + "LeftHandPinky2.ry", + "LeftHandPinky2.rz", + "LeftHandPinky3.rx", + "LeftHandPinky3.ry", + "LeftHandPinky3.rz", + "LeftHandPinky4.rx", + "LeftHandPinky4.ry", + "LeftHandPinky4.rz", + "LeftHandPinkyEnd.rx", + "LeftHandPinkyEnd.ry", + "LeftHandPinkyEnd.rz", + "RightShoulder.rx", + "RightShoulder.ry", + "RightShoulder.rz", + "RightArm.rx", + "RightArm.ry", + "RightArm.rz", + "RightForeArm.rx", + "RightForeArm.ry", + "RightForeArm.rz", + "RightHand.rx", + "RightHand.ry", + "RightHand.rz", + "RightHandThumb1.rx", + "RightHandThumb1.ry", + "RightHandThumb1.rz", + "RightHandThumb2.rx", + "RightHandThumb2.ry", + "RightHandThumb2.rz", + "RightHandThumb3.rx", + "RightHandThumb3.ry", + "RightHandThumb3.rz", + "RightHandThumbEnd.rx", + "RightHandThumbEnd.ry", + "RightHandThumbEnd.rz", + "RightHandIndex1.rx", + "RightHandIndex1.ry", + "RightHandIndex1.rz", + "RightHandIndex2.rx", + "RightHandIndex2.ry", + "RightHandIndex2.rz", + "RightHandIndex3.rx", + "RightHandIndex3.ry", + "RightHandIndex3.rz", + "RightHandIndex4.rx", + "RightHandIndex4.ry", + "RightHandIndex4.rz", + "RightHandIndexEnd.rx", + "RightHandIndexEnd.ry", + "RightHandIndexEnd.rz", + "RightHandMiddle1.rx", + "RightHandMiddle1.ry", + "RightHandMiddle1.rz", + "RightHandMiddle2.rx", + "RightHandMiddle2.ry", + "RightHandMiddle2.rz", + "RightHandMiddle3.rx", + "RightHandMiddle3.ry", + "RightHandMiddle3.rz", + "RightHandMiddle4.rx", + "RightHandMiddle4.ry", + "RightHandMiddle4.rz", + "RightHandMiddleEnd.rx", + "RightHandMiddleEnd.ry", + "RightHandMiddleEnd.rz", + "RightHandRing1.rx", + "RightHandRing1.ry", + "RightHandRing1.rz", + "RightHandRing2.rx", + "RightHandRing2.ry", + "RightHandRing2.rz", + "RightHandRing3.rx", + "RightHandRing3.ry", + "RightHandRing3.rz", + "RightHandRing4.rx", + "RightHandRing4.ry", + "RightHandRing4.rz", + "RightHandRingEnd.rx", + "RightHandRingEnd.ry", + "RightHandRingEnd.rz", + "RightHandPinky1.rx", + "RightHandPinky1.ry", + "RightHandPinky1.rz", + "RightHandPinky2.rx", + "RightHandPinky2.ry", + "RightHandPinky2.rz", + "RightHandPinky3.rx", + "RightHandPinky3.ry", + "RightHandPinky3.rz", + "RightHandPinky4.rx", + "RightHandPinky4.ry", + "RightHandPinky4.rz", + "RightHandPinkyEnd.rx", + "RightHandPinkyEnd.ry", + "RightHandPinkyEnd.rz", + "LeftLeg.rx", + "LeftLeg.ry", + "LeftLeg.rz", + "LeftShin.rx", + "LeftShin.ry", + "LeftShin.rz", + "LeftFoot.rx", + "LeftFoot.ry", + "LeftFoot.rz", + "LeftToeBase.rx", + "LeftToeBase.ry", + "LeftToeBase.rz", + "LeftToeEnd.rx", + "LeftToeEnd.ry", + "LeftToeEnd.rz", + "RightLeg.rx", + "RightLeg.ry", + "RightLeg.rz", + "RightShin.rx", + "RightShin.ry", + "RightShin.rz", + "RightFoot.rx", + "RightFoot.ry", + "RightFoot.rz", + "RightToeBase.rx", + "RightToeBase.ry", + "RightToeBase.rz", + "RightToeEnd.rx", + "RightToeEnd.ry", + "RightToeEnd.rz" + ], + "description": "SOMA-X local joint rotations, axis-angle radians, 77 joints x 3" + }, + "observation.human.translation": { + "dtype": "float32", + "shape": [ + 3 + ], + "names": [ + "x", + "y", + "z" + ], + "description": "SOMA-X root translation, metres" + }, + "observation.human.identity_coeffs": { + "dtype": "float32", + "shape": [ + 45 + ], + "names": [ + "identity_000", + "identity_001", + "identity_002", + "identity_003", + "identity_004", + "identity_005", + "identity_006", + "identity_007", + "identity_008", + "identity_009", + "identity_010", + "identity_011", + "identity_012", + "identity_013", + "identity_014", + "identity_015", + "identity_016", + "identity_017", + "identity_018", + "identity_019", + "identity_020", + "identity_021", + "identity_022", + "identity_023", + "identity_024", + "identity_025", + "identity_026", + "identity_027", + "identity_028", + "identity_029", + "identity_030", + "identity_031", + "identity_032", + "identity_033", + "identity_034", + "identity_035", + "identity_036", + "identity_037", + "identity_038", + "identity_039", + "identity_040", + "identity_041", + "identity_042", + "identity_043", + "identity_044" + ], + "description": "SOMA-X identity coefficients (MHR identity model)" + }, + "observation.human.scale_params": { + "dtype": "float32", + "shape": [ + 68 + ], + "names": [ + "scale_000", + "scale_001", + "scale_002", + "scale_003", + "scale_004", + "scale_005", + "scale_006", + "scale_007", + "scale_008", + "scale_009", + "scale_010", + "scale_011", + "scale_012", + "scale_013", + "scale_014", + "scale_015", + "scale_016", + "scale_017", + "scale_018", + "scale_019", + "scale_020", + "scale_021", + "scale_022", + "scale_023", + "scale_024", + "scale_025", + "scale_026", + "scale_027", + "scale_028", + "scale_029", + "scale_030", + "scale_031", + "scale_032", + "scale_033", + "scale_034", + "scale_035", + "scale_036", + "scale_037", + "scale_038", + "scale_039", + "scale_040", + "scale_041", + "scale_042", + "scale_043", + "scale_044", + "scale_045", + "scale_046", + "scale_047", + "scale_048", + "scale_049", + "scale_050", + "scale_051", + "scale_052", + "scale_053", + "scale_054", + "scale_055", + "scale_056", + "scale_057", + "scale_058", + "scale_059", + "scale_060", + "scale_061", + "scale_062", + "scale_063", + "scale_064", + "scale_065", + "scale_066", + "scale_067" + ], + "description": "SOMA-X scale parameters" + }, + "observation.human.bone_length_flexibles": { + "dtype": "float32", + "shape": [ + 6 + ], + "names": [ + "bone_length_flexible_000", + "bone_length_flexible_001", + "bone_length_flexible_002", + "bone_length_flexible_003", + "bone_length_flexible_004", + "bone_length_flexible_005" + ], + "description": "SOMA-X flexible bone lengths" + }, + "observation.mhr.global_rot": { + "dtype": "float32", + "shape": [ + 3 + ], + "names": null, + "description": "root orientation, axis-angle rotation vector (radians)", + "source_key": "mhr_params_mv.pt['global_rot']", + "storage": "flattened row-major into a fixed_size_list of length 3" + }, + "observation.mhr.body_pose_params": { + "dtype": "float32", + "shape": [ + 133 + ], + "names": null, + "description": "MHR body pose parameters", + "source_key": "mhr_params_mv.pt['body_pose_params']", + "storage": "flattened row-major into a fixed_size_list of length 133" + }, + "observation.mhr.hand_pose_params": { + "dtype": "float32", + "shape": [ + 108 + ], + "names": null, + "description": "MHR hand pose parameters (both hands)", + "source_key": "mhr_params_mv.pt['hand_pose_params']", + "storage": "flattened row-major into a fixed_size_list of length 108" + }, + "observation.mhr.scale_params": { + "dtype": "float32", + "shape": [ + 28 + ], + "names": null, + "description": "MHR skeleton scale parameters", + "source_key": "mhr_params_mv.pt['scale_params']", + "storage": "flattened row-major into a fixed_size_list of length 28" + }, + "observation.mhr.shape_params": { + "dtype": "float32", + "shape": [ + 45 + ], + "names": null, + "description": "MHR identity/shape coefficients", + "source_key": "mhr_params_mv.pt['shape_params']", + "storage": "flattened row-major into a fixed_size_list of length 45" + }, + "observation.mhr.model_params": { + "dtype": "float32", + "shape": [ + 204 + ], + "names": null, + "description": "concatenated MHR model parameter vector as emitted by the reconstruction pipeline", + "source_key": "mhr_params_mv.pt['mhr_model_params']", + "storage": "flattened row-major into a fixed_size_list of length 204" + }, + "observation.mhr.cam_t": { + "dtype": "float32", + "shape": [ + 3 + ], + "names": null, + "description": "predicted root translation in the source world frame (metres)", + "source_key": "mhr_params_mv.pt['pred_cam_t']", + "storage": "flattened row-major into a fixed_size_list of length 3" + }, + "observation.mhr.keypoints_3d": { + "dtype": "float32", + "shape": [ + 70, + 3 + ], + "names": null, + "description": "70 predicted 3D keypoints, xyz metres, source world frame", + "source_key": "mhr_params_mv.pt['pred_keypoints_3d']", + "storage": "flattened row-major into a fixed_size_list of length 210" + }, + "observation.mhr.joint_coords": { + "dtype": "float32", + "shape": [ + 127, + 3 + ], + "names": null, + "description": "127 MHR joint positions, xyz metres, source world frame", + "source_key": "mhr_params_mv.pt['pred_joint_coords']", + "storage": "flattened row-major into a fixed_size_list of length 381" + }, + "observation.mhr.joint_global_rots": { + "dtype": "float32", + "shape": [ + 127, + 3, + 3 + ], + "names": null, + "description": "127 MHR joint global rotation matrices, row-major", + "source_key": "mhr_params_mv.pt['pred_global_rots']", + "storage": "flattened row-major into a fixed_size_list of length 1143" + }, + "observation.object.pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": [ + "x", + "y", + "z", + "qw", + "qx", + "qy", + "qz" + ], + "description": "world_T_object for the episode's object mesh, metres and w-first quaternion; zero when not visible" + }, + "observation.object.visible": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null, + "description": "False where the object pose is invalid (pose_valid_mask)" + }, "timestamp": { "dtype": "float32", "shape": [ @@ -87,5 +617,422 @@ ], "names": null } - } + }, + "objects": [ + { + "name": "baseball_bat", + "mesh": "mesh/baseball_bat/baseball_bat.glb", + "prompt": "baseball_bat." + }, + { + "name": "big_black_box", + "mesh": "mesh/big_black_box/big_black_box.glb", + "prompt": "a big black hard plastic box." + }, + { + "name": "big_red_bowl", + "mesh": "mesh/big_red_bowl/big_red_bowl.glb", + "prompt": "A red plastic bowl." + }, + { + "name": "black_platform", + "mesh": "mesh/black_platform/black_platform.glb", + "prompt": "black plastic platform." + }, + { + "name": "blue_easter_basket", + "mesh": "mesh/blue_easter_basket/blue_easter_basket.glb", + "prompt": "a blue metal easter basket." + }, + { + "name": "blue_trash_can", + "mesh": "mesh/blue_trash_can/blue_trash_can.glb", + "prompt": "a tall blue rectangular trash can." + }, + { + "name": "cane", + "mesh": "mesh/cane/cane.glb", + "prompt": "A black and orange four-legged cane with a curved top handle and a thick padded black grip." + }, + { + "name": "contigo_coffee_mug", + "mesh": "mesh/contigo_coffee_mug/contigo_coffee_mug.glb", + "prompt": "A tall metal cylinder that is slightly narrower at the bottom than the top, with silver ends and a black rubber band around the middle for grip." + }, + { + "name": "cyan_water_bottle", + "mesh": "mesh/cyan_water_bottle/cyan_water_bottle.glb", + "prompt": "big cyan colored water bottle." + }, + { + "name": "disinfectant_wipes", + "mesh": "mesh/disinfectant_wipes/disinfectant_wipes.glb", + "prompt": "A cyndrical jar with a green wrapper around it." + }, + { + "name": "hula_hoop", + "mesh": "mesh/hula_hoop/hula_hoop.glb", + "prompt": "a shiny skinny hula hoop." + }, + { + "name": "iron", + "mesh": "mesh/iron/iron.glb", + "prompt": "An metallic iron with blue accents." + }, + { + "name": "light_blue_book", + "mesh": "mesh/light_blue_book/light_blue_book.glb", + "prompt": "a light blue colored book." + }, + { + "name": "microwave", + "mesh": "mesh/microwave/microwave.glb", + "prompt": "A toy microwave with colorful buttons." + }, + { + "name": "monitor", + "mesh": "mesh/monitor/monitor.glb", + "prompt": "a black computer monitor with a stand." + }, + { + "name": "rice_cooker", + "mesh": "mesh/rice_cooker/rice_cooker.glb", + "prompt": "A white, cylindrical rice cooker." + }, + { + "name": "rolling_luggage", + "mesh": "mesh/rolling_luggage/rolling_luggage.glb", + "prompt": "a black rolling suitcase with the handle extended." + }, + { + "name": "round_table", + "mesh": "mesh/round_table/round_table.glb", + "prompt": "a round oak and white table with wheels." + }, + { + "name": "skateboard", + "mesh": "mesh/skateboard/skateboard.glb", + "prompt": "A black skateboard with colorful wheels." + }, + { + "name": "skinny_wood_chair", + "mesh": "mesh/skinny_wood_chair/skinny_wood_chair.glb", + "prompt": "a wooden chair with skinny legs." + }, + { + "name": "snack_box", + "mesh": "mesh/snack_box/snack_box.glb", + "prompt": "a white box with bags of chips images on it." + }, + { + "name": "soup_can", + "mesh": "mesh/soup_can/soup_can.glb", + "prompt": "a small soup can with a lid." + }, + { + "name": "spray_bottle", + "mesh": "mesh/spray_bottle/spray_bottle.glb", + "prompt": "a spray bottle with blue liquid inside." + }, + { + "name": "squeegee", + "mesh": "mesh/squeegee/squeegee.glb", + "prompt": "a black and orange squeegee." + }, + { + "name": "step_ladder", + "mesh": "mesh/step_ladder/step_ladder.glb", + "prompt": "a black and blue single step ladder." + }, + { + "name": "tall_bar_stool", + "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", + "prompt": "a tall brown bar stool." + }, + { + "name": "toy_stroller", + "mesh": "mesh/toy_stroller/toy_stroller.glb", + "prompt": "a small pink doll stroller." + }, + { + "name": "traffic_cone", + "mesh": "mesh/traffic_cone/traffic_cone.glb", + "prompt": "an orange traffic cone with a reflective strip." + }, + { + "name": "vacuum", + "mesh": "mesh/vacuum/vacuum.glb", + "prompt": "a slim red vacuum." + }, + { + "name": "watering_can", + "mesh": "mesh/watering_can/watering_can.glb", + "prompt": "A green toy watering can." + }, + { + "name": "wet_floor_sign", + "mesh": "mesh/wet_floor_sign/wet_floor_sign.glb", + "prompt": "a yellow wet floor sign with orange tape on it." + }, + { + "name": "white_desk", + "mesh": "mesh/white_desk/white_desk.glb", + "prompt": "a medium sized white desk." + }, + { + "name": "woven_basket", + "mesh": "mesh/woven_basket/woven_basket.glb", + "prompt": "a shallow woven basket." + } + ], + "tasks": [ + { + "task_index": 0, + "task": "Walk over to the hula hoop on the floor and step inside the hula hoop. Lift the hula hoop over your entire body and place back on the floor when done." + }, + { + "task_index": 1, + "task": "Walk over to the hula hoop on the floor and grasp it with your right hand keeping the hula hoop vertical. Pass your right foot through the hula hoop and then your head and torso while shifting the hula hoop from your right hand to the left hand. Finally step through the hula hoop using your left leg. Place the hula hoop on the floor." + }, + { + "task_index": 2, + "task": "Walk over to the hula hoop on the floor and pick up the hula hoop using both hands. Jump through the hula hoop as if it was a jump rope 3x." + }, + { + "task_index": 3, + "task": "Walk over to the big red bowl on the ground and pick up the bowl using your left hand and place on the round table." + }, + { + "task_index": 4, + "task": "Walk over to the big red bowl on the round table and flip the big red bowl onto the round table. Step away when complete." + }, + { + "task_index": 5, + "task": "Walk over to the big red bowl on the floor and pick up the red bowl using your right hand and then handover to your left hand and then place the big red bowl on the skinny wood chair. Step away when complete." + }, + { + "task_index": 6, + "task": "Walk over to the big red bowl on the round table and push the red bowl away you using both hands as you walk around the round table. Step away when complete." + }, + { + "task_index": 7, + "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground infront of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair." + }, + { + "task_index": 8, + "task": "Walk over to the big red bowl on the round table and pick up the bowl using your left hand and place on the ground." + }, + { + "task_index": 9, + "task": "Walk over to the iron on the skinny wood chair and using your left hand lift the iron and place the iron underneath the skinny wood chair." + }, + { + "task_index": 10, + "task": "Walk over to the iron on the white desk and pull the iron towards you. Step away when complete." + }, + { + "task_index": 11, + "task": "Walk over to the iron on the ground and kneel near the iron and pick up the iron using your right hand and proceed to iron the ground infront of you. Place the iron on the ground when complete and stand up." + }, + { + "task_index": 12, + "task": "Walk over to the iron on the white desk and rotate the iron on the table using right hand only. Step away when complete." + }, + { + "task_index": 13, + "task": "Walk over to the iron on the floor and pick up the iron using both hands and rotate the iron as you walk within the bounding area and place it on the ground, step away when complete." + }, + { + "task_index": 14, + "task": "Walk over to the iron on the white desk and touch the iron. Step away when complete." + }, + { + "task_index": 15, + "task": "Walk over to the iron on the round table and pick it up with your right hand stand it up vertically. Pick up the iron with your left hand and set it down horizontally on the round table." + }, + { + "task_index": 16, + "task": "Walk over to the iron on the floor and pick up the iron using both hands and roatate the iron as you walk within the bounding area. place on the ground Step away when complete." + }, + { + "task_index": 17, + "task": "Walk over to the iron on the round table and pick it up with your left hand and set it down on the floor." + }, + { + "task_index": 18, + "task": "Walk over to the iron on the white desk and push the iron away from you. Step away when complete." + }, + { + "task_index": 19, + "task": "Walk to the white desk and crawl under it to the other end of the desk." + }, + { + "task_index": 20, + "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground." + }, + { + "task_index": 21, + "task": "Walk around the desk while continuously wiping its surface with your hands." + }, + { + "task_index": 22, + "task": "Walk to the white desk, use your left foot to push the desk." + }, + { + "task_index": 23, + "task": "Walk the white desk and crawl under it to the other end of the desk." + }, + { + "task_index": 24, + "task": "Walk to the white desk lying on its side. Place both hands on the tabletop and lift the desk back to its upright position." + }, + { + "task_index": 25, + "task": "white desk right foot push." + }, + { + "task_index": 26, + "task": "Walk a lap around the desk. Stop beside the desk, crouch down, and move underneath it." + }, + { + "task_index": 27, + "task": "Walk to the white desk, use your right foot to push the desk." + }, + { + "task_index": 28, + "task": "Walk to the white desk that is lying on its side. Place both hands on it and use them to carefully flip the desk onto the other side." + }, + { + "task_index": 29, + "task": "Walk to the white desk, use both of your hands and pick up the desk slightly and move it to the side, and place it back to the ground." + }, + { + "task_index": 30, + "task": "Walk over to the soup can on the white desk and grasp the soup can with one hand and flip on the white desk." + }, + { + "task_index": 31, + "task": "Walk over to the disinfecting wipes on the round table using your right hand pick up the disinfecting wipes and walk within the bounding area and place on the ground." + }, + { + "task_index": 32, + "task": "Walk over to the microwave on the round table and shift the microwave slightly to the left." + }, + { + "task_index": 33, + "task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright." + }, + { + "task_index": 34, + "task": "Walk over to the vacuum leaning on the tall bar stool and pick up the vacuum using your left hand and hold the vacuum infront of you and perform side to side vacuum motions. Place it back leaning on the stool when complete." + }, + { + "task_index": 35, + "task": "Walk over to the blue basket on the round table and pick up the blue basket using your right hand and place the basket in a different area within the bounding area. Then pick up the basket and handover to the left hand and place the blue basket in a different area within the bounding area." + }, + { + "task_index": 36, + "task": "Walk over to the baseball bat and pick up the baseball bat. Slowly begin to rotate the baseball bat and yourself around the bounding area so that every camera gets a visual of the baseball baat." + }, + { + "task_index": 37, + "task": "Walk over to the G1 Box and rotate the box around the bounding area." + }, + { + "task_index": 38, + "task": "Walk over to the monitor on the round table. Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table." + }, + { + "task_index": 39, + "task": "Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished." + }, + { + "task_index": 40, + "task": "Walk over to the skinny wood chair and push the skinny wood chair into the round table." + }, + { + "task_index": 41, + "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair." + }, + { + "task_index": 42, + "task": "Pick up the book from the table and place it on the floor." + }, + { + "task_index": 43, + "task": "Walk over to the platform on the ground and turn the platform over. Place on the ground when done." + }, + { + "task_index": 44, + "task": "Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished." + }, + { + "task_index": 45, + "task": "\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position." + }, + { + "task_index": 46, + "task": "Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor." + }, + { + "task_index": 47, + "task": "Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground." + }, + { + "task_index": 48, + "task": "Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table." + }, + { + "task_index": 49, + "task": "Walk over to the blue trash can and slide the blue trash can side ways." + }, + { + "task_index": 50, + "task": "Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete." + }, + { + "task_index": 51, + "task": "Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table." + }, + { + "task_index": 52, + "task": "Walk over to the tall bar stool and pull the tall bar stool away from the desk." + }, + { + "task_index": 53, + "task": "Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence." + }, + { + "task_index": 54, + "task": "Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area." + }, + { + "task_index": 55, + "task": "Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand." + }, + { + "task_index": 56, + "task": "Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table." + }, + { + "task_index": 57, + "task": "Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area." + }, + { + "task_index": 58, + "task": "Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk." + }, + { + "task_index": 59, + "task": "Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you." + }, + { + "task_index": 60, + "task": "Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete." + }, + { + "task_index": 61, + "task": "Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table." + } + ] } diff --git a/track_1/meta/tasks.jsonl b/track_1/meta/tasks.jsonl index 35c097808e421a370140bfba4779af1fcc7cb3f6..b43aa4788840f2f0ff146ab23470f374ad7a00a6 100644 --- a/track_1/meta/tasks.jsonl +++ b/track_1/meta/tasks.jsonl @@ -1,22 +1,62 @@ {"task_index": 0, "task": "Walk over to the hula hoop on the floor and step inside the hula hoop. Lift the hula hoop over your entire body and place back on the floor when done."} {"task_index": 1, "task": "Walk over to the hula hoop on the floor and grasp it with your right hand keeping the hula hoop vertical. Pass your right foot through the hula hoop and then your head and torso while shifting the hula hoop from your right hand to the left hand. Finally step through the hula hoop using your left leg. Place the hula hoop on the floor."} {"task_index": 2, "task": "Walk over to the hula hoop on the floor and pick up the hula hoop using both hands. Jump through the hula hoop as if it was a jump rope 3x."} -{"task_index": 3, "task": "Walk over to the big red bowl on the round table and flip the big red bowl onto the round table. Step away when complete."} -{"task_index": 4, "task": "Walk over to the big red bowl on the round table and push the red bowl away you using both hands as you walk around the round table. Step away when complete."} +{"task_index": 3, "task": "Walk over to the big red bowl on the ground and pick up the bowl using your left hand and place on the round table."} +{"task_index": 4, "task": "Walk over to the big red bowl on the round table and flip the big red bowl onto the round table. Step away when complete."} {"task_index": 5, "task": "Walk over to the big red bowl on the floor and pick up the red bowl using your right hand and then handover to your left hand and then place the big red bowl on the skinny wood chair. Step away when complete."} -{"task_index": 6, "task": "Walk over to the iron on the round table and pick it up with your right hand stand it up vertically. Pick up the iron with your left hand and set it down horizontally on the round table."} -{"task_index": 7, "task": "Walk over to the iron on the floor and pick up the iron using both hands and rotate the iron as you walk within the bounding area and place it on the ground, step away when complete."} -{"task_index": 8, "task": "Walk over to the iron on the ground and kneel near the iron and pick up the iron using your right hand and proceed to iron the ground infront of you. Place the iron on the ground when complete and stand up."} -{"task_index": 9, "task": "Walk to the white desk that is lying on its side. Place both hands on it and use them to carefully flip the desk onto the other side."} -{"task_index": 10, "task": "Walk to the white desk, use your left foot to push the desk."} -{"task_index": 11, "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."} -{"task_index": 12, "task": "Pick up the pan from the table using one hand. Take a few steps away from the table. Using your other hand, touch the bottom of the pan with your palm, and make some circular motions to wipe it. Walk back to the table and put the pan down."} -{"task_index": 13, "task": "Pick up the block from the table with both hands. Hold it by two opposite corners. Slowly rotate it several rotations while maintaining contact. Put it back on the table."} -{"task_index": 14, "task": "Pick up the block from the table with both hands. Shift to holding it with one hand from the bottom. take a few steps back and face a different direction. Hold it with both hands again, and put it on the ground."} -{"task_index": 15, "task": "Pick up the roller on the table. Slowly roll the roller back and forth on the table surface a few times while moving around the table. Lay the roller back on the table and step back."} -{"task_index": 16, "task": "Walk over to the pink foam roll, and pick it up from the ground. Hold it from one end using one hand. Touch the other end of the roll on the ground a few times. Switch to the other hand and do the same. Put the roll back on the ground."} -{"task_index": 17, "task": "Pick up the foam roll on the table. Use your hands to slowly roll the roller back and forth on the table surface a few times while walking along with it. Lay the roller back on the table and step back."} -{"task_index": 18, "task": "Walk up to the wooden stool and sit on the stool. Rotate the direction you're facing while remaining seated. Stand up."} -{"task_index": 19, "task": "Pick up the wooden stool from the ground using both hands. Let go of one hand and take a few steps. hold the stool with both hands again and place it back on the ground."} -{"task_index": 20, "task": "Use both hands to pick up the white laptop cart, then lay it down sideways on the ground. Release it and stand up."} -{"task_index": 21, "task": "Step up to the white laptop cart, and use one hand to push it forward a few steps. Put both hands on the cart, and pull it side ways a few steps. Release the cart and step away."} +{"task_index": 6, "task": "Walk over to the big red bowl on the round table and push the red bowl away you using both hands as you walk around the round table. Step away when complete."} +{"task_index": 7, "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground infront of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."} +{"task_index": 8, "task": "Walk over to the big red bowl on the round table and pick up the bowl using your left hand and place on the ground."} +{"task_index": 9, "task": "Walk over to the iron on the skinny wood chair and using your left hand lift the iron and place the iron underneath the skinny wood chair."} +{"task_index": 10, "task": "Walk over to the iron on the white desk and pull the iron towards you. Step away when complete."} +{"task_index": 11, "task": "Walk over to the iron on the ground and kneel near the iron and pick up the iron using your right hand and proceed to iron the ground infront of you. Place the iron on the ground when complete and stand up."} +{"task_index": 12, "task": "Walk over to the iron on the white desk and rotate the iron on the table using right hand only. Step away when complete."} +{"task_index": 13, "task": "Walk over to the iron on the floor and pick up the iron using both hands and rotate the iron as you walk within the bounding area and place it on the ground, step away when complete."} +{"task_index": 14, "task": "Walk over to the iron on the white desk and touch the iron. Step away when complete."} +{"task_index": 15, "task": "Walk over to the iron on the round table and pick it up with your right hand stand it up vertically. Pick up the iron with your left hand and set it down horizontally on the round table."} +{"task_index": 16, "task": "Walk over to the iron on the floor and pick up the iron using both hands and roatate the iron as you walk within the bounding area. place on the ground Step away when complete."} +{"task_index": 17, "task": "Walk over to the iron on the round table and pick it up with your left hand and set it down on the floor."} +{"task_index": 18, "task": "Walk over to the iron on the white desk and push the iron away from you. Step away when complete."} +{"task_index": 19, "task": "Walk to the white desk and crawl under it to the other end of the desk."} +{"task_index": 20, "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."} +{"task_index": 21, "task": "Walk around the desk while continuously wiping its surface with your hands."} +{"task_index": 22, "task": "Walk to the white desk, use your left foot to push the desk."} +{"task_index": 23, "task": "Walk the white desk and crawl under it to the other end of the desk."} +{"task_index": 24, "task": "Walk to the white desk lying on its side. Place both hands on the tabletop and lift the desk back to its upright position."} +{"task_index": 25, "task": "white desk right foot push."} +{"task_index": 26, "task": "Walk a lap around the desk. Stop beside the desk, crouch down, and move underneath it."} +{"task_index": 27, "task": "Walk to the white desk, use your right foot to push the desk."} +{"task_index": 28, "task": "Walk to the white desk that is lying on its side. Place both hands on it and use them to carefully flip the desk onto the other side."} +{"task_index": 29, "task": "Walk to the white desk, use both of your hands and pick up the desk slightly and move it to the side, and place it back to the ground."} +{"task_index": 30, "task": "Walk over to the soup can on the white desk and grasp the soup can with one hand and flip on the white desk."} +{"task_index": 31, "task": "Walk over to the disinfecting wipes on the round table using your right hand pick up the disinfecting wipes and walk within the bounding area and place on the ground."} +{"task_index": 32, "task": "Walk over to the microwave on the round table and shift the microwave slightly to the left."} +{"task_index": 33, "task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright."} +{"task_index": 34, "task": "Walk over to the vacuum leaning on the tall bar stool and pick up the vacuum using your left hand and hold the vacuum infront of you and perform side to side vacuum motions. Place it back leaning on the stool when complete."} +{"task_index": 35, "task": "Walk over to the blue basket on the round table and pick up the blue basket using your right hand and place the basket in a different area within the bounding area. Then pick up the basket and handover to the left hand and place the blue basket in a different area within the bounding area."} +{"task_index": 36, "task": "Walk over to the baseball bat and pick up the baseball bat. Slowly begin to rotate the baseball bat and yourself around the bounding area so that every camera gets a visual of the baseball baat."} +{"task_index": 37, "task": "Walk over to the G1 Box and rotate the box around the bounding area."} +{"task_index": 38, "task": "Walk over to the monitor on the round table. Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table."} +{"task_index": 39, "task": "Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished."} +{"task_index": 40, "task": "Walk over to the skinny wood chair and push the skinny wood chair into the round table."} +{"task_index": 41, "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."} +{"task_index": 42, "task": "Pick up the book from the table and place it on the floor."} +{"task_index": 43, "task": "Walk over to the platform on the ground and turn the platform over. Place on the ground when done."} +{"task_index": 44, "task": "Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished."} +{"task_index": 45, "task": "\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position."} +{"task_index": 46, "task": "Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor."} +{"task_index": 47, "task": "Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground."} +{"task_index": 48, "task": "Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table."} +{"task_index": 49, "task": "Walk over to the blue trash can and slide the blue trash can side ways."} +{"task_index": 50, "task": "Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete."} +{"task_index": 51, "task": "Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table."} +{"task_index": 52, "task": "Walk over to the tall bar stool and pull the tall bar stool away from the desk."} +{"task_index": 53, "task": "Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence."} +{"task_index": 54, "task": "Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area."} +{"task_index": 55, "task": "Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand."} +{"task_index": 56, "task": "Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table."} +{"task_index": 57, "task": "Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area."} +{"task_index": 58, "task": "Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk."} +{"task_index": 59, "task": "Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you."} +{"task_index": 60, "task": "Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete."} +{"task_index": 61, "task": "Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table."} diff --git a/track_1/videos/chunk-000/observation.images.exo_camera/episode_000003.mp4 b/track_1/videos/chunk-000/observation.images.exo_camera/episode_000003.mp4 index 91d70b6b729f13e11b22b7b9cec31591f4e8c4f5..482c913bf4e400fab45ee15ae5d4209d109395fb 100644 --- a/track_1/videos/chunk-000/observation.images.exo_camera/episode_000003.mp4 +++ b/track_1/videos/chunk-000/observation.images.exo_camera/episode_000003.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8eb7153abeeb32895741d80dc79305143967b701094af2eea9321260577a6b39 -size 16656000 +oid sha256:1236b6cd8e979cce4dbf884be96fd9aada2c84519679930e40aee8908a0cec04 +size 22643602 diff --git a/track_1/videos/chunk-000/observation.images.exo_camera/episode_000004.mp4 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track_1/videos/chunk-000/observation.images.exo_camera/episode_000063.mp4 diff --git a/track_1/videos/chunk-000/observation.images.exo_camera/episode_000064.mp4 b/track_1/videos/chunk-000/observation.images.exo_camera/episode_000064.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..086372a752065b56ac86f52be6c1b8387f7e3c7a --- /dev/null +++ b/track_1/videos/chunk-000/observation.images.exo_camera/episode_000064.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53812fb139d1e62e590c6f671cca09219994d5c472b3ee8169831bf2ed478eae +size 29522254 diff --git a/track_1/videos/chunk-000/observation.images.exo_camera/episode_000065.mp4 b/track_1/videos/chunk-000/observation.images.exo_camera/episode_000065.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0bb397deb9d1464c3b57aaff6da3ece9bbe3535a --- /dev/null +++ b/track_1/videos/chunk-000/observation.images.exo_camera/episode_000065.mp4 @@ -0,0 +1,3 @@ +version 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Both tiers use the same episode order, 22,990-frame timeline, tasks, exocentric RGB observation, fitted ground planes, and G1 support surfaces. +Track 2 contains the same 30 human-object interaction episodes in three parallel trajectory variants. All variants use the same episode order, 22,990-frame timeline, tasks, and four synchronized RGB views. -| Tier | Directory | Human trajectory | Object trajectory and mesh | +| Variant | Directory | Human trajectory | Object trajectory and mesh | |---|---|---|---| -| Tier 1: multiview caption | [`tier_1_multiview_caption/`](tier_1_multiview_caption/) | Original SOMA-X reconstruction | Original pose and aligned mesh | -| Tier 2: synthetic noise | [`tier_2_synthetic_noise/`](tier_2_synthetic_noise/) | Synthetically perturbed human trajectory | Synthetically perturbed object trajectory; original mesh | +| Baseline | [`baseline/`](baseline/) | Original four-view SOMA-X reconstruction | Original four-view pose and aligned mesh | +| Synthetic random walk | [`synthetic_random_walk/`](synthetic_random_walk/) | Baseline with deterministic root SE(3) random walk | Baseline with an independent deterministic object SE(3) random walk; original mesh | +| CARI4D reconstruction | [`cari4d_reconstruction/`](cari4d_reconstruction/) | Monocular CARI4D reconstruction converted to SOMA-X and rigidly aligned from the first-frame human mesh | The coordinate-equivalent alignment in the source OpenCV world, with poses expressed in the baseline canonical object mesh frame | -Each directory is a complete LeRobot v2.1 dataset with its own `README.md`, `meta/`, `data/`, `videos/`, and `mesh/`. Select one tier directory as the dataset root. Do not concatenate tiers: episode and global frame indices intentionally overlap so results can be compared frame by frame. +Each directory is a complete LeRobot v2.1 dataset with its own `README.md`, `meta/`, `data/`, `videos/`, and `mesh/`. Select one variant directory as the dataset root. Do not concatenate variants: episode and global frame indices intentionally overlap so results can be compared frame by frame. -The `observation.images.exo_camera` video stream is byte-identical across tiers and is the monocular input participants should use for reconstruction. “Multiview caption” is the challenge tier name; this staged participant release exposes only the selected exocentric stream. Reconstruction results are not published; participants generate them with their own method before retargeting and grounding. +The four video streams are byte-identical across variants. The synthetic variant uses deterministic seed-42 cumulative bounds of 16 mm / 8 degrees for the human root and 30 mm / 30 degrees for the object. These produce 3.815 cm CD-h and 6.045 cm CD-o, calibrated to half of CARI4D's BEHAVE paper errors. The CARI4D variant is reconstructed from the front-left video and masks; the other three streams are retained as synchronized observations. Its first-frame alignment removes global coordinate offsets with one human-derived transform per episode. Because SOMA-X human data and object poses use MHR-native and OpenCV world coordinates respectively, the object transform includes their fixed Y/Z basis conversion. It does not independently fit the object trajectory. CARI4D-style CD-h and CD-o distributions are included in both variant provenance files. diff --git a/track_2/tier_1_multiview_caption/.gitignore b/track_2/baseline/.gitignore similarity index 100% rename from track_2/tier_1_multiview_caption/.gitignore rename to track_2/baseline/.gitignore diff --git a/track_2/tier_2_synthetic_noise/README.md b/track_2/baseline/README.md similarity index 72% rename from track_2/tier_2_synthetic_noise/README.md rename to track_2/baseline/README.md index 10ab585fc81164bc86719901a54602fa9f6de101..9c5f7e1ab7c659480e1e8bdf4b0a9f1e1f3389fa 100644 --- a/track_2/tier_2_synthetic_noise/README.md +++ b/track_2/baseline/README.md @@ -1,8 +1,10 @@ -# Track 2 — Tier 2: synthetic noise +# Track 2 — baseline -This tier provides synthetically perturbed human and object trajectories while -preserving identity parameters, visibility, episode timing, videos, and meshes. -Object poses remain **`world_T_object` in the source OpenCV world frame**. +The original Track 2 human-object interaction sequences reconstructed with SOMA-X from four +frame-synchronized RGB views. Every episode includes a full-body pose and one tracked +object with a textured 3D mesh. Object poses are expressed as **`world_T_object` in the +source OpenCV world frame**, so placing the mesh at a logged pose recovers its +reconstructed location. | | | |---|---| @@ -10,23 +12,23 @@ Object poses remain **`world_T_object` in the source OpenCV world frame**. | Frames | 22,990 (440–1,003 per episode, mean 766) | | Rate | 30 fps nominal | | Tasks | 30 | -| Cameras | 1 exocentric stream, 30 clips | +| Cameras | 4 streams, 120 clips | | Objects | 29, each with a textured mesh | ## Layout ``` -track_2/tier_2_synthetic_noise/ +track_2/baseline/ ├── data/chunk-000/episode_0000NN.parquet human + object pose, one row per frame -├── videos/chunk-000/observation.images.exo_camera/episode_0000NN.mp4 +├── videos/chunk-000/observation.images./episode_0000NN.mp4 ├── mesh//.glb textured mesh -├── support_surface/_support.usda static G1 support geometry └── meta/ ├── info.json schema, counts, tasks, objects ├── episodes_metadata.jsonl episode → sequence, task, object, mesh ├── episodes.jsonl episode lengths and tasks ├── episodes_stats.jsonl per-episode feature statistics └── tasks.jsonl task descriptions + ``` ## Pose data @@ -68,11 +70,14 @@ An object's name **is** its mesh folder: `white_desk` → | Stream | Resolution | Kind | |---|---|---| -| `exo_camera` | 1536×1152 | colour, static third-person | +| `back_stereo_camera_left` | 1536×1152 | colour, static third-person | +| `front_stereo_camera_left` | 1536×1152 | colour, static third-person | +| `left_stereo_camera_left` | 1536×1152 | colour, static third-person | +| `right_stereo_camera_left` | 1536×1152 | colour, static third-person | -Video is **frame-exact with the parquets** — row *i* corresponds to frame *i* in the -clip, verified across all 30 episodes. Each file is a byte-identical copy of its selected -source H.264 clip; no concatenation or re-encoding was performed. +Video is **frame-exact with the parquets** — row *i* corresponds to frame *i* in every +clip, verified across all 120. Files are byte-identical copies of the +source H.264 videos; no concatenation or re-encoding was performed. The supplied export has **no camera intrinsics or extrinsics**, so meshes cannot be projected into the images from this dataset alone. The source calibration sequence @@ -87,11 +92,3 @@ as `observation.object.pose`. SOMA-to-G1 retargeting transforms this fitted plane through its first-frame anchor. Do not replace it with a horizontal world-plane estimate when reproducing a retargeted training reference. -## Support surface - -Every episode declares `support_surface/_support.usda` in -`meta/episodes_metadata.jsonl`. These static collision stages use metres and Z-up in -the released G1 retargeted world. Place the declared file at -`/whole_body/reconstructed_stage/_support.usda` alongside -the G1 retargeted motion dataset before grounding or training. Ground-only episodes -have a valid empty stage at the same path. diff --git a/track_2/tier_1_multiview_caption/data/chunk-000/episode_000000.parquet b/track_2/baseline/data/chunk-000/episode_000000.parquet similarity index 100% rename from track_2/tier_1_multiview_caption/data/chunk-000/episode_000000.parquet rename to track_2/baseline/data/chunk-000/episode_000000.parquet diff --git a/track_2/tier_1_multiview_caption/data/chunk-000/episode_000001.parquet b/track_2/baseline/data/chunk-000/episode_000001.parquet similarity index 100% rename from track_2/tier_1_multiview_caption/data/chunk-000/episode_000001.parquet rename to track_2/baseline/data/chunk-000/episode_000001.parquet diff --git a/track_2/tier_1_multiview_caption/data/chunk-000/episode_000002.parquet b/track_2/baseline/data/chunk-000/episode_000002.parquet similarity index 100% rename from track_2/tier_1_multiview_caption/data/chunk-000/episode_000002.parquet rename to track_2/baseline/data/chunk-000/episode_000002.parquet diff --git a/track_2/tier_1_multiview_caption/data/chunk-000/episode_000003.parquet b/track_2/baseline/data/chunk-000/episode_000003.parquet similarity index 100% rename from track_2/tier_1_multiview_caption/data/chunk-000/episode_000003.parquet rename to track_2/baseline/data/chunk-000/episode_000003.parquet diff --git a/track_2/tier_1_multiview_caption/data/chunk-000/episode_000004.parquet b/track_2/baseline/data/chunk-000/episode_000004.parquet similarity index 100% rename from track_2/tier_1_multiview_caption/data/chunk-000/episode_000004.parquet rename to track_2/baseline/data/chunk-000/episode_000004.parquet diff --git a/track_2/tier_1_multiview_caption/data/chunk-000/episode_000005.parquet b/track_2/baseline/data/chunk-000/episode_000005.parquet similarity index 100% rename from track_2/tier_1_multiview_caption/data/chunk-000/episode_000005.parquet rename to track_2/baseline/data/chunk-000/episode_000005.parquet diff --git 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a/track_2/tier_1_multiview_caption/ground_plane/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02.json b/track_2/baseline/ground_plane/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02.json rename to track_2/baseline/ground_plane/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-03-18_19-36-56_g1_box_rotate_01.json b/track_2/baseline/ground_plane/2026-03-18_19-36-56_g1_box_rotate_01.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-03-18_19-36-56_g1_box_rotate_01.json rename to track_2/baseline/ground_plane/2026-03-18_19-36-56_g1_box_rotate_01.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-03-20_11-59-57_cyan_water_bottle_rotate_01.json b/track_2/baseline/ground_plane/2026-03-20_11-59-57_cyan_water_bottle_rotate_01.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-03-20_11-59-57_cyan_water_bottle_rotate_01.json rename to track_2/baseline/ground_plane/2026-03-20_11-59-57_cyan_water_bottle_rotate_01.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-04-24_11-40-52_baseball_bat_rotate_05.json b/track_2/baseline/ground_plane/2026-04-24_11-40-52_baseball_bat_rotate_05.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-04-24_11-40-52_baseball_bat_rotate_05.json rename to track_2/baseline/ground_plane/2026-04-24_11-40-52_baseball_bat_rotate_05.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-04-24_13-56-58_light_blue_book_pick_place_09.json b/track_2/baseline/ground_plane/2026-04-24_13-56-58_light_blue_book_pick_place_09.json similarity index 100% rename from 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a/track_2/tier_1_multiview_caption/ground_plane/2026-05-01_11-36-40_white_desk_lower_to_ground_10.json b/track_2/baseline/ground_plane/2026-05-01_11-36-40_white_desk_lower_to_ground_10.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-05-01_11-36-40_white_desk_lower_to_ground_10.json rename to track_2/baseline/ground_plane/2026-05-01_11-36-40_white_desk_lower_to_ground_10.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-05-01_17-04-55_traffic_cone_ground_table_02.json b/track_2/baseline/ground_plane/2026-05-01_17-04-55_traffic_cone_ground_table_02.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-05-01_17-04-55_traffic_cone_ground_table_02.json rename to track_2/baseline/ground_plane/2026-05-01_17-04-55_traffic_cone_ground_table_02.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08.json 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a/track_2/tier_1_multiview_caption/ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json b/track_2/baseline/ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json rename to track_2/baseline/ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-05-28_14-44-09_round_table_flip_08.json b/track_2/baseline/ground_plane/2026-05-28_14-44-09_round_table_flip_08.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-05-28_14-44-09_round_table_flip_08.json rename to track_2/baseline/ground_plane/2026-05-28_14-44-09_round_table_flip_08.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-05-29_15-20-43_iron_round_table_02.json b/track_2/baseline/ground_plane/2026-05-29_15-20-43_iron_round_table_02.json similarity index 100% rename from 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a/track_2/tier_1_multiview_caption/ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json b/track_2/baseline/ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json rename to track_2/baseline/ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json b/track_2/baseline/ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json rename to track_2/baseline/ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json b/track_2/baseline/ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json rename to track_2/baseline/ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03.json b/track_2/baseline/ground_plane/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03.json rename to track_2/baseline/ground_plane/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-06-05_15-08-08_skinny_wood_chair_push_10.json b/track_2/baseline/ground_plane/2026-06-05_15-08-08_skinny_wood_chair_push_10.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-06-05_15-08-08_skinny_wood_chair_push_10.json rename to track_2/baseline/ground_plane/2026-06-05_15-08-08_skinny_wood_chair_push_10.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json b/track_2/baseline/ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json rename to track_2/baseline/ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json b/track_2/baseline/ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json rename to track_2/baseline/ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-06-08_16-57-34_rice_cooker_clockwise_04.json b/track_2/baseline/ground_plane/2026-06-08_16-57-34_rice_cooker_clockwise_04.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-06-08_16-57-34_rice_cooker_clockwise_04.json rename to track_2/baseline/ground_plane/2026-06-08_16-57-34_rice_cooker_clockwise_04.json diff --git a/track_2/tier_1_multiview_caption/ground_plane/2026-06-09_10-19-09_snack_box_desk_through_06.json b/track_2/baseline/ground_plane/2026-06-09_10-19-09_snack_box_desk_through_06.json similarity index 100% rename from track_2/tier_1_multiview_caption/ground_plane/2026-06-09_10-19-09_snack_box_desk_through_06.json rename to track_2/baseline/ground_plane/2026-06-09_10-19-09_snack_box_desk_through_06.json diff --git a/track_2/tier_2_synthetic_noise/mesh/baseball_bat/baseball_bat.glb b/track_2/baseline/mesh/baseball_bat/baseball_bat.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/baseball_bat/baseball_bat.glb rename to track_2/baseline/mesh/baseball_bat/baseball_bat.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/big_black_box/big_black_box.glb b/track_2/baseline/mesh/big_black_box/big_black_box.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/big_black_box/big_black_box.glb rename to track_2/baseline/mesh/big_black_box/big_black_box.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/big_red_bowl/big_red_bowl.glb b/track_2/baseline/mesh/big_red_bowl/big_red_bowl.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/big_red_bowl/big_red_bowl.glb rename to track_2/baseline/mesh/big_red_bowl/big_red_bowl.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/black_platform/black_platform.glb b/track_2/baseline/mesh/black_platform/black_platform.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/black_platform/black_platform.glb rename to track_2/baseline/mesh/black_platform/black_platform.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/blue_easter_basket/blue_easter_basket.glb b/track_2/baseline/mesh/blue_easter_basket/blue_easter_basket.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/blue_easter_basket/blue_easter_basket.glb rename to track_2/baseline/mesh/blue_easter_basket/blue_easter_basket.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/blue_trash_can/blue_trash_can.glb b/track_2/baseline/mesh/blue_trash_can/blue_trash_can.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/blue_trash_can/blue_trash_can.glb rename to track_2/baseline/mesh/blue_trash_can/blue_trash_can.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/cane/cane.glb b/track_2/baseline/mesh/cane/cane.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/cane/cane.glb rename to track_2/baseline/mesh/cane/cane.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/contigo_coffee_mug/contigo_coffee_mug.glb b/track_2/baseline/mesh/contigo_coffee_mug/contigo_coffee_mug.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/contigo_coffee_mug/contigo_coffee_mug.glb rename to track_2/baseline/mesh/contigo_coffee_mug/contigo_coffee_mug.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/cyan_water_bottle/cyan_water_bottle.glb b/track_2/baseline/mesh/cyan_water_bottle/cyan_water_bottle.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/cyan_water_bottle/cyan_water_bottle.glb rename to track_2/baseline/mesh/cyan_water_bottle/cyan_water_bottle.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/iron/iron.glb b/track_2/baseline/mesh/iron/iron.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/iron/iron.glb rename to track_2/baseline/mesh/iron/iron.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/light_blue_book/light_blue_book.glb b/track_2/baseline/mesh/light_blue_book/light_blue_book.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/light_blue_book/light_blue_book.glb rename to track_2/baseline/mesh/light_blue_book/light_blue_book.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/monitor/monitor.glb b/track_2/baseline/mesh/monitor/monitor.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/monitor/monitor.glb rename to track_2/baseline/mesh/monitor/monitor.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/rice_cooker/rice_cooker.glb b/track_2/baseline/mesh/rice_cooker/rice_cooker.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/rice_cooker/rice_cooker.glb rename to track_2/baseline/mesh/rice_cooker/rice_cooker.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/rolling_luggage/rolling_luggage.glb b/track_2/baseline/mesh/rolling_luggage/rolling_luggage.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/rolling_luggage/rolling_luggage.glb rename to track_2/baseline/mesh/rolling_luggage/rolling_luggage.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/round_table/round_table.glb b/track_2/baseline/mesh/round_table/round_table.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/round_table/round_table.glb rename to track_2/baseline/mesh/round_table/round_table.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/skateboard/skateboard.glb b/track_2/baseline/mesh/skateboard/skateboard.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/skateboard/skateboard.glb rename to track_2/baseline/mesh/skateboard/skateboard.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/skinny_wood_chair/skinny_wood_chair.glb b/track_2/baseline/mesh/skinny_wood_chair/skinny_wood_chair.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/skinny_wood_chair/skinny_wood_chair.glb rename to track_2/baseline/mesh/skinny_wood_chair/skinny_wood_chair.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/snack_box/snack_box.glb b/track_2/baseline/mesh/snack_box/snack_box.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/snack_box/snack_box.glb rename to track_2/baseline/mesh/snack_box/snack_box.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/spray_bottle/spray_bottle.glb b/track_2/baseline/mesh/spray_bottle/spray_bottle.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/spray_bottle/spray_bottle.glb rename to track_2/baseline/mesh/spray_bottle/spray_bottle.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/squeegee/squeegee.glb b/track_2/baseline/mesh/squeegee/squeegee.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/squeegee/squeegee.glb rename to track_2/baseline/mesh/squeegee/squeegee.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/step_ladder/step_ladder.glb b/track_2/baseline/mesh/step_ladder/step_ladder.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/step_ladder/step_ladder.glb rename to track_2/baseline/mesh/step_ladder/step_ladder.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/tall_bar_stool/tall_bar_stool.glb b/track_2/baseline/mesh/tall_bar_stool/tall_bar_stool.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/tall_bar_stool/tall_bar_stool.glb rename to track_2/baseline/mesh/tall_bar_stool/tall_bar_stool.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/toy_stroller/toy_stroller.glb b/track_2/baseline/mesh/toy_stroller/toy_stroller.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/toy_stroller/toy_stroller.glb rename to track_2/baseline/mesh/toy_stroller/toy_stroller.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/traffic_cone/traffic_cone.glb b/track_2/baseline/mesh/traffic_cone/traffic_cone.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/traffic_cone/traffic_cone.glb rename to track_2/baseline/mesh/traffic_cone/traffic_cone.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/vacuum/vacuum.glb b/track_2/baseline/mesh/vacuum/vacuum.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/vacuum/vacuum.glb rename to track_2/baseline/mesh/vacuum/vacuum.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/watering_can/watering_can.glb b/track_2/baseline/mesh/watering_can/watering_can.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/watering_can/watering_can.glb rename to track_2/baseline/mesh/watering_can/watering_can.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/wet_floor_sign/wet_floor_sign.glb b/track_2/baseline/mesh/wet_floor_sign/wet_floor_sign.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/wet_floor_sign/wet_floor_sign.glb rename to track_2/baseline/mesh/wet_floor_sign/wet_floor_sign.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/white_desk/white_desk.glb b/track_2/baseline/mesh/white_desk/white_desk.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/white_desk/white_desk.glb rename to track_2/baseline/mesh/white_desk/white_desk.glb diff --git a/track_2/tier_2_synthetic_noise/mesh/woven_basket/woven_basket.glb b/track_2/baseline/mesh/woven_basket/woven_basket.glb similarity index 100% rename from track_2/tier_2_synthetic_noise/mesh/woven_basket/woven_basket.glb rename to track_2/baseline/mesh/woven_basket/woven_basket.glb diff --git a/track_2/tier_1_multiview_caption/meta/episodes.jsonl b/track_2/baseline/meta/episodes.jsonl similarity index 100% rename from track_2/tier_1_multiview_caption/meta/episodes.jsonl rename to track_2/baseline/meta/episodes.jsonl diff --git a/track_2/baseline/meta/episodes_metadata.jsonl b/track_2/baseline/meta/episodes_metadata.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbf8aa024dc1d56896fe742dbe6217f018fb8c6a --- /dev/null +++ b/track_2/baseline/meta/episodes_metadata.jsonl @@ -0,0 +1,30 @@ +{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 0, "frames": 778, "ground_plane": "ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-06-04_14-16-23_tall_bar_stool_tip_up_04", "object": "tall_bar_stool", "sequence_id": "2026-06-04_14-16-23_tall_bar_stool_tip_up_04", "task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright."} +{"calibration_sequence": "2026-05-18_15-34-58_calibration", "episode_index": 1, "frames": 747, "ground_plane": "ground_plane/2026-05-18_17-06-21_vacuum_left_lean_02.json", "mesh": "mesh/vacuum/vacuum.glb", "notes": "2026-05-18_17-06-21_vacuum_left_lean_02", "object": "vacuum", "sequence_id": "2026-05-18_17-06-21_vacuum_left_lean_02", "task": "Walk over to the vacuum leaning on the tall bar stool and pick up the vacuum using your left hand and hold the vacuum infront of you and perform side to side vacuum motions. Place it back leaning on the stool when complete."} +{"calibration_sequence": "2026-06-02_09-23-23_calibration", "episode_index": 2, "frames": 980, "ground_plane": "ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json", "mesh": "mesh/blue_easter_basket/blue_easter_basket.glb", "notes": "2026-06-02_10-04-42_blue_easter_basket_place_10", "object": "blue_easter_basket", "sequence_id": "2026-06-02_10-04-42_blue_easter_basket_place_10", "task": "Walk over to the blue basket on the round table and pick up the blue basket using your right hand and place the basket in a different area within the bounding area. Then pick up the basket and handover to the left hand and place the blue basket in a different area within the bounding area."} +{"calibration_sequence": "2026-04-27_09-37-33_calibration", "episode_index": 3, "frames": 781, "ground_plane": "ground_plane/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05.json", "mesh": "mesh/contigo_coffee_mug/contigo_coffee_mug.glb", "notes": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "object": "contigo_coffee_mug", "sequence_id": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "task": "Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table."} +{"calibration_sequence": "2026-04-24_09-28-11_calibration", "episode_index": 4, "frames": 803, "ground_plane": "ground_plane/2026-04-24_11-40-52_baseball_bat_rotate_05.json", "mesh": "mesh/baseball_bat/baseball_bat.glb", "notes": "2026-04-24_11-40-52_baseball_bat_rotate_05", "object": "baseball_bat", "sequence_id": "2026-04-24_11-40-52_baseball_bat_rotate_05", "task": "Walk over to the baseball bat and pick up the baseball bat. Slowly begin to rotate the baseball bat and yourself around the bounding area so that every camera gets a visual of the baseball baat."} +{"calibration_sequence": "2026-03-18_17-41-31_calibration", "episode_index": 5, "frames": 1003, "ground_plane": "ground_plane/2026-03-18_19-36-56_g1_box_rotate_01.json", "mesh": "mesh/big_black_box/big_black_box.glb", "notes": "2026-03-18_19-36-56_g1_box_rotate_01", "object": "big_black_box", "sequence_id": "2026-03-18_19-36-56_g1_box_rotate_01", "task": "Walk over to the G1 Box and rotate the box around the bounding area."} +{"calibration_sequence": "2026-06-01_09-36-34_calibration", "episode_index": 6, "frames": 546, "ground_plane": "ground_plane/2026-06-01_11-26-44_monitor_rotate_05.json", "mesh": "mesh/monitor/monitor.glb", "notes": "2026-06-01_11-26-44_monitor_rotate_05", "object": "monitor", "sequence_id": "2026-06-01_11-26-44_monitor_rotate_05", "task": "Walk over to the monitor on the round table. Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table."} +{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 7, "frames": 896, "ground_plane": "ground_plane/2026-05-29_15-20-43_iron_round_table_02.json", "mesh": "mesh/iron/iron.glb", "notes": "2026-05-29_15-20-43_iron_round_table_02", "object": "iron", "sequence_id": "2026-05-29_15-20-43_iron_round_table_02", "task": "Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished."} +{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 8, "frames": 708, "ground_plane": "ground_plane/2026-06-05_15-08-08_skinny_wood_chair_push_10.json", "mesh": "mesh/skinny_wood_chair/skinny_wood_chair.glb", "notes": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "object": "skinny_wood_chair", "sequence_id": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "task": "Walk over to the skinny wood chair and push the skinny wood chair into the round table."} +{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 9, "frames": 870, "ground_plane": "ground_plane/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03.json", "mesh": "mesh/big_red_bowl/big_red_bowl.glb", "notes": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "object": "big_red_bowl", "sequence_id": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."} +{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 10, "frames": 794, "ground_plane": "ground_plane/2026-05-01_11-36-40_white_desk_lower_to_ground_10.json", "mesh": "mesh/white_desk/white_desk.glb", "notes": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "object": "white_desk", "sequence_id": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."} +{"calibration_sequence": "2026-04-24_13-37-32_calibration", "episode_index": 11, "frames": 901, "ground_plane": "ground_plane/2026-04-24_13-56-58_light_blue_book_pick_place_09.json", "mesh": "mesh/light_blue_book/light_blue_book.glb", "notes": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "object": "light_blue_book", "sequence_id": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "task": "Pick up the book from the table and place it on the floor."} +{"calibration_sequence": "2026-04-25_14-36-15_calibration", "episode_index": 12, "frames": 700, "ground_plane": "ground_plane/2026-04-25_17-20-04_black_platform_turn_05.json", "mesh": "mesh/black_platform/black_platform.glb", "notes": "2026-04-25_17-20-04_black_platform_turn_05", "object": "black_platform", "sequence_id": "2026-04-25_17-20-04_black_platform_turn_05", "task": "Walk over to the platform on the ground and turn the platform over. Place on the ground when done."} +{"calibration_sequence": "2026-06-09_09-15-06_calibration_", "episode_index": 13, "frames": 922, "ground_plane": "ground_plane/2026-06-09_10-19-09_snack_box_desk_through_06.json", "mesh": "mesh/snack_box/snack_box.glb", "notes": "2026-06-09_10-19-09_snack_box_desk_through_06", "object": "snack_box", "sequence_id": "2026-06-09_10-19-09_snack_box_desk_through_06", "task": "Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished."} +{"calibration_sequence": "2026-05-28_13-44-11_calibration", "episode_index": 14, "frames": 993, "ground_plane": "ground_plane/2026-05-28_14-44-09_round_table_flip_08.json", "mesh": "mesh/round_table/round_table.glb", "notes": "2026-05-28_14-44-09_round_table_flip_08", "object": "round_table", "sequence_id": "2026-05-28_14-44-09_round_table_flip_08", "task": "\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position."} +{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 15, "frames": 715, "ground_plane": "ground_plane/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08.json", "mesh": "mesh/wet_floor_sign/wet_floor_sign.glb", "notes": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "object": "wet_floor_sign", "sequence_id": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "task": "Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor."} +{"calibration_sequence": "2026-03-12_13-41-31_calibration", "episode_index": 16, "frames": 477, "ground_plane": "ground_plane/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02.json", "mesh": "mesh/spray_bottle/spray_bottle.glb", "notes": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "object": "spray_bottle", "sequence_id": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "task": "Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground."} +{"calibration_sequence": "2026-05-01_13-38-21_calibration", "episode_index": 17, "frames": 440, "ground_plane": "ground_plane/2026-05-01_17-04-55_traffic_cone_ground_table_02.json", "mesh": "mesh/traffic_cone/traffic_cone.glb", "notes": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "object": "traffic_cone", "sequence_id": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "task": "Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table."} +{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 18, "frames": 858, "ground_plane": "ground_plane/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08.json", "mesh": "mesh/blue_trash_can/blue_trash_can.glb", "notes": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "object": "blue_trash_can", "sequence_id": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "task": "Walk over to the blue trash can and slide the blue trash can side ways."} +{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 19, "frames": 886, "ground_plane": "ground_plane/2026-05-19_10-19-48_cane_swing_05.json", "mesh": "mesh/cane/cane.glb", "notes": "2026-05-19_10-19-48_cane_swing_05", "object": "cane", "sequence_id": "2026-05-19_10-19-48_cane_swing_05", "task": "Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete."} +{"calibration_sequence": "2026-06-08_13-01-08_calibration", "episode_index": 20, "frames": 553, "ground_plane": "ground_plane/2026-06-08_16-57-34_rice_cooker_clockwise_04.json", "mesh": "mesh/rice_cooker/rice_cooker.glb", "notes": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "object": "rice_cooker", "sequence_id": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "task": "Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table."} +{"calibration_sequence": "2026-04-29_09-10-26_calibration", "episode_index": 21, "frames": 678, "ground_plane": "ground_plane/2026-04-29_11-53-57_tall_bar_stool_pull_08.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "object": "tall_bar_stool", "sequence_id": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "task": "Walk over to the tall bar stool and pull the tall bar stool away from the desk."} +{"calibration_sequence": "2026-05-22_13-27-28_calibration", "episode_index": 22, "frames": 719, "ground_plane": "ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json", "mesh": "mesh/step_ladder/step_ladder.glb", "notes": "2026-05-22_16-52-36_step_ladder_drag_03", "object": "step_ladder", "sequence_id": "2026-05-22_16-52-36_step_ladder_drag_03", "task": "Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence."} +{"calibration_sequence": "2026-06-03_13-51-21_calibration", "episode_index": 23, "frames": 946, "ground_plane": "ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json", "mesh": "mesh/toy_stroller/toy_stroller.glb", "notes": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "object": "toy_stroller", "sequence_id": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "task": "Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area."} +{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 24, "frames": 748, "ground_plane": "ground_plane/2026-05-29_15-43-20_watering_can_pour_right_02.json", "mesh": "mesh/watering_can/watering_can.glb", "notes": "2026-05-29_15-43-20_watering_can_pour_right_02", "object": "watering_can", "sequence_id": "2026-05-29_15-43-20_watering_can_pour_right_02", "task": "Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand."} +{"calibration_sequence": "2026-03-20_11-13-12_calibration", "episode_index": 25, "frames": 859, "ground_plane": "ground_plane/2026-03-20_11-59-57_cyan_water_bottle_rotate_01.json", "mesh": "mesh/cyan_water_bottle/cyan_water_bottle.glb", "notes": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "object": "cyan_water_bottle", "sequence_id": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "task": "Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table."} +{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 26, "frames": 669, "ground_plane": "ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json", "mesh": "mesh/skateboard/skateboard.glb", "notes": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "object": "skateboard", "sequence_id": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "task": "Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area."} +{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 27, "frames": 565, "ground_plane": "ground_plane/2026-05-01_11-15-05_woven_basket_ground_desk_10.json", "mesh": "mesh/woven_basket/woven_basket.glb", "notes": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "object": "woven_basket", "sequence_id": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "task": "Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk."} +{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 28, "frames": 988, "ground_plane": "ground_plane/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_.json", "mesh": "mesh/squeegee/squeegee.glb", "notes": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "object": "squeegee", "sequence_id": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "task": "Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you."} +{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 29, "frames": 467, "ground_plane": "ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json", "mesh": "mesh/rolling_luggage/rolling_luggage.glb", "notes": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "object": "rolling_luggage", "sequence_id": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "task": "Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete."} diff --git a/track_2/tier_1_multiview_caption/meta/episodes_stats.jsonl b/track_2/baseline/meta/episodes_stats.jsonl similarity index 92% rename from track_2/tier_1_multiview_caption/meta/episodes_stats.jsonl rename to track_2/baseline/meta/episodes_stats.jsonl index 64fa0afae4ae7c6028059071c1cafb57196e103c..77fe2ebbf510795c8d7532b3ceb7b876547fd723 100644 --- a/track_2/tier_1_multiview_caption/meta/episodes_stats.jsonl +++ b/track_2/baseline/meta/episodes_stats.jsonl @@ -1,30 +1,30 @@ -{"episode_index": 0, "stats": {"episode_index": {"count": [778], "max": [0], "mean": [0.0], "min": [0], "q01": [0.0], "q10": [0.0], "q50": [0.0], "q90": [0.0], "q99": [0.0], "std": [0.0]}, "frame_index": {"count": [778], "max": [777], "mean": [388.5], "min": [0], "q01": [7.7700000000000005], "q10": [77.7], "q50": [388.5], "q90": [699.3000000000001], "q99": [769.23], "std": [224.58906919082239]}, "index": {"count": [778], "max": [777], "mean": [388.5], "min": [0], "q01": 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}, + "observation.images.left_stereo_camera_left": { + "dtype": "video", + "info": { + "has_audio": false, + "video.channels": 3, + "video.codec": "h264", + "video.fps": 30, + "video.height": 1152, + "video.is_depth_map": false, + "video.pix_fmt": "yuv420p", + "video.width": 1536 + }, + "names": [ + "height", + "width", + "channel" + ], + "shape": [ + 1152, + 1536, + 3 + ] + }, + "observation.images.right_stereo_camera_left": { "dtype": "video", "info": { "has_audio": false, @@ -643,9 +712,6 @@ "splits": { "train": "0:30" }, - "support_surface_frame": "g1_retarget_world", - "support_surface_path": "support_surface/{sequence_id}_support.usda", - "support_surface_units": "metres", "tasks": [ { "task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright.", @@ -772,7 +838,6 @@ "total_episodes": 30, "total_frames": 22990, "total_tasks": 30, - "total_videos": 30, - "trajectory_variant": "tier_2_synthetic_noise", + 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track_2/tier_2_synthetic_noise/.gitignore rename to track_2/cari4d_reconstruction/.gitignore diff --git a/track_2/cari4d_reconstruction/README.md b/track_2/cari4d_reconstruction/README.md new file mode 100644 index 0000000000000000000000000000000000000000..a9b70384185a82f524b14058a7cbb5ec74af410e --- /dev/null +++ b/track_2/cari4d_reconstruction/README.md @@ -0,0 +1,92 @@ +# Track 2 — CARI4D reconstruction, first-frame aligned + +This variant preserves the baseline episode order, timing, tasks, and four synchronized +RGB views while replacing the human and object trajectories with monocular CARI4D +reconstruction from `front_stereo_camera_left`. + +Each episode uses one scale-free rigid transform estimated by aligning the reconstructed +SOMA-X human mesh to the baseline human mesh at frame 0. SOMA-X parameters use MHR-native +world coordinates, while object poses use the source OpenCV world. The human-derived +transform is therefore conjugated by the fixed Y/Z basis change before it is applied +unchanged to every object frame. This follows CARI4D's evaluation alignment; the scale-free +form keeps the published SOMA-X body parameters physically consistent. + +The object pose is additionally expressed in the **baseline canonical object mesh +frame**. This is an exact rigid coordinate conversion of the reconstructed mesh, not a +second trajectory fit. The published convention is therefore +`opencv_world_T_baseline_canonical_object`. + +| | | +|---|---| +| Episodes | 30 | +| Frames | 22,990 | +| Rate | 30 fps nominal | +| Tasks | 30 | +| Cameras | 4 streams, 120 clips | +| Objects | 29, each with a textured canonical mesh | + +## CARI4D metrics + +Following CARI4D's evaluator, each metric samples 8,196 points on each surface and +sums the two directed mean nearest-neighbour distances. Values are frame-weighted over +all 22,990 frames and reported in centimetres. + +| Metric | Raw reconstruction | Published rigid alignment | +|---|---:|---:| +| CD-h | 23.345 cm | 8.504 cm | +| CD-o | 53.427 cm | 36.616 cm | + +The complete distribution and all per-episode values are embedded under +`chamfer_evaluation` in `provenance/cari4d_reconstruction.json`. + +## Layout + +``` +track_2/cari4d_reconstruction/ +├── data/chunk-000/episode_0000NN.parquet +├── videos/chunk-000/observation.images./episode_0000NN.mp4 +├── mesh//.glb +├── meta/ +│ ├── info.json +│ ├── episodes_metadata.jsonl +│ ├── episodes.jsonl +│ ├── episodes_stats.jsonl +│ └── tasks.jsonl +└── provenance/cari4d_reconstruction.json +``` + +## Pose data + +Each Parquet contains 77 local SOMA-X joint rotation vectors in +`observation.human.pose`, human translation in metres, the SOMA-X identity/scale/bone +parameters, and one object pose as `[x, y, z, qw, qx, qy, qz]`. + +Object poses are `opencv_world_T_baseline_canonical_object`. When +`observation.object.visible` is false, the object pose is all zeros; filter on visibility +before interpreting it as a transform. + +## Alignment and provenance + +`provenance/cari4d_reconstruction.json` records the immutable CARI4D runtime and +checkpoint, source reconstruction hashes, the human-derived first-frame matrix for each +episode, each exact object-local frame matrix, aligned sidecar hashes, Procrustes +residuals, CARI4D-style Chamfer distributions, and the official CARI4D evaluation-code +reference. + +The first-frame alignment removes global coordinate offsets. It does not independently +fit the object trajectory, so remaining human-object relative placement error is +preserved in the data. + +The four video streams are frame-exact with the Parquets and byte-identical to the +baseline. Camera intrinsics and extrinsics were absent from the supplied source export; +the calibration sequence identifier is retained per episode. + +## Ground plane + +Every episode declares `ground_plane/.json` in +`meta/episodes_metadata.jsonl`. The sidecar contains normalized `[a, b, c, d]` +coefficients for `ax + by + cz + d = 0` in the same source OpenCV world frame +as `observation.object.pose`. SOMA-to-G1 retargeting transforms this fitted +plane through its first-frame anchor. Do not replace it with a horizontal +world-plane estimate when reproducing a retargeted training reference. + diff --git a/track_2/cari4d_reconstruction/data/chunk-000/episode_000000.parquet b/track_2/cari4d_reconstruction/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c883f774ff3fd46a3b1596fceef442d22199c55a --- /dev/null +++ b/track_2/cari4d_reconstruction/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3165ef819b99c748bfc6e45330311525f8bad5efcf8e4e8275579dafe760464 +size 1640223 diff --git a/track_2/cari4d_reconstruction/data/chunk-000/episode_000001.parquet b/track_2/cari4d_reconstruction/data/chunk-000/episode_000001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..437ff9676f84d4ddda31e7359646fbab1a94ec7f --- /dev/null +++ b/track_2/cari4d_reconstruction/data/chunk-000/episode_000001.parquet @@ -0,0 +1,3 @@ +version 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b/track_2/cari4d_reconstruction/ground_plane/2026-04-24_13-56-58_light_blue_book_pick_place_09.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-04-24_13-56-58_light_blue_book_pick_place_09.json rename to track_2/cari4d_reconstruction/ground_plane/2026-04-24_13-56-58_light_blue_book_pick_place_09.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-04-25_17-20-04_black_platform_turn_05.json b/track_2/cari4d_reconstruction/ground_plane/2026-04-25_17-20-04_black_platform_turn_05.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-04-25_17-20-04_black_platform_turn_05.json rename to track_2/cari4d_reconstruction/ground_plane/2026-04-25_17-20-04_black_platform_turn_05.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05.json b/track_2/cari4d_reconstruction/ground_plane/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05.json rename to track_2/cari4d_reconstruction/ground_plane/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-04-29_11-53-57_tall_bar_stool_pull_08.json b/track_2/cari4d_reconstruction/ground_plane/2026-04-29_11-53-57_tall_bar_stool_pull_08.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-04-29_11-53-57_tall_bar_stool_pull_08.json rename to track_2/cari4d_reconstruction/ground_plane/2026-04-29_11-53-57_tall_bar_stool_pull_08.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-05-01_11-15-05_woven_basket_ground_desk_10.json b/track_2/cari4d_reconstruction/ground_plane/2026-05-01_11-15-05_woven_basket_ground_desk_10.json similarity index 100% rename from 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rename to track_2/cari4d_reconstruction/ground_plane/2026-05-01_17-04-55_traffic_cone_ground_table_02.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08.json b/track_2/cari4d_reconstruction/ground_plane/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08.json rename to track_2/cari4d_reconstruction/ground_plane/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08.json b/track_2/cari4d_reconstruction/ground_plane/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08.json rename to track_2/cari4d_reconstruction/ground_plane/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-05-18_17-06-21_vacuum_left_lean_02.json b/track_2/cari4d_reconstruction/ground_plane/2026-05-18_17-06-21_vacuum_left_lean_02.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-05-18_17-06-21_vacuum_left_lean_02.json rename to track_2/cari4d_reconstruction/ground_plane/2026-05-18_17-06-21_vacuum_left_lean_02.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-05-19_10-19-48_cane_swing_05.json b/track_2/cari4d_reconstruction/ground_plane/2026-05-19_10-19-48_cane_swing_05.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-05-19_10-19-48_cane_swing_05.json rename to track_2/cari4d_reconstruction/ground_plane/2026-05-19_10-19-48_cane_swing_05.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_.json b/track_2/cari4d_reconstruction/ground_plane/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_.json rename to track_2/cari4d_reconstruction/ground_plane/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json b/track_2/cari4d_reconstruction/ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json rename to track_2/cari4d_reconstruction/ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-05-28_14-44-09_round_table_flip_08.json b/track_2/cari4d_reconstruction/ground_plane/2026-05-28_14-44-09_round_table_flip_08.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-05-28_14-44-09_round_table_flip_08.json rename to track_2/cari4d_reconstruction/ground_plane/2026-05-28_14-44-09_round_table_flip_08.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-05-29_15-20-43_iron_round_table_02.json b/track_2/cari4d_reconstruction/ground_plane/2026-05-29_15-20-43_iron_round_table_02.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-05-29_15-20-43_iron_round_table_02.json rename to track_2/cari4d_reconstruction/ground_plane/2026-05-29_15-20-43_iron_round_table_02.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-05-29_15-43-20_watering_can_pour_right_02.json b/track_2/cari4d_reconstruction/ground_plane/2026-05-29_15-43-20_watering_can_pour_right_02.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-05-29_15-43-20_watering_can_pour_right_02.json rename to track_2/cari4d_reconstruction/ground_plane/2026-05-29_15-43-20_watering_can_pour_right_02.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-06-01_11-26-44_monitor_rotate_05.json b/track_2/cari4d_reconstruction/ground_plane/2026-06-01_11-26-44_monitor_rotate_05.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-06-01_11-26-44_monitor_rotate_05.json rename to track_2/cari4d_reconstruction/ground_plane/2026-06-01_11-26-44_monitor_rotate_05.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json b/track_2/cari4d_reconstruction/ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json rename to track_2/cari4d_reconstruction/ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json b/track_2/cari4d_reconstruction/ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json rename to track_2/cari4d_reconstruction/ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json b/track_2/cari4d_reconstruction/ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json rename to track_2/cari4d_reconstruction/ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json 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a/track_2/tier_2_synthetic_noise/ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json b/track_2/cari4d_reconstruction/ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json rename to track_2/cari4d_reconstruction/ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json diff --git a/track_2/tier_2_synthetic_noise/ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json b/track_2/cari4d_reconstruction/ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json similarity index 100% rename from track_2/tier_2_synthetic_noise/ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json rename to track_2/cari4d_reconstruction/ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json diff --git 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0000000000000000000000000000000000000000..bbf8aa024dc1d56896fe742dbe6217f018fb8c6a --- /dev/null +++ b/track_2/cari4d_reconstruction/meta/episodes_metadata.jsonl @@ -0,0 +1,30 @@ +{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 0, "frames": 778, "ground_plane": "ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-06-04_14-16-23_tall_bar_stool_tip_up_04", "object": "tall_bar_stool", "sequence_id": "2026-06-04_14-16-23_tall_bar_stool_tip_up_04", "task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright."} +{"calibration_sequence": "2026-05-18_15-34-58_calibration", "episode_index": 1, "frames": 747, "ground_plane": "ground_plane/2026-05-18_17-06-21_vacuum_left_lean_02.json", "mesh": "mesh/vacuum/vacuum.glb", "notes": "2026-05-18_17-06-21_vacuum_left_lean_02", "object": "vacuum", "sequence_id": "2026-05-18_17-06-21_vacuum_left_lean_02", "task": "Walk over to the vacuum leaning on the tall bar stool and pick up the vacuum using your left hand and hold the vacuum infront of you and perform side to side vacuum motions. Place it back leaning on the stool when complete."} +{"calibration_sequence": "2026-06-02_09-23-23_calibration", "episode_index": 2, "frames": 980, "ground_plane": "ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json", "mesh": "mesh/blue_easter_basket/blue_easter_basket.glb", "notes": "2026-06-02_10-04-42_blue_easter_basket_place_10", "object": "blue_easter_basket", "sequence_id": "2026-06-02_10-04-42_blue_easter_basket_place_10", "task": "Walk over to the blue basket on the round table and pick up the blue basket using your right hand and place the basket in a different area within the bounding area. Then pick up the basket and handover to the left hand and place the blue basket in a different area within the bounding area."} +{"calibration_sequence": "2026-04-27_09-37-33_calibration", "episode_index": 3, "frames": 781, "ground_plane": "ground_plane/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05.json", "mesh": "mesh/contigo_coffee_mug/contigo_coffee_mug.glb", "notes": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "object": "contigo_coffee_mug", "sequence_id": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "task": "Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table."} +{"calibration_sequence": "2026-04-24_09-28-11_calibration", "episode_index": 4, "frames": 803, "ground_plane": "ground_plane/2026-04-24_11-40-52_baseball_bat_rotate_05.json", "mesh": "mesh/baseball_bat/baseball_bat.glb", "notes": "2026-04-24_11-40-52_baseball_bat_rotate_05", "object": "baseball_bat", "sequence_id": "2026-04-24_11-40-52_baseball_bat_rotate_05", "task": "Walk over to the baseball bat and pick up the baseball bat. Slowly begin to rotate the baseball bat and yourself around the bounding area so that every camera gets a visual of the baseball baat."} +{"calibration_sequence": "2026-03-18_17-41-31_calibration", "episode_index": 5, "frames": 1003, "ground_plane": "ground_plane/2026-03-18_19-36-56_g1_box_rotate_01.json", "mesh": "mesh/big_black_box/big_black_box.glb", "notes": "2026-03-18_19-36-56_g1_box_rotate_01", "object": "big_black_box", "sequence_id": "2026-03-18_19-36-56_g1_box_rotate_01", "task": "Walk over to the G1 Box and rotate the box around the bounding area."} +{"calibration_sequence": "2026-06-01_09-36-34_calibration", "episode_index": 6, "frames": 546, "ground_plane": "ground_plane/2026-06-01_11-26-44_monitor_rotate_05.json", "mesh": "mesh/monitor/monitor.glb", "notes": "2026-06-01_11-26-44_monitor_rotate_05", "object": "monitor", "sequence_id": "2026-06-01_11-26-44_monitor_rotate_05", "task": "Walk over to the monitor on the round table. Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table."} +{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 7, "frames": 896, "ground_plane": "ground_plane/2026-05-29_15-20-43_iron_round_table_02.json", "mesh": "mesh/iron/iron.glb", "notes": "2026-05-29_15-20-43_iron_round_table_02", "object": "iron", "sequence_id": "2026-05-29_15-20-43_iron_round_table_02", "task": "Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished."} +{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 8, "frames": 708, "ground_plane": "ground_plane/2026-06-05_15-08-08_skinny_wood_chair_push_10.json", "mesh": "mesh/skinny_wood_chair/skinny_wood_chair.glb", "notes": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "object": "skinny_wood_chair", "sequence_id": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "task": "Walk over to the skinny wood chair and push the skinny wood chair into the round table."} +{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 9, "frames": 870, "ground_plane": "ground_plane/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03.json", "mesh": "mesh/big_red_bowl/big_red_bowl.glb", "notes": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "object": "big_red_bowl", "sequence_id": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."} +{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 10, "frames": 794, "ground_plane": "ground_plane/2026-05-01_11-36-40_white_desk_lower_to_ground_10.json", "mesh": "mesh/white_desk/white_desk.glb", "notes": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "object": "white_desk", "sequence_id": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."} +{"calibration_sequence": "2026-04-24_13-37-32_calibration", "episode_index": 11, "frames": 901, "ground_plane": "ground_plane/2026-04-24_13-56-58_light_blue_book_pick_place_09.json", "mesh": "mesh/light_blue_book/light_blue_book.glb", "notes": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "object": "light_blue_book", "sequence_id": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "task": "Pick up the book from the table and place it on the floor."} +{"calibration_sequence": "2026-04-25_14-36-15_calibration", "episode_index": 12, "frames": 700, "ground_plane": "ground_plane/2026-04-25_17-20-04_black_platform_turn_05.json", "mesh": "mesh/black_platform/black_platform.glb", "notes": "2026-04-25_17-20-04_black_platform_turn_05", "object": "black_platform", "sequence_id": "2026-04-25_17-20-04_black_platform_turn_05", "task": "Walk over to the platform on the ground and turn the platform over. Place on the ground when done."} +{"calibration_sequence": "2026-06-09_09-15-06_calibration_", "episode_index": 13, "frames": 922, "ground_plane": "ground_plane/2026-06-09_10-19-09_snack_box_desk_through_06.json", "mesh": "mesh/snack_box/snack_box.glb", "notes": "2026-06-09_10-19-09_snack_box_desk_through_06", "object": "snack_box", "sequence_id": "2026-06-09_10-19-09_snack_box_desk_through_06", "task": "Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished."} +{"calibration_sequence": "2026-05-28_13-44-11_calibration", "episode_index": 14, "frames": 993, "ground_plane": "ground_plane/2026-05-28_14-44-09_round_table_flip_08.json", "mesh": "mesh/round_table/round_table.glb", "notes": "2026-05-28_14-44-09_round_table_flip_08", "object": "round_table", "sequence_id": "2026-05-28_14-44-09_round_table_flip_08", "task": "\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position."} +{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 15, "frames": 715, "ground_plane": "ground_plane/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08.json", "mesh": "mesh/wet_floor_sign/wet_floor_sign.glb", "notes": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "object": "wet_floor_sign", "sequence_id": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "task": "Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor."} +{"calibration_sequence": "2026-03-12_13-41-31_calibration", "episode_index": 16, "frames": 477, "ground_plane": "ground_plane/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02.json", "mesh": "mesh/spray_bottle/spray_bottle.glb", "notes": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "object": "spray_bottle", "sequence_id": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "task": "Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground."} +{"calibration_sequence": "2026-05-01_13-38-21_calibration", "episode_index": 17, "frames": 440, "ground_plane": "ground_plane/2026-05-01_17-04-55_traffic_cone_ground_table_02.json", "mesh": "mesh/traffic_cone/traffic_cone.glb", "notes": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "object": "traffic_cone", "sequence_id": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "task": "Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table."} +{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 18, "frames": 858, "ground_plane": "ground_plane/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08.json", "mesh": "mesh/blue_trash_can/blue_trash_can.glb", "notes": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "object": "blue_trash_can", "sequence_id": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "task": "Walk over to the blue trash can and slide the blue trash can side ways."} +{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 19, "frames": 886, "ground_plane": "ground_plane/2026-05-19_10-19-48_cane_swing_05.json", "mesh": "mesh/cane/cane.glb", "notes": "2026-05-19_10-19-48_cane_swing_05", "object": "cane", "sequence_id": "2026-05-19_10-19-48_cane_swing_05", "task": "Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete."} +{"calibration_sequence": "2026-06-08_13-01-08_calibration", "episode_index": 20, "frames": 553, "ground_plane": "ground_plane/2026-06-08_16-57-34_rice_cooker_clockwise_04.json", "mesh": "mesh/rice_cooker/rice_cooker.glb", "notes": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "object": "rice_cooker", "sequence_id": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "task": "Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table."} +{"calibration_sequence": "2026-04-29_09-10-26_calibration", "episode_index": 21, "frames": 678, "ground_plane": "ground_plane/2026-04-29_11-53-57_tall_bar_stool_pull_08.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "object": "tall_bar_stool", "sequence_id": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "task": "Walk over to the tall bar stool and pull the tall bar stool away from the desk."} +{"calibration_sequence": "2026-05-22_13-27-28_calibration", "episode_index": 22, "frames": 719, "ground_plane": "ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json", "mesh": "mesh/step_ladder/step_ladder.glb", "notes": "2026-05-22_16-52-36_step_ladder_drag_03", "object": "step_ladder", "sequence_id": "2026-05-22_16-52-36_step_ladder_drag_03", "task": "Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence."} +{"calibration_sequence": "2026-06-03_13-51-21_calibration", "episode_index": 23, "frames": 946, "ground_plane": "ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json", "mesh": "mesh/toy_stroller/toy_stroller.glb", "notes": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "object": "toy_stroller", "sequence_id": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "task": "Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area."} +{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 24, "frames": 748, "ground_plane": "ground_plane/2026-05-29_15-43-20_watering_can_pour_right_02.json", "mesh": "mesh/watering_can/watering_can.glb", "notes": "2026-05-29_15-43-20_watering_can_pour_right_02", "object": "watering_can", "sequence_id": "2026-05-29_15-43-20_watering_can_pour_right_02", "task": "Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand."} +{"calibration_sequence": "2026-03-20_11-13-12_calibration", "episode_index": 25, "frames": 859, "ground_plane": "ground_plane/2026-03-20_11-59-57_cyan_water_bottle_rotate_01.json", "mesh": "mesh/cyan_water_bottle/cyan_water_bottle.glb", "notes": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "object": "cyan_water_bottle", "sequence_id": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "task": "Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table."} +{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 26, "frames": 669, "ground_plane": "ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json", "mesh": "mesh/skateboard/skateboard.glb", "notes": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "object": "skateboard", "sequence_id": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "task": "Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area."} +{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 27, "frames": 565, "ground_plane": "ground_plane/2026-05-01_11-15-05_woven_basket_ground_desk_10.json", "mesh": "mesh/woven_basket/woven_basket.glb", "notes": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "object": "woven_basket", "sequence_id": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "task": "Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk."} +{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 28, "frames": 988, "ground_plane": "ground_plane/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_.json", "mesh": "mesh/squeegee/squeegee.glb", "notes": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "object": "squeegee", "sequence_id": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "task": "Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you."} +{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 29, "frames": 467, "ground_plane": "ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json", "mesh": "mesh/rolling_luggage/rolling_luggage.glb", "notes": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "object": "rolling_luggage", "sequence_id": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "task": "Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete."} diff --git a/track_2/cari4d_reconstruction/meta/episodes_stats.jsonl b/track_2/cari4d_reconstruction/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c016faffa7a8246fb13dd9cc727fac07cc4d1dd9 --- /dev/null +++ b/track_2/cari4d_reconstruction/meta/episodes_stats.jsonl @@ -0,0 +1,30 @@ +{"episode_index": 0, "stats": {"episode_index": {"count": [778], "max": [0], "mean": [0.0], "min": [0], "q01": [0.0], "q10": [0.0], "q50": [0.0], "q90": [0.0], "q99": [0.0], "std": [0.0]}, "frame_index": {"count": [778], "max": [777], "mean": [388.5], "min": [0], "q01": [7.7700000000000005], "q10": [77.7], "q50": [388.5], "q90": [699.3000000000001], "q99": [769.23], "std": [224.58906919082239]}, "index": {"count": [778], "max": [777], "mean": [388.5], "min": [0], "q01": [7.7700000000000005], "q10": [77.7], "q50": [388.5], "q90": [699.3000000000001], "q99": [769.23], "std": [224.58906919082239]}, "next.done": {"count": [778], "max": 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a/track_2/tier_1_multiview_caption/meta/info.json +++ b/track_2/cari4d_reconstruction/meta/info.json @@ -1,8 +1,24 @@ { "camera_calibration": null, "camera_calibration_note": "Not present in the supplied Track 2 source export.", + "cari4d_chamfer_cm": { + "cd_h_cm": { + "max": 33.840065002441406, + "mean": 8.504189491271973, + "median": 7.3693060874938965, + "p95": 18.34324140548706 + }, + "cd_o_cm": { + "max": 1024.618896484375, + "mean": 36.616207122802734, + "median": 14.322118759155273, + "p95": 137.05523529052732 + } + }, "chunks_size": 1000, "codebase_version": "v2.1", + "coordinate_alignment": "v2d.track2.cari4d_first_frame_rigid_alignment.v2", + "coordinate_alignment_reference": "baseline first-frame SOMA-X mesh", "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "episodes_metadata": "meta/episodes_metadata.jsonl", "features": { @@ -427,7 +443,76 @@ 3 ] }, - "observation.images.exo_camera": { + "observation.images.back_stereo_camera_left": { + "dtype": "video", + "info": { + "has_audio": false, + "video.channels": 3, + "video.codec": "h264", + "video.fps": 30, + "video.height": 1152, + "video.is_depth_map": false, + "video.pix_fmt": "yuv420p", + "video.width": 1536 + }, + "names": [ + "height", + "width", + "channel" + ], + "shape": [ + 1152, + 1536, + 3 + ] + }, + "observation.images.front_stereo_camera_left": { + "dtype": "video", + "info": { + "has_audio": false, + "video.channels": 3, + "video.codec": "h264", + "video.fps": 30, + "video.height": 1152, + "video.is_depth_map": false, + "video.pix_fmt": "yuv420p", + "video.width": 1536 + }, + "names": [ + "height", + "width", + "channel" + ], + "shape": [ + 1152, + 1536, + 3 + ] + }, + "observation.images.left_stereo_camera_left": { + "dtype": "video", + "info": { + "has_audio": false, + "video.channels": 3, + "video.codec": "h264", + "video.fps": 30, + "video.height": 1152, + "video.is_depth_map": false, + "video.pix_fmt": "yuv420p", + "video.width": 1536 + }, + "names": [ + "height", + "width", + "channel" + ], + "shape": [ + 1152, + 1536, + 3 + ] + }, + "observation.images.right_stereo_camera_left": { "dtype": "video", "info": { "has_audio": false, @@ -491,6 +576,7 @@ "ground_plane_convention": "ax+by+cz+d=0 in source OpenCV world frame", "ground_plane_path": "ground_plane/{sequence_id}.json", "mesh_path": "mesh/{object_name}/{object_name}.glb", + "object_pose_frame": "opencv_world_T_baseline_canonical_object", "objects": [ { "mesh": "mesh/baseball_bat/baseball_bat.glb", @@ -643,9 +729,6 @@ "splits": { "train": "0:30" }, - "support_surface_frame": "g1_retarget_world", - "support_surface_path": "support_surface/{sequence_id}_support.usda", - "support_surface_units": "metres", "tasks": [ { "task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright.", @@ -772,7 +855,8 @@ "total_episodes": 30, "total_frames": 22990, "total_tasks": 30, - "total_videos": 30, - "trajectory_variant": "tier_1_multiview_caption", + "total_videos": 120, + "trajectory_variant": "cari4d_reconstruction", + "variant_provenance": "provenance/cari4d_reconstruction.json", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4" } diff --git a/track_2/tier_2_synthetic_noise/meta/tasks.jsonl b/track_2/cari4d_reconstruction/meta/tasks.jsonl similarity index 100% rename from track_2/tier_2_synthetic_noise/meta/tasks.jsonl rename to track_2/cari4d_reconstruction/meta/tasks.jsonl diff --git a/track_2/cari4d_reconstruction/provenance/cari4d_reconstruction.json b/track_2/cari4d_reconstruction/provenance/cari4d_reconstruction.json new file mode 100644 index 0000000000000000000000000000000000000000..9b081ff28a89904ed677c8a8097033a6548e168a --- /dev/null +++ b/track_2/cari4d_reconstruction/provenance/cari4d_reconstruction.json @@ -0,0 +1,5577 @@ +{ + "camera": "front_stereo_camera_left", + "camera_to_world": "identity for all 30 source EDEX calibrations", + 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mode 100644 index 0000000000000000000000000000000000000000..f14d548797a1e0f1408657dd55e858fd8bfc8105 --- /dev/null +++ b/track_2/synthetic_random_walk/.gitignore @@ -0,0 +1,4 @@ +__pycache__/ +.mypy_cache/ +.ruff_cache/ +.DS_Store diff --git a/track_2/tier_1_multiview_caption/README.md b/track_2/synthetic_random_walk/README.md similarity index 66% rename from track_2/tier_1_multiview_caption/README.md rename to track_2/synthetic_random_walk/README.md index 29e97f41b1b9f51f016325badb166551fa37b07d..82cc53f71d45b3b564522814e6a66192ddc581ee 100644 --- a/track_2/tier_1_multiview_caption/README.md +++ b/track_2/synthetic_random_walk/README.md @@ -1,10 +1,18 @@ -# Track 2 — Tier 1: multiview caption - -The original Track 2 human-object interaction sequences reconstructed with SOMA-X. Every -episode publishes one exocentric RGB observation, a full-body pose, and one tracked object -with a textured 3D mesh. Object poses are expressed as **`world_T_object` in the source -OpenCV world frame**, so placing the mesh at a logged pose recovers its reconstructed -location. +# Track 2 — synthetic random walk + +This variant applies deterministic, horizon-normalized SE(3) random walks to the +baseline human root and object trajectory while preserving all local joint motion, +identity parameters, visibility, episode timing, videos, and meshes. Human cumulative +bounds are 16 mm translation and 8 degrees orientation; object bounds are 30 mm and +30 degrees. The generator uses PCG64 seed 42 with SHA-256-derived per-sequence and +per-channel seeds. Object poses remain **`world_T_object` in the source OpenCV world +frame**. + +The bounds were calibrated with the CARI4D 8,196-point symmetric surface metric to +half of the paper's BEHAVE errors (targets: 3.87 cm CD-h and 6.025 cm CD-o). Across all +22,990 frames this variant measures 3.815 cm mean CD-h and 6.045 cm mean CD-o. The full +metric report and exact per-episode bounds are embedded in +`provenance/synthetic_random_walk.json`. | | | |---|---| @@ -12,23 +20,23 @@ location. | Frames | 22,990 (440–1,003 per episode, mean 766) | | Rate | 30 fps nominal | | Tasks | 30 | -| Cameras | 1 exocentric stream, 30 clips | +| Cameras | 4 streams, 120 clips | | Objects | 29, each with a textured mesh | ## Layout ``` -track_2/tier_1_multiview_caption/ +track_2/synthetic_random_walk/ ├── data/chunk-000/episode_0000NN.parquet human + object pose, one row per frame -├── videos/chunk-000/observation.images.exo_camera/episode_0000NN.mp4 +├── videos/chunk-000/observation.images./episode_0000NN.mp4 ├── mesh//.glb textured mesh -├── support_surface/_support.usda static G1 support geometry └── meta/ ├── info.json schema, counts, tasks, objects ├── episodes_metadata.jsonl episode → sequence, task, object, mesh ├── episodes.jsonl episode lengths and tasks ├── episodes_stats.jsonl per-episode feature statistics └── tasks.jsonl task descriptions +└── provenance/synthetic_random_walk.json exact seeds, bounds, and source hashes ``` @@ -71,11 +79,14 @@ An object's name **is** its mesh folder: `white_desk` → | Stream | Resolution | Kind | |---|---|---| -| `exo_camera` | 1536×1152 | colour, static third-person | +| `back_stereo_camera_left` | 1536×1152 | colour, static third-person | +| `front_stereo_camera_left` | 1536×1152 | colour, static third-person | +| `left_stereo_camera_left` | 1536×1152 | colour, static third-person | +| `right_stereo_camera_left` | 1536×1152 | colour, static third-person | -Video is **frame-exact with the parquets** — row *i* corresponds to frame *i* in the -clip, verified across all 30 episodes. Each file is a byte-identical copy of its selected -source H.264 clip; no concatenation or re-encoding was performed. +Video is **frame-exact with the parquets** — row *i* corresponds to frame *i* in every +clip, verified across all 120. Files are byte-identical copies of the +source H.264 videos; no concatenation or re-encoding was performed. The supplied export has **no camera intrinsics or extrinsics**, so meshes cannot be projected into the images from this dataset alone. The source calibration sequence @@ -90,11 +101,3 @@ as `observation.object.pose`. SOMA-to-G1 retargeting transforms this fitted plane through its first-frame anchor. Do not replace it with a horizontal world-plane estimate when reproducing a retargeted training reference. -## Support surface - -Every episode declares `support_surface/_support.usda` in -`meta/episodes_metadata.jsonl`. These static collision stages use metres and Z-up in -the released G1 retargeted world. Place the declared file at -`/whole_body/reconstructed_stage/_support.usda` alongside -the G1 retargeted motion dataset before grounding or training. 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Place it back leaning on the stool when complete."]} +{"episode_index": 2, "length": 980, "tasks": ["Walk over to the blue basket on the round table and pick up the blue basket using your right hand and place the basket in a different area within the bounding area. Then pick up the basket and handover to the left hand and place the blue basket in a different area within the bounding area."]} +{"episode_index": 3, "length": 781, "tasks": ["Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table."]} +{"episode_index": 4, "length": 803, "tasks": ["Walk over to the baseball bat and pick up the baseball bat. Slowly begin to rotate the baseball bat and yourself around the bounding area so that every camera gets a visual of the baseball baat."]} +{"episode_index": 5, "length": 1003, "tasks": ["Walk over to the G1 Box and rotate the box around the bounding area."]} +{"episode_index": 6, "length": 546, "tasks": ["Walk over to the monitor on the round table. Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table."]} +{"episode_index": 7, "length": 896, "tasks": ["Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished."]} +{"episode_index": 8, "length": 708, "tasks": ["Walk over to the skinny wood chair and push the skinny wood chair into the round table."]} +{"episode_index": 9, "length": 870, "tasks": ["Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."]} +{"episode_index": 10, "length": 794, "tasks": ["Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."]} +{"episode_index": 11, "length": 901, "tasks": ["Pick up the book from the table and place it on the floor."]} +{"episode_index": 12, "length": 700, "tasks": ["Walk over to the platform on the ground and turn the platform over. Place on the ground when done."]} +{"episode_index": 13, "length": 922, "tasks": ["Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished."]} +{"episode_index": 14, "length": 993, "tasks": ["\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position."]} +{"episode_index": 15, "length": 715, "tasks": ["Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor."]} +{"episode_index": 16, "length": 477, "tasks": ["Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground."]} +{"episode_index": 17, "length": 440, "tasks": ["Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table."]} +{"episode_index": 18, "length": 858, "tasks": ["Walk over to the blue trash can and slide the blue trash can side ways."]} +{"episode_index": 19, "length": 886, "tasks": ["Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete."]} +{"episode_index": 20, "length": 553, "tasks": ["Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table."]} +{"episode_index": 21, "length": 678, "tasks": ["Walk over to the tall bar stool and pull the tall bar stool away from the desk."]} +{"episode_index": 22, "length": 719, "tasks": ["Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence."]} +{"episode_index": 23, "length": 946, "tasks": ["Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area."]} +{"episode_index": 24, "length": 748, "tasks": ["Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand."]} +{"episode_index": 25, "length": 859, "tasks": ["Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table."]} +{"episode_index": 26, "length": 669, "tasks": ["Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area."]} +{"episode_index": 27, "length": 565, "tasks": ["Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk."]} +{"episode_index": 28, "length": 988, "tasks": ["Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you."]} +{"episode_index": 29, "length": 467, "tasks": ["Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete."]} diff --git a/track_2/synthetic_random_walk/meta/episodes_metadata.jsonl b/track_2/synthetic_random_walk/meta/episodes_metadata.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbf8aa024dc1d56896fe742dbe6217f018fb8c6a --- /dev/null +++ b/track_2/synthetic_random_walk/meta/episodes_metadata.jsonl @@ -0,0 +1,30 @@ +{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 0, "frames": 778, "ground_plane": "ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-06-04_14-16-23_tall_bar_stool_tip_up_04", "object": "tall_bar_stool", "sequence_id": "2026-06-04_14-16-23_tall_bar_stool_tip_up_04", "task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright."} +{"calibration_sequence": "2026-05-18_15-34-58_calibration", "episode_index": 1, "frames": 747, "ground_plane": "ground_plane/2026-05-18_17-06-21_vacuum_left_lean_02.json", "mesh": "mesh/vacuum/vacuum.glb", "notes": "2026-05-18_17-06-21_vacuum_left_lean_02", "object": "vacuum", "sequence_id": "2026-05-18_17-06-21_vacuum_left_lean_02", "task": "Walk over to the vacuum leaning on the tall bar stool and pick up the vacuum using your left hand and hold the vacuum infront of you and perform side to side vacuum motions. Place it back leaning on the stool when complete."} +{"calibration_sequence": "2026-06-02_09-23-23_calibration", "episode_index": 2, "frames": 980, "ground_plane": "ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json", "mesh": "mesh/blue_easter_basket/blue_easter_basket.glb", "notes": "2026-06-02_10-04-42_blue_easter_basket_place_10", "object": "blue_easter_basket", "sequence_id": "2026-06-02_10-04-42_blue_easter_basket_place_10", "task": "Walk over to the blue basket on the round table and pick up the blue basket using your right hand and place the basket in a different area within the bounding area. Then pick up the basket and handover to the left hand and place the blue basket in a different area within the bounding area."} +{"calibration_sequence": "2026-04-27_09-37-33_calibration", "episode_index": 3, "frames": 781, "ground_plane": "ground_plane/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05.json", "mesh": "mesh/contigo_coffee_mug/contigo_coffee_mug.glb", "notes": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "object": "contigo_coffee_mug", "sequence_id": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "task": "Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table."} +{"calibration_sequence": "2026-04-24_09-28-11_calibration", "episode_index": 4, "frames": 803, "ground_plane": "ground_plane/2026-04-24_11-40-52_baseball_bat_rotate_05.json", "mesh": "mesh/baseball_bat/baseball_bat.glb", "notes": "2026-04-24_11-40-52_baseball_bat_rotate_05", "object": "baseball_bat", "sequence_id": "2026-04-24_11-40-52_baseball_bat_rotate_05", "task": "Walk over to the baseball bat and pick up the baseball bat. Slowly begin to rotate the baseball bat and yourself around the bounding area so that every camera gets a visual of the baseball baat."} +{"calibration_sequence": "2026-03-18_17-41-31_calibration", "episode_index": 5, "frames": 1003, "ground_plane": "ground_plane/2026-03-18_19-36-56_g1_box_rotate_01.json", "mesh": "mesh/big_black_box/big_black_box.glb", "notes": "2026-03-18_19-36-56_g1_box_rotate_01", "object": "big_black_box", "sequence_id": "2026-03-18_19-36-56_g1_box_rotate_01", "task": "Walk over to the G1 Box and rotate the box around the bounding area."} +{"calibration_sequence": "2026-06-01_09-36-34_calibration", "episode_index": 6, "frames": 546, "ground_plane": "ground_plane/2026-06-01_11-26-44_monitor_rotate_05.json", "mesh": "mesh/monitor/monitor.glb", "notes": "2026-06-01_11-26-44_monitor_rotate_05", "object": "monitor", "sequence_id": "2026-06-01_11-26-44_monitor_rotate_05", "task": "Walk over to the monitor on the round table. Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table."} +{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 7, "frames": 896, "ground_plane": "ground_plane/2026-05-29_15-20-43_iron_round_table_02.json", "mesh": "mesh/iron/iron.glb", "notes": "2026-05-29_15-20-43_iron_round_table_02", "object": "iron", "sequence_id": "2026-05-29_15-20-43_iron_round_table_02", "task": "Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished."} +{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 8, "frames": 708, "ground_plane": "ground_plane/2026-06-05_15-08-08_skinny_wood_chair_push_10.json", "mesh": "mesh/skinny_wood_chair/skinny_wood_chair.glb", "notes": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "object": "skinny_wood_chair", "sequence_id": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "task": "Walk over to the skinny wood chair and push the skinny wood chair into the round table."} +{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 9, "frames": 870, "ground_plane": "ground_plane/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03.json", "mesh": "mesh/big_red_bowl/big_red_bowl.glb", "notes": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "object": "big_red_bowl", "sequence_id": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."} +{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 10, "frames": 794, "ground_plane": "ground_plane/2026-05-01_11-36-40_white_desk_lower_to_ground_10.json", "mesh": "mesh/white_desk/white_desk.glb", "notes": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "object": "white_desk", "sequence_id": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."} +{"calibration_sequence": "2026-04-24_13-37-32_calibration", "episode_index": 11, "frames": 901, "ground_plane": "ground_plane/2026-04-24_13-56-58_light_blue_book_pick_place_09.json", "mesh": "mesh/light_blue_book/light_blue_book.glb", "notes": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "object": "light_blue_book", "sequence_id": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "task": "Pick up the book from the table and place it on the floor."} +{"calibration_sequence": "2026-04-25_14-36-15_calibration", "episode_index": 12, "frames": 700, "ground_plane": "ground_plane/2026-04-25_17-20-04_black_platform_turn_05.json", "mesh": "mesh/black_platform/black_platform.glb", "notes": "2026-04-25_17-20-04_black_platform_turn_05", "object": "black_platform", "sequence_id": "2026-04-25_17-20-04_black_platform_turn_05", "task": "Walk over to the platform on the ground and turn the platform over. Place on the ground when done."} +{"calibration_sequence": "2026-06-09_09-15-06_calibration_", "episode_index": 13, "frames": 922, "ground_plane": "ground_plane/2026-06-09_10-19-09_snack_box_desk_through_06.json", "mesh": "mesh/snack_box/snack_box.glb", "notes": "2026-06-09_10-19-09_snack_box_desk_through_06", "object": "snack_box", "sequence_id": "2026-06-09_10-19-09_snack_box_desk_through_06", "task": "Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished."} +{"calibration_sequence": "2026-05-28_13-44-11_calibration", "episode_index": 14, "frames": 993, "ground_plane": "ground_plane/2026-05-28_14-44-09_round_table_flip_08.json", "mesh": "mesh/round_table/round_table.glb", "notes": "2026-05-28_14-44-09_round_table_flip_08", "object": "round_table", "sequence_id": "2026-05-28_14-44-09_round_table_flip_08", "task": "\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position."} +{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 15, "frames": 715, "ground_plane": "ground_plane/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08.json", "mesh": "mesh/wet_floor_sign/wet_floor_sign.glb", "notes": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "object": "wet_floor_sign", "sequence_id": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "task": "Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor."} +{"calibration_sequence": "2026-03-12_13-41-31_calibration", "episode_index": 16, "frames": 477, "ground_plane": "ground_plane/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02.json", "mesh": "mesh/spray_bottle/spray_bottle.glb", "notes": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "object": "spray_bottle", "sequence_id": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "task": "Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground."} +{"calibration_sequence": "2026-05-01_13-38-21_calibration", "episode_index": 17, "frames": 440, "ground_plane": "ground_plane/2026-05-01_17-04-55_traffic_cone_ground_table_02.json", "mesh": "mesh/traffic_cone/traffic_cone.glb", "notes": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "object": "traffic_cone", "sequence_id": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "task": "Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table."} +{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 18, "frames": 858, "ground_plane": "ground_plane/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08.json", "mesh": "mesh/blue_trash_can/blue_trash_can.glb", "notes": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "object": "blue_trash_can", "sequence_id": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "task": "Walk over to the blue trash can and slide the blue trash can side ways."} +{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 19, "frames": 886, "ground_plane": "ground_plane/2026-05-19_10-19-48_cane_swing_05.json", "mesh": "mesh/cane/cane.glb", "notes": "2026-05-19_10-19-48_cane_swing_05", "object": "cane", "sequence_id": "2026-05-19_10-19-48_cane_swing_05", "task": "Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete."} +{"calibration_sequence": "2026-06-08_13-01-08_calibration", "episode_index": 20, "frames": 553, "ground_plane": "ground_plane/2026-06-08_16-57-34_rice_cooker_clockwise_04.json", "mesh": "mesh/rice_cooker/rice_cooker.glb", "notes": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "object": "rice_cooker", "sequence_id": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "task": "Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table."} +{"calibration_sequence": "2026-04-29_09-10-26_calibration", "episode_index": 21, "frames": 678, "ground_plane": "ground_plane/2026-04-29_11-53-57_tall_bar_stool_pull_08.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "object": "tall_bar_stool", "sequence_id": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "task": "Walk over to the tall bar stool and pull the tall bar stool away from the desk."} +{"calibration_sequence": "2026-05-22_13-27-28_calibration", "episode_index": 22, "frames": 719, "ground_plane": "ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json", "mesh": "mesh/step_ladder/step_ladder.glb", "notes": "2026-05-22_16-52-36_step_ladder_drag_03", "object": "step_ladder", "sequence_id": "2026-05-22_16-52-36_step_ladder_drag_03", "task": "Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence."} +{"calibration_sequence": "2026-06-03_13-51-21_calibration", "episode_index": 23, "frames": 946, "ground_plane": "ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json", "mesh": "mesh/toy_stroller/toy_stroller.glb", "notes": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "object": "toy_stroller", "sequence_id": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "task": "Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area."} +{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 24, "frames": 748, "ground_plane": "ground_plane/2026-05-29_15-43-20_watering_can_pour_right_02.json", "mesh": "mesh/watering_can/watering_can.glb", "notes": "2026-05-29_15-43-20_watering_can_pour_right_02", "object": "watering_can", "sequence_id": "2026-05-29_15-43-20_watering_can_pour_right_02", "task": "Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand."} +{"calibration_sequence": "2026-03-20_11-13-12_calibration", "episode_index": 25, "frames": 859, "ground_plane": "ground_plane/2026-03-20_11-59-57_cyan_water_bottle_rotate_01.json", "mesh": "mesh/cyan_water_bottle/cyan_water_bottle.glb", "notes": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "object": "cyan_water_bottle", "sequence_id": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "task": "Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table."} +{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 26, "frames": 669, "ground_plane": "ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json", "mesh": "mesh/skateboard/skateboard.glb", "notes": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "object": "skateboard", "sequence_id": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "task": "Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area."} +{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 27, "frames": 565, "ground_plane": "ground_plane/2026-05-01_11-15-05_woven_basket_ground_desk_10.json", "mesh": "mesh/woven_basket/woven_basket.glb", "notes": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "object": "woven_basket", "sequence_id": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "task": "Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk."} +{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 28, "frames": 988, "ground_plane": "ground_plane/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_.json", "mesh": "mesh/squeegee/squeegee.glb", "notes": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "object": "squeegee", "sequence_id": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "task": "Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you."} +{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 29, "frames": 467, "ground_plane": "ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json", "mesh": "mesh/rolling_luggage/rolling_luggage.glb", "notes": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "object": "rolling_luggage", "sequence_id": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "task": "Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete."} diff --git a/track_2/tier_2_synthetic_noise/meta/episodes_stats.jsonl b/track_2/synthetic_random_walk/meta/episodes_stats.jsonl similarity index 93% rename from track_2/tier_2_synthetic_noise/meta/episodes_stats.jsonl rename to track_2/synthetic_random_walk/meta/episodes_stats.jsonl index 62a80d2f4838f58c297315250be0c80e5177951e..9e4b10afce03fb123cc6e0fdd17ccaa0cbf8789e 100644 --- a/track_2/tier_2_synthetic_noise/meta/episodes_stats.jsonl +++ b/track_2/synthetic_random_walk/meta/episodes_stats.jsonl @@ -1,30 +1,30 @@ -{"episode_index": 0, "stats": {"episode_index": {"count": [778], "max": [0], "mean": [0.0], "min": [0], "q01": [0.0], "q10": [0.0], "q50": [0.0], "q90": [0.0], "q99": [0.0], "std": [0.0]}, "frame_index": {"count": [778], "max": [777], "mean": [388.5], "min": [0], "q01": [7.7700000000000005], "q10": [77.7], "q50": [388.5], "q90": [699.3000000000001], "q99": [769.23], "std": [224.58906919082239]}, "index": {"count": [778], "max": [777], "mean": 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"name": "iron", + "prompt": "An metallic iron with blue accents." + }, + { + "mesh": "mesh/light_blue_book/light_blue_book.glb", + "name": "light_blue_book", + "prompt": "a light blue colored book." + }, + { + "mesh": "mesh/monitor/monitor.glb", + "name": "monitor", + "prompt": "a black computer monitor with a stand." + }, + { + "mesh": "mesh/rice_cooker/rice_cooker.glb", + "name": "rice_cooker", + "prompt": "A white, cylindrical rice cooker." + }, + { + "mesh": "mesh/rolling_luggage/rolling_luggage.glb", + "name": "rolling_luggage", + "prompt": "a black rolling suitcase with the handle extended." + }, + { + "mesh": "mesh/round_table/round_table.glb", + "name": "round_table", + "prompt": "a round oak and white table with wheels." + }, + { + "mesh": "mesh/skateboard/skateboard.glb", + "name": "skateboard", + "prompt": "A black skateboard with colorful wheels." + }, + { + "mesh": "mesh/skinny_wood_chair/skinny_wood_chair.glb", + "name": "skinny_wood_chair", + "prompt": "a wooden chair with skinny legs." + }, + { + "mesh": "mesh/snack_box/snack_box.glb", + "name": "snack_box", + "prompt": "a white box with bags of chips images on it." + }, + { + "mesh": "mesh/spray_bottle/spray_bottle.glb", + "name": "spray_bottle", + "prompt": "a spray bottle with blue liquid inside." + }, + { + "mesh": "mesh/squeegee/squeegee.glb", + "name": "squeegee", + "prompt": "a black and orange squeegee." + }, + { + "mesh": "mesh/step_ladder/step_ladder.glb", + "name": "step_ladder", + "prompt": "a black and blue single step ladder." + }, + { + "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", + "name": "tall_bar_stool", + "prompt": "a tall brown bar stool." + }, + { + "mesh": "mesh/toy_stroller/toy_stroller.glb", + "name": "toy_stroller", + "prompt": "a small pink doll stroller." + }, + { + "mesh": "mesh/traffic_cone/traffic_cone.glb", + "name": "traffic_cone", + "prompt": "an orange traffic cone with a reflective strip." + }, + { + "mesh": "mesh/vacuum/vacuum.glb", + "name": "vacuum", + "prompt": "a slim red vacuum." + }, + { + "mesh": "mesh/watering_can/watering_can.glb", + "name": "watering_can", + "prompt": "A green toy watering can." + }, + { + "mesh": "mesh/wet_floor_sign/wet_floor_sign.glb", + "name": "wet_floor_sign", + "prompt": "a yellow wet floor sign with orange tape on it." + }, + { + "mesh": "mesh/white_desk/white_desk.glb", + "name": "white_desk", + "prompt": "a medium sized white desk." + }, + { + "mesh": "mesh/woven_basket/woven_basket.glb", + "name": "woven_basket", + "prompt": "a shallow woven basket." + } + ], + "random_walk_bounds": { + "human_orientation_rad": 0.13962634015954636, + "human_position_m": 0.016, + "object_orientation_rad": 0.5235987755982988, + "object_position_m": 0.03 + }, + "reference_layout": "nvidia/video_to_data_challenge/track_3@f3c2ad6d49ee142b2f3941388996e899fa1f7c27", + "robot_type": "soma_x_mhr", + "splits": { + "train": "0:30" + }, + "synthetic_chamfer_cm": { + "cd_h_cm": { + "max": 6.804851531982422, + "mean": 3.8145155906677246, + "median": 3.7544236183166504, + "p95": 5.852929139137268 + }, + "cd_o_cm": { + "max": 33.671592712402344, + "mean": 6.044548511505127, + "median": 4.88533878326416, + "p95": 13.778463172912597 + } + }, + "synthetic_chamfer_target": { + "benchmark": "BEHAVE full-video CARI4D Ours", + "fraction": 0.5, + "paper_reported_cm": { + "cd_h_cm": 7.74, + "cd_o_cm": 12.05 + }, + "relative_error": { + "cd_h_cm": -0.014337056675006588, + "cd_o_cm": 0.0032445662249172775 + }, + "source": "https://arxiv.org/html/2512.11988", + "target_cm": { + "cd_h_cm": 3.87, + "cd_o_cm": 6.025 + } + }, + "tasks": [ + { + "task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright.", + "task_index": 0 + }, + { + "task": "Walk over to the vacuum leaning on the tall bar stool and pick up the vacuum using your left hand and hold the vacuum infront of you and perform side to side vacuum motions. Place it back leaning on the stool when complete.", + "task_index": 1 + }, + { + "task": "Walk over to the blue basket on the round table and pick up the blue basket using your right hand and place the basket in a different area within the bounding area. Then pick up the basket and handover to the left hand and place the blue basket in a different area within the bounding area.", + "task_index": 2 + }, + { + "task": "Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table.", + "task_index": 3 + }, + { + "task": "Walk over to the baseball bat and pick up the baseball bat. Slowly begin to rotate the baseball bat and yourself around the bounding area so that every camera gets a visual of the baseball baat.", + "task_index": 4 + }, + { + "task": "Walk over to the G1 Box and rotate the box around the bounding area.", + "task_index": 5 + }, + { + "task": "Walk over to the monitor on the round table. Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table.", + "task_index": 6 + }, + { + "task": "Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished.", + "task_index": 7 + }, + { + "task": "Walk over to the skinny wood chair and push the skinny wood chair into the round table.", + "task_index": 8 + }, + { + "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair.", + "task_index": 9 + }, + { + "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground.", + "task_index": 10 + }, + { + "task": "Pick up the book from the table and place it on the floor.", + "task_index": 11 + }, + { + "task": "Walk over to the platform on the ground and turn the platform over. Place on the ground when done.", + "task_index": 12 + }, + { + "task": "Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished.", + "task_index": 13 + }, + { + "task": "\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position.", + "task_index": 14 + }, + { + "task": "Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor.", + "task_index": 15 + }, + { + "task": "Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground.", + "task_index": 16 + }, + { + "task": "Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table.", + "task_index": 17 + }, + { + "task": "Walk over to the blue trash can and slide the blue trash can side ways.", + "task_index": 18 + }, + { + "task": "Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete.", + "task_index": 19 + }, + { + "task": "Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table.", + "task_index": 20 + }, + { + "task": "Walk over to the tall bar stool and pull the tall bar stool away from the desk.", + "task_index": 21 + }, + { + "task": "Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence.", + "task_index": 22 + }, + { + "task": "Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area.", + "task_index": 23 + }, + { + "task": "Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand.", + "task_index": 24 + }, + { + "task": "Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table.", + "task_index": 25 + }, + { + "task": "Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area.", + "task_index": 26 + }, + { + "task": "Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk.", + "task_index": 27 + }, + { + "task": "Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you.", + "task_index": 28 + }, + { + "task": "Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete.", + "task_index": 29 + } + ], + "total_chunks": 1, + "total_episodes": 30, + "total_frames": 22990, + "total_tasks": 30, + "total_videos": 120, + "trajectory_variant": "synthetic_random_walk", + "variant_provenance": "provenance/synthetic_random_walk.json", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4" +} diff --git a/track_2/synthetic_random_walk/meta/tasks.jsonl b/track_2/synthetic_random_walk/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3aba6ac6382492c2cb66b3650cef7644800788e --- /dev/null +++ b/track_2/synthetic_random_walk/meta/tasks.jsonl @@ -0,0 +1,30 @@ +{"task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright.", "task_index": 0} +{"task": "Walk over to the vacuum leaning on the tall bar stool and pick up the vacuum using your left hand and hold the vacuum infront of you and perform side to side vacuum motions. Place it back leaning on the stool when complete.", "task_index": 1} +{"task": "Walk over to the blue basket on the round table and pick up the blue basket using your right hand and place the basket in a different area within the bounding area. Then pick up the basket and handover to the left hand and place the blue basket in a different area within the bounding area.", "task_index": 2} +{"task": "Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table.", "task_index": 3} +{"task": "Walk over to the baseball bat and pick up the baseball bat. Slowly begin to rotate the baseball bat and yourself around the bounding area so that every camera gets a visual of the baseball baat.", "task_index": 4} +{"task": "Walk over to the G1 Box and rotate the box around the bounding area.", "task_index": 5} +{"task": "Walk over to the monitor on the round table. Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table.", "task_index": 6} +{"task": "Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished.", "task_index": 7} +{"task": "Walk over to the skinny wood chair and push the skinny wood chair into the round table.", "task_index": 8} +{"task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair.", "task_index": 9} +{"task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground.", "task_index": 10} +{"task": "Pick up the book from the table and place it on the floor.", "task_index": 11} +{"task": "Walk over to the platform on the ground and turn the platform over. Place on the ground when done.", "task_index": 12} +{"task": "Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished.", "task_index": 13} +{"task": "\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position.", "task_index": 14} +{"task": "Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor.", "task_index": 15} +{"task": "Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground.", "task_index": 16} +{"task": "Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table.", "task_index": 17} +{"task": "Walk over to the blue trash can and slide the blue trash can side ways.", "task_index": 18} +{"task": "Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete.", "task_index": 19} +{"task": "Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table.", "task_index": 20} +{"task": "Walk over to the tall bar stool and pull the tall bar stool away from the desk.", "task_index": 21} +{"task": "Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence.", "task_index": 22} +{"task": "Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area.", "task_index": 23} +{"task": "Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand.", "task_index": 24} +{"task": "Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table.", "task_index": 25} +{"task": "Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area.", "task_index": 26} +{"task": "Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk.", "task_index": 27} +{"task": "Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you.", "task_index": 28} +{"task": "Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete.", "task_index": 29} diff --git a/track_2/synthetic_random_walk/provenance/synthetic_random_walk.json b/track_2/synthetic_random_walk/provenance/synthetic_random_walk.json new file mode 100644 index 0000000000000000000000000000000000000000..705fcfbd0531e21659d8aef18650920cc3d51bee --- /dev/null +++ b/track_2/synthetic_random_walk/provenance/synthetic_random_walk.json @@ -0,0 +1,1724 @@ +{ + "application": { + "human": "world-frame left rotation at SOMA Hips root plus root translation", + "invalid_object_frames": "walk advances; source matrix and published zero pose preserved", + "object": "world-frame left rotation at object origin plus translation on valid frames" + }, + "bounds": { + "human_orientation_rad": 0.13962634015954636, + "human_position_m": 0.016, + "object_orientation_rad": 0.5235987755982988, + "object_position_m": 0.03 + }, + "chamfer_evaluation": { + "calibration_target": { + "benchmark": "BEHAVE full-video CARI4D Ours", + "fraction": 0.5, + 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Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table."} -{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 7, "frames": 896, "ground_plane": "ground_plane/2026-05-29_15-20-43_iron_round_table_02.json", "mesh": "mesh/iron/iron.glb", "notes": "2026-05-29_15-20-43_iron_round_table_02", "object": "iron", "sequence_id": "2026-05-29_15-20-43_iron_round_table_02", "support_surface": "support_surface/2026-05-29_15-20-43_iron_round_table_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished."} -{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 8, "frames": 708, "ground_plane": "ground_plane/2026-06-05_15-08-08_skinny_wood_chair_push_10.json", "mesh": "mesh/skinny_wood_chair/skinny_wood_chair.glb", "notes": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "object": "skinny_wood_chair", "sequence_id": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "support_surface": "support_surface/2026-06-05_15-08-08_skinny_wood_chair_push_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the skinny wood chair and push the skinny wood chair into the round table."} -{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 9, "frames": 870, "ground_plane": "ground_plane/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03.json", "mesh": "mesh/big_red_bowl/big_red_bowl.glb", "notes": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "object": "big_red_bowl", "sequence_id": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "support_surface": "support_surface/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."} -{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 10, "frames": 794, "ground_plane": "ground_plane/2026-05-01_11-36-40_white_desk_lower_to_ground_10.json", "mesh": "mesh/white_desk/white_desk.glb", "notes": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "object": "white_desk", "sequence_id": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "support_surface": "support_surface/2026-05-01_11-36-40_white_desk_lower_to_ground_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."} -{"calibration_sequence": "2026-04-24_13-37-32_calibration", "episode_index": 11, "frames": 901, "ground_plane": "ground_plane/2026-04-24_13-56-58_light_blue_book_pick_place_09.json", "mesh": "mesh/light_blue_book/light_blue_book.glb", "notes": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "object": "light_blue_book", "sequence_id": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "support_surface": "support_surface/2026-04-24_13-56-58_light_blue_book_pick_place_09_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Pick up the book from the table and place it on the floor."} -{"calibration_sequence": "2026-04-25_14-36-15_calibration", "episode_index": 12, "frames": 700, "ground_plane": "ground_plane/2026-04-25_17-20-04_black_platform_turn_05.json", "mesh": "mesh/black_platform/black_platform.glb", "notes": "2026-04-25_17-20-04_black_platform_turn_05", "object": "black_platform", "sequence_id": "2026-04-25_17-20-04_black_platform_turn_05", "support_surface": "support_surface/2026-04-25_17-20-04_black_platform_turn_05_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the platform on the ground and turn the platform over. Place on the ground when done."} -{"calibration_sequence": "2026-06-09_09-15-06_calibration_", "episode_index": 13, "frames": 922, "ground_plane": "ground_plane/2026-06-09_10-19-09_snack_box_desk_through_06.json", "mesh": "mesh/snack_box/snack_box.glb", "notes": "2026-06-09_10-19-09_snack_box_desk_through_06", "object": "snack_box", "sequence_id": "2026-06-09_10-19-09_snack_box_desk_through_06", "support_surface": "support_surface/2026-06-09_10-19-09_snack_box_desk_through_06_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished."} -{"calibration_sequence": "2026-05-28_13-44-11_calibration", "episode_index": 14, "frames": 993, "ground_plane": "ground_plane/2026-05-28_14-44-09_round_table_flip_08.json", "mesh": "mesh/round_table/round_table.glb", "notes": "2026-05-28_14-44-09_round_table_flip_08", "object": "round_table", "sequence_id": "2026-05-28_14-44-09_round_table_flip_08", "support_surface": "support_surface/2026-05-28_14-44-09_round_table_flip_08_support.usda", "support_surface_frame": "g1_retarget_world", "task": "\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position."} -{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 15, "frames": 715, "ground_plane": "ground_plane/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08.json", "mesh": "mesh/wet_floor_sign/wet_floor_sign.glb", "notes": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "object": "wet_floor_sign", "sequence_id": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "support_surface": "support_surface/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor."} -{"calibration_sequence": "2026-03-12_13-41-31_calibration", "episode_index": 16, "frames": 477, "ground_plane": "ground_plane/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02.json", "mesh": "mesh/spray_bottle/spray_bottle.glb", "notes": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "object": "spray_bottle", "sequence_id": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "support_surface": "support_surface/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground."} -{"calibration_sequence": "2026-05-01_13-38-21_calibration", "episode_index": 17, "frames": 440, "ground_plane": "ground_plane/2026-05-01_17-04-55_traffic_cone_ground_table_02.json", "mesh": "mesh/traffic_cone/traffic_cone.glb", "notes": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "object": "traffic_cone", "sequence_id": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "support_surface": "support_surface/2026-05-01_17-04-55_traffic_cone_ground_table_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table."} -{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 18, "frames": 858, "ground_plane": "ground_plane/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08.json", "mesh": "mesh/blue_trash_can/blue_trash_can.glb", "notes": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "object": "blue_trash_can", "sequence_id": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "support_surface": "support_surface/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the blue trash can and slide the blue trash can side ways."} -{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 19, "frames": 886, "ground_plane": "ground_plane/2026-05-19_10-19-48_cane_swing_05.json", "mesh": "mesh/cane/cane.glb", "notes": "2026-05-19_10-19-48_cane_swing_05", "object": "cane", "sequence_id": "2026-05-19_10-19-48_cane_swing_05", "support_surface": "support_surface/2026-05-19_10-19-48_cane_swing_05_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete."} -{"calibration_sequence": "2026-06-08_13-01-08_calibration", "episode_index": 20, "frames": 553, "ground_plane": "ground_plane/2026-06-08_16-57-34_rice_cooker_clockwise_04.json", "mesh": "mesh/rice_cooker/rice_cooker.glb", "notes": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "object": "rice_cooker", "sequence_id": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "support_surface": "support_surface/2026-06-08_16-57-34_rice_cooker_clockwise_04_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table."} -{"calibration_sequence": "2026-04-29_09-10-26_calibration", "episode_index": 21, "frames": 678, "ground_plane": "ground_plane/2026-04-29_11-53-57_tall_bar_stool_pull_08.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "object": "tall_bar_stool", "sequence_id": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "support_surface": "support_surface/2026-04-29_11-53-57_tall_bar_stool_pull_08_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the tall bar stool and pull the tall bar stool away from the desk."} -{"calibration_sequence": "2026-05-22_13-27-28_calibration", "episode_index": 22, "frames": 719, "ground_plane": "ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json", "mesh": "mesh/step_ladder/step_ladder.glb", "notes": "2026-05-22_16-52-36_step_ladder_drag_03", "object": "step_ladder", "sequence_id": "2026-05-22_16-52-36_step_ladder_drag_03", "support_surface": "support_surface/2026-05-22_16-52-36_step_ladder_drag_03_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence."} -{"calibration_sequence": "2026-06-03_13-51-21_calibration", "episode_index": 23, "frames": 946, "ground_plane": "ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json", "mesh": "mesh/toy_stroller/toy_stroller.glb", "notes": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "object": "toy_stroller", "sequence_id": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "support_surface": "support_surface/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area."} -{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 24, "frames": 748, "ground_plane": "ground_plane/2026-05-29_15-43-20_watering_can_pour_right_02.json", "mesh": "mesh/watering_can/watering_can.glb", "notes": "2026-05-29_15-43-20_watering_can_pour_right_02", "object": "watering_can", "sequence_id": "2026-05-29_15-43-20_watering_can_pour_right_02", "support_surface": "support_surface/2026-05-29_15-43-20_watering_can_pour_right_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand."} -{"calibration_sequence": "2026-03-20_11-13-12_calibration", "episode_index": 25, "frames": 859, "ground_plane": "ground_plane/2026-03-20_11-59-57_cyan_water_bottle_rotate_01.json", "mesh": "mesh/cyan_water_bottle/cyan_water_bottle.glb", "notes": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "object": "cyan_water_bottle", "sequence_id": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "support_surface": "support_surface/2026-03-20_11-59-57_cyan_water_bottle_rotate_01_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table."} -{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 26, "frames": 669, "ground_plane": "ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json", "mesh": "mesh/skateboard/skateboard.glb", "notes": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "object": "skateboard", "sequence_id": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "support_surface": "support_surface/2026-06-05_16-05-08_skateboard_rotate_ground_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area."} -{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 27, "frames": 565, "ground_plane": "ground_plane/2026-05-01_11-15-05_woven_basket_ground_desk_10.json", "mesh": "mesh/woven_basket/woven_basket.glb", "notes": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "object": "woven_basket", "sequence_id": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "support_surface": "support_surface/2026-05-01_11-15-05_woven_basket_ground_desk_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk."} -{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 28, "frames": 988, "ground_plane": "ground_plane/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_.json", "mesh": "mesh/squeegee/squeegee.glb", "notes": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "object": "squeegee", "sequence_id": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "support_surface": "support_surface/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03__support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you."} -{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 29, "frames": 467, "ground_plane": "ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json", "mesh": "mesh/rolling_luggage/rolling_luggage.glb", "notes": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "object": "rolling_luggage", "sequence_id": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "support_surface": "support_surface/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete."} diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02_support.usda deleted file mode 100644 index 0f87d54ef6101ffcca380ed32c37d67c2777bae4..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.87094945, 0.6472412, 0.6805486)] - double radius = 0.0466262713583489 - double3 xformOp:translate = (-0.6703524654049726, 0.7588439489572992, 0.8579249489875762) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-03-18_19-36-56_g1_box_rotate_01_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-03-18_19-36-56_g1_box_rotate_01_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-03-18_19-36-56_g1_box_rotate_01_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-03-20_11-59-57_cyan_water_bottle_rotate_01_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-03-20_11-59-57_cyan_water_bottle_rotate_01_support.usda deleted file mode 100644 index 46481e1837bb3146081cceccf5d4f50bd1b4a137..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-03-20_11-59-57_cyan_water_bottle_rotate_01_support.usda +++ /dev/null @@ -1,34 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.85026497, 0.57249665, 0.6989591)] - double radius = 0.05361670623795184 - double3 xformOp:translate = (-1.207300775734293, 0.6721465448906071, 0.7632628675869704) - uniform token[] xformOpOrder = ["xformOp:translate"] - } - - def Cylinder "object_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.9019251, 0.5794947, 0.5881046)] - double radius = 0.05268964219607114 - double3 xformOp:translate = (-1.3179959185627097, 0.7626626428726306, 0.7669492660655428) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-04-24_11-40-52_baseball_bat_rotate_05_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-04-24_11-40-52_baseball_bat_rotate_05_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-04-24_11-40-52_baseball_bat_rotate_05_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-04-24_13-56-58_light_blue_book_pick_place_09_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-04-24_13-56-58_light_blue_book_pick_place_09_support.usda deleted file mode 100644 index dee658be34a790fd4b8e5e4446082d91d3dbacae..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-04-24_13-56-58_light_blue_book_pick_place_09_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.91806465, 0.6436726, 0.8323664)] - double radius = 0.21825407159978735 - double3 xformOp:translate = (-0.9087255351116422, -0.035479385282453514, 0.8565479855842795) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-04-25_17-20-04_black_platform_turn_05_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-04-25_17-20-04_black_platform_turn_05_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-04-25_17-20-04_black_platform_turn_05_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05_support.usda deleted file mode 100644 index bc1684042f191006b33103b1ae67c906f1a41544..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.9073608, 0.5830733, 0.5401777)] - double radius = 0.08481162225048822 - double3 xformOp:translate = (-1.238603304990316, -0.17362171504790616, 0.7572639538131507) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-04-29_11-53-57_tall_bar_stool_pull_08_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-04-29_11-53-57_tall_bar_stool_pull_08_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-04-29_11-53-57_tall_bar_stool_pull_08_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-05-01_11-15-05_woven_basket_ground_desk_10_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-05-01_11-15-05_woven_basket_ground_desk_10_support.usda deleted file mode 100644 index 6a2d9de2f4d69dcfe9bd39b0b4830d288c8f9468..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-05-01_11-15-05_woven_basket_ground_desk_10_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.7196302, 0.6468296, 0.91883016)] - double radius = 0.16913101875816094 - double3 xformOp:translate = (0.23090111099908311, -0.9744983471551923, 0.8516838911014109) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-05-01_11-36-40_white_desk_lower_to_ground_10_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-05-01_11-36-40_white_desk_lower_to_ground_10_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-05-01_11-36-40_white_desk_lower_to_ground_10_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-05-01_17-04-55_traffic_cone_ground_table_02_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-05-01_17-04-55_traffic_cone_ground_table_02_support.usda deleted file mode 100644 index cbf26e49570256289230ca5468ec69456201ad3a..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-05-01_17-04-55_traffic_cone_ground_table_02_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.9612001, 0.68347996, 0.57682467)] - double radius = 0.12478255645333762 - double3 xformOp:translate = (-0.29309539135011836, 0.643122004942171, 0.7511897739673112) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-05-18_17-06-21_vacuum_left_lean_02_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-05-18_17-06-21_vacuum_left_lean_02_support.usda deleted file mode 100644 index 83eef8c161489e3cda9b12cf8d15d923d076cfe1..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-05-18_17-06-21_vacuum_left_lean_02_support.usda +++ /dev/null @@ -1,20 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cube "chair_back" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - color3f[] primvars:displayColor = [(0.92346305, 0.64605016, 0.7176171)] - double size = 1 - double3 xformOp:translate = (-0.5324, -0.486, 0.715) - double3 xformOp:scale = (0.02, 0.12, 0.27) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"] - } -} diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-05-19_10-19-48_cane_swing_05_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-05-19_10-19-48_cane_swing_05_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-05-19_10-19-48_cane_swing_05_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03__support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03__support.usda deleted file mode 100644 index 4cabcb05c1425b019ff117d960df9a3c8ce36edb..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03__support.usda +++ /dev/null @@ -1,31 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cube "chair_back_top" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - color3f[] primvars:displayColor = [(0.92346305, 0.64605016, 0.7176171)] - double size = 1 - double3 xformOp:translate = (0.9309, -0.2483, 0.706) - double3 xformOp:scale = (0.1, 0.13, 0.02) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"] - } - - def Cube "chair_back_top_return" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - color3f[] primvars:displayColor = [(0.92346305, 0.64605016, 0.7176171)] - double size = 1 - double3 xformOp:translate = (1.0451, -0.342, 0.6875) - double3 xformOp:scale = (0.1, 0.13, 0.02) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"] - } -} diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-05-22_16-52-36_step_ladder_drag_03_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-05-22_16-52-36_step_ladder_drag_03_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-05-22_16-52-36_step_ladder_drag_03_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-05-28_14-44-09_round_table_flip_08_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-05-28_14-44-09_round_table_flip_08_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-05-28_14-44-09_round_table_flip_08_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-05-29_15-20-43_iron_round_table_02_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-05-29_15-20-43_iron_round_table_02_support.usda deleted file mode 100644 index 2898865aeaad8e5541fea52c22819307da7ea325..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-05-29_15-20-43_iron_round_table_02_support.usda +++ /dev/null @@ -1,20 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cube "tabletop" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - color3f[] primvars:displayColor = [(0.92346305, 0.64605016, 0.7176171)] - double size = 1 - double3 xformOp:translate = (-0.7757, 0.1698, 0.7771) - double3 xformOp:scale = (0.84, 0.282, 0.01) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"] - } -} diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-05-29_15-43-20_watering_can_pour_right_02_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-05-29_15-43-20_watering_can_pour_right_02_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-05-29_15-43-20_watering_can_pour_right_02_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-06-01_11-26-44_monitor_rotate_05_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-06-01_11-26-44_monitor_rotate_05_support.usda deleted file mode 100644 index b2b70f65f6b9d013679d623ffb8c1c8fea22de18..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-06-01_11-26-44_monitor_rotate_05_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.97095394, 0.74483925, 0.6270844)] - double radius = 0.4798645384430267 - double3 xformOp:translate = (-1.0921085818436254, 0.17156735096939002, 0.7596419482088983) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-06-02_10-04-42_blue_easter_basket_place_10_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-06-02_10-04-42_blue_easter_basket_place_10_support.usda deleted file mode 100644 index 353df397987c6f47a1f4aa49128c3c4d5cf8c53b..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-06-02_10-04-42_blue_easter_basket_place_10_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.9461438, 0.5519506, 0.73572975)] - double radius = 0.1285814068322424 - double3 xformOp:translate = (-1.0304469268887362, -0.09052110188649923, 0.7590109513991395) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-06-04_14-16-23_tall_bar_stool_tip_up_04_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-06-04_14-16-23_tall_bar_stool_tip_up_04_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-06-04_14-16-23_tall_bar_stool_tip_up_04_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03_support.usda deleted file mode 100644 index 89b271859418bc15f7d02e57b68b0f2209dc7dee..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03_support.usda +++ /dev/null @@ -1,21 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.8226553, 0.5927037, 0.91482455)] - double radius = 0.15610055540809342 - double3 xformOp:translate = (-0.8950593179824066, -0.10770559795047221, 0.44876584430138483) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-06-05_15-08-08_skinny_wood_chair_push_10_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-06-05_15-08-08_skinny_wood_chair_push_10_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-06-05_15-08-08_skinny_wood_chair_push_10_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-06-05_16-05-08_skateboard_rotate_ground_10_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-06-05_16-05-08_skateboard_rotate_ground_10_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-06-05_16-05-08_skateboard_rotate_ground_10_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-06-08_16-57-34_rice_cooker_clockwise_04_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-06-08_16-57-34_rice_cooker_clockwise_04_support.usda deleted file mode 100644 index 2787007b58fbf67a8828a96dc2112d66b0606c71..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-06-08_16-57-34_rice_cooker_clockwise_04_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.72469527, 0.63386506, 0.96957123)] - double radius = 0.1351534672204729 - double3 xformOp:translate = (-0.34456947920916897, 0.7869074935029406, 0.777391476352695) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_1_multiview_caption/support_surface/2026-06-09_10-19-09_snack_box_desk_through_06_support.usda b/track_2/tier_1_multiview_caption/support_surface/2026-06-09_10-19-09_snack_box_desk_through_06_support.usda deleted file mode 100644 index 6104c70d73d5ff1d0c1eaef05d77cb69a2b3a695..0000000000000000000000000000000000000000 --- a/track_2/tier_1_multiview_caption/support_surface/2026-06-09_10-19-09_snack_box_desk_through_06_support.usda +++ /dev/null @@ -1,21 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.6876813, 0.93062145, 0.81241834)] - double radius = 0.3045888555026075 - double3 xformOp:translate = (-0.9725818185937641, -0.1064833273325322, 0.8621988938318569) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} diff --git a/track_2/tier_2_synthetic_noise/data/chunk-000/episode_000000.parquet b/track_2/tier_2_synthetic_noise/data/chunk-000/episode_000000.parquet deleted file mode 100644 index 5d2d2206b98eab0a9692975387499094ec8a4649..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/data/chunk-000/episode_000000.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:29fada5a3bb751a6a84f92bd9647a4f1a608f94fffd9c01fd4dbbf4e97f958eb -size 1058060 diff --git a/track_2/tier_2_synthetic_noise/data/chunk-000/episode_000001.parquet b/track_2/tier_2_synthetic_noise/data/chunk-000/episode_000001.parquet deleted file mode 100644 index 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deleted file mode 100644 index 3dbbb4749aae9f1197c97434f978d31bef7ecb95..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/meta/episodes_metadata.jsonl +++ /dev/null @@ -1,30 +0,0 @@ -{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 0, "frames": 778, "ground_plane": "ground_plane/2026-06-04_14-16-23_tall_bar_stool_tip_up_04.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-06-04_14-16-23_tall_bar_stool_tip_up_04", "object": "tall_bar_stool", "sequence_id": "2026-06-04_14-16-23_tall_bar_stool_tip_up_04", "support_surface": "support_surface/2026-06-04_14-16-23_tall_bar_stool_tip_up_04_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the tall bar stool and using both hands, tip the stool from a face down lying down position back to upright."} -{"calibration_sequence": "2026-05-18_15-34-58_calibration", "episode_index": 1, "frames": 747, "ground_plane": "ground_plane/2026-05-18_17-06-21_vacuum_left_lean_02.json", "mesh": "mesh/vacuum/vacuum.glb", "notes": "2026-05-18_17-06-21_vacuum_left_lean_02", "object": "vacuum", "sequence_id": "2026-05-18_17-06-21_vacuum_left_lean_02", "support_surface": "support_surface/2026-05-18_17-06-21_vacuum_left_lean_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the vacuum leaning on the tall bar stool and pick up the vacuum using your left hand and hold the vacuum infront of you and perform side to side vacuum motions. Place it back leaning on the stool when complete."} -{"calibration_sequence": "2026-06-02_09-23-23_calibration", "episode_index": 2, "frames": 980, "ground_plane": "ground_plane/2026-06-02_10-04-42_blue_easter_basket_place_10.json", "mesh": "mesh/blue_easter_basket/blue_easter_basket.glb", "notes": "2026-06-02_10-04-42_blue_easter_basket_place_10", "object": "blue_easter_basket", "sequence_id": "2026-06-02_10-04-42_blue_easter_basket_place_10", "support_surface": "support_surface/2026-06-02_10-04-42_blue_easter_basket_place_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the blue basket on the round table and pick up the blue basket using your right hand and place the basket in a different area within the bounding area. Then pick up the basket and handover to the left hand and place the blue basket in a different area within the bounding area."} -{"calibration_sequence": "2026-04-27_09-37-33_calibration", "episode_index": 3, "frames": 781, "ground_plane": "ground_plane/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05.json", "mesh": "mesh/contigo_coffee_mug/contigo_coffee_mug.glb", "notes": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "object": "contigo_coffee_mug", "sequence_id": "2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05", "support_surface": "support_surface/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the coffee mug on the round table, lift it by the handle with your right hand and set it down, then repeat with your left, alternating a few times before leaving it on the table."} -{"calibration_sequence": "2026-04-24_09-28-11_calibration", "episode_index": 4, "frames": 803, "ground_plane": "ground_plane/2026-04-24_11-40-52_baseball_bat_rotate_05.json", "mesh": "mesh/baseball_bat/baseball_bat.glb", "notes": "2026-04-24_11-40-52_baseball_bat_rotate_05", "object": "baseball_bat", "sequence_id": "2026-04-24_11-40-52_baseball_bat_rotate_05", "support_surface": "support_surface/2026-04-24_11-40-52_baseball_bat_rotate_05_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the baseball bat and pick up the baseball bat. Slowly begin to rotate the baseball bat and yourself around the bounding area so that every camera gets a visual of the baseball baat."} -{"calibration_sequence": "2026-03-18_17-41-31_calibration", "episode_index": 5, "frames": 1003, "ground_plane": "ground_plane/2026-03-18_19-36-56_g1_box_rotate_01.json", "mesh": "mesh/big_black_box/big_black_box.glb", "notes": "2026-03-18_19-36-56_g1_box_rotate_01", "object": "big_black_box", "sequence_id": "2026-03-18_19-36-56_g1_box_rotate_01", "support_surface": "support_surface/2026-03-18_19-36-56_g1_box_rotate_01_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the G1 Box and rotate the box around the bounding area."} -{"calibration_sequence": "2026-06-01_09-36-34_calibration", "episode_index": 6, "frames": 546, "ground_plane": "ground_plane/2026-06-01_11-26-44_monitor_rotate_05.json", "mesh": "mesh/monitor/monitor.glb", "notes": "2026-06-01_11-26-44_monitor_rotate_05", "object": "monitor", "sequence_id": "2026-06-01_11-26-44_monitor_rotate_05", "support_surface": "support_surface/2026-06-01_11-26-44_monitor_rotate_05_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the monitor on the round table. Using only the base of the monitor, rotate and reposition the monitor around the surface of the table without touching or moving the screen itself. When finished, leave the monitor resting on top of the table."} -{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 7, "frames": 896, "ground_plane": "ground_plane/2026-05-29_15-20-43_iron_round_table_02.json", "mesh": "mesh/iron/iron.glb", "notes": "2026-05-29_15-20-43_iron_round_table_02", "object": "iron", "sequence_id": "2026-05-29_15-20-43_iron_round_table_02", "support_surface": "support_surface/2026-05-29_15-20-43_iron_round_table_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the iron on the round table and using your right hand in the handle slide it back and forth horizontally on the desk. Stand it up vertically when finished."} -{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 8, "frames": 708, "ground_plane": "ground_plane/2026-06-05_15-08-08_skinny_wood_chair_push_10.json", "mesh": "mesh/skinny_wood_chair/skinny_wood_chair.glb", "notes": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "object": "skinny_wood_chair", "sequence_id": "2026-06-05_15-08-08_skinny_wood_chair_push_10", "support_surface": "support_surface/2026-06-05_15-08-08_skinny_wood_chair_push_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the skinny wood chair and push the skinny wood chair into the round table."} -{"calibration_sequence": "2026-06-04_13-13-29_calibration", "episode_index": 9, "frames": 870, "ground_plane": "ground_plane/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03.json", "mesh": "mesh/big_red_bowl/big_red_bowl.glb", "notes": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "object": "big_red_bowl", "sequence_id": "2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03", "support_surface": "support_surface/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the big red bowl on the skinny wood chair and pick up the big red bowl using both hands and proceed to place the big red bowl on the ground in front of the skinny wood chair and then slide the big red bowl underneath the skinny wood chair."} -{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 10, "frames": 794, "ground_plane": "ground_plane/2026-05-01_11-36-40_white_desk_lower_to_ground_10.json", "mesh": "mesh/white_desk/white_desk.glb", "notes": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "object": "white_desk", "sequence_id": "2026-05-01_11-36-40_white_desk_lower_to_ground_10", "support_surface": "support_surface/2026-05-01_11-36-40_white_desk_lower_to_ground_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the white desk, use both your hands to grasp on the edge of the table closest to you, and lower the desk to the ground."} -{"calibration_sequence": "2026-04-24_13-37-32_calibration", "episode_index": 11, "frames": 901, "ground_plane": "ground_plane/2026-04-24_13-56-58_light_blue_book_pick_place_09.json", "mesh": "mesh/light_blue_book/light_blue_book.glb", "notes": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "object": "light_blue_book", "sequence_id": "2026-04-24_13-56-58_light_blue_book_pick_place_09", "support_surface": "support_surface/2026-04-24_13-56-58_light_blue_book_pick_place_09_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Pick up the book from the table and place it on the floor."} -{"calibration_sequence": "2026-04-25_14-36-15_calibration", "episode_index": 12, "frames": 700, "ground_plane": "ground_plane/2026-04-25_17-20-04_black_platform_turn_05.json", "mesh": "mesh/black_platform/black_platform.glb", "notes": "2026-04-25_17-20-04_black_platform_turn_05", "object": "black_platform", "sequence_id": "2026-04-25_17-20-04_black_platform_turn_05", "support_surface": "support_surface/2026-04-25_17-20-04_black_platform_turn_05_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the platform on the ground and turn the platform over. Place on the ground when done."} -{"calibration_sequence": "2026-06-09_09-15-06_calibration_", "episode_index": 13, "frames": 922, "ground_plane": "ground_plane/2026-06-09_10-19-09_snack_box_desk_through_06.json", "mesh": "mesh/snack_box/snack_box.glb", "notes": "2026-06-09_10-19-09_snack_box_desk_through_06", "object": "snack_box", "sequence_id": "2026-06-09_10-19-09_snack_box_desk_through_06", "support_surface": "support_surface/2026-06-09_10-19-09_snack_box_desk_through_06_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the snack box on the white desk. Put the snack box on the ground and use any foot to push the snack box through the desk. Put the box on the desk when finished."} -{"calibration_sequence": "2026-05-28_13-44-11_calibration", "episode_index": 14, "frames": 993, "ground_plane": "ground_plane/2026-05-28_14-44-09_round_table_flip_08.json", "mesh": "mesh/round_table/round_table.glb", "notes": "2026-05-28_14-44-09_round_table_flip_08", "object": "round_table", "sequence_id": "2026-05-28_14-44-09_round_table_flip_08", "support_surface": "support_surface/2026-05-28_14-44-09_round_table_flip_08_support.usda", "support_surface_frame": "g1_retarget_world", "task": "\"Walk to the round table and use both hands to lower it onto its side. Flip the table so the wheels are facing upward, then rotate it again onto its side, and continue rotating it until it returns to an upright position."} -{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 15, "frames": 715, "ground_plane": "ground_plane/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08.json", "mesh": "mesh/wet_floor_sign/wet_floor_sign.glb", "notes": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "object": "wet_floor_sign", "sequence_id": "2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08", "support_surface": "support_surface/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the wet floor sign, pick it up with one hand and hold onto it while walking around for at least 10 seconds, then place it back on the floor."} -{"calibration_sequence": "2026-03-12_13-41-31_calibration", "episode_index": 16, "frames": 477, "ground_plane": "ground_plane/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02.json", "mesh": "mesh/spray_bottle/spray_bottle.glb", "notes": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "object": "spray_bottle", "sequence_id": "2026-03-12_15-06-36_spray_bottle_left_desk_ground_02", "support_surface": "support_surface/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the spray bottle on the white desk, pick up the spray bottle with your left hand and place it on the ground."} -{"calibration_sequence": "2026-05-01_13-38-21_calibration", "episode_index": 17, "frames": 440, "ground_plane": "ground_plane/2026-05-01_17-04-55_traffic_cone_ground_table_02.json", "mesh": "mesh/traffic_cone/traffic_cone.glb", "notes": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "object": "traffic_cone", "sequence_id": "2026-05-01_17-04-55_traffic_cone_ground_table_02", "support_surface": "support_surface/2026-05-01_17-04-55_traffic_cone_ground_table_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the traffic cone on the ground, pick up the cone with both hands and place it on the round table."} -{"calibration_sequence": "2026-05-06_09-28-56_calibration", "episode_index": 18, "frames": 858, "ground_plane": "ground_plane/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08.json", "mesh": "mesh/blue_trash_can/blue_trash_can.glb", "notes": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "object": "blue_trash_can", "sequence_id": "2026-05-06_10-00-19_blue_trash_can_drag_sideways_08", "support_surface": "support_surface/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the blue trash can and slide the blue trash can side ways."} -{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 19, "frames": 886, "ground_plane": "ground_plane/2026-05-19_10-19-48_cane_swing_05.json", "mesh": "mesh/cane/cane.glb", "notes": "2026-05-19_10-19-48_cane_swing_05", "object": "cane", "sequence_id": "2026-05-19_10-19-48_cane_swing_05", "support_surface": "support_surface/2026-05-19_10-19-48_cane_swing_05_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the cane on the ground and use your right hand to grasp the cane then swing the cane on your side and then proceed to handover the cane to your left hand and perform a swinging motion. Place on the ground when complete."} -{"calibration_sequence": "2026-06-08_13-01-08_calibration", "episode_index": 20, "frames": 553, "ground_plane": "ground_plane/2026-06-08_16-57-34_rice_cooker_clockwise_04.json", "mesh": "mesh/rice_cooker/rice_cooker.glb", "notes": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "object": "rice_cooker", "sequence_id": "2026-06-08_16-57-34_rice_cooker_clockwise_04", "support_surface": "support_surface/2026-06-08_16-57-34_rice_cooker_clockwise_04_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk toward the rice cooker on the round table and pick up the rice cooker and rotate it clockwise using right hand. Place back on the round table."} -{"calibration_sequence": "2026-04-29_09-10-26_calibration", "episode_index": 21, "frames": 678, "ground_plane": "ground_plane/2026-04-29_11-53-57_tall_bar_stool_pull_08.json", "mesh": "mesh/tall_bar_stool/tall_bar_stool.glb", "notes": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "object": "tall_bar_stool", "sequence_id": "2026-04-29_11-53-57_tall_bar_stool_pull_08", "support_surface": "support_surface/2026-04-29_11-53-57_tall_bar_stool_pull_08_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the tall bar stool and pull the tall bar stool away from the desk."} -{"calibration_sequence": "2026-05-22_13-27-28_calibration", "episode_index": 22, "frames": 719, "ground_plane": "ground_plane/2026-05-22_16-52-36_step_ladder_drag_03.json", "mesh": "mesh/step_ladder/step_ladder.glb", "notes": "2026-05-22_16-52-36_step_ladder_drag_03", "object": "step_ladder", "sequence_id": "2026-05-22_16-52-36_step_ladder_drag_03", "support_surface": "support_surface/2026-05-22_16-52-36_step_ladder_drag_03_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the step ladder. Using right hand, drag the step ladder on the floor in the bounding area until end of sequence."} -{"calibration_sequence": "2026-06-03_13-51-21_calibration", "episode_index": 23, "frames": 946, "ground_plane": "ground_plane/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04.json", "mesh": "mesh/toy_stroller/toy_stroller.glb", "notes": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "object": "toy_stroller", "sequence_id": "2026-06-03_15-08-03_toy_stroller_back_forth_ground_04", "support_surface": "support_surface/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the toy stroller on the ground and use both hands to move the stroller back and forth within the bounding area."} -{"calibration_sequence": "2026-05-29_12-58-33_calibration", "episode_index": 24, "frames": 748, "ground_plane": "ground_plane/2026-05-29_15-43-20_watering_can_pour_right_02.json", "mesh": "mesh/watering_can/watering_can.glb", "notes": "2026-05-29_15-43-20_watering_can_pour_right_02", "object": "watering_can", "sequence_id": "2026-05-29_15-43-20_watering_can_pour_right_02", "support_surface": "support_surface/2026-05-29_15-43-20_watering_can_pour_right_02_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the watering can on the ground and kneel next to the watering can and tip it forward as if pouring using right hand."} -{"calibration_sequence": "2026-03-20_11-13-12_calibration", "episode_index": 25, "frames": 859, "ground_plane": "ground_plane/2026-03-20_11-59-57_cyan_water_bottle_rotate_01.json", "mesh": "mesh/cyan_water_bottle/cyan_water_bottle.glb", "notes": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "object": "cyan_water_bottle", "sequence_id": "2026-03-20_11-59-57_cyan_water_bottle_rotate_01", "support_surface": "support_surface/2026-03-20_11-59-57_cyan_water_bottle_rotate_01_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the cyan water bottle on the round table. Pick up the bottle with your right hand, rotate and hand it over to your left hand. And keep alternating hands while rortating the bottle. Once done, place the bottle back on the round table."} -{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 26, "frames": 669, "ground_plane": "ground_plane/2026-06-05_16-05-08_skateboard_rotate_ground_10.json", "mesh": "mesh/skateboard/skateboard.glb", "notes": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "object": "skateboard", "sequence_id": "2026-06-05_16-05-08_skateboard_rotate_ground_10", "support_surface": "support_surface/2026-06-05_16-05-08_skateboard_rotate_ground_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the skateboard on the ground. Use your hands to rotate the skateboard on the ground within the bounding area."} -{"calibration_sequence": "2026-05-01_10-46-06_calibration", "episode_index": 27, "frames": 565, "ground_plane": "ground_plane/2026-05-01_11-15-05_woven_basket_ground_desk_10.json", "mesh": "mesh/woven_basket/woven_basket.glb", "notes": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "object": "woven_basket", "sequence_id": "2026-05-01_11-15-05_woven_basket_ground_desk_10", "support_surface": "support_surface/2026-05-01_11-15-05_woven_basket_ground_desk_10_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk to the woven basket from the ground, pick up the basket with your both hands and place the basket on the white desk."} -{"calibration_sequence": "2026-05-19_09-56-19_calibration", "episode_index": 28, "frames": 988, "ground_plane": "ground_plane/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_.json", "mesh": "mesh/squeegee/squeegee.glb", "notes": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "object": "squeegee", "sequence_id": "2026-05-19_11-27-07_squeegee_sweep_away_from_you_03_", "support_surface": "support_surface/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03__support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the squeegee leaning on the tall bar stool and using both hands to pick up the squeegee proceed to hold the squeegee infront of you and perform sweeping motions away you."} -{"calibration_sequence": "2026-06-05_13-28-06_calibration_", "episode_index": 29, "frames": 467, "ground_plane": "ground_plane/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06.json", "mesh": "mesh/rolling_luggage/rolling_luggage.glb", "notes": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "object": "rolling_luggage", "sequence_id": "2026-06-05_18-27-40_rolling_luggage_left_foot_push_06", "support_surface": "support_surface/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06_support.usda", "support_surface_frame": "g1_retarget_world", "task": "Walk over to the rolling luggage within the bounding area and using your left foot push the rolling luggage. within the bounding area. Step away when complete."} diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02_support.usda deleted file mode 100644 index 0f87d54ef6101ffcca380ed32c37d67c2777bae4..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-03-12_15-06-36_spray_bottle_left_desk_ground_02_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.87094945, 0.6472412, 0.6805486)] - double radius = 0.0466262713583489 - double3 xformOp:translate = (-0.6703524654049726, 0.7588439489572992, 0.8579249489875762) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-03-18_19-36-56_g1_box_rotate_01_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-03-18_19-36-56_g1_box_rotate_01_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-03-18_19-36-56_g1_box_rotate_01_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-03-20_11-59-57_cyan_water_bottle_rotate_01_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-03-20_11-59-57_cyan_water_bottle_rotate_01_support.usda deleted file mode 100644 index 46481e1837bb3146081cceccf5d4f50bd1b4a137..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-03-20_11-59-57_cyan_water_bottle_rotate_01_support.usda +++ /dev/null @@ -1,34 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.85026497, 0.57249665, 0.6989591)] - double radius = 0.05361670623795184 - double3 xformOp:translate = (-1.207300775734293, 0.6721465448906071, 0.7632628675869704) - uniform token[] xformOpOrder = ["xformOp:translate"] - } - - def Cylinder "object_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.9019251, 0.5794947, 0.5881046)] - double radius = 0.05268964219607114 - double3 xformOp:translate = (-1.3179959185627097, 0.7626626428726306, 0.7669492660655428) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-04-24_11-40-52_baseball_bat_rotate_05_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-04-24_11-40-52_baseball_bat_rotate_05_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-04-24_11-40-52_baseball_bat_rotate_05_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-04-24_13-56-58_light_blue_book_pick_place_09_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-04-24_13-56-58_light_blue_book_pick_place_09_support.usda deleted file mode 100644 index dee658be34a790fd4b8e5e4446082d91d3dbacae..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-04-24_13-56-58_light_blue_book_pick_place_09_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.91806465, 0.6436726, 0.8323664)] - double radius = 0.21825407159978735 - double3 xformOp:translate = (-0.9087255351116422, -0.035479385282453514, 0.8565479855842795) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-04-25_17-20-04_black_platform_turn_05_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-04-25_17-20-04_black_platform_turn_05_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-04-25_17-20-04_black_platform_turn_05_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05_support.usda deleted file mode 100644 index bc1684042f191006b33103b1ae67c906f1a41544..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-04-27_11-50-10_contigo_coffee_mug_handle_table_05_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.9073608, 0.5830733, 0.5401777)] - double radius = 0.08481162225048822 - double3 xformOp:translate = (-1.238603304990316, -0.17362171504790616, 0.7572639538131507) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-04-29_11-53-57_tall_bar_stool_pull_08_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-04-29_11-53-57_tall_bar_stool_pull_08_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-04-29_11-53-57_tall_bar_stool_pull_08_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-05-01_11-15-05_woven_basket_ground_desk_10_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-05-01_11-15-05_woven_basket_ground_desk_10_support.usda deleted file mode 100644 index 6a2d9de2f4d69dcfe9bd39b0b4830d288c8f9468..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-05-01_11-15-05_woven_basket_ground_desk_10_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.7196302, 0.6468296, 0.91883016)] - double radius = 0.16913101875816094 - double3 xformOp:translate = (0.23090111099908311, -0.9744983471551923, 0.8516838911014109) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-05-01_11-36-40_white_desk_lower_to_ground_10_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-05-01_11-36-40_white_desk_lower_to_ground_10_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-05-01_11-36-40_white_desk_lower_to_ground_10_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-05-01_17-04-55_traffic_cone_ground_table_02_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-05-01_17-04-55_traffic_cone_ground_table_02_support.usda deleted file mode 100644 index cbf26e49570256289230ca5468ec69456201ad3a..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-05-01_17-04-55_traffic_cone_ground_table_02_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.9612001, 0.68347996, 0.57682467)] - double radius = 0.12478255645333762 - double3 xformOp:translate = (-0.29309539135011836, 0.643122004942171, 0.7511897739673112) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-05-06_10-00-19_blue_trash_can_drag_sideways_08_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-05-06_11-06-15_wet_floor_sign_pick_place_ground_08_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-05-18_17-06-21_vacuum_left_lean_02_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-05-18_17-06-21_vacuum_left_lean_02_support.usda deleted file mode 100644 index 83eef8c161489e3cda9b12cf8d15d923d076cfe1..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-05-18_17-06-21_vacuum_left_lean_02_support.usda +++ /dev/null @@ -1,20 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cube "chair_back" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - color3f[] primvars:displayColor = [(0.92346305, 0.64605016, 0.7176171)] - double size = 1 - double3 xformOp:translate = (-0.5324, -0.486, 0.715) - double3 xformOp:scale = (0.02, 0.12, 0.27) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"] - } -} diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-05-19_10-19-48_cane_swing_05_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-05-19_10-19-48_cane_swing_05_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-05-19_10-19-48_cane_swing_05_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03__support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03__support.usda deleted file mode 100644 index 4cabcb05c1425b019ff117d960df9a3c8ce36edb..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-05-19_11-27-07_squeegee_sweep_away_from_you_03__support.usda +++ /dev/null @@ -1,31 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cube "chair_back_top" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - color3f[] primvars:displayColor = [(0.92346305, 0.64605016, 0.7176171)] - double size = 1 - double3 xformOp:translate = (0.9309, -0.2483, 0.706) - double3 xformOp:scale = (0.1, 0.13, 0.02) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"] - } - - def Cube "chair_back_top_return" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - color3f[] primvars:displayColor = [(0.92346305, 0.64605016, 0.7176171)] - double size = 1 - double3 xformOp:translate = (1.0451, -0.342, 0.6875) - double3 xformOp:scale = (0.1, 0.13, 0.02) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"] - } -} diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-05-22_16-52-36_step_ladder_drag_03_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-05-22_16-52-36_step_ladder_drag_03_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-05-22_16-52-36_step_ladder_drag_03_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-05-28_14-44-09_round_table_flip_08_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-05-28_14-44-09_round_table_flip_08_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-05-28_14-44-09_round_table_flip_08_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-05-29_15-20-43_iron_round_table_02_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-05-29_15-20-43_iron_round_table_02_support.usda deleted file mode 100644 index 2898865aeaad8e5541fea52c22819307da7ea325..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-05-29_15-20-43_iron_round_table_02_support.usda +++ /dev/null @@ -1,20 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cube "tabletop" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - color3f[] primvars:displayColor = [(0.92346305, 0.64605016, 0.7176171)] - double size = 1 - double3 xformOp:translate = (-0.7757, 0.1698, 0.7771) - double3 xformOp:scale = (0.84, 0.282, 0.01) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"] - } -} diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-05-29_15-43-20_watering_can_pour_right_02_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-05-29_15-43-20_watering_can_pour_right_02_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-05-29_15-43-20_watering_can_pour_right_02_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-06-01_11-26-44_monitor_rotate_05_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-06-01_11-26-44_monitor_rotate_05_support.usda deleted file mode 100644 index b2b70f65f6b9d013679d623ffb8c1c8fea22de18..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-06-01_11-26-44_monitor_rotate_05_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.97095394, 0.74483925, 0.6270844)] - double radius = 0.4798645384430267 - double3 xformOp:translate = (-1.0921085818436254, 0.17156735096939002, 0.7596419482088983) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-06-02_10-04-42_blue_easter_basket_place_10_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-06-02_10-04-42_blue_easter_basket_place_10_support.usda deleted file mode 100644 index 353df397987c6f47a1f4aa49128c3c4d5cf8c53b..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-06-02_10-04-42_blue_easter_basket_place_10_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.9461438, 0.5519506, 0.73572975)] - double radius = 0.1285814068322424 - double3 xformOp:translate = (-1.0304469268887362, -0.09052110188649923, 0.7590109513991395) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-06-03_15-08-03_toy_stroller_back_forth_ground_04_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-06-04_14-16-23_tall_bar_stool_tip_up_04_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-06-04_14-16-23_tall_bar_stool_tip_up_04_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-06-04_14-16-23_tall_bar_stool_tip_up_04_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03_support.usda deleted file mode 100644 index 89b271859418bc15f7d02e57b68b0f2209dc7dee..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-06-04_16-45-04_big_red_bowl_under_skinny_wood_chair_03_support.usda +++ /dev/null @@ -1,21 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.8226553, 0.5927037, 0.91482455)] - double radius = 0.15610055540809342 - double3 xformOp:translate = (-0.8950593179824066, -0.10770559795047221, 0.44876584430138483) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-06-05_15-08-08_skinny_wood_chair_push_10_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-06-05_15-08-08_skinny_wood_chair_push_10_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-06-05_15-08-08_skinny_wood_chair_push_10_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-06-05_16-05-08_skateboard_rotate_ground_10_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-06-05_16-05-08_skateboard_rotate_ground_10_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-06-05_16-05-08_skateboard_rotate_ground_10_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06_support.usda deleted file mode 100644 index 981c04f3b3f6d9cc29fd68431d2cb2b745f64b65..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-06-05_18-27-40_rolling_luggage_left_foot_push_06_support.usda +++ /dev/null @@ -1,11 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-06-08_16-57-34_rice_cooker_clockwise_04_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-06-08_16-57-34_rice_cooker_clockwise_04_support.usda deleted file mode 100644 index 2787007b58fbf67a8828a96dc2112d66b0606c71..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-06-08_16-57-34_rice_cooker_clockwise_04_support.usda +++ /dev/null @@ -1,22 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.72469527, 0.63386506, 0.96957123)] - double radius = 0.1351534672204729 - double3 xformOp:translate = (-0.34456947920916897, 0.7869074935029406, 0.777391476352695) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} - diff --git a/track_2/tier_2_synthetic_noise/support_surface/2026-06-09_10-19-09_snack_box_desk_through_06_support.usda b/track_2/tier_2_synthetic_noise/support_surface/2026-06-09_10-19-09_snack_box_desk_through_06_support.usda deleted file mode 100644 index 6104c70d73d5ff1d0c1eaef05d77cb69a2b3a695..0000000000000000000000000000000000000000 --- a/track_2/tier_2_synthetic_noise/support_surface/2026-06-09_10-19-09_snack_box_desk_through_06_support.usda +++ /dev/null @@ -1,21 +0,0 @@ -#usda 1.0 -( - defaultPrim = "support_surfaces" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "support_surfaces" -{ - def Cylinder "object_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - double height = 0.04 - color3f[] primvars:displayColor = [(0.6876813, 0.93062145, 0.81241834)] - double radius = 0.3045888555026075 - double3 xformOp:translate = (-0.9725818185937641, -0.1064833273325322, 0.8621988938318569) - uniform token[] xformOpOrder = ["xformOp:translate"] - } -} diff --git a/track_3/README.md b/track_3/README.md index afc2fe826955cedce0fd67579653ee4c05dec0bb..fd28463605f91afe6aac96663693be4d0b00a0f7 100644 --- a/track_3/README.md +++ b/track_3/README.md @@ -1,16 +1,8 @@ -# Track 3 Public Release +# Track 3 -See the [dataset card](v2d-challenge-track3.md) for intended uses, ownership, and -ethical considerations. - -## License - -The Track 3 dataset and all accompanying assets, including videos, trajectories, -metadata, textured 3D meshes, and URDF object descriptions, are licensed under -[Creative Commons Attribution 4.0 International (CC BY-4.0)](https://creativecommons.org/licenses/by/4.0/). -See the [full license terms](https://creativecommons.org/licenses/by/4.0/legalcode). - -## Overview +> **Split layout:** This dataset is partitioned into `public/` (20 episodes) and +> `confidential_holdout/` (25 episodes), with original episode IDs preserved. See `confidential_SPLIT.txt` +> for the exact episode lists, object-combination coverage, and asset policy. Human manipulation of everyday objects, captured with a Vicon motion-capture system and two OAK camera rigs. Every tracked object has a textured 3D scan, and object poses are @@ -19,21 +11,26 @@ the real object was. | | | |---|---| -| Episodes | 20 | -| Frames | 5,246 (mean 262) | +| Episodes | 45 | +| Frames | 11,794 (127–421 per episode, mean 262) | | Rate | 20.25 fps nominal | -| Tasks | 10 | -| Cameras | 3 ego streams, 60 clips | -| Objects | 10, each with a textured mesh | +| Tasks | 16 | +| Cameras | 3 ego streams, 135 clips | +| Objects | 11, each with a textured mesh | ## Layout ``` track_3/ -└── public/ +├── confidential_SPLIT.txt split definition and conventions +├── public/ public subset +│ ├── data/ and videos/ trajectories and three ego streams +│ ├── mesh/ and urdf/ public object assets +│ └── meta/ public metadata and calibration +└── confidential_holdout/ evaluation subset ├── data/ and videos/ trajectories and three ego streams - ├── mesh/ and urdf/ object assets - └── meta/ metadata and calibration + ├── mesh/ and urdf/ all required holdout assets + └── meta/ holdout metadata and calibration ``` @@ -75,7 +72,7 @@ An object's `name` **is** its mesh folder: `white_pot` → `mesh/white_pot/white | `ego_cam_b`, `ego_cam_c` | 1280×800 | mono stereo pair, 75 mm baseline | Video is **frame-exact with the parquets** — row *i* corresponds to frame *i* in every -clip, verified across all 60 ego clips. +clip, verified across all 135 ego clips. Only the ego streams are distributed in this repository. The exocentric clips were intentionally moved to a separate backup. `meta/camera_calibration.json` retains diff --git a/track_3/confidential_SPLIT.txt b/track_3/confidential_SPLIT.txt new file mode 100644 index 0000000000000000000000000000000000000000..8708210338ca9115794ceedb7eb029e19f06e21e --- /dev/null +++ b/track_3/confidential_SPLIT.txt @@ -0,0 +1,65 @@ +TRACK 3 PUBLIC / HOLDOUT SPLIT +================================ + +Directory names +--------------- +The public subset directory is named "public". + +Split summary +------------- +Public (track_3/public): + Episodes: 20 + Frames: 5,246 + Videos: 60 (20 episodes x 3 ego cameras) + Episode IDs: 0, 2, 11, 12, 13, 18, 21, 22, 23, 24, 26, 27, 31, + 39, 40, 41, 42, 43, 44, 45 + +Holdout (track_3/confidential_holdout): + Episodes: 25 + Frames: 6,548 + Videos: 75 (25 episodes x 3 ego cameras) + Episode IDs: 1, 3, 4, 5, 6, 7, 8, 9, 10, 14, 15, 16, 17, 19, 20, + 25, 28, 30, 32, 33, 34, 35, 36, 37, 38 + +Split design +------------ +wooden_spoon is the novel holdout object. Every episode containing wooden_spoon is +in the holdout set, and its mesh and URDF are absent from the public set. + +All wooden_spoon episodes: + white_pot + wooden_spoon: 3, 4, 5, 6, 7 + plastic_dish_rack + wooden_spoon: 15, 16, 17 + blue_cup + wooden_spoon: 32, 33, 34 + wooden_spoon alone: 35, 36, 37 + +Additional holdout episodes provide examples of 11 other object combinations: + white_pot + white_pot_lid: 1 + beige_cup + white_pot: 8 + blue_cup + white_pot: 9 + beige_cup + blue_cup: 10 + blue_cup + plastic_dish_rack: 14 + mini_dust_pan + mini_sweeper: 19 + blue_cup + water_pitcher: 20 + wooden_piece_1 + wooden_piece_2: 25 + plastic_dish_rack + white_pot: 28 + mini_sweeper + plastic_dish_rack: 30 + mini_dust_pan alone: 38 + +The white_pot-alone combination is public-only; episode 42 was moved to public to +produce a 20-public / 25-holdout split. + +The holdout contains 4 single-object episodes and 21 two-object episodes. Its +sequence lengths span 127 to 421 frames. + +File organization +----------------- +Each subset contains its own data/, videos/, meta/, mesh/, and urdf/ directories. +Camera calibration is duplicated so either subset can be used independently. +Shared object assets are present in both subsets. wooden_spoon assets exist only +under track_3/confidential_holdout/. + +Original episode IDs are intentionally preserved rather than renumbered. Therefore, +IDs are sparse within each subset. Enumerate the explicit "episode_indices" array in +each subset's meta/info.json (or meta/episodes_metadata.jsonl) instead of assuming +range(total_episodes). The original train range 0:46 is retained as the global episode +ID domain. diff --git a/track_3/confidential_holdout/data/chunk-000/episode_000001.parquet b/track_3/confidential_holdout/data/chunk-000/episode_000001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..22ff0feffe9fb8d7d2d93df6d4c89d7f9098efb8 --- /dev/null +++ b/track_3/confidential_holdout/data/chunk-000/episode_000001.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1644cd196ae027191d7286ea1261a70c9aebf626cf352da469288b92b7e09623 +size 37438 diff --git a/track_3/confidential_holdout/data/chunk-000/episode_000003.parquet b/track_3/confidential_holdout/data/chunk-000/episode_000003.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5f066859a0acbd53877667d1cd6ad79760c0fd11 --- /dev/null +++ b/track_3/confidential_holdout/data/chunk-000/episode_000003.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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+ "left_to_right": [ + [ + 0.9997380358319284, + -0.01933607257848216, + -0.012246398731008785, + -0.07547087003774863 + ], + [ + 0.019233107724996854, + 0.999779244178007, + -0.008470485072544704, + 0.000150538493904464 + ], + [ + 0.012407479522737748, + 0.008232724455145628, + 0.999889069386203, + 8.927629448208251e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_rectification_rotation": [ + [ + 0.9999672770500183, + -0.005192528944462538, + 0.006206232588738203 + ], + [ + 0.005216609686613083, + 0.9999788999557495, + -0.0038702581077814102 + ], + [ + -0.0061860051937401295, + 0.0039025067817419767, + 0.9999732375144958 + ] + ], + "right_rectification_rotation": [ + [ + 0.9995504021644592, + -0.02458800934255123, + 0.017158135771751404 + ], + [ + 0.024521132931113243, + 0.9996908903121948, + 0.0040972670540213585 + ], + [ + -0.01725357584655285, + -0.0036746880505234003, + 0.9998443722724915 + ] + ], + "rotation_deg": 180 + } + ], + "note": "Each stereo pair can be rectified offline with cv2.stereoRectify + StereoSGBM; depth_m = fx * baseline_m / disparity_px. Separate devices are NOT hardware synchronized -- see cross_device_skew_ms.", + "cross_device_skew_ms": { + "ego": { + "mean": 7.39, + "max": 7.41 + } + } +} \ No newline at end of file diff --git a/track_3/confidential_holdout/meta/episodes_metadata.jsonl b/track_3/confidential_holdout/meta/episodes_metadata.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..786bbc9da5d0839603816a4b66e0e55e8fa070cc --- /dev/null +++ b/track_3/confidential_holdout/meta/episodes_metadata.jsonl @@ -0,0 +1,25 @@ +{"episode_index": 1, "task": "Pot_with_lid", "notes": "Ep_1"} +{"episode_index": 3, "task": "Stir_Pot", "notes": "Ep_0"} +{"episode_index": 4, "task": "Stir_Pot", "notes": "Ep_1"} +{"episode_index": 5, "task": "Stir_Fry_Pot", "notes": "Ep_0"} +{"episode_index": 6, "task": "Stir_Fry_Pot", "notes": "Ep_1"} +{"episode_index": 7, "task": "Stir_Fry_Pot", "notes": "Ep_3"} +{"episode_index": 8, "task": "Pour_Cup_Into_Pot", "notes": "Ep_0"} +{"episode_index": 9, "task": 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"videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.ego_cam_a": { + "dtype": "video", + "shape": [ + 1520, + 2028, + 3 + ], + "names": [ + "height", + "width", + "channel" + ] + }, + "observation.images.ego_cam_b": { + "dtype": "video", + "shape": [ + 800, + 1280, + 3 + ], + "names": [ + "height", + "width", + "channel" + ] + }, + "observation.images.ego_cam_c": { + "dtype": "video", + "shape": [ + 800, + 1280, + 3 + ], + "names": [ + "height", + "width", + "channel" + ] + }, + "observation.objects": { + "dtype": "list", + "shape": [ + "variable" + ], + "item": { + "name": "string", + "pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": [ + "x", + "y", + "z", + "qw", + "qx", + "qy", + "qz" + ] + }, + "visible": "bool" + }, + "note": "objects tracked in this episode; membership is constant within an episode, see the parquet's 'objects' metadata key" + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 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a/track_3/confidential_holdout/urdf/blue_cup_rigid.urdf b/track_3/confidential_holdout/urdf/blue_cup_rigid.urdf new file mode 100644 index 0000000000000000000000000000000000000000..0b1590c9b2659536fe54f28fa442bdbdf39af3f7 --- /dev/null +++ b/track_3/confidential_holdout/urdf/blue_cup_rigid.urdf @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/track_3/confidential_holdout/urdf/mini_dust_pan_rigid.urdf b/track_3/confidential_holdout/urdf/mini_dust_pan_rigid.urdf new file mode 100644 index 0000000000000000000000000000000000000000..d9579a2d58d9a02c8394105d679536658bbc4869 --- /dev/null +++ b/track_3/confidential_holdout/urdf/mini_dust_pan_rigid.urdf @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/track_3/confidential_holdout/urdf/mini_sweeper_rigid.urdf b/track_3/confidential_holdout/urdf/mini_sweeper_rigid.urdf new file mode 100644 index 0000000000000000000000000000000000000000..66ed773d4794eb54e3a232e64c2a591c377fc262 --- /dev/null +++ b/track_3/confidential_holdout/urdf/mini_sweeper_rigid.urdf @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/track_3/confidential_holdout/urdf/plastic_dish_rack_rigid.urdf b/track_3/confidential_holdout/urdf/plastic_dish_rack_rigid.urdf new file mode 100644 index 0000000000000000000000000000000000000000..5df15f6b999c4294f8825a6000e1b02a967251c4 --- /dev/null +++ b/track_3/confidential_holdout/urdf/plastic_dish_rack_rigid.urdf @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/track_3/confidential_holdout/urdf/water_pitcher_rigid.urdf b/track_3/confidential_holdout/urdf/water_pitcher_rigid.urdf new file mode 100644 index 0000000000000000000000000000000000000000..3807710e235253b89db6d24a76eceb5971bffea8 --- /dev/null +++ b/track_3/confidential_holdout/urdf/water_pitcher_rigid.urdf @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/track_3/confidential_holdout/urdf/white_pot_lid_rigid.urdf b/track_3/confidential_holdout/urdf/white_pot_lid_rigid.urdf new file mode 100644 index 0000000000000000000000000000000000000000..d7b36e2f79da3392f72e7a73dfed4792f5a4e9e3 --- /dev/null +++ b/track_3/confidential_holdout/urdf/white_pot_lid_rigid.urdf @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/track_3/confidential_holdout/urdf/white_pot_rigid.urdf b/track_3/confidential_holdout/urdf/white_pot_rigid.urdf new file mode 100644 index 0000000000000000000000000000000000000000..acfcd4ae04be3022e03ebe156cfc1f97be21564c --- /dev/null +++ b/track_3/confidential_holdout/urdf/white_pot_rigid.urdf @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/track_3/confidential_holdout/urdf/wooden_piece_1_rigid.urdf b/track_3/confidential_holdout/urdf/wooden_piece_1_rigid.urdf new file mode 100644 index 0000000000000000000000000000000000000000..b3e09861a7a70a0e6d7bef10b02825686a4d6465 --- /dev/null +++ b/track_3/confidential_holdout/urdf/wooden_piece_1_rigid.urdf @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/track_3/confidential_holdout/urdf/wooden_piece_2_rigid.urdf b/track_3/confidential_holdout/urdf/wooden_piece_2_rigid.urdf new file mode 100644 index 0000000000000000000000000000000000000000..6cd4986d416ee07b1af367ec98d7804605ea3126 --- /dev/null +++ b/track_3/confidential_holdout/urdf/wooden_piece_2_rigid.urdf @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/track_3/confidential_holdout/urdf/wooden_spoon_rigid.urdf b/track_3/confidential_holdout/urdf/wooden_spoon_rigid.urdf new file mode 100644 index 0000000000000000000000000000000000000000..566ed21a2893623e17afb878fe9d25814732f851 --- /dev/null +++ b/track_3/confidential_holdout/urdf/wooden_spoon_rigid.urdf @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_a/episode_000001.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_a/episode_000001.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_a/episode_000001.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_a/episode_000001.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_a/episode_000003.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_a/episode_000003.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_a/episode_000003.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_a/episode_000003.mp4 diff --git a/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_a/episode_000004.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_a/episode_000004.mp4 new file mode 100644 index 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track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000003.mp4 diff --git a/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000004.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000004.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..88a69761a11e300e24fdebec5654912452f4423e --- /dev/null +++ b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000004.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9eb98cca6165f45183cb7fd346129dd8fe7d223ce991ab13b9189001a110a23 +size 4048279 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000005.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000005.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000005.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000005.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000006.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000006.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000006.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000006.mp4 diff --git a/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000007.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000007.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..34d583e65c310008000e8e87aebd9983b3ab2c4b --- /dev/null +++ b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000007.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b6b7d758df1597e95b90b79a79f40ce13fb3ce5b16478f67595a028b7e072e0 +size 3733709 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000008.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000008.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000008.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000008.mp4 diff --git a/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000009.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000009.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1521ab9c908077ff7700eac3c00a3b0cf731dbcb --- /dev/null +++ b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000009.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9ca8139de4a0df4b8d58ebd66474e5645e1458f9ebb4acfc4e3616945304e44 +size 3221445 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000010.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000010.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000010.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000010.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000014.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000014.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000014.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000014.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000015.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000015.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000015.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000015.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000016.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000016.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000016.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000016.mp4 diff --git a/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000017.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000017.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9173da5b7daf07201470a5d0e227f66566ad2ea3 --- /dev/null +++ b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000017.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ddb855e7db972b8ffd75da3e4cbfbba547bcf6ee1f4564f080f5ee1b604e1ed +size 1581045 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000019.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000019.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000019.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000019.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000020.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000020.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000020.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000020.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000025.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000025.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000025.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000025.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000028.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000028.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000028.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000028.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000030.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000030.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000030.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000030.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000032.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000032.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000032.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000032.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000033.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000033.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000033.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000033.mp4 diff --git a/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000034.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000034.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..599d768ceba4e24602c757e15e1806849f7cadee --- /dev/null +++ b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000034.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65dc0dc38ffeaed332e02bc457be9b197a8f10a483e14eb16ab69ab0a282ab76 +size 3387443 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000035.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000035.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000035.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000035.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000036.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000036.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000036.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000036.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000037.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000037.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000037.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000037.mp4 diff --git a/track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000038.mp4 b/track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000038.mp4 similarity index 100% rename from track_3/evaluation/videos/chunk-000/observation.images.ego_cam_c/episode_000038.mp4 rename to track_3/confidential_holdout/videos/chunk-000/observation.images.ego_cam_c/episode_000038.mp4 diff --git a/track_3/public/meta/info.json b/track_3/public/meta/info.json index 0bba01daf3d559e97e3125be2989e863ddb03c87..aeab6e66a2d85462a32e8c214cc98f6060a9dfe1 100644 --- a/track_3/public/meta/info.json +++ b/track_3/public/meta/info.json @@ -5,7 +5,7 @@ "camera_calibration": "meta/camera_calibration.json", "total_episodes": 20, "total_frames": 5246, - "total_tasks": 10, + "total_tasks": 16, "total_videos": 60, "total_chunks": 1, "fps": 20.25411910142744, @@ -129,6 +129,18 @@ "task_index": 0, "task": "Pot_with_lid" }, + { + "task_index": 1, + "task": "Stir_Pot" + }, + { + "task_index": 2, + "task": "Stir_Fry_Pot" + }, + { + "task_index": 3, + "task": "Pour_Cup_Into_Pot" + }, { "task_index": 4, "task": "Cup_Stack" @@ -137,6 +149,10 @@ "task_index": 5, "task": "Cup_In_Dish_Rack" }, + { + "task_index": 6, + "task": "Spoon_In_Dish_Rack" + }, { "task_index": 7, "task": "Dust_Brush" @@ -157,6 +173,14 @@ "task_index": 11, "task": "Brush_Dishrack" }, + { + "task_index": 12, + "task": "Spoon_In_Cup" + }, + { + "task_index": 13, + "task": "Spoon_Solo" + }, { "task_index": 14, "task": "Dustpan_Solo" diff --git a/track_3/v2d-challenge-track3.md b/track_3/v2d-challenge-track3.md index c46e7bbcee58696ffb12ce814ee3789cc63bd07e..213653e17c5770aece7fca5646687788f8420eb7 100644 --- a/track_3/v2d-challenge-track3.md +++ b/track_3/v2d-challenge-track3.md @@ -1,71 +1,49 @@ ## Dataset Description: +In-house collected motion captured data for the V2D challenge. The dataset contains motion captured data of human object manipulation. -In-house motion-capture data collected for the V2D Challenge. The dataset contains recordings of human-object manipulation. - -This dataset is ready for commercial and non-commercial use. +This dataset is ready for commercial or non-commercial uses. ## Dataset Owner(s): - NVIDIA Corporation -## Dataset Source: - -NVIDIA-developed - -**Source Link:** N/A -**Source License:** N/A - ## Dataset Creation Date: - 2026-08-27 ## Versioning: - 1.0 -Previous Version(s): N/A +Previous Version(s): NA ## License/Terms of Use: - -The Track 3 dataset and all accompanying assets are licensed under -[Creative Commons Attribution 4.0 International (CC BY-4.0)](https://creativecommons.org/licenses/by/4.0/). -This includes videos, motion-capture trajectories, metadata, textured 3D meshes, -and URDF object descriptions. See the -[full license terms](https://creativecommons.org/licenses/by/4.0/legalcode). +NVIDIA commercial license ## Intended Usage: - -Training and evaluating models for human motion understanding, object-manipulation prediction, and Video-to-Data (V2D) Challenge tasks involving motion-capture data. +Training and evaluating models for human motion understanding, object manipulation prediction, and video-to-dynamics (V2D) challenge tasks involving motion capture data. ## Dataset Characterization - -**Data Collection Method** +**Data Collection Method** Manually Collected -**Labeling Method** +**Labeling Method** Automatic/Sensors ## Dataset Format - -Modality: Motion Capture -Format: MP4 (`.mp4`) videos and Apache Parquet (`.parquet`) motion-capture data +Modality: Motion Capture +Format: MP4 (`.mp4`) videos and Apache Parquet (`.parquet`) motion capture data ## Dataset Quantification - -Record Count: 20 +Record Count: 45 Feature Count: 2 (video + motion) -Total Data Storage: Approximately 1.3 GB +Total Data Storage: 3GB ## Reference(s): - -* https://arxiv.org/abs/2607.00033 +- https://arxiv.org/abs/2607.00033 ## Ethical Considerations: +NVIDIA believes Trustworthy AI is a shared responsibility and we have established policies and practices to enable development for a wide array of AI applications. Developers should work with their internal developer teams to ensure this dataset meets requirements for the relevant industry and use case and addresses unforeseen product misuse. -NVIDIA believes Trustworthy AI is a shared responsibility, and we have established policies and practices to enable development for a wide array of AI applications. Developers should work with their internal teams to ensure that this dataset meets the requirements of the relevant industry and use case and addresses unforeseen product misuse. - -Please report quality, risk, security vulnerabilities, or NVIDIA AI concerns through the [NVIDIA security vulnerability and AI concern reporting page](https://www.nvidia.com/en-us/support/submit-security-vulnerability/). +Please report quality, risk, security vulnerabilities or NVIDIA AI Concerns through the [NVIDIA security vulnerability and AI concern reporting page](https://www.nvidia.com/en-us/support/submit-security-vulnerability/). **Generated by AI Transparency Card Generator.**