| --- |
| license: apache-2.0 |
| task_categories: |
| - video-classification |
| - other |
| tags: |
| - kubric |
| - synthetic |
| - physics |
| - counterfactual |
| - intervention |
| - rigid-body |
| pretty_name: jais |
| size_categories: |
| - 1K<n<10K |
| --- |
| |
| # jais |
|
|
| Synthetic multi-object rigid-body videos generated with |
| [Kubric](https://github.com/p1neapplechoco/kubric) (PyBullet physics + Blender/Cycles |
| rendering, GPU-rendered). Every scene has **4-6 fixed-mass bodies** on a table; exactly one |
| body (the *subject*) receives an **initial velocity along a single heading** and nothing |
| else is actuated. Some bodies sit in the subject's corridor and get struck, others are |
| bystanders that are never touched. Spheres roll, boxes slide, and a sphere launched |
| without spin slides first and then rolls. Materials (and the coupled friction / |
| restitution) are sampled per object; the camera is fixed within a clip and re-sampled |
| between clips. |
|
|
| Each instance has three branches sharing one visual scene and one camera: |
|
|
| | branch | description | |
| | --- | --- | |
| | `factual` | subject launched with the sampled initial velocity | |
| | `counterfactual` | same scene, the factual velocity is discarded and a **new** initial velocity is applied at step 0 | |
| | `subject_removed` | same scene without the subject | |
|
|
| ## Contents |
|
|
| ``` |
| manifest.jsonl one row per instance (split, roles, velocities, QC, ground truth summary) |
| dataset_summary.json counts and render devices |
| config.yaml sampling ranges used for this build |
| instances/<index>/ |
| instance.json full scene spec (objects, physics, materials, camera) |
| ground_truth.json contact-graph delta, hard/soft affected objects, propagation paths |
| qc.json QC metrics: rolling / sliding labels, struck & untouched objects |
| <branch>/video.mp4 RGB clip (48 frames @ 24 fps) |
| <branch>/mask.mp4 colourised instance segmentation preview |
| <branch>/depth.mp4 colourised depth map video preview |
| <branch>/flow.mp4 colourised optical flow video preview |
| <branch>/segmentation.npz uint8 [T,H,W] instance ids (0 = floor/background) |
| <branch>/depth.npz float16 [T,H,W] depth |
| <branch>/forward_flow.npz float16 [T,H,W,2] optical flow |
| <branch>/tracking.npz per-frame poses, velocities, 2D projections, boxes, visibility, presence |
| <branch>/graph.json temporal contact graph (object-object episodes; floor episodes listed separately) |
| <branch>/sim_log/ immutable per-physics-step states + contacts (manifest-hashed) |
| ``` |
|
|
| `segmentation_ids` / `object_ids` in `tracking.npz` are shared across the three branches, |
| so masks and tracks line up between factual, counterfactual and subject-removed clips. |
|
|
| ## Build summary |
|
|
| ```json |
| { |
| "branches": [ |
| "factual", |
| "counterfactual", |
| "subject_removed" |
| ], |
| "instances": 7700, |
| "render_devices": [ |
| "GPU" |
| ], |
| "rendered": 7700, |
| "splits": { |
| "test": 781, |
| "train": 6147, |
| "val": 772 |
| }, |
| "updated_at": "2026-09-21T21:40:21Z" |
| } |
| ``` |
|
|
| ## Reproduce |
|
|
| ```bash |
| git clone https://github.com/p1neapplechoco/kubric |
| cd kubric |
| python scripts/build_velocity_dataset.py --output out --seed 31113133311131311313131 --count 7700 --require-gpu |
| python scripts/publish_velocity_dataset.py --output out --repo-id <user>/<name> |
| ``` |
|
|
