File size: 11,357 Bytes
73493e2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 | {
"schema": "vpm-worldbench/sample/1.0",
"uid": "Real-Robot/episode_032",
"subset": "Real-Robot",
"id": "episode_032",
"source": {
"dataset": "RB-Y1 WujiHand2 teleop ego+exo (100 episodes) + 3D point-track re-export",
"repo": "hf:kdh8156/RB-Y1_WujiHand2_teleop_ego_exo_100",
"revision": "269c3c008f0990f00ee86698c468a51a0117e959",
"tracks_repo": "hf:rooty2020/RB-Y1_WujiHand2_teleop_ego_exo_100_pointtracks",
"tracks_revision": "b3d7602562cd5cba2a11d37dbbbf299916796d84",
"id": "episode_032",
"episode_index": 32,
"license": "cc-by-nc-4.0 (pointtracks dataset card); upstream kdh8156 licence not recorded"
},
"n_views": 2,
"n_frames": 225,
"fps": 15.0,
"duration_s": 15.0,
"views": [
{
"name": "view0",
"video": "videos/view0.mp4",
"width": 1280,
"height": 720,
"source_name": "exo",
"static": true,
"hfov_deg": 101.11,
"vfov_deg": 68.72,
"role": "exo",
"camera_model": "ZED 2i",
"serial": 32803500,
"lens": "left, rectified (no distortion)",
"mount": "external tripod facing the robot across the table",
"source_video": "exo.mp4",
"lerobot_video_key": "observation.images.camera_exo_left",
"calibration": "static T_exo_base (camera_calibration.json: ego->exo ZED relative extrinsic composed with the ego->base fit; README: exo projection exact); one calibration for all 100 episodes"
},
{
"name": "view1",
"video": "videos/view1.mp4",
"width": 1280,
"height": 720,
"source_name": "ego",
"static": true,
"hfov_deg": 82.23,
"vfov_deg": 52.3,
"role": "ego",
"camera_model": "ZED-M",
"serial": 15142661,
"lens": "left, rectified (no distortion)",
"mount": "robot head, fixed pitch 45 deg (head_0 = 0, head_1 = 0.7854 rad); static in the base frame",
"source_video": "ego.mp4",
"lerobot_video_key": "observation.images.camera_ego_left",
"calibration": "static T_ego_base = the dataset's manual RGB fit to the robot (camera_calibration.json robot_frame_fit: IoU ~0.82 train, 0.77-0.81 held-out; README: small far-left residual). The nominal head-FK pose (labels/ego_fk_c2w.npy) differs by ~2.1 deg / ~6 cm and is not used for projection"
}
],
"world": {
"description": "RB-Y1 robot base frame, unchanged: x forward (toward the table and the exo camera), y = robot's left, z up, metres, gravity -z. The mobile base never moves (planar twist and wheels 0), so it is one static frame shared by all 100 episodes; the table top is at z ~ 0.8 m (floor height not documented).",
"units": "m",
"handedness": "right",
"up": "+z",
"to_source": {
"note": "X_source = A @ X + b (spatial map; the time map is tracks.time_offset_frames)",
"A": [
[
1.0,
0.0,
0.0
],
[
0.0,
1.0,
0.0
],
[
0.0,
0.0,
1.0
]
],
"b": [
0.0,
0.0,
0.0
],
"source_units": "m",
"source_frame": "robot base (meta.json point_frame)"
}
},
"files": {
"cameras": "cameras.npz",
"tracks3d": "tracks3d.npz",
"captions": "captions.json",
"depth": null,
"labels": {
"action": "labels/action.parquet",
"proprio_30hz": "labels/proprio_30hz.parquet",
"ego_fk_c2w": "labels/ego_fk_c2w.npy"
}
},
"tracks": {
"n_points": 768,
"groups": [
"arm",
"hand"
],
"default_report_group": "all",
"time_offset_frames": -2.3,
"time_alignment": "xyz(t) = (1-a) * FK[floor(s)] + a * FK[floor(s)+1] with s = t - 2.3, a = s - floor(s); s < 0 clamps to FK frame 0 (robot static; motion onset at FK frame 3-4). The original FK tracks are source/robot.npz + source/hand.npz.",
"layout": "0..511 = source/robot.npz points[:, i] (arm: right 0..232, left 233..511); 512..767 = source/hand.npz points[:, i - 512] (hand: right 512..645, left 646..767)",
"parts": "part = MJCF body of the rigid arm link block (link_<side>_arm_k, k = link_block = 0..6 proximal -> distal, driven by joint <side>_arm_k) or hand_right / hand_left (finger membership not labelled)",
"dup_of": "dup_of[i] = j < i when point i duplicates point j (593 -> 591 exact; 301 -> 294 and 481 -> 470 within 2.4 um); -1 otherwise",
"visibility_rule": "in_frustum = valid & camera z > 0.05 m & projection inside the 1280x720 image (pixel centres at integers, u in [-0.5, 1279.5), v in [-0.5, 719.5)). visible = in_frustum & not self-occluded: point z-buffer at the native 1280x720 resolution with 12x12 px cells (grid aligned to the image edge at -0.5), per cell the minimum camera depth over all in-frustum points of the 768 (arm + hand), and a point is visible when its depth <= the minimum over its 3x3 cell neighbourhood + 0.03 m (the pre-release z-buffer visibility rule, 8 px cells at 480x848 -> 12 px native). Only robot self-occlusion by the sampled arm/hand surface points is modelled: scene objects (basket, pot, cups, ...) and unsampled robot parts (torso, head) never occlude. Computed on the time-aligned xyz (tracks.time_offset_frames).",
"accuracy": "Forward kinematics of the measured joint positions (LeRobot observation.joint_position) through the dataset MJCF (rby1m_wujihand2): exact up to the robot model and encoder error. Projection error is dominated by the camera calibration: exo is exact per the source README, except that exo frame 0 of episodes 000-022 sits ~1.8 px lower than in 023-099 with identical K/T (~2 px extrinsic error, flag calibration_step_exo); the ego extrinsic is a manual fit (IoU ~0.8, small far-left residual, flag ego_extrinsic_manual_fit). Time: the videos trail the FK by ~2.3 frames; one global offset of -2.3 frames is applied to both views (Real-Robot/_source/rby1_lag.json, 200 episode-views: median lag exo -2.50, ego -2.06; per-episode two-view mean -2.28 +- 0.19). The residual around -2.3 (measured lag + 2.3; < 0 = the video still trails the released tracks, > 0 = it leads them) is view-dependent: exo -0.21 and ego +0.25 frame on average (medians -0.20 / +0.24), with a per episode-view spread of std 0.33 (exo) / 0.26 (ego) frame and 5-95 % range exo -0.71..+0.26, ego -0.19..+0.68 (at peak_corr >= 0.8: exo -0.81..+0.38, ego -0.38..+0.68; the extremes exo -1.13, ego +1.00 have peak_corr < 0.8). Per-sample values: attributes.measured_lag_frames; flag time_offset_residual_gt_0.5:<view> where |residual| > 0.5 frame with peak_corr >= 0.8 (32 of 200 episode-views). A residual of r frames displaces a point by r x its FK step per frame (max 3.2 cm/frame, fastest hand motion): <= 0.65 cm at 0.2 frame, <= 1.6 cm at 0.5 frame. Linear interpolation between 15 Hz FK samples adds < 1 mm. Visibility is approximate (self-occlusion only). Points 591/593 are exact duplicates and 294/301, 470/481 coincide within 2.4 um (dup_of).",
"visible_outside_frustum_dropped": 0,
"extras": {
"dup_of": "(N,) int16, j < i when point i duplicates point j (593 -> 591 exact; 301 -> 294 and 481 -> 470 within 2.4 um); -1 otherwise",
"link_block": "(N,) int8 rigid arm link block 0..6 (proximal -> distal) of arm points; -1 for hand points"
}
},
"depth": null,
"caption": "Put the pink cup on the plate with the right hand.",
"attributes": {
"difficulty": "normal",
"category": "put_on_plate",
"hand": "right",
"task_family": "put_on_plate",
"task_variant": null,
"n_steps": 1,
"robot": "rby1m_wujihand2",
"episode_index": 32,
"fps_original": 30,
"orig_frame_index": "video/camera frame t = original 30 Hz LeRobot frame 2t (videos and FK were subsampled every 2nd frame; labels/proprio_30hz.parquet row 2t = labels/action.parquet row t = source FK frame t). Released xyz(t) = FK at 30 Hz frame 2*(t - 2.3), clamped at 0.",
"measured_lag_frames": {
"exo": {
"lag_frames": -2.329,
"peak_corr": 0.942,
"residual_after_offset": -0.029
},
"ego": {
"lag_frames": -2.106,
"peak_corr": 0.905,
"residual_after_offset": 0.194
},
"mean_lag_frames": -2.217,
"note": "lag L maximises corr(video frame-difference energy in the projected-robot mask, projected FK point speed at t+L) on the ORIGINAL (unaligned) FK tracks (Real-Robot/_source/rby1_lag.json); L < 0 = video trails the FK. Released tracks use one global offset -2.3."
},
"n_default_queries_at_ref_frame": 436,
"labels_time_offset_frames": -2.3,
"labels": {
"action": "action.parquet: 15 Hz, row t = source FK frame t (= LeRobot row 2t); columns 'action' (66 absolute joint-position targets, rad, names in _source/info.json features.action.names), 'action.mobile_base.planar_twist' (3, all 0), 'action.pre_filter' (66), 'action.filter_applied' (66 bool). Restored from the HF pointtracks tar.",
"proprio_30hz": "proprio_30hz.parquet: the raw 30 Hz LeRobot episode parquet (joint position/velocity/effort, force/torque, wrist and camera poses in the base frame, next.success/done, timestamp); row 2t = source FK frame t; 449 rows (2T-1).",
"ego_fk_c2w": "ego_fk_c2w.npy (T,4,4) float64 camera-to-base pose of the ego left lens from the head FK (meta per_frame_cam_frame_left_wrt_base; R rows r0, r1, r0 x r1), row t = FK frame t. Nominal, NOT used for projection (cameras.npz uses the static T_ego_base fit).",
"time_base": "all labels are in the robot-log (FK) time base: video frame t shows log time t - 2.3 frames (tracks.time_offset_frames)."
},
"stats": {
"visible_fraction": {
"view0": 0.4647,
"view1": 0.3848
},
"in_frustum_fraction": {
"view0": 0.6655,
"view1": 0.4969
},
"never_visible_points": 284,
"visible_any_view_at_t16": 436,
"side_sign_ok": true,
"dup_max_um": 2.367,
"arm_block_rigidity_max_um": 0.213
},
"flag_rules": {
"calibration_step_exo": "episodes 000-022: the exo camera's frame 0 sits ~1.8 px lower than in episodes 023-099 with identical intrinsics / extrinsics (~2 px extrinsic error)",
"ego_extrinsic_manual_fit": "every episode: the ego (head) camera extrinsic is the source dataset's manual RGB fit (silhouette IoU ~0.8)",
"time_offset_residual_gt_0.5": "time_offset_residual_gt_0.5:<view>: the measured video lag of that view (attributes.measured_lag_frames) differs from the global -2.3 frames by more than 0.5 frame, with a lag-estimate peak correlation >= 0.8",
"few_default_queries_at_ref_frame": "few_default_queries_at_ref_frame:<n>: fewer than 20 points with default_gt visible in >= 1 view at frame 16 (n given)"
}
},
"flags": [
"ego_extrinsic_manual_fit"
],
"files_sha256": {
"cameras.npz": "a009cbe1e592567416fb387acd96dd673c812d3a91e216b15ba55c4ee11d1468",
"captions.json": "b240ad97214f0a3320eb1feb3e353664c1f239d50d5bfa44fc9bc735c6ec7427",
"labels/action.parquet": "cad08c5e24dc87e3099ce233021e653618d1327566eb5f885985a8d87e3f1343",
"labels/ego_fk_c2w.npy": "7c152bb954b2f68f92ef517d716ba97fd779311e81ddb144e3eb136bffaebc8b",
"labels/proprio_30hz.parquet": "3dbb7e359405adf08edaf01130b570f27fd70c45baa4dd603579ba9d5813d032",
"source/hand.npz": "e2bd001bdc17dc437bb2895df9494676ff519075ebe88225890321ddcbfece63",
"source/meta.json": "0f55dd6ff74e67e193b97239b676b8de9b022ed504d0b2295a9978a2d5344ac2",
"source/robot.npz": "1c6b9aeba593d6b67ec383a34bc87515e7512f85520c61ee094f9d48ffa61f15",
"tracks3d.npz": "fa1904908c988013fd31e2926c9933cd299967b1f235d64f33d0e4f2af4fafbd",
"videos/view0.mp4": "b0c20869c857f7a5592f10365c414033cf0c1ebb5d0adb79b46dbfa7ee18e0c0",
"videos/view1.mp4": "86a61e6268363904fddc061b6fe4bafb71fb30353e1219c686cac0e249224d4e"
}
} |