Hugging Face's logo

Datasets:
rooty2020
/
VP-WorldBench

Tasks:
Image-to-Video
Depth Estimation
Robotics
Languages:
English
Size:
1K<n<10K
ArXiv:
Tags:
benchmark
multi-view
4d
world-model
video-generation
3d-point-tracking
License:
Dataset card Files
xet
 Community
rooty2020 commited on
Commit
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·
verified ·
1 Parent(s): cd72bec

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Files changed (50) hide show
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  2. Simul-Robot/c001_episode_000000/labels/objects.json +2763 -0
  3. Simul-Robot/c001_episode_000000/labels/visibility_states.json +6714 -0
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  5. Simul-Robot/c001_episode_000000/source/cameras.json +0 -0
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  8. Simul-Robot/c001_episode_000000/source/visibility.json +0 -0
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  10. Simul-Robot/c001_episode_000030/depth/depth.zip +3 -0
  11. Simul-Robot/c001_episode_000030/source/points_target.npz +3 -0
  12. Simul-Robot/c001_episode_000030/tracks3d.npz +3 -0
  13. Simul-Robot/c001_episode_000030/videos/view0.mp4 +3 -0
  14. Simul-Robot/c001_episode_000030/videos/view1.mp4 +3 -0
  15. Simul-Robot/c001_episode_000030/videos/view2.mp4 +3 -0
  16. Simul-Robot/c001_episode_000040/captions.json +23 -0
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  19. Simul-Robot/c001_episode_000040/sample.json +230 -0
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  22. Simul-Robot/c001_episode_000040/source/meta.json +365 -0
  23. Simul-Robot/c001_episode_000040/source/visibility.json +0 -0
  24. Simul-Robot/c001_episode_000070/cameras.npz +3 -0
  25. Simul-Robot/c001_episode_000070/depth/depth.zip +3 -0
  26. Simul-Robot/c001_episode_000070/source/points_target.npz +3 -0
  27. Simul-Robot/c001_episode_000070/tracks3d.npz +3 -0
  28. Simul-Robot/c001_episode_000070/videos/view0.mp4 +3 -0
  29. Simul-Robot/c001_episode_000070/videos/view1.mp4 +3 -0
  30. Simul-Robot/c001_episode_000070/videos/view2.mp4 +3 -0
  31. Simul-Robot/c001_episode_000080/cameras.npz +3 -0
  32. Simul-Robot/c001_episode_000080/depth/depth.zip +3 -0
  33. Simul-Robot/c001_episode_000080/source/points_target.npz +3 -0
  34. Simul-Robot/c001_episode_000080/tracks3d.npz +3 -0
  35. Simul-Robot/c001_episode_000080/videos/view0.mp4 +3 -0
  36. Simul-Robot/c001_episode_000080/videos/view1.mp4 +3 -0
  37. Simul-Robot/c001_episode_000080/videos/view2.mp4 +3 -0
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Simul-Robot/c001_episode_000000/sample.json ADDED
@@ -0,0 +1,230 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ "uid": "Simul-Robot/c001_episode_000000",
4
+ "subset": "Simul-Robot",
5
+ "id": "c001_episode_000000",
6
+ "source": {
7
+ "dataset": "HyperWorld-Bench-Robot",
8
+ "repo": "hf:rooty2020/HyperWorld-Bench-Robot",
9
+ "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147",
10
+ "id": "c001_episode_000000",
11
+ "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_000000",
12
+ "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked",
13
+ "generated": "2026-09-12 11:27:21"
14
+ },
15
+ "n_views": 3,
16
+ "n_frames": 220,
17
+ "fps": 20.0,
18
+ "duration_s": 11.0,
19
+ "views": [
20
+ {
21
+ "name": "view0",
22
+ "video": "videos/view0.mp4",
23
+ "width": 1280,
24
+ "height": 1280,
25
+ "source_name": "cam00",
26
+ "role": null,
27
+ "static": true,
28
+ "hfov_deg": 93.0,
29
+ "motion": "static",
30
+ "source_rig_name": "pnpcam00"
31
+ },
32
+ {
33
+ "name": "view1",
34
+ "video": "videos/view1.mp4",
35
+ "width": 1280,
36
+ "height": 1280,
37
+ "source_name": "cam01",
38
+ "role": null,
39
+ "static": true,
40
+ "hfov_deg": 100.5,
41
+ "motion": "static",
42
+ "source_rig_name": "pnpcam01"
43
+ },
44
+ {
45
+ "name": "view2",
46
+ "video": "videos/view2.mp4",
47
+ "width": 1280,
48
+ "height": 1280,
49
+ "source_name": "cam02",
50
+ "role": null,
51
+ "static": true,
52
+ "hfov_deg": 67.0,
53
+ "motion": "static",
54
+ "source_rig_name": "pnpcam02"
55
+ }
56
+ ],
57
+ "world": {
58
+ "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).",
59
+ "units": "m",
60
+ "handedness": "right",
61
+ "up": "+z",
62
+ "origin": {
63
+ "kind": "table_top_obb_center",
64
+ "center_cm_source": [
65
+ -14511.8067,
66
+ 8590.8182,
67
+ 102.6504
68
+ ],
69
+ "table_half_extent_cm": [
70
+ 120.0,
71
+ 56.25,
72
+ 0.0
73
+ ],
74
+ "table_yaw_deg_source": 115.1059
75
+ },
76
+ "to_source": {
77
+ "note": "X_source = A @ X + b",
78
+ "A": [
79
+ [
80
+ 100.0,
81
+ 0.0,
82
+ 0.0
83
+ ],
84
+ [
85
+ 0.0,
86
+ -100.0,
87
+ 0.0
88
+ ],
89
+ [
90
+ 0.0,
91
+ 0.0,
92
+ 100.0
93
+ ]
94
+ ],
95
+ "b": [
96
+ -14511.8067,
97
+ 8590.8182,
98
+ 102.6504
99
+ ],
100
+ "source_units": "cm",
101
+ "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).",
102
+ "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)"
103
+ }
104
+ },
105
+ "files": {
106
+ "cameras": "cameras.npz",
107
+ "tracks3d": "tracks3d.npz",
108
+ "captions": "captions.json",
109
+ "depth": "depth/depth.zip",
110
+ "labels": {
111
+ "objects": "labels/objects.json",
112
+ "visibility_states": "labels/visibility_states.json"
113
+ }
114
+ },
115
+ "tracks": {
116
+ "n_points": 1024,
117
+ "groups": [
118
+ "object",
119
+ "robot"
120
+ ],
121
+ "visible_outside_frustum_dropped": 0,
122
+ "visible_dropped_by_reason": {
123
+ "near_plane": 0,
124
+ "image_edge": 0
125
+ },
126
+ "in_frustum_z_min_m": 0.1,
127
+ "default_report_group": "object",
128
+ "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.",
129
+ "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).",
130
+ "n_object_points": 512,
131
+ "n_robot_points": 512,
132
+ "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)",
133
+ "extras": {
134
+ "is_primary": "(N,) bool, points of meta.objects.primary_object",
135
+ "object_id": "(N,) str, object id of object points ('' for robot points)"
136
+ },
137
+ "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)"
138
+ },
139
+ "depth": {
140
+ "file": "depth/depth.zip",
141
+ "member": "{source_view}/frame_{t:04d}.png",
142
+ "view_member_names": [
143
+ "cam00",
144
+ "cam01",
145
+ "cam02"
146
+ ],
147
+ "dtype": "uint16",
148
+ "unit_scale": 0.01,
149
+ "invalid_values": [
150
+ 65504
151
+ ],
152
+ "invalid_ge": 65000,
153
+ "valid_max_m": 650.0,
154
+ "planar_z": true,
155
+ "width": 1280,
156
+ "height": 1280,
157
+ "kind": "rendered (synthetic GT)",
158
+ "vendor_valid_range_cm": [
159
+ 1.0,
160
+ 65000.0
161
+ ],
162
+ "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur."
163
+ },
164
+ "caption": "A humanoid robot uses its right hand to pick up a small yellow cube from the wooden table, lifts and carries it over, then places it into the green square box, amid a bottle, milk carton, soda can, breadsticks box, small figurines, and a purple boot on a sunlit outdoor boardwalk table by the sea.",
165
+ "attributes": {
166
+ "difficulty": "normal",
167
+ "category": "outdoor_city",
168
+ "map": "c001",
169
+ "scene": "outdoor_city",
170
+ "scene_hint": "neutral",
171
+ "hard_k": 0,
172
+ "hard_target": "small_yellow_cube",
173
+ "difficulty_relabeled_260917": false,
174
+ "moving_cameras": [],
175
+ "task": "pick_and_place",
176
+ "robot_class": "GR1T2_fourier_hand_6dof",
177
+ "n_objects": 2,
178
+ "n_distractors": 10,
179
+ "hands_used": [
180
+ "right"
181
+ ],
182
+ "primary_object": "small_yellow_cube",
183
+ "distractor_max_pushed_cm": 0.0,
184
+ "distractor_fell_off": 0,
185
+ "n_default_queries_at_ref_frame": 890,
186
+ "flag_details": {
187
+ "caption_both_hands_phrase": null,
188
+ "caption_placement_phrase": "carries it over, then places it into",
189
+ "primary_end_speed_mean_m_per_frame": 0.0,
190
+ "primary_end_net_disp_10_frames_m": 0.0,
191
+ "clip_ends_mid_motion_borderline": false,
192
+ "primary_end_min_z_m": 0.0037,
193
+ "primary_end_hand_dist_m": 0.2154,
194
+ "primary_end_support_dist_m": 0.003,
195
+ "primary_end_airborne": false,
196
+ "primary_end_held": false,
197
+ "primary_end_supported": true,
198
+ "target_win_max_point_disp_m": {
199
+ "small_yellow_cube": 0.20191
200
+ },
201
+ "primary_frames_invisible_all_views": 0
202
+ },
203
+ "flag_rules": {
204
+ "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand",
205
+ "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold",
206
+ "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)",
207
+ "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80",
208
+ "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)",
209
+ "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view",
210
+ "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; <n> = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)"
211
+ }
212
+ },
213
+ "flags": [],
214
+ "files_sha256": {
215
+ "cameras.npz": "c976513efd2fab341de5f82d360adbedcbd441744620c29ac0ee7e7400e5b143",
216
+ "captions.json": "7fe0c95002b30438ffb219ec3a5c0ae87262b48cf28d0df29975a7d565fddc5e",
217
+ "depth/depth.zip": "ab33b93c4890ec2b8b62c5cde28124377ebd70ce2e5d5ccb355da2b9b8ea29b0",
218
+ "labels/objects.json": "90c12e04f30944528bf61510e16af4c7a7a22e3057a65179876d19ee1cb746f2",
219
+ "labels/visibility_states.json": "346d655a413bf618e2d2fdc77f1fd15072aaad2728a4bec8ad302b7a680aecd3",
220
+ "source/cameras.json": "48d6761d6163cf27ff2e0208f7eb0fb2002b36c1c9b8f8c596d1aaf5d0e00c3e",
221
+ "source/caption.txt": "b0b9403d1cc417942a73a9fbb4458a890df4e6f548a441d71ae9911d55f6dc5a",
222
+ "source/meta.json": "24146e046a79b3331995068e968e02fee818cb14e60615f990fc283a0b901287",
223
+ "source/points_target.npz": "43d8b367f034a31f1270d151f7b15f58302fb9585a986a85eed2dd30007e6fbe",
224
+ "source/visibility.json": "11931ceb9d6fa93b6dcf71ddca0bfb35ee0d39b1884baa51ac81348876d2e3df",
225
+ "tracks3d.npz": "aebcc6e6971a927498070fbb614b6b6cb8353f9761acd223e3602b7855945b0a",
226
+ "videos/view0.mp4": "b8bbc23a9d67d405db5edac0f70734b1c1627bb0f1318a0f8359babde80df382",
227
+ "videos/view1.mp4": "806459afd9146a156f782e7581e5ee8a441e7ca2f6805975c6a1a3bf77820ac4",
228
+ "videos/view2.mp4": "718820ba35728628cfadd4d71a59e00c0d04aba63d3586436e72a56d9224948a"
229
+ }
230
+ }
Simul-Robot/c001_episode_000000/source/cameras.json ADDED
The diff for this file is too large to render. See raw diff
 
Simul-Robot/c001_episode_000000/source/caption.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ A humanoid robot uses its right hand to pick up a small yellow cube from the wooden table, lifts and carries it over, then places it into the green square box, amid a bottle, milk carton, soda can, breadsticks box, small figurines, and a purple boot on a sunlit outdoor boardwalk table by the sea.
Simul-Robot/c001_episode_000000/source/meta.json ADDED
@@ -0,0 +1,377 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema": "pnp2.meta/1",
3
+ "clip_id": "c001_episode_000000",
4
+ "map": "c001",
5
+ "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked",
6
+ "sequence": "episode_000000",
7
+ "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_000000",
8
+ "robot_yaw_deg": 25.106,
9
+ "fps": 20.0,
10
+ "display_rate": [
11
+ 20,
12
+ 1
13
+ ],
14
+ "frame_count": 220,
15
+ "resolution": [
16
+ 1280,
17
+ 1280
18
+ ],
19
+ "cameras": [
20
+ "cam00",
21
+ "cam01",
22
+ "cam02"
23
+ ],
24
+ "source_cam": {
25
+ "cam00": "pnpcam00",
26
+ "cam01": "pnpcam01",
27
+ "cam02": "pnpcam02"
28
+ },
29
+ "hfov_deg": {
30
+ "cam00": 93.0,
31
+ "cam01": 100.5,
32
+ "cam02": 67.0
33
+ },
34
+ "focal_mm": {
35
+ "cam00": 11.2737,
36
+ "cam01": 9.8805,
37
+ "cam02": 17.9487
38
+ },
39
+ "difficulty_attempt": "normal",
40
+ "difficulty": "normal",
41
+ "hard": {
42
+ "hard_k": 0,
43
+ "hard_reasons": [
44
+ "①캠 ['cam00', 'cam01', 'cam02'] 의 최장 비가시 [0, 0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
45
+ "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, None] < 5.0cm (못 봤지만 잃은 것도 없다)",
46
+ "④3캠 합산 occluded 0f < 20f — 카메라 회전(out_of_frustum)만으로는 이 조건을 못 채운다. 팔·디스트렉터의 실제 가림이 필요하다"
47
+ ],
48
+ "hard_metrics": {
49
+ "num_cams": 3,
50
+ "frames": 220,
51
+ "per_cam_blind_max_frames": [
52
+ 0,
53
+ 0,
54
+ 0
55
+ ],
56
+ "per_cam_blind_run": [
57
+ null,
58
+ null,
59
+ null
60
+ ],
61
+ "per_cam_blind_displacement_cm": [
62
+ null,
63
+ null,
64
+ null
65
+ ],
66
+ "all_blind_max_run": 0,
67
+ "all_blind_runs": [],
68
+ "all_blind_frames": 0,
69
+ "occluded_frames_total": 0,
70
+ "occluded_frames_per_cam": [
71
+ 0,
72
+ 0,
73
+ 0
74
+ ],
75
+ "union_visible_frac": 1.0,
76
+ "min_visible_cams": 3,
77
+ "target": "small_yellow_cube"
78
+ },
79
+ "relay": null
80
+ },
81
+ "seed": 1588852797,
82
+ "randomization": {
83
+ "scope": [
84
+ "lighting",
85
+ "surface",
86
+ "camera_jitter",
87
+ "distractors",
88
+ "arm_contact_quota"
89
+ ],
90
+ "sun_scale": 1.0,
91
+ "sky_scale": 1.5,
92
+ "spot_frac_on": 1.0,
93
+ "light_roles": {},
94
+ "surface_material": "/PickAndPlace/KitchenAssets/Materials/Wood/MI_wood_pine_aar",
95
+ "camera_jitter": {
96
+ "cam00": {
97
+ "dist_scale": 1.043,
98
+ "az_delta_deg": 3.63,
99
+ "elev_delta_deg": 0.025
100
+ },
101
+ "cam01": {
102
+ "dist_scale": 1.0314,
103
+ "az_delta_deg": 2.185,
104
+ "elev_delta_deg": -2.54
105
+ },
106
+ "cam02": {
107
+ "dist_scale": 0.9439,
108
+ "az_delta_deg": -2.181,
109
+ "elev_delta_deg": -2.7
110
+ }
111
+ },
112
+ "arm_contact_quota": 0
113
+ },
114
+ "tonemap": {
115
+ "recorded": true,
116
+ "plugin": "AdvancedTonemapper",
117
+ "plugin_version": "2.2",
118
+ "mode": "AG_X",
119
+ "params": {
120
+ "enable_tonemapping": true,
121
+ "tonemap_mode": "AG_X",
122
+ "tonemap_exposure": 0.0,
123
+ "tonemap_shadow_lift": 0.0,
124
+ "tonemap_contrast": 0.7799999713897705,
125
+ "tonemap_gamma": 1.2000000476837158,
126
+ "tonemap_color_saturation": 1.0,
127
+ "tonemap_bloom_preserve": 1.0,
128
+ "tonemap_ag_x_slope": 1.0,
129
+ "tonemap_ag_x_offset": 0.0,
130
+ "tonemap_ag_x_power": 1.0,
131
+ "tonemap_ag_x_saturation": 1.0,
132
+ "tonemap_auto_exposure": true,
133
+ "tonemap_auto_exposure_method": "UE_STOCK",
134
+ "tonemap_min_ev100": -10.0,
135
+ "tonemap_max_ev100": 20.0,
136
+ "tonemap_auto_exposure_bias": 0.0
137
+ },
138
+ "enforced": true,
139
+ "corrections": {
140
+ "settings": [
141
+ {
142
+ "field": "tonemap_mode",
143
+ "was": "UNREAL_ACES",
144
+ "now": "AG_X"
145
+ },
146
+ {
147
+ "field": "tonemap_contrast",
148
+ "was": 1.0,
149
+ "now": 0.78
150
+ },
151
+ {
152
+ "field": "tonemap_gamma",
153
+ "was": 1.0,
154
+ "now": 1.2
155
+ }
156
+ ],
157
+ "cvars": []
158
+ },
159
+ "scope": "global constant across all clips (PB-M2t AT2 — not randomized)"
160
+ },
161
+ "look": {
162
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+ {
33
+ "name": "view1",
34
+ "video": "videos/view1.mp4",
35
+ "width": 1280,
36
+ "height": 1280,
37
+ "source_name": "cam01",
38
+ "role": null,
39
+ "static": true,
40
+ "hfov_deg": 100.5,
41
+ "motion": "static",
42
+ "source_rig_name": "pnpcam01"
43
+ },
44
+ {
45
+ "name": "view2",
46
+ "video": "videos/view2.mp4",
47
+ "width": 1280,
48
+ "height": 1280,
49
+ "source_name": "cam02",
50
+ "role": null,
51
+ "static": true,
52
+ "hfov_deg": 67.0,
53
+ "motion": "static",
54
+ "source_rig_name": "pnpcam02"
55
+ }
56
+ ],
57
+ "world": {
58
+ "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).",
59
+ "units": "m",
60
+ "handedness": "right",
61
+ "up": "+z",
62
+ "origin": {
63
+ "kind": "table_top_obb_center",
64
+ "center_cm_source": [
65
+ 84233.2434,
66
+ -69436.7634,
67
+ 93.7986
68
+ ],
69
+ "table_half_extent_cm": [
70
+ 120.0,
71
+ 56.25,
72
+ 0.0
73
+ ],
74
+ "table_yaw_deg_source": 11.7759
75
+ },
76
+ "to_source": {
77
+ "note": "X_source = A @ X + b",
78
+ "A": [
79
+ [
80
+ 100.0,
81
+ 0.0,
82
+ 0.0
83
+ ],
84
+ [
85
+ 0.0,
86
+ -100.0,
87
+ 0.0
88
+ ],
89
+ [
90
+ 0.0,
91
+ 0.0,
92
+ 100.0
93
+ ]
94
+ ],
95
+ "b": [
96
+ 84233.2434,
97
+ -69436.7634,
98
+ 93.7986
99
+ ],
100
+ "source_units": "cm",
101
+ "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).",
102
+ "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)"
103
+ }
104
+ },
105
+ "files": {
106
+ "cameras": "cameras.npz",
107
+ "tracks3d": "tracks3d.npz",
108
+ "captions": "captions.json",
109
+ "depth": "depth/depth.zip",
110
+ "labels": {
111
+ "objects": "labels/objects.json",
112
+ "visibility_states": "labels/visibility_states.json"
113
+ }
114
+ },
115
+ "tracks": {
116
+ "n_points": 1024,
117
+ "groups": [
118
+ "object",
119
+ "robot"
120
+ ],
121
+ "visible_outside_frustum_dropped": 0,
122
+ "visible_dropped_by_reason": {
123
+ "near_plane": 0,
124
+ "image_edge": 0
125
+ },
126
+ "in_frustum_z_min_m": 0.1,
127
+ "default_report_group": "object",
128
+ "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.",
129
+ "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).",
130
+ "n_object_points": 512,
131
+ "n_robot_points": 512,
132
+ "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)",
133
+ "extras": {
134
+ "is_primary": "(N,) bool, points of meta.objects.primary_object",
135
+ "object_id": "(N,) str, object id of object points ('' for robot points)"
136
+ },
137
+ "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)"
138
+ },
139
+ "depth": {
140
+ "file": "depth/depth.zip",
141
+ "member": "{source_view}/frame_{t:04d}.png",
142
+ "view_member_names": [
143
+ "cam00",
144
+ "cam01",
145
+ "cam02"
146
+ ],
147
+ "dtype": "uint16",
148
+ "unit_scale": 0.01,
149
+ "invalid_values": [
150
+ 65504
151
+ ],
152
+ "invalid_ge": 65000,
153
+ "valid_max_m": 650.0,
154
+ "planar_z": true,
155
+ "width": 1280,
156
+ "height": 1280,
157
+ "kind": "rendered (synthetic GT)",
158
+ "vendor_valid_range_cm": [
159
+ 1.0,
160
+ 65000.0
161
+ ],
162
+ "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur."
163
+ },
164
+ "caption": "The humanoid robot uses its left hand to pick up a small blue cube from the marble countertop and carries it into a green-lined square box, setting it beside a soda can while a bottle, statuette, and lamp-shaped objects sit nearby under bright daylight.",
165
+ "attributes": {
166
+ "difficulty": "normal",
167
+ "category": "outdoor_city",
168
+ "map": "c001",
169
+ "scene": "outdoor_city",
170
+ "scene_hint": "neutral",
171
+ "hard_k": 1,
172
+ "hard_target": "small_blue_cube",
173
+ "difficulty_relabeled_260917": false,
174
+ "moving_cameras": [],
175
+ "task": "pick_and_place",
176
+ "robot_class": "GR1T2_fourier_hand_6dof",
177
+ "n_objects": 2,
178
+ "n_distractors": 7,
179
+ "hands_used": [
180
+ "left"
181
+ ],
182
+ "primary_object": "small_blue_cube",
183
+ "distractor_max_pushed_cm": 2.035,
184
+ "distractor_fell_off": 0,
185
+ "n_default_queries_at_ref_frame": 896,
186
+ "flag_details": {
187
+ "caption_both_hands_phrase": null,
188
+ "caption_placement_phrase": "carries it into",
189
+ "primary_end_speed_mean_m_per_frame": 0.0,
190
+ "primary_end_net_disp_10_frames_m": 0.0,
191
+ "clip_ends_mid_motion_borderline": false,
192
+ "primary_end_min_z_m": 0.0037,
193
+ "primary_end_hand_dist_m": 0.226,
194
+ "primary_end_support_dist_m": 0.0035,
195
+ "primary_end_airborne": false,
196
+ "primary_end_held": false,
197
+ "primary_end_supported": true,
198
+ "target_win_max_point_disp_m": {
199
+ "small_blue_cube": 0.39856
200
+ },
201
+ "primary_frames_invisible_all_views": 0
202
+ },
203
+ "flag_rules": {
204
+ "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand",
205
+ "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold",
206
+ "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)",
207
+ "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80",
208
+ "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)",
209
+ "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view",
210
+ "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; <n> = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)"
211
+ }
212
+ },
213
+ "flags": [],
214
+ "files_sha256": {
215
+ "cameras.npz": "626d444879e69af6d9462696ff4be01278737e4d02ab230b17252503cfd5229e",
216
+ "captions.json": "91e2f86d0ec632756431446b3e81d9dd30269e90a396e692d24de4f03f744cbb",
217
+ "depth/depth.zip": "2e95149cf05b152249dffe19149765943f6c1bc6e45f055d6f195af4ac5810c8",
218
+ "labels/objects.json": "25e5239cdceae6fc9226b1627e51211c8c551ee5d3d3d2d493502533ce078cab",
219
+ "labels/visibility_states.json": "3f5369b5bed128dbeceb2fff555f4a60cffb03ac07e303cd018916450aa5c29e",
220
+ "source/cameras.json": "ae2e38e66275c4a317260ac699e64c4f470b219375d8417324971adace1d3c04",
221
+ "source/caption.txt": "4e0ba0de03c5df18a2de250cdf1d44f5a11d7ba469d1d7f9e6ed5ac84698f0d3",
222
+ "source/meta.json": "b954be541650d8d63528bf84a5d2614333067141d8e8e48bb5657021d1fcb030",
223
+ "source/points_target.npz": "8562dc661899a9f747dde57b74471486115206e8e86518f5ab4976cb77c3d65f",
224
+ "source/visibility.json": "15e04e6fcfe0d8a77552548bdf4990e5aab22a12d75f1484ffb59915c05c50ec",
225
+ "tracks3d.npz": "98855cc0221d7ba3adeeb051d449ec11d348cd024964af2f7a6c4fa3ae9da50c",
226
+ "videos/view0.mp4": "11d4418dbc9b6451c95f1a8d1569915c9850f130816d2f421765cbdea7c51fea",
227
+ "videos/view1.mp4": "413d4104a415894bfca9e0505f97d547048d8e274e9f80229aea00173678790e",
228
+ "videos/view2.mp4": "8242db01c1da61c159dd932acdd1cdbf6197260bf3eb1b74ccceee5858bd7a01"
229
+ }
230
+ }
Simul-Robot/c001_episode_000040/source/cameras.json ADDED
The diff for this file is too large to render. See raw diff
 
Simul-Robot/c001_episode_000040/source/caption.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ The humanoid robot uses its left hand to pick up a small blue cube from the marble countertop and carries it into a green-lined square box, setting it beside a soda can while a bottle, statuette, and lamp-shaped objects sit nearby under bright daylight.
Simul-Robot/c001_episode_000040/source/meta.json ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema": "pnp2.meta/1",
3
+ "clip_id": "c001_episode_000040",
4
+ "map": "c001",
5
+ "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked",
6
+ "sequence": "episode_000040",
7
+ "source_sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_000040",
8
+ "robot_yaw_deg": -78.224,
9
+ "fps": 20.0,
10
+ "display_rate": [
11
+ 20,
12
+ 1
13
+ ],
14
+ "frame_count": 193,
15
+ "resolution": [
16
+ 1280,
17
+ 1280
18
+ ],
19
+ "cameras": [
20
+ "cam00",
21
+ "cam01",
22
+ "cam02"
23
+ ],
24
+ "source_cam": {
25
+ "cam00": "pnpcam00",
26
+ "cam01": "pnpcam01",
27
+ "cam02": "pnpcam02"
28
+ },
29
+ "hfov_deg": {
30
+ "cam00": 93.0,
31
+ "cam01": 100.5,
32
+ "cam02": 67.0
33
+ },
34
+ "focal_mm": {
35
+ "cam00": 11.2737,
36
+ "cam01": 9.8805,
37
+ "cam02": 17.9487
38
+ },
39
+ "difficulty_attempt": "normal",
40
+ "difficulty": "normal",
41
+ "hard": {
42
+ "hard_k": 1,
43
+ "hard_reasons": [
44
+ "①캠 ['cam00', 'cam01'] 의 최장 비가시 [0, 0]f < 30f (그 캠 하나로 전 구간을 볼 수 있다)",
45
+ "③캠 ['cam00', 'cam01', 'cam02'] 의 비가시 구간 타겟 변위 [None, None, 1.37] < 5.0cm (못 봤지만 잃은 것도 없다)"
46
+ ],
47
+ "hard_metrics": {
48
+ "num_cams": 3,
49
+ "frames": 193,
50
+ "per_cam_blind_max_frames": [
51
+ 0,
52
+ 0,
53
+ 70
54
+ ],
55
+ "per_cam_blind_run": [
56
+ null,
57
+ null,
58
+ [
59
+ 123,
60
+ 192
61
+ ]
62
+ ],
63
+ "per_cam_blind_displacement_cm": [
64
+ null,
65
+ null,
66
+ 1.368
67
+ ],
68
+ "all_blind_max_run": 0,
69
+ "all_blind_runs": [],
70
+ "all_blind_frames": 0,
71
+ "occluded_frames_total": 70,
72
+ "occluded_frames_per_cam": [
73
+ 0,
74
+ 0,
75
+ 70
76
+ ],
77
+ "union_visible_frac": 1.0,
78
+ "min_visible_cams": 2,
79
+ "target": "small_blue_cube"
80
+ },
81
+ "relay": null
82
+ },
83
+ "seed": 202860427,
84
+ "randomization": {
85
+ "scope": [
86
+ "lighting",
87
+ "surface",
88
+ "camera_jitter",
89
+ "distractors",
90
+ "arm_contact_quota"
91
+ ],
92
+ "sun_scale": 1.0,
93
+ "sky_scale": 1.5,
94
+ "spot_frac_on": 1.0,
95
+ "light_roles": {},
96
+ "surface_material": "/PickAndPlace/KitchenAssets/Materials/Stone/MI_granite_rough_aspen_white_aar",
97
+ "camera_jitter": {
98
+ "cam00": {
99
+ "dist_scale": 0.9798,
100
+ "az_delta_deg": -3.68,
101
+ "elev_delta_deg": 1.508
102
+ },
103
+ "cam01": {
104
+ "dist_scale": 1.0238,
105
+ "az_delta_deg": 0.752,
106
+ "elev_delta_deg": 0.038
107
+ },
108
+ "cam02": {
109
+ "dist_scale": 0.9655,
110
+ "az_delta_deg": -2.892,
111
+ "elev_delta_deg": -2.523
112
+ }
113
+ },
114
+ "arm_contact_quota": 0
115
+ },
116
+ "tonemap": {
117
+ "recorded": true,
118
+ "plugin": "AdvancedTonemapper",
119
+ "plugin_version": "2.2",
120
+ "mode": "AG_X",
121
+ "params": {
122
+ "enable_tonemapping": true,
123
+ "tonemap_mode": "AG_X",
124
+ "tonemap_exposure": 0.0,
125
+ "tonemap_shadow_lift": 0.0,
126
+ "tonemap_contrast": 0.7799999713897705,
127
+ "tonemap_gamma": 1.2000000476837158,
128
+ "tonemap_color_saturation": 1.0,
129
+ "tonemap_bloom_preserve": 1.0,
130
+ "tonemap_ag_x_slope": 1.0,
131
+ "tonemap_ag_x_offset": 0.0,
132
+ "tonemap_ag_x_power": 1.0,
133
+ "tonemap_ag_x_saturation": 1.0,
134
+ "tonemap_auto_exposure": true,
135
+ "tonemap_auto_exposure_method": "UE_STOCK",
136
+ "tonemap_min_ev100": -10.0,
137
+ "tonemap_max_ev100": 20.0,
138
+ "tonemap_auto_exposure_bias": 0.0
139
+ },
140
+ "enforced": false,
141
+ "corrections": {
142
+ "settings": [],
143
+ "cvars": []
144
+ },
145
+ "scope": "global constant across all clips (PB-M2t AT2 — not randomized)"
146
+ },
147
+ "look": {
148
+ "recorded": true,
149
+ "version": "pnp.look/4",
150
+ "map_key": "c001",
151
+ "fingerprint_ok": true,
152
+ "camera_pp": {
153
+ "cam00": {
154
+ "vignette_intensity": 0.15,
155
+ "scene_fringe_intensity": 0.06,
156
+ "auto_exposure_bias": 1.25,
157
+ "film_grain_intensity": 0.15,
158
+ "film_grain_intensity_shadows": 0.4,
159
+ "film_grain_intensity_midtones": 1.0,
160
+ "film_grain_intensity_highlights": 0.5,
161
+ "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000"
162
+ },
163
+ "cam01": {
164
+ "vignette_intensity": 0.15,
165
+ "scene_fringe_intensity": 0.06,
166
+ "auto_exposure_bias": 1.25,
167
+ "film_grain_intensity": 0.15,
168
+ "film_grain_intensity_shadows": 0.4,
169
+ "film_grain_intensity_midtones": 1.0,
170
+ "film_grain_intensity_highlights": 0.5,
171
+ "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000"
172
+ },
173
+ "cam02": {
174
+ "vignette_intensity": 0.15,
175
+ "scene_fringe_intensity": 0.06,
176
+ "auto_exposure_bias": 1.25,
177
+ "film_grain_intensity": 0.15,
178
+ "film_grain_intensity_shadows": 0.4,
179
+ "film_grain_intensity_midtones": 1.0,
180
+ "film_grain_intensity_highlights": 0.5,
181
+ "film_grain_texture": "/Engine/EngineResources/FilmGrains/Marcie_Grain_v3_128_M2_000"
182
+ }
183
+ },
184
+ "aa": {
185
+ "method": "AAM_NONE",
186
+ "spatial_sample_count": 2,
187
+ "temporal_sample_count": 1
188
+ },
189
+ "lumen_cvars": [
190
+ "r.Lumen.ScreenProbeGather.DownsampleFactor 8",
191
+ "r.Lumen.Reflections.ScreenSpaceReconstruction.NumSamples 5"
192
+ ],
193
+ "scope": "global constant across all clips"
194
+ },
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+ ],
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+ ],
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+ [
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+ 0.167969,
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+ 0.382812
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+ ],
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+ [
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+ 0.167969,
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+ 0.382812
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+ ],
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+ [
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+ 0.167969,
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+ 0.382812
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+ ],
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+ [
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+ ],
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+ [
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+ ],
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+ 0.164062,
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+ 0.382812
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+ ]
5331
+ ]
5332
+ },
5333
+ "robot_arms_rule": "per frame and view: mean of the visible flags over that side's 256 robot points",
5334
+ "hands_used": [
5335
+ "left"
5336
+ ],
5337
+ "hand_travel_cm": {
5338
+ "left": 44.6763,
5339
+ "right": 0.6394
5340
+ },
5341
+ "hand_motion_min_cm": 5.0,
5342
+ "cameras_moving": [
5343
+ false,
5344
+ false,
5345
+ false
5346
+ ],
5347
+ "hard": {
5348
+ "difficulty": "normal",
5349
+ "difficulty_attempt": "normal",
5350
+ "hard_k": 0,
5351
+ "hard_target": "cream_ceramic_cat",
5352
+ "hard_metrics": {
5353
+ "num_cams": 3,
5354
+ "frames": 176,
5355
+ "per_cam_blind_max_frames": [
5356
+ 0,
5357
+ 0,
5358
+ 0
5359
+ ],
5360
+ "per_cam_blind_run": [
5361
+ null,
5362
+ null,
5363
+ null
5364
+ ],
5365
+ "per_cam_blind_displacement_cm": [
5366
+ null,
5367
+ null,
5368
+ null
5369
+ ],
5370
+ "all_blind_max_run": 0,
5371
+ "all_blind_runs": [],
5372
+ "all_blind_frames": 0,
5373
+ "occluded_frames_total": 0,
5374
+ "occluded_frames_per_cam": [
5375
+ 0,
5376
+ 0,
5377
+ 0
5378
+ ],
5379
+ "union_visible_frac": 1.0,
5380
+ "min_visible_cams": 3,
5381
+ "target": "cream_ceramic_cat"
5382
+ },
5383
+ "hard_thresholds": {
5384
+ "hard_blind_min_frames": 30,
5385
+ "hard_all_blind_max_run": 0,
5386
+ "hard_blind_min_displacement_cm": 5.0,
5387
+ "hard_occluded_min_frames": 20
5388
+ },
5389
+ "relabeled_260917": null,
5390
+ "relay": null,
5391
+ "rule": "hard iff, for the judged target (primary object), a camera has a contiguous run of >= 30 frames without seeing it during which it moves >= 5 cm, at every frame at least one camera sees it (all_blind_max_run 0), and the three cameras together have >= 20 occluded frames; hard clips place one camera low and rotate two cameras in place in two phases (relay). Per-camera arrays are in view order. The vendor's Korean hard_reasons are kept in source/visibility.json."
5392
+ },
5393
+ "dropped_non_english_fields": []
5394
+ }
Simul-Robot/c001_episode_001960/sample.json ADDED
@@ -0,0 +1,230 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema": "vpm-worldbench/sample/1.0",
3
+ "uid": "Simul-Robot/c001_episode_001960",
4
+ "subset": "Simul-Robot",
5
+ "id": "c001_episode_001960",
6
+ "source": {
7
+ "dataset": "HyperWorld-Bench-Robot",
8
+ "repo": "hf:rooty2020/HyperWorld-Bench-Robot",
9
+ "revision": "3bf3139e3a99b1a70ad7960bdb783d450fb03147",
10
+ "id": "c001_episode_001960",
11
+ "sequence": "/PickAndPlace/KaistWorldModel/Carla_001/LevelSequence/episode_001960",
12
+ "map_asset": "/PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked",
13
+ "generated": "2026-09-12 12:24:37"
14
+ },
15
+ "n_views": 3,
16
+ "n_frames": 176,
17
+ "fps": 20.0,
18
+ "duration_s": 8.8,
19
+ "views": [
20
+ {
21
+ "name": "view0",
22
+ "video": "videos/view0.mp4",
23
+ "width": 1280,
24
+ "height": 1280,
25
+ "source_name": "cam00",
26
+ "role": null,
27
+ "static": true,
28
+ "hfov_deg": 93.0,
29
+ "motion": "static",
30
+ "source_rig_name": "pnpcam00"
31
+ },
32
+ {
33
+ "name": "view1",
34
+ "video": "videos/view1.mp4",
35
+ "width": 1280,
36
+ "height": 1280,
37
+ "source_name": "cam01",
38
+ "role": null,
39
+ "static": true,
40
+ "hfov_deg": 100.5,
41
+ "motion": "static",
42
+ "source_rig_name": "pnpcam01"
43
+ },
44
+ {
45
+ "name": "view2",
46
+ "video": "videos/view2.mp4",
47
+ "width": 1280,
48
+ "height": 1280,
49
+ "source_name": "cam02",
50
+ "role": null,
51
+ "static": true,
52
+ "hfov_deg": 67.0,
53
+ "motion": "static",
54
+ "source_rig_name": "pnpcam02"
55
+ }
56
+ ],
57
+ "world": {
58
+ "description": "Simul-Robot unified world: right-handed, metres, +z up (gravity -z). Origin = centre of the table-top OBB (meta.workspace.top_obb.center_cm, on the table-top plane). Axes: x = UE +X, y = -(UE +Y), z = UE +Z; X = S (X_ue_cm/100 - o) with S = diag(1,-1,1), o = center_cm/100. The source UE level world is left-handed (X forward, Y right, Z up) in centimetres and far from the map origin (up to ~1.4 km).",
59
+ "units": "m",
60
+ "handedness": "right",
61
+ "up": "+z",
62
+ "origin": {
63
+ "kind": "table_top_obb_center",
64
+ "center_cm_source": [
65
+ 10111.9028,
66
+ 7335.6299,
67
+ 97.0787
68
+ ],
69
+ "table_half_extent_cm": [
70
+ 120.0,
71
+ 56.25,
72
+ 0.0
73
+ ],
74
+ "table_yaw_deg_source": -8.2043
75
+ },
76
+ "to_source": {
77
+ "note": "X_source = A @ X + b",
78
+ "A": [
79
+ [
80
+ 100.0,
81
+ 0.0,
82
+ 0.0
83
+ ],
84
+ [
85
+ 0.0,
86
+ -100.0,
87
+ 0.0
88
+ ],
89
+ [
90
+ 0.0,
91
+ 0.0,
92
+ 100.0
93
+ ]
94
+ ],
95
+ "b": [
96
+ 10111.9028,
97
+ 7335.6299,
98
+ 97.0787
99
+ ],
100
+ "source_units": "cm",
101
+ "source_frame": "Unreal Engine level world of /PickAndPlace/KaistWorldModel/Carla_001/Town10HD_x6_baked (left-handed: X forward, Y right, Z up; centimetres): the frame of cameras.json w2c_frames (input), ue_location_cm_frames, visibility.json target_world_cm and meta.workspace. The pre-release loader used the same axes in metres (X_source / 100).",
102
+ "w2c_relation": "w2c[v,t] = cameras.json w2c_frames[t] @ [[A, b], [0, 0, 0, 1]] (the source w2c maps a cm world point to a metre camera point)"
103
+ }
104
+ },
105
+ "files": {
106
+ "cameras": "cameras.npz",
107
+ "tracks3d": "tracks3d.npz",
108
+ "captions": "captions.json",
109
+ "depth": "depth/depth.zip",
110
+ "labels": {
111
+ "objects": "labels/objects.json",
112
+ "visibility_states": "labels/visibility_states.json"
113
+ }
114
+ },
115
+ "tracks": {
116
+ "n_points": 1024,
117
+ "groups": [
118
+ "object",
119
+ "robot"
120
+ ],
121
+ "visible_outside_frustum_dropped": 0,
122
+ "visible_dropped_by_reason": {
123
+ "near_plane": 0,
124
+ "image_edge": 0
125
+ },
126
+ "in_frustum_z_min_m": 0.1,
127
+ "default_report_group": "object",
128
+ "visibility_rule": "K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (cameras.npz K = delivered K with cx, cy - 0.5, fx, fy unchanged; integer pixel coordinates are pixel centres; the delivered matrix, cx = cy = 640.0 = W/2, is cameras.npz K_delivered). Vendor renderer depth test (points_target.npz vis_cam / vis_cam_robot, transposed to (T,N,V); unchanged), computed by the vendor with the delivered K: a point is visible in a view iff it is in front of the camera, projects inside the 1280x1280 image (continuous coordinates, 0 <= u,v < 1280 with K_delivered, i.e. -0.5 <= u,v < 1279.5 with the stored K) and the rendered planar depth at the rounded pixel of the K_delivered projection (round(u + 0.5), round(v + 0.5) with the stored K) is >= point z - 3 cm (occlusion_eps_cm 3.0). Silhouette points seen against a farther background count as visible; never-visible faces (bottom/inner) are included as points. The renderer clips geometry closer than its near plane z = 0.10 m (no depth value below 10.0 cm in any clip), which that test cannot detect (a clipped surface leaves the farther background in the depth map, so the test passes): the vendor flags call points at 0 < z <= 0.10 m visible although they are not rendered. Therefore in_frustum uses the renderer frustum with the stored K, z > 0.10 m (in_frustum_z_min_m) and -0.5 <= u,v < 1279.5 (pixel centres at integers), and visible = vendor flag AND in_frustum. 'visible_outside_frustum_dropped' counts the (t,n,v) entries removed by that AND; 'visible_dropped_by_reason' splits them into near_plane (z <= 0.10 m) and image_edge (outside -0.5 <= u,v < 1279.5 with the stored K; these are the vendor's image bounds, so only float rounding at the border can contribute). The object-level vendor states in labels/visibility_states.json were computed from the uncorrected flags; the near-plane corrections are listed there.",
129
+ "accuracy": "Exact synthetic ground truth from Unreal Engine transforms: object points are rigid per object, robot points rigid per link. Source points are float32 in the cam00 frame (~1e-7 m); unified xyz are float32 near the origin (< 2e-7 m). Visibility inherits the 1 cm depth quantisation and the 3 cm occlusion tolerance; depth/track agreement is a few mm (median). K principal point converted from the UE pixel-corner convention: cx = cy = 639.5 (delivered 640.0 = W/2, kept as cameras.npz K_delivered).",
130
+ "n_object_points": 512,
131
+ "n_robot_points": 512,
132
+ "point_order": "objects in point_meta.targets index_range order (256 points each), then the 512 robot points (left arm+hand 0-255, right 256-511 of the robot block; 36 links)",
133
+ "extras": {
134
+ "is_primary": "(N,) bool, points of meta.objects.primary_object",
135
+ "object_id": "(N,) str, object id of object points ('' for robot points)"
136
+ },
137
+ "lift": "cam00 camera frame -> world with cameras.json cam00 w2c_frames[t] (float64)"
138
+ },
139
+ "depth": {
140
+ "file": "depth/depth.zip",
141
+ "member": "{source_view}/frame_{t:04d}.png",
142
+ "view_member_names": [
143
+ "cam00",
144
+ "cam01",
145
+ "cam02"
146
+ ],
147
+ "dtype": "uint16",
148
+ "unit_scale": 0.01,
149
+ "invalid_values": [
150
+ 65504
151
+ ],
152
+ "invalid_ge": 65000,
153
+ "valid_max_m": 650.0,
154
+ "planar_z": true,
155
+ "width": 1280,
156
+ "height": 1280,
157
+ "kind": "rendered (synthetic GT)",
158
+ "vendor_valid_range_cm": [
159
+ 1.0,
160
+ 65000.0
161
+ ],
162
+ "note": "16-bit PNG, value = planar camera z in centimetres (MRQ WorldDepth pass, half float). 65504 (float16 max) = sky / beyond far range; treat every value >= 65000 as invalid. Outdoor (c001) maps contain real far values up to ~643 m; the pre-release loader clipped at 80 m. No zeros occur."
163
+ },
164
+ "caption": "The robot's left gripper picks up a small cream ceramic cat figurine sitting on a red-rimmed plate, lifts it off the plate, and carries it away across the marble countertop, near garlic, a shell, and an orange under bright indoor lighting.",
165
+ "attributes": {
166
+ "difficulty": "normal",
167
+ "category": "outdoor_city",
168
+ "map": "c001",
169
+ "scene": "outdoor_city",
170
+ "scene_hint": "neutral",
171
+ "hard_k": 0,
172
+ "hard_target": "cream_ceramic_cat",
173
+ "difficulty_relabeled_260917": false,
174
+ "moving_cameras": [],
175
+ "task": "pick_and_place",
176
+ "robot_class": "GR1T2_fourier_hand_6dof",
177
+ "n_objects": 2,
178
+ "n_distractors": 6,
179
+ "hands_used": [
180
+ "left"
181
+ ],
182
+ "primary_object": "cream_ceramic_cat",
183
+ "distractor_max_pushed_cm": 0.0,
184
+ "distractor_fell_off": 0,
185
+ "n_default_queries_at_ref_frame": 878,
186
+ "flag_details": {
187
+ "caption_both_hands_phrase": null,
188
+ "caption_placement_phrase": null,
189
+ "primary_end_speed_mean_m_per_frame": 0.00012,
190
+ "primary_end_net_disp_10_frames_m": 0.0005,
191
+ "clip_ends_mid_motion_borderline": false,
192
+ "primary_end_min_z_m": 0.0036,
193
+ "primary_end_hand_dist_m": 0.2225,
194
+ "primary_end_support_dist_m": 0.0022,
195
+ "primary_end_airborne": false,
196
+ "primary_end_held": false,
197
+ "primary_end_supported": true,
198
+ "target_win_max_point_disp_m": {
199
+ "cream_ceramic_cat": 0.16448
200
+ },
201
+ "primary_frames_invisible_all_views": 0
202
+ },
203
+ "flag_rules": {
204
+ "caption_mentions_both_hands_single_hand_used": "the caption mentions both/two hands ('both hands', 'two hands', 'each hand', 'one hand each'; negated phrases excluded) while meta.robot_points.hands_used lists a single hand",
205
+ "clip_ends_mid_motion": "the primary object is still translating at the last frame: mean centroid speed over the last 3 frame intervals >= 2 mm/frame (4 cm/s) AND net centroid displacement over the last 10 intervals (0.5 s) >= 1 cm. End speeds are a continuum; flag_details.clip_ends_mid_motion_borderline marks clips within x0.75-1.25 of the speed threshold or x0.5-1.5 of the displacement threshold",
206
+ "caption_claims_unfinished_placement": "the caption claims a placement (place/put/set ... down/into/on, drop, insert, release, ...; negations such as 'without setting it down' excluded) AND at the last frame the primary object is in the air (lowest point >= 5 cm above the table-top plane z = 0) and not resting on another tracked object (min point distance > 1.5 cm) AND it is either still moving (clip_ends_mid_motion) or still held (min distance to a robot hand point <= 2 cm)",
207
+ "no_target_motion_in_default_window": "no object of vendor kind 'target' has a point displaced > 1 cm from its frame-16 position at any frame 16..80",
208
+ "target_not_visible_in_view_at_ref_frame": "the object-level state of the primary object at frame 16 is not 'visible' in that view (vendor visibility.json state with the near-plane corrections of labels/visibility_states.json)",
209
+ "target_invisible_all_views_some_frames": "at some frame the primary object's state (as above) is not 'visible' in any view",
210
+ "few_default_queries_at_ref_frame": "fewer than 20 points (all groups) have default_gt AND are visible in >= 1 view at frame 16; <n> = that number, stored for every sample in attributes.n_default_queries_at_ref_frame (threshold shared by all subsets)"
211
+ }
212
+ },
213
+ "flags": [],
214
+ "files_sha256": {
215
+ "cameras.npz": "5e1ce8d74edba9f009b0feb7a1df093d51e2bc67bdc66fc8e2de4f0b11a39cd4",
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+ "captions.json": "e9ba4b1c41030a21ef0cbcf8d34375c87f7929feb4f09f3bbeeb006e282288bd",
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+ "depth/depth.zip": "ad18571db2bc4e84eeefead8223fd61a77268e562e154dcd27053ff74375ce3a",
218
+ "labels/objects.json": "e3d2c66cb518a37216345ee3160f0cda5d10e56b90801e415c57d1121ee9ac3b",
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+ "labels/visibility_states.json": "9c7ddf78de49309e1ef1adaa13d96bf09ea80c40909f7c35a93307e8945e6b50",
220
+ "source/cameras.json": "0308df0d22a3349d453776fab0c8feea5d4d77d97de622fb2e89cecc70540cad",
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+ "source/caption.txt": "a2924ffcc09249c4aa1c1512f410e401b9d92e81a54a7d88eacbd06d1932e038",
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+ "source/meta.json": "a7c2acc492a93ac90ec8ce7f86ab5465e1cf105f171ae92fe2d3d71b5f60541d",
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+ "source/points_target.npz": "1acb4c58b784c5b0ef94a56467cd8925b6484021c099de0375a191fb08b77bee",
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+ "source/visibility.json": "7e0ef347848e89b1b1238ab1d2c35346896e6bc746498a488a3c819e5649e389",
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+ "tracks3d.npz": "238a2bea4d0824fd0f8a3bef041ec854f8196ae566a308f5d0a1a882e1626d3c",
226
+ "videos/view0.mp4": "b1c5c9a7311958fcae6b1de917bea5745d655478030d61729ee4e32856a12cf1",
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+ "videos/view1.mp4": "2efeabf441cb8009f3d4eb605fd07b11bb146db33e60c90f7a3c28a636fd5240",
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+ "videos/view2.mp4": "14aeedf1dcdecb8bdcd6c85c75f5de23d72ac6bf04935acb5b3f8edd161394c1"
229
+ }
230
+ }
Simul-Robot/c001_episode_001960/source/cameras.json ADDED
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Simul-Robot/c001_episode_001960/source/caption.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ The robot's left gripper picks up a small cream ceramic cat figurine sitting on a red-rimmed plate, lifts it off the plate, and carries it away across the marble countertop, near garlic, a shell, and an orange under bright indoor lighting.