| --- |
| pretty_name: wide-robot object_inside_container (real-camera v0) |
| task_categories: |
| - robotics |
| tags: |
| - robotics |
| - manipulation |
| - object-inside-container |
| - apriltag |
| - fiducial-markers |
| - verifier |
| - multi-view |
| size_categories: |
| - n<1K |
| license: other |
| license_name: tbd |
| --- |
| |
| # wide-robot — `object_inside_container` real-camera capture (v0) |
|
|
| Raw multi-view video for the **Phase 3A real-camera ingestion** pilot of |
| [wide-robot](https://github.com/alex-reysa/wide-robot): a marker-based, **source-independent |
| verifier** judges `object_inside_container` episodes (PASS / FAIL / UNCERTAIN) from real camera |
| evidence. This repo holds the **raw capture media** that is gitignored in the code repo; the derived |
| JSON (calibrations, tracks, rollouts, verdicts) and the full results live in the git repo under |
| `datasets/sony_object_inside_container_v0/` (see `INGESTION_RESULTS.md`). |
|
|
| > **Conservative pilot, not a benchmark.** The associated result is deliberately narrow: across 78 |
| > clips the frozen verifier produced **0 false PASSes on 30 genuine-failure clips**, with partial |
| > success recall — a demonstration that the verifier's *safety* survives real, approximate-calibration |
| > evidence. It is marker-based and calibration-limited, not a high-recall perception system. |
|
|
| ## Contents |
|
|
| - **80 clips** = 40 episodes × 2 simultaneous cameras (`sony_front` ≈ 45° frontal; `iphone_top` top |
| view), under `raw_videos/<category>/oic_<category>_<seq:03d>__<camera>.mp4`. |
| - `manifest.json` — provenance index: per-clip SHA-256, expected class, camera, video metadata, and |
| the as-built capture metadata (this is the source of truth). |
| - `labels.csv` — per-clip expected verdicts for the two bundled targets. |
| - `SHA256SUMS` — independent checksums over every `.mp4` (verify with `shasum -a 256 -c SHA256SUMS`). |
|
|
| ### Categories |
| `success`, `fail_near_not_inside`, `fail_on_rim`, `fail_outside`, `control_static`, |
| `control_born_inside`, `control_born_inside_hand_motion`, `control_inside_to_inside`, |
| `control_inside_to_outside`, `success_tag_obstruction`, `success_hand_obstruction`, `calibration`. |
|
|
| ## Capture setup (as-built; `manifest.json` is authoritative) |
|
|
| - Cube `5×5×5 cm`; AprilTag (`tag36h11`) IDs **2** (top) / **3** (front), 35 mm. |
| - Tray ~`18×18 cm`, ~4 cm rim — **homemade cardboard, not perfectly square/consistent**; ingestion |
| fits the geometry. Tray tags **6** (front, outer) / **7** (inside floor), 50 mm. |
| - Table tags **0 / 1** (75 mm) — used only to recover the world frame. Tags 4/5 absent. |
|
|
| ## Using it |
|
|
| ```bash |
| hf download Alexreysa/wide-robot-object-inside-container-v0 --repo-type dataset --local-dir recordings |
| shasum -a 256 -c recordings/SHA256SUMS # verify integrity |
| # then, from the wide-robot repo (pip install -e ".[camera]"): |
| python -m scripts.ingest_recordings --select all |
| ``` |
|
|
| ## Provenance & licensing |
|
|
| - Source: tripod Sony A7IV + iPhone capture for `sony_object_inside_container_v0`; reproduced and |
| judged by the byte-frozen verifier in the wide-robot repo. Every clip's SHA-256 is bound in |
| `manifest.json` and `SHA256SUMS`. |
| - **License: TBD** — set by the dataset owner. Recommend CC-BY-4.0 (attribution) for reuse; until set, |
| treat as all-rights-reserved. |
|
|
