docs: card matches the v0.7 corpus — generated counts (116 episodes, 10 tasks, 5 participants), correct release version, destination-slot contact semantics, placeholder count from the shipped parquet (9448); one stale per-episode n_state_invalid corrected in foundry.json

README.md

@@ -32,11 +32,11 @@ them at once without collecting or labelling anything first.
 Recorded on iPhone Pro (ARKit LiDAR) as part of Everyday Manipulation 1 (EM1),
 annotated by CaryX AI, packaged as a single multi-episode
 [LeRobot v3.0](https://github.com/huggingface/lerobot) dataset. This is a
-pilot-scale research corpus (32 episodes, 4 tasks, 2 participants): built for
-method development and per-channel evaluation, not for broad generalization
-claims.
+research corpus (116 episodes, 10 tasks, 5 participants):
+built for method development and per-channel evaluation, not for broad
+generalization claims.
 
-**116 episodes · 28019 frames @ 15 fps · release v0.5**
+**116 episodes · 28019 frames @ 15 fps · release v0.7**
 
 | task | episodes | frames |
 |---|---:|---:|
@@ -98,16 +98,16 @@ Shapes are numpy shapes, so `(7,)` is a flat 7-element vector.
 | `observation.images.ego` | (512, 384, 3) | RGB ego frame, portrait, ONE uniform downscale of the native 1440×1920 (no aspect distortion). Exactly 2× the depth grid: `ego[y, x]` and `depth[y//2, x//2]` are the same ray. |
 | `observation.images.depth` | (256, 192, 1) video | **metric metres**, native ARKit sceneDepth grid (never resampled), 12-bit log-HEVC (quantizer [0.1, 5.0] m in `meta/info.json`). Intrinsics for both grids: `episodes/<id>/depth_geometry.json`. |
 | `observation.state` | (7,) | `[x, y, z]` wrist position + `[rx, ry, rz]` hand rotation (axis-angle of the hand root) + grasp, metric WORLD frame. The state tracks ONE hand per frame: the right hand when visible, else the left. Position and rotation are zero-phase smoothed (see `meta/foundry.json` `state_smoothed`); the wrist source is named per episode in `state_source`. A zero row is a placeholder, not a pose: check `state_valid`. |
-| `observation.state_valid` | (1,) | 1.0 = the state row is a real measured pose; 0.0 = no derivable hand pose on this frame (the row is zeros). Mask state losses with this flag. 9452 of 28019 frames are placeholders. |
+| `observation.state_valid` | (1,) | 1.0 = the state row is a real measured pose; 0.0 = no derivable hand pose on this frame (the row is zeros). Mask state losses with this flag. 9448 of 28019 frames are placeholders. |
 | `observation.state_hand` | (1,) | which hand the state tracks this frame: 1.0 = right, 0.0 = left, -1.0 = none. The state follows one hand and can switch when the right hand is lost; the state jumps at a switch because it is a different hand. |
 | `action` | (7,) | `[dx, dy, dz]` world position delta + `[drx, dry, drz]` axis-angle of the RELATIVE rotation between consecutive frames + grasp. An action is a real delta only when `state_valid` is 1.0 on BOTH frame t and t+1 AND `state_hand` is the same on both; a validity gap or a hand switch is a zero-delta boundary row. Mask action losses accordingly. |
 | `observation.camera_pose` | (4, 4) | camera to world (metric), expressed in the SHIPPED raster frame (x = raster right, y = raster down, z = forward) and gravity-verified per episode at export. Composes directly with the intrinsics in `depth_geometry.json`. |
 | `observation.contact` | (2, 2) | The shipped contact channel. Rows are the left and right hand, column k is object slot k. Values are contact strength in [0, 1]. Contact against any object is the max over slots. |
-| `observation.contact_valid` | (2, 2) | 1.0 where that hand-to-object distance was actually measured on that frame, 0.0 where it could not be (hand out of frame, no depth surface, or no object in that slot). Single-object episodes ship slot 1 all-zero rather than a fabricated "measured apart". |
+| `observation.contact_valid` | (2, 2) | 1.0 where that hand-to-object distance was actually measured on that frame, 0.0 where it was not: hand out of frame, no depth surface, no object in that slot, or the slot is a drop target that is deliberately never measured (below). Single-object episodes ship slot 1 all-zero rather than a fabricated "measured apart". |
 | `observation.mano_joints` | (2, 21, 3) | MANO/HaMeR joints RE-ROOTED at the wrist: joint 0 is exactly the origin, axes in the shipped raster's camera orientation (`mano_frame` in `meta/foundry.json`). World placement for the hand `state_hand` names, when both are valid: `world = (R_state @ R_go.T) @ joints + state[0:3]`, where `R_state` is the rotation matrix of `state[3:6]` and `R_go` of that hand's `mano_params[0:3]`; both are shipped per frame. The untracked hand has no shipped world anchor. The primary channel is tip-smoothed (named per episode in `mano_joints_channel`); the raw fit is recoverable from `observation.mano_params`. |
 | `observation.mano_params` | (2, 58) | full MANO parameterization: global_orient(3) ⊕ pose(45) ⊕ betas(10) |
 | `observation.mano_valid` | (2,) | 1.0 where the MANO fit is valid for that hand/frame. 0.0 covers both cases: no hand detected, and fits removed by a hand-entry/exit quality gate (a hand barely in shot yields an unreliable extrapolated skeleton — we ship nothing rather than a guess). Mask MANO losses on 0.0 frames. |
-| `observation.images.object_mask` | (512, 384, 3) video | R = object slot 0, B = slot 1 (two-object episodes), G unused. Threshold > 127 (video codecs are lossy). Exact full-res masks: `episodes/<id>/object_mask.npz`. |
+| `observation.images.object_mask` | (512, 384, 3) video | R = object slot 0, B = slot 1 (two-object episodes), G unused. Threshold > 127 (video codecs are lossy). Exact full-res masks: `episodes/<id>/object_mask.npz`. On `pick_and_place` episodes slot 1 is the DESTINATION — the plate or bowl the item is placed into. It is segmented and tracked like any object, but hand contact against it is deliberately never measured: the hand hovers over a drop target rather than touching it, and 3D proximity would read that hover as touch. Its `contact_valid` column is 0.0 by design, and the contact sidecar names such slots in `measure_exempt_slots`. |
 | `observation.images.hand_mask` | (512, 384, 3) video | R = LEFT hand, B = RIGHT hand. Same thresholding. Reviewer-corrected (shipped) channel. Exact full-res masks: `episodes/<id>/hand_mask.npz`. |
 
 ## Timing
@@ -173,8 +173,8 @@ list itself).
 deterministic: within each task, episodes are ordered by capture time
 (`capture_id` is time-sortable); the last episode of each task is `test`, the
 second-to-last is `val`, and the rest are `train`. This is a chronological
-partition by episode, not a held-out participant, scene or session: both
-participants appear in all three splits.
+partition by episode, not a held-out participant, scene or session: the same
+participant can appear in every split.
 
 | split | episodes | frames |
 |---|---:|---:|
@@ -186,7 +186,7 @@ Report results on `test`; tune on `val`.
 
 ## Provenance
 
-Self-collected capture by CaryX AI, recorded by 2 consenting adults in private
+Self-collected capture by CaryX AI, recorded by 5 consenting adults in private
 homes. Annotations are produced by CaryX AI's pipeline using third-party models
 and reviewed by humans.
 

meta/checksums.json

@@ -903,8 +903,8 @@
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   "videos/observation.images.object_mask/chunk-000/file-000.mp4": "3cb032d3c17c2e1719d752b5a3eb56bfbfe5603b73522cfb078224d2ae3fa76c"
  },
- "README.md": "5b06d77cb9ca321dcad2ce25c3078d7db16878e30306947ef989ecc976c8ac35",
- "meta/foundry.json": "e5192411cdef968e3b1f7f4d30feaf686d1e9de0b22ef8f67c32ac9e8bebefd6",
+ "README.md": "6a446ca31a2d6fc317750cdfa0e5a77c86052eb997a84ed9421459768b253623",
+ "meta/foundry.json": "7236ea36dc9056beb8981da4a021aa1bd4fc1f42aca962a1f31ee1053fa4f6ed",
  "meta/stats.json": "2bfc3aa8392d93fff22863b0cf90bc6a27433d5415d521e8a6512b2264391da3",
  "episodes/019fb7c0-1159-7242-9c36-bcac261ec817/depth_geometry.json": "f7d6bec3990e88848e620b1503526e888336cf6c15b628731359e77385d406e7",
  "episodes/019fb7c0-1159-7242-9c36-bcac261ec817/language_spans.json": "ba26f6f720fe1c40943de10318dfcaaec4555b1fa66f37f19a83f9839c47ebe1",

meta/foundry.json

@@ -20811,7 +20811,7 @@
    "episode_index": 73,
    "task": "pick_and_place",
    "n_steps": 158,
-   "n_state_invalid": 51,
+   "n_state_invalid": 47,
    "action_frame": "world_metric",
    "action_smoothed": true,
    "state_smoothed": true,