diff --git a/.gitattributes b/.gitattributes index ef3d9c4e4fcb325e1e372eecede450d8a6ddd14e..71263445ff64d06b744615898215a98d8fa80aab 100644 --- a/.gitattributes +++ b/.gitattributes @@ -8,3 +8,4 @@ *.png filter=lfs diff=lfs merge=lfs -text *.npz filter=lfs diff=lfs merge=lfs -text *.csv filter=lfs diff=lfs merge=lfs -text +*.jsonl filter=lfs diff=lfs merge=lfs -text diff --git a/packages/tidy-bedroom/README.md b/packages/tidy-bedroom/README.md new file mode 100644 index 0000000000000000000000000000000000000000..871c0e5e97f49840a90347e5f865bb5fd228dcaf --- /dev/null +++ b/packages/tidy-bedroom/README.md @@ -0,0 +1,44 @@ +# Tidy Bedroom + +Tidying a bedroom and arranging household items from a first-person perspective. + +This package is part of the **Egocentric RGB-D + EMG/IMU Daily Activity Dataset**. It contains synchronized first-person RGB-D recordings, wrist EMG/IMU signals, hand keypoints, object masks, hand-object contact annotations, per-finger force annotations, and semantic action segments. + +## Main Contents + +- `source_stage_a/`: original lossless RGB-D and sensor export for reproducible analysis. +- `clean/`: aligned timelines and corrected sensor streams. +- `gold/`: episode-level model export files. +- `analysis/contact_force_v2/`: hand keypoints, object masks, contact-force tables, visual review sheets, and preview video. +- `analysis/semantic_subtasks/`: semantic action segments, subtask clips, keyframes, and subtask-level contact/force tables. +- `events/emg_impulse_candidates/`: high-activity EMG candidate events when available. +- `training_ready/`: consolidated files for model and robot training. + +## Training Ready Files + +The `training_ready/` folder provides direct entry points for model training: + +- `frame_index.parquet` +- `depth_frame_index.parquet` +- `frame_pair_index.parquet` +- `episode_manifest.parquet` +- `emg_features.parquet` +- `labels.parquet` +- `robomimic.hdf5` +- `sensors/left_emg_corrected.parquet` +- `sensors/right_emg_corrected.parquet` +- `sensors/left_imu_corrected.parquet` +- `sensors/right_imu_corrected.parquet` +- `sensors/d455_imu.parquet` +- `contact/contact_force_long.parquet` +- `contact/contact_force_wide.parquet` +- `semantic/semantic_segments.parquet` +- `semantic/semantic_labels.jsonl` +- `semantic/finger_contacts_by_subtask.parquet` +- `semantic/finger_forces_by_subtask.parquet` +- `events/emg_impulse_candidates.jsonl` +- `rlds/` + +## Notes + +The package keeps RGB frame indexes, depth frame indexes, corrected sensor timestamps, contact annotations, and force annotations in separate tables so users can choose either frame-centric or sensor-centric workflows. diff --git a/packages/tidy-bedroom/analysis/contact_force_v2/README.md b/packages/tidy-bedroom/analysis/contact_force_v2/README.md new file mode 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"Hand keypoint confidence for the selected hand.", + "hand_activation_N": "Hand-level EMG activity in Newton-scale units.", + "hand_contact_force_N": "Hand-level object-contact force after contact gates.", + "finger_contact_force_N": "Per-finger object-contact force after five-finger allocation.", + "scene_gate": "Dynamic scene gate used for this frame and hand.", + "contact_pass": "Whether this finger is published as contacting the object.", + "contact_source": "Fusion or review rule that produced/rejected the contact.", + "contact_confidence": "Contact confidence after fusion gates and visual-review filters.", + "object_label": "Semantic object labels associated with the current frame or fallback task object label.", + "semantic_subtask_id": "Semantic subtask id covering this RGB frame when available.", + "semantic_phase": "Semantic phase name used to select contact policy.", + "semantic_label_en": "English semantic subtask label.", + "semantic_objects": "JSON list of semantic objects expected in this subtask.", + "semantic_contact_policy": "Contact policy selected from semantic phase.", + "semantic_active_hand": "Whether this hand is active according to the semantic subtask label.", + "candidate_contact_pass": "Recall-oriented first-pass contact before temporal review.", + "candidate_contact_source": "First-pass source before temporal review.", + "candidate_contact_confidence": "First-pass confidence before temporal review.", + "dp_observation_score": "Per-frame observation score used by the temporal DP decoder.", + "dp_contact_score": "Best sequence score assigned by the temporal DP decoder.", + "dp_hard_reject": "True when a visually reviewed hard false-positive class forced contact off.", + "dp_reject_reason": "Reason for hard visual-review rejection when present.", + "dp_decode_version": "Temporal decoder version." + } +} \ No newline at end of file diff --git a/packages/tidy-bedroom/analysis/contact_force_v2/tables/contact_force_v2_long.parquet b/packages/tidy-bedroom/analysis/contact_force_v2/tables/contact_force_v2_long.parquet new file mode 100644 index 0000000000000000000000000000000000000000..80ca6af00629d7f8379ae4d5e7fa38757f67d1b2 --- /dev/null +++ b/packages/tidy-bedroom/analysis/contact_force_v2/tables/contact_force_v2_long.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2e606e6e26eb33fbfea072d6b82a716ece21fdec5222f28fde5c397e8c35532 +size 6917240 diff --git a/packages/tidy-bedroom/analysis/contact_force_v2/tables/contact_force_v2_wide.parquet b/packages/tidy-bedroom/analysis/contact_force_v2/tables/contact_force_v2_wide.parquet new file mode 100644 index 0000000000000000000000000000000000000000..42316463977b333ed59393877fec3b68aa9cdb25 --- /dev/null +++ b/packages/tidy-bedroom/analysis/contact_force_v2/tables/contact_force_v2_wide.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0f5d6e4ce8a3ed91a9eac52c0171153fc192fa4df5866056ae0e41ff5901bd3 +size 969243 diff --git a/packages/tidy-bedroom/analysis/contact_force_v2/visual_review_report.md b/packages/tidy-bedroom/analysis/contact_force_v2/visual_review_report.md new file mode 100644 index 0000000000000000000000000000000000000000..a2429a43d7df51a5fd742c04be922b85048db33f --- /dev/null +++ b/packages/tidy-bedroom/analysis/contact_force_v2/visual_review_report.md @@ -0,0 +1,31 @@ +# Visual Review Report + +Review scope: +- Generated 750 full-coverage review sheets, 20 frames per sheet. +- Total timeline coverage: 14990 frames. +- The semantic DP rule update targets visually identified false-positive classes from sheet review, including foot/floor/body overlap, inactive-hand mistakes, unstable keypoints, and over-pruned true contact. + +Rule issue found: +- A strict global inactive/transition filter removed some real grasp contacts. +- Some foot/floor/body overlaps still looked like weak object contacts in walking or transition sheets. +- Household egocentric tasks have multiple contact regimes, so one global filter is not appropriate. + +Rule fix applied: +- Keep the first-pass candidate layer recall-oriented. +- Read semantic subtask labels and select a contact policy per frame. +- Decode final contact with a temporal dynamic-programming layer per hand and finger. +- Force off only reviewed hard false-positive modes: foot/floor/body overlap, inactive hands for the current subtask, keypoint instability, and low-confidence edge drift. +- Preserve plausible continuous grasp contacts through short occlusion or imperfect geometry. + +Post-fix summary: +- Rows: 149900 +- Contact rows: 32951 +- Contact frames: 6006 +- Hand pose frames: 12925 +- Object mask frames: 13057 +- Review sheets: 750 + +Residual caution: +- Some strong-grasp rescue contacts remain where visual geometry is imperfect but the sequence supports a grasp/hold interpretation. +- This is intentional: the reviewed policy is to avoid over-pruning true occluded contacts, while filtering the specific hand/foot/floor/body false positives found in sheets. +- Full human-grade per-frame approval is not implied by this file; questionable frames should be reviewed from the generated sheets/atlases and folded back into the DP hard-reject rules. diff --git a/packages/tidy-bedroom/analysis/semantic_subtasks/README.md b/packages/tidy-bedroom/analysis/semantic_subtasks/README.md new file mode 100644 index 0000000000000000000000000000000000000000..bc7f6e41ca48b391cfe7cd27e8d63283566762d7 --- /dev/null +++ b/packages/tidy-bedroom/analysis/semantic_subtasks/README.md @@ -0,0 +1,24 @@ +# Semantic Subtask Outputs + +Task description: Tidy up a bedroom by handling, folding, arranging, and putting away household items. + +This layer groups the task into semantic subtask windows and links each window to contact-force outputs and reviewable RGB preview media. + +## Outputs + +- `subtask_segments.jsonl`: one row per semantic subtask with frame boundaries, label, description, objects, active hands, and preview media path. +- `subtask_segments.parquet`: tabular copy of the semantic subtask windows. +- `semantic_labels.jsonl`: compact subtask label records for downstream readers. +- `finger_contacts_by_subtask.parquet`: finger-object contact records joined with semantic subtask labels. +- `finger_forces_by_subtask.parquet`: per-finger force records in Newtons joined with semantic subtask labels. +- `clips/`: RGB preview clips per subtask, rebuilt from the final contact-force preview. +- `keyframes/`: start, middle, contact, and end RGB keyframes per subtask. +- `semantic_media_rebuild_summary.json`: media rebuild summary for clips and keyframes. + +## Force + +`force_n` is reported per hand and per finger. Contact-force values represent object-contact force, while non-contact hand activation is kept separate in the contact-force tables. + +## Source + +The raw RGB-D and sensor evidence chain remains under `source_stage_a/stage_a_lossless/`. diff --git a/packages/tidy-bedroom/analysis/semantic_subtasks/clip_manifest.json b/packages/tidy-bedroom/analysis/semantic_subtasks/clip_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..575b6f265ef1f6867d0397f7ee522df160abd255 --- /dev/null +++ b/packages/tidy-bedroom/analysis/semantic_subtasks/clip_manifest.json @@ -0,0 +1,304 @@ +{ + "clips": [ + { + "subtask_id": "subtask_000001", + "rgb_clip_path": "analysis/semantic_subtasks/clips/subtask_000001_rgb.mp4", + "keyframe_dir": "analysis/semantic_subtasks/keyframes/subtask_000001/", + "start_rgb_frame": 609, + "end_rgb_frame": 1030, + "expected_frames": 422, + "written_frames": 422, + "status": "generated_from_contact_force_preview" + }, + { + "subtask_id": "subtask_000002", + "rgb_clip_path": "analysis/semantic_subtasks/clips/subtask_000002_rgb.mp4", + "keyframe_dir": "analysis/semantic_subtasks/keyframes/subtask_000002/", + "start_rgb_frame": 1486, + "end_rgb_frame": 1933, + "expected_frames": 448, + "written_frames": 448, + "status": "generated_from_contact_force_preview" + }, + { + "subtask_id": "subtask_000003", + "rgb_clip_path": "analysis/semantic_subtasks/clips/subtask_000003_rgb.mp4", + "keyframe_dir": "analysis/semantic_subtasks/keyframes/subtask_000003/", + "start_rgb_frame": 1934, + "end_rgb_frame": 2383, + "expected_frames": 450, + "written_frames": 450, + "status": "generated_from_contact_force_preview" + }, + { + "subtask_id": "subtask_000004", + "rgb_clip_path": "analysis/semantic_subtasks/clips/subtask_000004_rgb.mp4", + "keyframe_dir": "analysis/semantic_subtasks/keyframes/subtask_000004/", + "start_rgb_frame": 2384, + "end_rgb_frame": 2833, + "expected_frames": 450, + "written_frames": 450, + "status": "generated_from_contact_force_preview" + }, + { + "subtask_id": "subtask_000005", + "rgb_clip_path": "analysis/semantic_subtasks/clips/subtask_000005_rgb.mp4", + "keyframe_dir": "analysis/semantic_subtasks/keyframes/subtask_000005/", + "start_rgb_frame": 2834, + "end_rgb_frame": 3133, + "expected_frames": 300, + "written_frames": 300, + "status": "generated_from_contact_force_preview" + }, + { + "subtask_id": "subtask_000006", + "rgb_clip_path": "analysis/semantic_subtasks/clips/subtask_000006_rgb.mp4", + "keyframe_dir": "analysis/semantic_subtasks/keyframes/subtask_000006/", + "start_rgb_frame": 3138, + "end_rgb_frame": 3437, + "expected_frames": 300, + "written_frames": 300, + "status": "generated_from_contact_force_preview" + }, + { + "subtask_id": "subtask_000007", + "rgb_clip_path": "analysis/semantic_subtasks/clips/subtask_000007_rgb.mp4", + "keyframe_dir": "analysis/semantic_subtasks/keyframes/subtask_000007/", + "start_rgb_frame": 3615, + "end_rgb_frame": 4064, + 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b/packages/tidy-bedroom/analysis/semantic_subtasks/schema.json @@ -0,0 +1,62 @@ +{ + "task_description_en": "Tidy a bedroom by folding clothes, arranging bedding, and putting items away.", + "scene_description_en": "Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.", + "semantic_label_source": "visual_semantic_review_v1", + "semantic_label_fields": [ + "subtask_id", + "subtask_label_en", + "subtask_description_en", + "phase", + "objects", + "active_hands" + ], + "tables": { + "subtask_segments": [ + "subtask_id", + "start_rgb_frame", + "end_rgb_frame", + "peak_rgb_frame", + "duration_s", + "objects", + "active_hands", + "subtask_label_en", + "subtask_description_en", + "phase", + "rgb_clip_path", + "keyframe_dir", + "clip_status", + "clip_expected_frames", + "clip_written_frames" + ], + "finger_contacts_by_subtask": [ + "subtask_id", + "subtask_label_en", + "hand", + "finger", + "object_label", + "rgb_frame_index", + "contact_point_pixel_x", + "contact_point_pixel_y", + "contact_depth_mm", + "contact_confidence" + ], + "finger_forces_by_subtask": [ + "subtask_id", + "subtask_label_en", + "hand", + "finger", + "object_label", + "force_n", + "force_low_n", + "force_high_n", + "relative_force_score", + "force_model_version", + "force_source_signals" + ] + }, + "media": { + "clips": "analysis/semantic_subtasks/clips/_rgb.mp4", + "keyframes": "analysis/semantic_subtasks/keyframes//{start,middle,contact,end}_rgb.png", + "source": "rebuilt from analysis/contact_force_v2/preview/tidy_bedroom_contact_force_v2.mp4" + } +} \ No newline at end of file diff --git a/packages/tidy-bedroom/analysis/semantic_subtasks/semantic_labels.jsonl b/packages/tidy-bedroom/analysis/semantic_subtasks/semantic_labels.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ceb4ae6ada64ea704dc85c37c549e6df8708e739 --- /dev/null +++ b/packages/tidy-bedroom/analysis/semantic_subtasks/semantic_labels.jsonl @@ -0,0 +1,30 @@ +{"subtask_id": "subtask_000001", "subtask_label_en": "Open a plastic bag in the bedroom", "subtask_description_en": "Open a plastic bag in the bedroom.", "phase": "open_plastic_bag", "objects": ["plastic_bag"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000002", "subtask_label_en": "Pick up black pants from the bed", "subtask_description_en": "Pick up black pants from the bed.", "phase": "pick_black_pants", "objects": ["black_pants", "bed"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000003", "subtask_label_en": "Lay black pants flat on the bed", "subtask_description_en": "Lay black pants flat on the bed.", "phase": "lay_black_pants", "objects": ["black_pants", "bed"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000004", "subtask_label_en": "Gather black clothing from the bed", "subtask_description_en": "Gather black clothing from the bed.", "phase": "gather_black_clothing", "objects": ["black_clothing", "bed"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000005", "subtask_label_en": "Fold black clothing by hand", "subtask_description_en": "Fold black clothing by hand.", "phase": "fold_black_clothing", "objects": ["black_clothing"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000006", "subtask_label_en": "Continue folding the black garment", "subtask_description_en": "Continue folding the black garment.", "phase": "continue_folding_black_garment", "objects": ["black_garment"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000007", "subtask_label_en": "Place folded black garment on the clothing stack", "subtask_description_en": "Place folded black garment on the clothing stack.", "phase": "place_folded_black_garment", "objects": ["folded_garment", "clothing_stack"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000008", "subtask_label_en": "Fold another black clothing item", "subtask_description_en": "Fold another black clothing item.", "phase": "fold_second_black_item", "objects": ["black_clothing"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000009", "subtask_label_en": "Pick up a white garment", "subtask_description_en": "Pick up a white garment.", "phase": "pick_white_garment", "objects": ["white_garment"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000010", "subtask_label_en": "Fold a white garment", "subtask_description_en": "Fold a white garment.", "phase": "fold_white_garment", "objects": ["white_garment"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000011", "subtask_label_en": "Spread and inspect a white top", "subtask_description_en": "Spread and inspect a white top.", "phase": "spread_white_top", "objects": ["white_top"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000012", "subtask_label_en": "Fold the white top", "subtask_description_en": "Fold the white top.", "phase": "fold_white_top", "objects": ["white_top"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000013", "subtask_label_en": "Pick up a patterned or light garment", "subtask_description_en": "Pick up a patterned or light garment.", "phase": "pick_light_garment", "objects": ["light_garment"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000014", "subtask_label_en": "Move folded clothes into a stack", "subtask_description_en": "Move folded clothes into a stack.", "phase": "stack_folded_clothes", "objects": ["folded_clothes"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000015", "subtask_label_en": "Press and align folded clothes", "subtask_description_en": "Press and align folded clothes.", "phase": "align_folded_clothes", "objects": ["folded_clothes"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000016", "subtask_label_en": "Carry folded clothing away from the bed", "subtask_description_en": "Carry folded clothing away from the bed.", "phase": "carry_folded_clothing", "objects": ["folded_clothing"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000017", "subtask_label_en": "Place folded clothes on the shelf or cabinet area", "subtask_description_en": "Place folded clothes on the shelf or cabinet area.", "phase": "place_folded_clothes", "objects": ["folded_clothes", "shelf"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000018", "subtask_label_en": "Fold a small white item", "subtask_description_en": "Fold a small white item.", "phase": "fold_small_white_item", "objects": ["small_white_item"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000019", "subtask_label_en": "Pull or adjust bed sheet edge", "subtask_description_en": "Pull or adjust bed sheet edge.", "phase": "adjust_bed_sheet_edge", "objects": ["bed_sheet"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000020", "subtask_label_en": "Pick up personal item near the bed", "subtask_description_en": "Pick up personal item near the bed.", "phase": "pick_personal_item", "objects": ["personal_item"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000021", "subtask_label_en": "Move bedding or pillow near the bed edge", "subtask_description_en": "Move bedding or pillow near the bed edge.", "phase": "move_bedding_pillow", "objects": ["bedding", "pillow"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000022", "subtask_label_en": "Smooth the bed sheet", "subtask_description_en": "Smooth the bed sheet.", "phase": "smooth_bed_sheet", "objects": ["bed_sheet"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000023", "subtask_label_en": "Adjust a pillow on the bed", "subtask_description_en": "Adjust a pillow on the bed.", "phase": "adjust_pillow", "objects": ["pillow", "bed"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000024", "subtask_label_en": "Pick up hair dryer from the bedside area", "subtask_description_en": "Pick up hair dryer from the bedside area.", "phase": "pick_hair_dryer", "objects": ["hair_dryer"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000025", "subtask_label_en": "Handle hair dryer and cable", "subtask_description_en": "Handle hair dryer and cable.", "phase": "handle_hair_dryer_cable", "objects": ["hair_dryer", "cable"], "active_hands": ["left", "right"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000026", "subtask_label_en": "Pick up a blue bag or pouch", "subtask_description_en": "Pick up a blue bag or pouch.", "phase": "pick_blue_bag", "objects": ["blue_bag"], "active_hands": ["left"], "semantic_label_source": "visual_semantic_review_v1", "task_description_en": "Tidy up a bedroom by handling and moving household items.", "scene_description_en": "Egocentric RGB-D recording of a person tidying a bedroom with wrist EMG and IMU."} +{"subtask_id": "subtask_000027", "subtask_label_en": "Handle a small white box or package", "subtask_description_en": "Handle a small white box or package.", 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mode 100644 index 0000000000000000000000000000000000000000..a8e303ec8b4828580eeca97d5dfc41a2fc5815cb --- /dev/null +++ b/packages/tidy-bedroom/analysis/semantic_subtasks/semantic_media_rebuild_summary.json @@ -0,0 +1,10 @@ +{ + "source_video": "/mnt/d/offset/hf_egocentric_dataset_fix/packages/tidy-bedroom/analysis/contact_force_v2/preview/tidy_bedroom_contact_force_v2.mp4", + "subtask_count": 30, + "fps": 30.0, + "width": 1360, + "height": 480, + "clip_dir": "/mnt/d/offset/hf_egocentric_dataset_fix/packages/tidy-bedroom/analysis/semantic_subtasks/clips", + "keyframe_dir": "/mnt/d/offset/hf_egocentric_dataset_fix/packages/tidy-bedroom/analysis/semantic_subtasks/keyframes", + "media_type": "rgb_contact_force_preview_clips" +} \ No newline at end of file diff --git a/packages/tidy-bedroom/analysis/semantic_subtasks/semantic_subtasks_report.json b/packages/tidy-bedroom/analysis/semantic_subtasks/semantic_subtasks_report.json new file mode 100644 index 0000000000000000000000000000000000000000..09f3aaf8c1a4ae4c66eaacb9ea6be1fe8d03c199 --- /dev/null +++ b/packages/tidy-bedroom/analysis/semantic_subtasks/semantic_subtasks_report.json @@ -0,0 +1,26 @@ +{ + "status": "ready", + "package_dir": "packages/tidy-bedroom", + "output_dir": "analysis/semantic_subtasks", + "subtask_count": 30, + "finger_force_rows": 900, + "finger_contact_rows": 540, + "clip_status_counts": { + "generated_from_contact_force_preview": 30 + }, + "outputs": { + "task_description_json": "analysis/semantic_subtasks/task_description.json", + "subtask_segments_parquet": "analysis/semantic_subtasks/subtask_segments.parquet", + "subtask_segments_jsonl": "analysis/semantic_subtasks/subtask_segments.jsonl", + "semantic_labels_jsonl": "analysis/semantic_subtasks/semantic_labels.jsonl", + "finger_contacts_by_subtask_parquet": "analysis/semantic_subtasks/finger_contacts_by_subtask.parquet", + "finger_forces_by_subtask_parquet": "analysis/semantic_subtasks/finger_forces_by_subtask.parquet", + "schema_json": "analysis/semantic_subtasks/schema.json", + "report_json": "analysis/semantic_subtasks/semantic_subtasks_report.json", + "clip_manifest_json": "analysis/semantic_subtasks/clip_manifest.json", + "media_rebuild_summary_json": "analysis/semantic_subtasks/semantic_media_rebuild_summary.json" + }, + "semantic_label_source": "visual_semantic_review_v1", + "task_description_en": "Tidy a bedroom by folding clothes, arranging bedding, and putting items away.", + "scene_description_en": "Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items." +} \ No newline at end of file diff --git a/packages/tidy-bedroom/analysis/semantic_subtasks/subtask_segments.jsonl b/packages/tidy-bedroom/analysis/semantic_subtasks/subtask_segments.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b1a63bb8147a71969449f202c698cb32e526d19 --- /dev/null +++ b/packages/tidy-bedroom/analysis/semantic_subtasks/subtask_segments.jsonl @@ -0,0 +1,30 @@ +{"subtask_id": "subtask_000001", "start_rgb_frame": 609, "end_rgb_frame": 1030, "peak_rgb_frame": 793, "duration_s": 14.066666666666666, "interaction_ids": ["interaction_000169", "interaction_000157", "interaction_000117", "interaction_000034"], "event_ids": ["left_emg_impulse_0000", "left_emg_impulse_0001", "left_emg_impulse_0002", "left_emg_impulse_0003"], "active_hands": ["left"], "objects": ["plastic_bag"], "subtask_label_en": "Open a plastic bag in the bedroom", "subtask_description_en": "Open a plastic bag in the bedroom.", "phase": "open_plastic_bag", "task_description_en": "Tidy a bedroom by folding clothes, arranging bedding, and putting items away.", "scene_description_en": "Egocentric RGB-D recording in a bedroom with clothes on a bed, drawers, a hair dryer, and small personal items.", "rgb_clip_path": "analysis/semantic_subtasks/clips/subtask_000001_rgb.mp4", "clip_status": 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b/packages/tidy-bedroom/events/emg_impulse_candidates/emg_impulse_probe.svg new file mode 100644 index 0000000000000000000000000000000000000000..3c8e5ad4a21ff610e1d5505aa92f3f528ad75df8 --- /dev/null +++ b/packages/tidy-bedroom/events/emg_impulse_candidates/emg_impulse_probe.svg @@ -0,0 +1,198 @@ + + + + +EMG impulse candidate probe: robust z envelope + +left + +right + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/packages/tidy-bedroom/events/emg_impulse_candidates/emg_impulse_probe_report.md b/packages/tidy-bedroom/events/emg_impulse_candidates/emg_impulse_probe_report.md new file mode 100644 index 0000000000000000000000000000000000000000..6367e003a21d61b24411b83d41e264285082a9b8 --- /dev/null +++ b/packages/tidy-bedroom/events/emg_impulse_candidates/emg_impulse_probe_report.md @@ -0,0 +1,42 @@ +# EMG Impulse Probe Report + +This is a small V0 test for detecting force/activation impulse candidates from wrist EMG. + +Important: this does not directly measure physical force. It detects EMG activation bursts that may correspond to gripping, pressing, pulling, or contact events. + +## Method + +- Signal: 8-channel wrist EMG +- Preprocess: per-channel median centering, multi-channel RMS envelope, 50ms rolling mean +- Score: robust z-score envelope + 0.5 * positive rise z-score +- Threshold z: `8.0` +- Minimum separation: `300.0` ms + +## Candidate Count + +- Total: `188` +- Left: `140` +- Right: `48` + +## Top Candidates + +| event_id | side | rgb_frame | z | rise_z | score | impulse_proxy_200ms | review_window | +| --- | --- | ---: | ---: | ---: | ---: | ---: | --- | +| left_emg_impulse_0122 | left | 13506 | 21.29 | 0.74 | 21.65 | 18.02 | 13500-13512 | +| right_emg_impulse_0006 | right | 5422 | 18.24 | 2.48 | 19.48 | 5.20 | 5416-5428 | +| right_emg_impulse_0025 | right | 11746 | 18.32 | 2.20 | 19.42 | 5.87 | 11740-11752 | +| right_emg_impulse_0011 | right | 9254 | 17.61 | 2.30 | 18.75 | 5.68 | 9248-9260 | +| right_emg_impulse_0034 | right | 13310 | 17.47 | 2.30 | 18.62 | 4.80 | 13304-13316 | +| right_emg_impulse_0001 | right | 2821 | 17.46 | 2.30 | 18.61 | 7.26 | 2815-2827 | +| right_emg_impulse_0003 | right | 5003 | 17.46 | 2.30 | 18.61 | 6.52 | 4997-5009 | +| right_emg_impulse_0037 | right | 13666 | 17.45 | 2.30 | 18.61 | 5.10 | 13660-13672 | +| right_emg_impulse_0030 | right | 11818 | 16.50 | 3.31 | 18.15 | 4.24 | 11812-11824 | +| right_emg_impulse_0032 | right | 11851 | 16.54 | 3.18 | 18.13 | 3.54 | 11845-11857 | +| right_emg_impulse_0026 | right | 11755 | 17.53 | 0.00 | 17.53 | 4.97 | 11749-11761 | +| right_emg_impulse_0031 | right | 11830 | 15.81 | 3.01 | 17.32 | 4.30 | 11824-11836 | + +## How To Use This + +- Treat these rows as contact-review candidates, not final labels. +- For each candidate frame window, inspect RGB-D to see whether the hand/finger is touching cloth, door, button, or machine surface. +- If contact is visible, the next stage should estimate hand keypoints and back-project the selected fingertip pixel with depth to get a 3D contact point. diff --git a/packages/tidy-bedroom/events/emg_impulse_candidates/events.jsonl b/packages/tidy-bedroom/events/emg_impulse_candidates/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7387b16a07966206f02916d2b9087a36ce987a5e --- /dev/null +++ b/packages/tidy-bedroom/events/emg_impulse_candidates/events.jsonl @@ -0,0 +1 @@ +{"package_id": "tidy-bedroom", "event_type": "emg_impulse_candidate_summary", "candidate_count": 0, "note": "No high-activity EMG candidate events are included for this package."} diff --git a/packages/tidy-bedroom/events/emg_impulse_candidates/left_emg_impulse_trace.csv b/packages/tidy-bedroom/events/emg_impulse_candidates/left_emg_impulse_trace.csv new file mode 100644 index 0000000000000000000000000000000000000000..fd142cbff5865763d2ce39c9ca7a46c9714a64aa --- /dev/null +++ b/packages/tidy-bedroom/events/emg_impulse_candidates/left_emg_impulse_trace.csv @@ -0,0 +1,3 @@ +version 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0000000000000000000000000000000000000000..dd4ce50a4f778577f24ae98453ba5be4199fcfc7 --- /dev/null +++ b/packages/tidy-bedroom/training_ready/README.md @@ -0,0 +1,13 @@ +# Training Ready Export + +This folder contains model-ready views derived from the package data. + +- `frame_index.parquet`: RGB frame timeline used as the primary frame index. +- `depth_frame_index.parquet`: depth frame timeline aligned to RGB frames. +- `frame_pair_index.parquet`: RGB-depth frame-pair references. +- `sensors/`: corrected EMG/IMU streams and D455 IMU. +- `contact/`: hand-object contact and per-finger force tables. +- `semantic/`: semantic action segments and subtask-level interaction tables. +- `robomimic.hdf5` and `rlds/`: standard imitation-learning export formats when available. + +All timestamps and frame references are kept relative to this package. The original RGB-D and sensor files remain under `source_stage_a/`. diff --git a/packages/tidy-bedroom/training_ready/contact/contact_force_long.parquet b/packages/tidy-bedroom/training_ready/contact/contact_force_long.parquet new file mode 100644 index 0000000000000000000000000000000000000000..80ca6af00629d7f8379ae4d5e7fa38757f67d1b2 --- /dev/null +++ b/packages/tidy-bedroom/training_ready/contact/contact_force_long.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2e606e6e26eb33fbfea072d6b82a716ece21fdec5222f28fde5c397e8c35532 +size 6917240 diff --git a/packages/tidy-bedroom/training_ready/contact/contact_force_wide.parquet b/packages/tidy-bedroom/training_ready/contact/contact_force_wide.parquet new file mode 100644 index 0000000000000000000000000000000000000000..42316463977b333ed59393877fec3b68aa9cdb25 --- /dev/null +++ b/packages/tidy-bedroom/training_ready/contact/contact_force_wide.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 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