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license: cc-by-nc-4.0
task_categories:
- video-classification
- other
tags:
- robotics
- hand-pose-estimation
- vision-language-action
- vitra
- dexycb
---
# DexYCB VITRA Hybrid Streaming Release
This is a completed, audited VITRA Stage-1 conversion of all 1,000 physical
DexYCB sequences. The release contains 1000 usable
physical sequences and 0 quarantined sequences.
`COMPLETE` is present only after every source sequence reached a terminal state,
all global indices/statistics were rebuilt, and the final commit was checked by
immutable revision.
## Exact source policy
The source choice is made once per subject; there is no fuzzy filename match,
camera fallback, nearest-frame lookup, or per-file mixing.
| subject | qualified component | source archive SHA-256 |
|---|---|---|
| 20200709-subject-01 | official-complete | ce44e97a7567f7fb128b474ae33f327715314956a1c7b24cb08b08bc51cf4303 |
| 20200813-subject-02 | qualified-world-shard | a55757de56ca941bbf407d0989062f034cecde752eaf5ed6c7e06b12dcdbbec6 |
| 20200820-subject-03 | qualified-world-shard | 48323cb3982bf481adf0e3c110615724ccaf32100307ce02cb1d0df6fa41f8fb |
| 20200903-subject-04 | qualified-world-shard | 85da9628de98e72d2df74c18038e74328ae6288d0a90cf9286f3dfaa98516cb7 |
| 20200908-subject-05 | qualified-world-shard | 6e486214a381a05590f14a2b56297e64a3065e1f8b567e8d57df6aac44e160e5 |
| 20200918-subject-06 | qualified-world-shard | 80ceb2b3ee5c575ea02b259b3f765d6b14b96b9f79f5f3e6b6bfb4144b564293 |
| 20200928-subject-07 | official-complete | af34bbf19bf02f695c9680fefa76362ad8ffe3507bf3237425fb5851db492522 |
| 20201002-subject-08 | official-complete | f65201fc619b6aa0d6053d16a372c6776573cf6db476c59e3f69c2c56ed4f480 |
| 20201015-subject-09 | official-complete | ceecf8c9db6768db2dd1c24320915415b6c9a4bb6db6ae7937012e832a7e8bdc |
| 20201022-subject-10 | qualified-world-shard | 2236c553f2ae71246d73af22b92e35fb6f4e0e4677b0f6c44aee510f1290c524 |
Subjects 01, 07, 08, and 09 use the complete official archives. Subjects
02--06 and 10 use a hash-pinned RGB archive plus qualified world-space MANO,
joints, and target-object shards. For the latter subjects, aligned depth,
official segmentation, non-target object trajectories, and camera-space MANO
parameters are explicitly unavailable and were not synthesized. Their full
qualification reports and normalized 1,000-sequence source index are published
under `Audit/source_provenance/`.
The 600 recovered sequences deliberately retain two non-interchangeable
evidence tiers. Exactly 580 are `redundant-camera-closure`: independent
HandOccNet camera rows close against the published world labels and every
sequence has a passed reference adjudication. The remaining 20 subject-02
S0-validation sequences are explicitly `single-derived-source`: no independent
HandOccNet camera rows exist for that split, so no reference adjudication is
invented; only the hash-pinned published world source and its internal
world-to-joint/root and target-mesh closure checks are available. The
independent release verifier requires this exact 580/20 partition. Consumers
that require redundant camera evidence can filter on
`source.world_labels.reference_evidence.evidence_tier` in each sequence
manifest.
## Training organization
All eight cameras of a physical action remain in the same official S0 split.
Low-observability cameras may be rejected independently, while the physical
sequence remains usable through its accepted views. Equal-action sampling
metadata is available under `Build/sampling_groups/` to prevent an action with
more accepted views from receiving more weight.
| split | accepted camera episodes | indexed anchors |
|---|---:|---:|
| train | 6260 | 382790 |
| val | 318 | 21462 |
| test | 1260 | 74800 |
## Files and VITRA loader contract
RGB episodes are under `Video/DexYCB_root/`. Labels are NumPy dictionaries at
`Annotation/dexycb_<split>/episodic_annotations/<episode_id>.npy`. Each label
contains the exact `video_name`, `video_decode_frame`, source frame IDs and
timestamps, calibrated `intrinsics`, static `world_to_camera` `extrinsics`,
world/camera 21-joint arrays, MANO beta/rotation-matrix pose/translation fields,
the target-object trajectory, causal task text, and `training_anchor_valid`.
The final `Annotation/dexycb_<split>/episode_frame_index.npz` contains
`index_frame_pair` and `index_to_episode_id`. Column 0 of each pair selects an
episode ID; column 1 selects a label row. Only rows whose
`training_anchor_valid` value is true are indexed. A minimal lookup is:
```python
import numpy as np
with np.load(index_path, allow_pickle=True) as index:
episode_slot, frame_id = index["index_frame_pair"][sample_id]
episode_id = index["index_to_episode_id"][episode_slot]
episode = np.load(
label_dir / (episode_id + ".npy"), allow_pickle=True
).item()
rgb_frame_id = int(episode["video_decode_frame"][frame_id])
assert bool(episode["training_anchor_valid"][frame_id])
```
Both `keypoints` and MANO `angle` statistics are exact merges of per-sequence
float64 accumulators. DexYCB is fixed-camera, allocentric, short-horizon human
pick-up data. It is useful supplemental VITRA supervision, but it is not a
standalone egocentric or robot-control corpus. Its deterministic language is
derived from the official pick-up protocol and object/hand metadata; the
future-observing visual-language audit is never used as training text.
## Reproducibility and audit
Every sequence manifest declares all payload SHA-256 values, immutable upload
commit, source provenance, pipeline version, and conversion-code hashes. The
authoritative merged SQLite ledger is `Build/release_ledger.sqlite3`; the final
file inventory is `Build/final_manifest.json`. An independently regenerated
release audit is uploaded to `Audit/independent_release_verification.json`.
That audit materializes the immutable per-sequence report bytes, checks their
manifest SHA-256 and size, and requires all nine wrist/joint temporal metrics
in each report to exactly match the corresponding release-ledger row before it
recomputes the global temporal exclusion policy.
Please cite DexYCB (CVPR 2021), follow its CC BY-NC 4.0 license, and separately
obtain MANO under its own license.
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