| --- |
| 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. |
|
|
