Add DexYCB train sequence 20200709-subject-01/20200709_142022 (dexycb-vitra-streaming-v2)
Browse files- Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_836212060125.npy +3 -0
- Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_839512060362.npy +3 -0
- Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_840412060917.npy +3 -0
- Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_841412060263.npy +3 -0
- Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_932122060857.npy +3 -0
- Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_932122060861.npy +3 -0
- Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_932122061900.npy +3 -0
- Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_932122062010.npy +3 -0
- Audit/language/20200709-subject-01/20200709_142022.json +60 -0
- Audit/loader_smoke/20200709-subject-01/20200709_142022.json +279 -0
- Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_836212060125.jpg +3 -0
- Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_839512060362.jpg +3 -0
- Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_840412060917.jpg +3 -0
- Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_841412060263.jpg +3 -0
- Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_932122060857.jpg +3 -0
- Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_932122060861.jpg +3 -0
- Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_932122061900.jpg +3 -0
- Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_932122062010.jpg +3 -0
- Audit/reports/DexYCB_20200709-subject-01_20200709-142022_sequence.json +682 -0
- Audit/rgb_detector/20200709-subject-01/20200709_142022/full_frame_summary.json +151 -0
- Audit/rgb_detector/20200709-subject-01/20200709_142022/per_frame.jsonl +0 -0
- Build/partial_statistics/train/20200709-subject-01/20200709_142022.json +1112 -0
- Build/sequence_indices/train/20200709-subject-01/20200709_142022.npz +3 -0
- Build/sequences/20200709-subject-01/20200709_142022.json +655 -0
- Video/DexYCB_root/20200709-subject-01/20200709_142022/836212060125/DexYCB_20200709-subject-01_20200709-142022_836212060125.mp4 +3 -0
- Video/DexYCB_root/20200709-subject-01/20200709_142022/839512060362/DexYCB_20200709-subject-01_20200709-142022_839512060362.mp4 +3 -0
- Video/DexYCB_root/20200709-subject-01/20200709_142022/840412060917/DexYCB_20200709-subject-01_20200709-142022_840412060917.mp4 +3 -0
- Video/DexYCB_root/20200709-subject-01/20200709_142022/841412060263/DexYCB_20200709-subject-01_20200709-142022_841412060263.mp4 +3 -0
- Video/DexYCB_root/20200709-subject-01/20200709_142022/932122060857/DexYCB_20200709-subject-01_20200709-142022_932122060857.mp4 +3 -0
- Video/DexYCB_root/20200709-subject-01/20200709_142022/932122060861/DexYCB_20200709-subject-01_20200709-142022_932122060861.mp4 +3 -0
- Video/DexYCB_root/20200709-subject-01/20200709_142022/932122061900/DexYCB_20200709-subject-01_20200709-142022_932122061900.mp4 +3 -0
- Video/DexYCB_root/20200709-subject-01/20200709_142022/932122062010/DexYCB_20200709-subject-01_20200709-142022_932122062010.mp4 +3 -0
Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_836212060125.npy
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Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_839512060362.npy
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Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_840412060917.npy
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Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_841412060263.npy
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size 245090
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Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_932122060857.npy
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size 245090
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Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_932122060861.npy
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size 245090
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Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_932122061900.npy
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size 245090
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Annotation/dexycb_train/episodic_annotations/DexYCB_20200709-subject-01_20200709-142022_932122062010.npy
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size 245090
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Audit/language/20200709-subject-01/20200709_142022.json
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{
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| 2 |
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"model": {
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| 3 |
+
"repo_id": "andaba/TEMPURA-Qwen2.5-VL-3B-s2",
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| 4 |
+
"revision": "4ad2caf0946c315232561487837926fbbc22ede9"
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| 5 |
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},
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| 6 |
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"official_semantics": {
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| 7 |
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"active_hand": "left",
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| 8 |
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"instruction": "Pick up the master chef can from the table with your left hand.",
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| 9 |
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"target_object": "master chef can"
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| 10 |
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},
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| 11 |
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"raw_response": "From 0.0 to 1.0 seconds, the person is seen holding a container labeled 'Water' and preparing to use it.\n\nFrom 1.0 to 2.0 seconds, the person places the container on the table and continues to hold it.\n",
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| 12 |
+
"role": "non_authoritative_future_observing_visual_audit",
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| 13 |
+
"semantic_check": {
|
| 14 |
+
"contains_place_or_drop": true,
|
| 15 |
+
"contains_robot_actor": false,
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| 16 |
+
"intervals": [
|
| 17 |
+
{
|
| 18 |
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"end": 1.0,
|
| 19 |
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"start": 0.0
|
| 20 |
+
},
|
| 21 |
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{
|
| 22 |
+
"end": 2.0,
|
| 23 |
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"start": 1.0
|
| 24 |
+
}
|
| 25 |
+
],
|
| 26 |
+
"malformed_intervals": [],
|
| 27 |
+
"matched_target_terms": [],
|
| 28 |
+
"mentions_pickup_action": false,
|
| 29 |
+
"status": "not_confirmed",
|
| 30 |
+
"target_terms": [
|
| 31 |
+
"can",
|
| 32 |
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"master chef",
|
| 33 |
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"master chef can"
|
| 34 |
+
],
|
| 35 |
+
"training_policy": "audit only: output observes the future trajectory and is excluded from text and text_rephrase regardless of status"
|
| 36 |
+
},
|
| 37 |
+
"settings": {
|
| 38 |
+
"max_new_tokens": 384,
|
| 39 |
+
"pixel_size": 336,
|
| 40 |
+
"sample_fps": 1.0,
|
| 41 |
+
"time_instruction": true,
|
| 42 |
+
"timestamp_overlay": true
|
| 43 |
+
},
|
| 44 |
+
"status": "not_confirmed",
|
| 45 |
+
"used_as_training_text": false,
|
| 46 |
+
"video": {
|
| 47 |
+
"camera_serial": "932122060861",
|
| 48 |
+
"decoded_frame_count": 74,
|
| 49 |
+
"duration_seconds": 2.466666666666667,
|
| 50 |
+
"episode_id": "DexYCB_20200709-subject-01_20200709-142022_932122060861",
|
| 51 |
+
"path": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/dexycb_streaming_v2/jobs/20200709-subject-01/20200709_142022/output/Video/DexYCB_root/20200709-subject-01/20200709_142022/932122060861/DexYCB_20200709-subject-01_20200709-142022_932122060861.mp4",
|
| 52 |
+
"sample_timestamps_seconds": [
|
| 53 |
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0.0,
|
| 54 |
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1.0,
|
| 55 |
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2.0
|
| 56 |
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],
|
| 57 |
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"sha256": "1022a6f0d56a70122affb9d68d361cfd0c6dacd0f30def6cb0f6add63f298eda",
|
| 58 |
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"source_fps": 30.0
|
| 59 |
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}
|
| 60 |
+
}
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Audit/loader_smoke/20200709-subject-01/20200709_142022.json
ADDED
|
@@ -0,0 +1,279 @@
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| 1 |
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{
|
| 2 |
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"canonical_camera": "932122060861",
|
| 3 |
+
"checks": [
|
| 4 |
+
{
|
| 5 |
+
"action_shape": [
|
| 6 |
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16,
|
| 7 |
+
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|
| 8 |
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],
|
| 9 |
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"episode_id": "DexYCB_20200709-subject-01_20200709-142022_836212060125",
|
| 10 |
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"frame_id": 0,
|
| 11 |
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"image_shape": [
|
| 12 |
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1,
|
| 13 |
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480,
|
| 14 |
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640,
|
| 15 |
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|
| 16 |
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],
|
| 17 |
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"state_shape": [
|
| 18 |
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158
|
| 19 |
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]
|
| 20 |
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|
Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_836212060125.jpg
ADDED
|
Git LFS Details
|
Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_839512060362.jpg
ADDED
|
Git LFS Details
|
Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_840412060917.jpg
ADDED
|
Git LFS Details
|
Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_841412060263.jpg
ADDED
|
Git LFS Details
|
Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_932122060857.jpg
ADDED
|
Git LFS Details
|
Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_932122060861.jpg
ADDED
|
Git LFS Details
|
Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_932122061900.jpg
ADDED
|
Git LFS Details
|
Audit/overlays/DexYCB_20200709-subject-01_20200709-142022_932122062010.jpg
ADDED
|
Git LFS Details
|
Audit/reports/DexYCB_20200709-subject-01_20200709-142022_sequence.json
ADDED
|
@@ -0,0 +1,682 @@
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|
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|
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|
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|
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|
| 605 |
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|
| 606 |
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|
| 607 |
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},
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|
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|
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|
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|
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|
| 653 |
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|
| 654 |
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},
|
| 655 |
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"vla_observability": {
|
| 656 |
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"definition": ">=16 positive-depth joints, >=5 in-frame joints, >=1% mesh vertices in frame",
|
| 657 |
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"include_low_visibility_override": false,
|
| 658 |
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"minimum_geometric_visible_fraction": 0.5
|
| 659 |
+
}
|
| 660 |
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},
|
| 661 |
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"sequence": "20200709_142022",
|
| 662 |
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"skipped_camera_serials": [],
|
| 663 |
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"source_archive": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/dexycb_streaming_v2/downloads/20200709-subject-01.tar.gz",
|
| 664 |
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"source_archive_hash_verification": "verified by parent orchestrator",
|
| 665 |
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"source_archive_sha256": "ce44e97a7567f7fb128b474ae33f327715314956a1c7b24cb08b08bc51cf4303",
|
| 666 |
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"status": "passed",
|
| 667 |
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"subject": "20200709-subject-01",
|
| 668 |
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"task": {
|
| 669 |
+
"active_hand": "left",
|
| 670 |
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"future_video_caption_is_training_command": false,
|
| 671 |
+
"instruction": "Pick up the master chef can from the table with your left hand.",
|
| 672 |
+
"language_is_templated": true,
|
| 673 |
+
"language_schema_version": "dexycb-causal-template-v1",
|
| 674 |
+
"official_phase_boundaries_available": false,
|
| 675 |
+
"paraphrases": [
|
| 676 |
+
"Pick up the master chef can from the table with your left hand.",
|
| 677 |
+
"Use your left hand to pick up the master chef can from the table.",
|
| 678 |
+
"Lift the master chef can off the table using your left hand."
|
| 679 |
+
],
|
| 680 |
+
"target_object": "master chef can"
|
| 681 |
+
}
|
| 682 |
+
}
|
Audit/rgb_detector/20200709-subject-01/20200709_142022/full_frame_summary.json
ADDED
|
@@ -0,0 +1,151 @@
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|
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|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"coverage": "every converted frame",
|
| 3 |
+
"dataset_name": "dexycb_train",
|
| 4 |
+
"dataset_root": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/dexycb_streaming_v2/jobs/20200709-subject-01/20200709_142022/output",
|
| 5 |
+
"decode_errors": [],
|
| 6 |
+
"decoded_frame_count": 592,
|
| 7 |
+
"detector": "/scratch/chonghej/VLA/VLA-yuzhen/weights/hawor/external/detector.pt",
|
| 8 |
+
"detector_class_names": {
|
| 9 |
+
"0": "left",
|
| 10 |
+
"1": "right"
|
| 11 |
+
},
|
| 12 |
+
"detector_confidence": 0.05,
|
| 13 |
+
"detector_sha256": "5ef3df44e42d2db52d4ffe91f83a22ce9925e2acc9abebf453f2c5d22e380033",
|
| 14 |
+
"detector_training_overlap_warning": "The bundled HaWoR detector model_config.yaml lists DEXYCB_TRAIN. Treat this as a secondary RGB-only consistency check, not an independent holdout.",
|
| 15 |
+
"episode_count": 8,
|
| 16 |
+
"episodes": [
|
| 17 |
+
{
|
| 18 |
+
"aligned_fraction": 0.6216216216216216,
|
| 19 |
+
"assessable_hand_samples": 74,
|
| 20 |
+
"center_distance_normalized_median": 0.036671478439443905,
|
| 21 |
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"decoded_frame_count": 74,
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| 22 |
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"detector_frame_count": 49,
|
| 23 |
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"episode_id": "DexYCB_20200709-subject-01_20200709-142022_836212060125",
|
| 24 |
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| 25 |
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| 26 |
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| 27 |
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|
| 28 |
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"split": "train",
|
| 29 |
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"status": "pass",
|
| 30 |
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|
| 31 |
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"video_name": "20200709-subject-01/20200709_142022/836212060125/DexYCB_20200709-subject-01_20200709-142022_836212060125.mp4"
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
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"aligned_fraction": 1.0,
|
| 35 |
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| 36 |
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"center_distance_normalized_median": 0.024750431874230226,
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| 37 |
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| 38 |
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"detector_frame_count": 74,
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| 39 |
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"episode_id": "DexYCB_20200709-subject-01_20200709-142022_839512060362",
|
| 40 |
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"keypoint_error_normalized_median": 0.004624337949243466,
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| 41 |
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| 42 |
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| 43 |
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|
| 44 |
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"split": "train",
|
| 45 |
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"status": "pass",
|
| 46 |
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"strong_aligned_fraction": 1.0,
|
| 47 |
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"video_name": "20200709-subject-01/20200709_142022/839512060362/DexYCB_20200709-subject-01_20200709-142022_839512060362.mp4"
|
| 48 |
+
},
|
| 49 |
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{
|
| 50 |
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"aligned_fraction": 1.0,
|
| 51 |
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"assessable_hand_samples": 74,
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| 52 |
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"center_distance_normalized_median": 0.04597566550089942,
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| 53 |
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"decoded_frame_count": 74,
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| 54 |
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"detector_frame_count": 74,
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| 55 |
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"episode_id": "DexYCB_20200709-subject-01_20200709-142022_840412060917",
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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"status": "pass",
|
| 62 |
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|
| 63 |
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"video_name": "20200709-subject-01/20200709_142022/840412060917/DexYCB_20200709-subject-01_20200709-142022_840412060917.mp4"
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| 64 |
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},
|
| 65 |
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{
|
| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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"episode_id": "DexYCB_20200709-subject-01_20200709-142022_841412060263",
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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"status": "pass",
|
| 78 |
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|
| 79 |
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"video_name": "20200709-subject-01/20200709_142022/841412060263/DexYCB_20200709-subject-01_20200709-142022_841412060263.mp4"
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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"episode_id": "DexYCB_20200709-subject-01_20200709-142022_932122060857",
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| 92 |
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| 93 |
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|
| 94 |
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|
| 95 |
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"video_name": "20200709-subject-01/20200709_142022/932122060857/DexYCB_20200709-subject-01_20200709-142022_932122060857.mp4"
|
| 96 |
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},
|
| 97 |
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{
|
| 98 |
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|
| 99 |
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| 102 |
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| 103 |
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"episode_id": "DexYCB_20200709-subject-01_20200709-142022_932122060861",
|
| 104 |
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| 105 |
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| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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"video_name": "20200709-subject-01/20200709_142022/932122060861/DexYCB_20200709-subject-01_20200709-142022_932122060861.mp4"
|
| 112 |
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},
|
| 113 |
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{
|
| 114 |
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"aligned_fraction": 1.0,
|
| 115 |
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|
| 116 |
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|
| 117 |
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"decoded_frame_count": 74,
|
| 118 |
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"detector_frame_count": 74,
|
| 119 |
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"episode_id": "DexYCB_20200709-subject-01_20200709-142022_932122061900",
|
| 120 |
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"keypoint_error_normalized_median": 0.003472001817184241,
|
| 121 |
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"projected_points_inside_box_ratio_median": 1.0,
|
| 122 |
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"requested_frame_count": 74,
|
| 123 |
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"same_side_detection_fraction": 1.0,
|
| 124 |
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"split": "train",
|
| 125 |
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"status": "pass",
|
| 126 |
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"strong_aligned_fraction": 1.0,
|
| 127 |
+
"video_name": "20200709-subject-01/20200709_142022/932122061900/DexYCB_20200709-subject-01_20200709-142022_932122061900.mp4"
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
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"aligned_fraction": 1.0,
|
| 131 |
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"assessable_hand_samples": 74,
|
| 132 |
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"center_distance_normalized_median": 0.03042419896720211,
|
| 133 |
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"decoded_frame_count": 74,
|
| 134 |
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"detector_frame_count": 74,
|
| 135 |
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"episode_id": "DexYCB_20200709-subject-01_20200709-142022_932122062010",
|
| 136 |
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"keypoint_error_normalized_median": 0.004281394048781081,
|
| 137 |
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|
| 138 |
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"requested_frame_count": 74,
|
| 139 |
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|
| 140 |
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"split": "train",
|
| 141 |
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"status": "pass",
|
| 142 |
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"strong_aligned_fraction": 1.0,
|
| 143 |
+
"video_name": "20200709-subject-01/20200709_142022/932122062010/DexYCB_20200709-subject-01_20200709-142022_932122062010.mp4"
|
| 144 |
+
}
|
| 145 |
+
],
|
| 146 |
+
"interpretation": "Detector agreement supports RGB/MANO consistency, but possible DexYCB training overlap limits independence. Detector misses are unverified, not automatic official-label failures.",
|
| 147 |
+
"requested_frame_count": 592,
|
| 148 |
+
"status_counts": {
|
| 149 |
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"pass": 8
|
| 150 |
+
}
|
| 151 |
+
}
|
Audit/rgb_detector/20200709-subject-01/20200709_142022/per_frame.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Build/partial_statistics/train/20200709-subject-01/20200709_142022.json
ADDED
|
@@ -0,0 +1,1112 @@
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