MIT-Media-Lab/hot3d-clips-vitra-streaming-v3

HOT3D-Clips VITRA Streaming v3

This release is complete and its top-level indices/statistics have been independently reconstructed from the per-clip ledger.

This is a VITRA-ready derivative of the 2,804 official HOT3D-Clips training clips at source revision 30fe9674782f32e1e5edba98476b6ff4300132c5. It is not the complete 833-minute raw HOT3D release. HOT3D-Clips contains non-overlapping, curated five-second clips at 30 Hz. Official test clips are excluded because they do not publish hand/object ground truth.

What is retained

• Aria: the egocentric RGB stream 214-1.
• Quest 3: both egocentric monochrome streams 1201-1 and 1201-2, encoded as three-channel video for the current VITRA loader.
• Per-frame MANO rotations, beta, canonical wrist joint, 21 joints in world and camera coordinates, object transforms, visibility masks, exact timestamps, and world-to-camera transforms.
• A deterministic post-hoc weak instruction based on full-clip object motion, hand motion, and hand-object proximity. No LLM caption is used as target text; the use of future trajectory metrics is explicitly recorded.

HOT3D cameras use FISHEYE624, while the current VITRA loader accepts a 3x3 pinhole matrix. Images are therefore warped with Meta's official hand_tracking_toolkit camera implementation into a 640x640 upright pinhole view. The stored intrinsic and per-frame extrinsic describe that exact output view. Aria's native sideways storage is rotated clockwise by 90 degrees.

HOT3D's six-dimensional mano_pose.wrist_xform translation is the SMPL-X MANO model origin, not the canonical MANO wrist joint. The released VITRA transl is joint 0 obtained by forwarding MANO; the original model-origin translation and 15-D PCA pose are preserved as provenance sidecars. MANO model files are never redistributed.

Quality and split policy

Every source tar is pinned by LFS SHA-256 and checked against the exact official WebDataset schema. Every output video is decoded for all 150 frames. The native UmeTrack mesh is checked against official hand boxes to validate camera/stream identity, then MANO landmarks are independently checked against UmeTrack landmarks. This separation avoids treating legitimate participant-specific MANO/UmeTrack surface-shape differences as camera misalignment. Visibility, timestamps, rotations, VITRA keypoint/angle loader paths, and exact statistics accumulators are audited per clip. A camera with too little valid visible hand supervision is rejected without discarding another valid camera from the same clip. A selected camera with duplicated/dropped (non-30Hz) source timestamps is quarantined rather than silently treated as a uniform trajectory. Every uploaded file is size-verified at an immutable commit, and the per-clip manifest is downloaded and hash-verified before local cleanup.

The derived validation split holds out participants P0014 (Aria) and P0017 (Quest 3); all other official-training participants are train. sequence_id is the leakage/sampling group, so clips from one recording must not be split again.

License and attribution

The source sequence data is licensed CC BY-SA 4.0 and the hand annotations are licensed CC BY-NC-SA 4.0. Because this derivative includes the hand annotations, users must satisfy the more restrictive noncommercial/share-alike terms as well as HOT3D attribution requirements. Object models are not redistributed here. See the official HOT3D repository, the official HOT3D-Clips source card, and the included source license provenance. Cite the HOT3D paper when using this release.

Limitations

The commands are post-hoc metric-derived weak supervision, not recorded human language; using them as conditioning can leak coarse action identity from the full trajectory. Quest 3 images are grayscale. Five-second curated clips are useful for hand action learning but do not reproduce the long-horizon distribution of full recordings. This dataset is egocentric human-hand data, not robot proprioception.

Final release counts

• Official training clips examined: 2804
• Accepted camera episodes: 4076
• Indexed one-step anchors: 578191
• Quarantined clips: 13
• Derived participant-disjoint split: {'train': {'split': 'train', 'episode_count': 3736, 'indexed_sample_count': 530414, 'index_path': '/scratch/chonghej/VLA/VLA-yuzhen/datasets/hot3d_streaming_v3/finalize/Annotation/hot3d_clips_train/episode_frame_index.npz'}, 'val': {'split': 'val', 'episode_count': 340, 'indexed_sample_count': 47777, 'index_path': '/scratch/chonghej/VLA/VLA-yuzhen/datasets/hot3d_streaming_v3/finalize/Annotation/hot3d_clips_val/episode_frame_index.npz'}}