---
license: other
task_categories:
- robotics
- video-classification
tags:
- vla
- hand-pose
- mano
- egocentric
- hot3d
- vitra
pretty_name: HOT3D VITRA Atomic Instructions v1
size_categories:
- 10K<n<100K
---

# HOT3D VITRA Atomic Instructions v1

This is the language-conditioned, atomic-episode derivative of
`MIT-Media-Lab/hot3d-vitra-strict-v1`. It contains
**32,850 hand-specific episodes**, references
**250 unique strict source videos**, and
indexes **1,227,851 target-hand frames**.

## Construction

- Source: immutable strict-v1 commit
  `191a139da6dec2e55f73c1558679fd791b19e473`.
- Left and right hands are segmented independently inside continuous aligned
  MANO runs.
- Recording-world wrist trajectories are Gaussian-smoothed (sigma 2) and cut
  at speed minima in a 25-frame window. Boundaries receive up to 3 context
  frames on each side.
- Clips require at least 15 frames and at least 50% target-hand strict frames.
- Eight strict frames with an in-image six-joint palm marker are supplied to
  `Qwen/Qwen3.5-122B-A10B-FP8` using the hand-specific VITRA JSON prompt.
- Parse failures and `N/A` captions are quarantined and excluded.

Object names are retained as audit metadata only and are not supplied to the
caption model. Captions are imperative, one-sentence, target-hand-specific
instructions. This v1 release contains the primary caption only; rephrases are
left empty.

## Coordinates and representations

Every atomic `.npy` preserves its source recording's HOT3D MoCap world frame,
per-frame `World2Cam` camera extrinsics, MANO pose, and 21 keypoints. No pose,
joint, or camera value is smoothed, re-forwarded, or rewritten during atomic
segmentation/materialization. `transl_worldspace` is MANO wrist joint 0 in
metres. Training chunks are transformed to the observation/anchor camera in
the VITRA dataloader, not persisted in pre-anchored coordinates.

Both MANO-angle and 21-keypoint normalization statistics are included.

## Layout

```text
Annotation/hot3d_atomic_train/episode_frame_index.npz
Annotation/hot3d_atomic_train/episodic_annotations/*.npy
Annotation/statistics/hot3d_atomic_train_angle_statistics.json
Annotation/statistics/hot3d_atomic_train_keypoints_statistics.json
Video/HOT3D_root/{Aria,Quest3}/<recording>/<stream>.mp4
manifests/accepted.jsonl
manifests/quarantine.jsonl
manifests/candidate_manifest.jsonl
manifests/caption_ledger.jsonl
build_report.json
validation_report.json
```

The annotation dictionaries require `numpy.load(..., allow_pickle=True)` in a
trusted environment. `video_decode_frame` contains absolute frame indices in
the shared source recording MP4. Text intervals are half-open `[start,end)`.

## Validation

The published build validator status is **pass**. Maximum
world-to-camera joint consistency error is
`1.093e-07 m`; there are
0 schema/geometry failures, no missing referenced
videos, and no unreferenced uploaded videos.

## License and attribution

This is a derivative of Meta's HOT3D dataset. HOT3D sequence data and hand
annotations have distinct share-alike/noncommercial terms; users must follow
all applicable official HOT3D licenses and attribution requirements. MANO
model assets are not redistributed and remain subject to their own license.