| --- |
| license: other |
| task_categories: |
| - robotics |
| - video-classification |
| tags: |
| - vla |
| - hand-pose |
| - mano |
| - egocentric |
| - hot3d |
| - vitra |
| pretty_name: HOT3D VITRA Strict v1 |
| size_categories: |
| - 100K<n<1M |
| --- |
| |
| # HOT3D VITRA Strict v1 |
|
|
| This dataset is the full-recording VITRA-ready HOT3D derivative produced by |
| the `hot3d-strict-v1` cleaning pipeline. It is separate from the curated |
| five-second `hot3d-clips-vitra-streaming-v3` release. |
|
|
| Only recordings that pass the strict quality gate are included. The release |
| contains 250 selected egocentric videos and matching episodic annotations: |
|
|
| - 126 Aria videos from stream `214-1`; |
| - 77 Quest 3 videos from stream `1201-1`; |
| - 47 Quest 3 videos from stream `1201-2`; |
| - 889,553 decoded video frames; |
| - 792,056 strict-valid training anchors. |
|
|
| For Quest 3, one camera view is selected per recording using the higher |
| strict-valid-frame ratio. The two views are not treated as two independent |
| action samples. |
|
|
| ## Strict quality gate |
|
|
| A frame is strict-valid when at least one hand: |
|
|
| 1. has aligned and finite MANO/keypoint data; |
| 2. has valid MANO rotations and consistent world/camera geometry; |
| 3. passes camera-pose, HOT3D QA, and exposure masks; |
| 4. is not marked as a short temporal outlier; and |
| 5. has at least 10 of 21 projected joints in front of the camera and inside |
| the image. |
|
|
| A recording is retained when at least 50% of its frames are strict-valid. |
| From 294 source recordings, 250 pass and 44 are excluded. All 44 exclusions |
| have reason `low_hot3d_valid_ratio`. All 250 retained episodes pass the final |
| structural, video, and geometry validator. |
|
|
| The quality pipeline does not use triangulated validity. It does not smooth or |
| rewrite MANO values; it preserves source-derived MANO/joints and applies strict |
| kept-frame masks. |
|
|
| ## Annotation contents |
|
|
| Each `.npy` file is a pickled Python dictionary containing: |
|
|
| - video-relative frame indices and source timestamps; |
| - a per-frame `World2Cam` camera extrinsic and calibrated intrinsic; |
| - left/right MANO beta, world/camera global orientation, and 15 local joint |
| rotation matrices; |
| - left/right wrist translation and 21 joints in recording-world and camera |
| coordinates, in metres; |
| - projected 2D keypoints and visible-joint counts; |
| - source/aligned/interpolated/strict-kept masks and provenance; |
| - headset, stream, participant, objects, camera convention, and quality-gate |
| metadata. |
|
|
| The canonical stored hand trajectory is in the HOT3D MoCap recording world. |
| Each recording has its own world frame. For VLA training, a future action chunk |
| must be transformed into the observation/anchor camera coordinate system in |
| the dataloader; the dataset does not persist a separate coordinate system per |
| training chunk. |
|
|
| `transl_worldspace` and `transl_camspace` are canonical MANO wrist joint 0, |
| not the MANO model origin. The original MANO root translation and source PCA |
| pose are retained as provenance. MANO model files are not redistributed. |
|
|
| ## Language status |
|
|
| HOT3D does not provide aligned natural-language action instructions for these |
| full recordings. `text.left` and `text.right` are empty, and |
| `source.instruction_status` is |
| `pending_atomic_segmentation_and_per_hand_captioning`. Do not interpret object |
| names as action instructions. |
|
|
| ## Layout |
|
|
| ```text |
| Annotation/hot3d_train/episode_frame_index.npz |
| Annotation/hot3d_train/episodic_annotations/*.npy |
| Video/HOT3D_root/{Aria,Quest3}/<recording>/<stream>.mp4 |
| quality_sidecars/*.npz |
| strict_manifest.csv |
| strict_build_report.json |
| validation_report.json |
| quality_rejections.json |
| view_selection.csv |
| HOT3D_STRICT_DATA_REPORT.md |
| ``` |
|
|
| `strict_manifest.csv` is the authoritative list of uploaded training videos. |
| `view_selection.csv` records the complete camera-view audit. Rejected raw or |
| Stage1 videos are not included in this repository. |
|
|
| ## Loader safety |
|
|
| Annotations use `numpy.save` with nested dictionaries and therefore require |
| `numpy.load(path, allow_pickle=True)` in a trusted environment. Use |
| `strict_frame_valid_any_hand` and the per-hand `kept_frames` masks for training |
| loss/index construction. |
|
|
| ## License and attribution |
|
|
| This is a derivative of Meta's |
| [HOT3D dataset](https://github.com/facebookresearch/hot3d). HOT3D source |
| sequence data and hand annotations have different share-alike/noncommercial |
| terms; because this release contains hand annotations, users must follow all |
| applicable HOT3D license and attribution requirements. See the official HOT3D |
| release for the authoritative license text and cite the HOT3D paper when using |
| this data. |
|
|
| MANO model assets are not included and remain subject to their separate |
| license. |
|
|
