---
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.