| --- |
| license: cc-by-sa-4.0 |
| task_categories: |
| - video-classification |
| - image-to-3d |
| language: |
| - en |
| tags: |
| - oakink2 |
| - vitra |
| - mano |
| - human-object-interaction |
| --- |
| |
| # OakInk2 → VITRA Stage-1 (complete audited release) |
|
|
| This repository contains all 627 physical OakInk2-TaMF sequences converted to |
| VITRA Stage-1. Every sequence source pair is pinned to |
| `kelvin34501/OakInk-v2` revision `21705616140d726607027e70d58b7837f442ffd8`, aligned by exact |
| frame identity, converted across the four calibrated views, checked by geometry |
| and every-frame RGB audits, smoke-tested through the VITRA loader, uploaded, |
| and verified at an immutable commit before local cleanup. |
|
|
| | split | physical sequences | accepted camera episodes | indexed anchors | |
| |---|---:|---:|---:| |
| | train | 431 | 1722 | 2368048 | |
| | val | 39 | 155 | 183925 | |
| | test | 157 | 627 | 805606 | |
|
|
| ## Files and VITRA loader contract |
|
|
| RGB episodes are under `Video/OakInk2_root/`. Labels are NumPy dictionaries at |
| `Annotation/oakink2_<split>/episodic_annotations/<episode_id>.npy`. Each label |
| contains the exact `video_name`, `video_decode_frame`, source frame IDs and |
| timestamps, calibrated `intrinsics`, per-frame `world_to_camera` `extrinsics`, |
| world/camera 21-joint arrays, MANO beta/rotation-matrix pose/translation fields, |
| object trajectories, causal task text, and `training_anchor_valid`. |
|
|
| The final `Annotation/oakink2_<split>/episode_frame_index.npz` contains |
| `index_frame_pair` and `index_to_episode_id`. Column 0 of each pair selects an |
| episode ID; column 1 selects a label row. Only rows whose |
| `training_anchor_valid` value is true are indexed. A minimal lookup is: |
|
|
| ```python |
| import numpy as np |
| |
| with np.load(index_path, allow_pickle=True) as index: |
| episode_slot, frame_id = index["index_frame_pair"][sample_id] |
| episode_id = index["index_to_episode_id"][episode_slot] |
| episode = np.load( |
| label_dir / (episode_id + ".npy"), allow_pickle=True |
| ).item() |
| rgb_frame_id = int(episode["video_decode_frame"][frame_id]) |
| assert bool(episode["training_anchor_valid"][frame_id]) |
| ``` |
|
|
| Before the final commit, the release gate independently re-reads all |
| 2504 accepted camera |
| reports and calibrates wrist/joint speed distributions over all 627 physical |
| sequences. Publication is blocked if a maximum exceeds both its conservative |
| absolute floor and ten robust deviations in log1p space. This release has |
| 0 blocked temporal |
| sequences; the complete evidence is `Audit/temporal_quality.json`. |
|
|
| The legacy RGB audit helper only distinguished train/test. Before final |
| publication, all 39 official-val RGB summaries and every per-frame JSONL record |
| are therefore normalized to `val`, their sequence-manifest hashes are updated, |
| and every changed remote byte is downloaded and verified. This correction does |
| not alter videos, MANO/keypoint labels, action chunks, or training indices. |
|
|
| The official OakInk2-TaMF split is pinned at commit |
| `4cb9c461b92c032715374bd252c7179c70a14bde`. Both keypoint and MANO-angle normalization files |
| are exact merges of the per-sequence float64 accumulators. Global frame indices |
| are generated only after all 627 sequences are CLEANED. |
|
|
| Conversion used 337 serial and |
| 290 parallel-orchestrated |
| physical sequences. The controller recorded |
| 293 atomic claim events with |
| 0 invalid overlapping |
| claim lifecycles. Its exact source and audit report are preserved under |
| `Audit/orchestration/`. |
|
|
| `Build/final_manifest.json` hashes every release-level artifact, and |
| `Build/release_ledger.sqlite3` records the exact source files, sequence |
| manifests, camera episodes, anchor masks, and partial statistics. The fresh |
| independent audit is published at |
| `Audit/independent_release_verification.json`. |
|
|
| OakInk2 is human hand-object motion rather than robot control. Direct robot |
| policy training still requires an explicit embodiment/retargeting decision. |
| Source data and this derivative are CC BY-SA 4.0; MANO assets are not included |
| and retain their separate license. |
|
|
