Add OakInk2 test sequence scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22 (oakink2-vitra-streaming-v1)

.gitattributes

@@ -62,3 +62,4 @@ Audit/rgb_detector/scene_01__A001++seq__ecc3863cc1ba2c56f766__2023-04-27-20-14-3
 Audit/rgb_detector/scene_02__A004++seq__1b938c494ba4cc48e3bf__2023-05-07-20-02-56/per_frame.jsonl filter=lfs diff=lfs merge=lfs -text
 Audit/rgb_detector/scene_02__A001++seq__78c622de11dd1e1bf382__2023-04-15-19-40-40/per_frame.jsonl filter=lfs diff=lfs merge=lfs -text
 Audit/rgb_detector/scene_02__A007++seq__87c3c230a6020d994fe6__2023-05-15-18-59-33/per_frame.jsonl filter=lfs diff=lfs merge=lfs -text
+Audit/rgb_detector/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/per_frame.jsonl filter=lfs diff=lfs merge=lfs -text

Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48db7e9d0ea0d9ae56abae882f4ab28c17860939e016d0c934dce83c86992d97
+size 5628986

Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:828417e5c3838763de3a1fe0983f361d1af8553aad1691f83568fbbce675f1a3
+size 5628989

Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:428246a7dd0e9b8a3b11e2cb75e9e24afef7b43b7785b65834747dd5cd8c8753
+size 5628983

Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:116e660e4b1ea32ecf666bd9a9a15a1c9bff342a82bb6ed03516d2867cf15ec5
+size 5628967

Audit/loader_smoke/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json

@@ -0,0 +1,142 @@
+{
+  "checks": [
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left",
+      "frame_id": 0,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left",
+      "frame_id": 965,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right",
+      "frame_id": 0,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right",
+      "frame_id": 965,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top",
+      "frame_id": 0,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top",
+      "frame_id": 965,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric",
+      "frame_id": 0,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric",
+      "frame_id": 965,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    }
+  ],
+  "probe_count": 8,
+  "status": "passed"
+}

Audit/reports/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.json

@@ -0,0 +1,709 @@
+{
+  "camera": {
+    "bottom_row_error_max": 0.0,
+    "convention": "world_to_camera",
+    "extrinsics_max_element_delta_from_first": 0.0,
+    "intrinsics_max_delta": 0.0,
+    "is_moving": false,
+    "rotation": {
+      "max_determinant_error": 0.0,
+      "max_orthogonality_error": 4.114667717658449e-09
+    },
+    "translation_range_m": {
+      "max": [
+        -0.19126898050308228,
+        0.013419209979474545,
+        0.9085249304771423
+      ],
+      "min": [
+        -0.19126898050308228,
+        0.013419209979474545,
+        0.9085249304771423
+      ]
+    }
+  },
+  "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left",
+  "frame_alignment": {
+    "exact_rgb_mocap_matches": 2256,
+    "mocap_frame_count_raw": 9030,
+    "rgb_frame_count_raw": 2256,
+    "rgb_frame_step_histogram": {
+      "3": 6,
+      "4": 2236,
+      "5": 13
+    },
+    "rgb_frame_step_median": 4.0,
+    "rgb_ids_missing_from_mocap": [],
+    "rgb_ids_missing_from_raw_mano": [],
+    "selected_frame_count": 1931,
+    "selected_frame_id_first": 769,
+    "selected_frame_id_last": 8496,
+    "selection": "exact source frame-ID intersection; no nearest-frame fallback"
+  },
+  "index": {
+    "episode_count": 3,
+    "episode_index": 2,
+    "sample_count": 5793
+  },
+  "left": {
+    "annotation_valid_fraction": 1.0,
+    "beta_max_delta": 0.0,
+    "centered_mano_root_error_max_m": 0.0,
+    "geometric_visible_fraction": 1.0,
+    "joints_in_frame_count_median": 21.0,
+    "joints_in_frame_count_p05": 21.0,
+    "mesh_vertices_in_frame_fraction_p05": 1.0,
+    "quaternion_norm_error_max": 1.1920928955078125e-07,
+    "rotation": {
+      "max_determinant_error": 1.1920928955078125e-07,
+      "max_orthogonality_error": 1.1920928955078125e-07
+    },
+    "task_active_fraction": 0.833764888658726,
+    "temporal": {
+      "joint_speed_max_mps": 0.6915868073701859,
+      "joint_speed_p95_mps": 0.09914277540519828,
+      "wrist_speed_max_mps": 0.3304008487612009,
+      "wrist_speed_p50_mps": 0.011308134708087891,
+      "wrist_speed_p95_mps": 0.084205345949158
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "objects": {
+    "C12001": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": true,
+        "max_rotation_displacement_deg": 27.46525753675541,
+        "max_translation_displacement_m": 0.13600690934935442
+      },
+      "rotation": {
+        "max_determinant_error": 8.344650268554688e-07,
+        "max_orthogonality_error": 9.5367431640625e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.00011599162826314569,
+          0.06942780315876007,
+          0.20651951432228088
+        ],
+        "min": [
+          -0.09820790588855743,
+          0.03677818551659584,
+          0.0882682278752327
+        ]
+      }
+    },
+    "O02@0017@00002": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": false,
+        "max_rotation_displacement_deg": 0.6979305604272346,
+        "max_translation_displacement_m": 0.0011904526820621345
+      },
+      "rotation": {
+        "max_determinant_error": 2.980232238769531e-07,
+        "max_orthogonality_error": 3.5762786865234375e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.14978064596652985,
+          0.013917146250605583,
+          0.07753923535346985
+        ],
+        "min": [
+          0.1489780843257904,
+          0.01303054764866829,
+          0.07638830691576004
+        ]
+      }
+    },
+    "O02@0030@00002": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": true,
+        "max_rotation_displacement_deg": 68.79707775869402,
+        "max_translation_displacement_m": 0.3128508920893646
+      },
+      "rotation": {
+        "max_determinant_error": 3.5762786865234375e-07,
+        "max_orthogonality_error": 3.5762786865234375e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.40805307030677795,
+          0.18298612534999847,
+          0.2643045485019684
+        ],
+        "min": [
+          -0.05577271804213524,
+          0.05358877778053284,
+          0.0773523673415184
+        ]
+      }
+    },
+    "O02@0100@00001": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": true,
+        "max_rotation_displacement_deg": 123.03509047843191,
+        "max_translation_displacement_m": 0.3799079002673594
+      },
+      "rotation": {
+        "max_determinant_error": 3.5762786865234375e-07,
+        "max_orthogonality_error": 4.76837158203125e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.20378628373146057,
+          0.21925698220729828,
+          0.16977769136428833
+        ],
+        "min": [
+          -0.042702049016952515,
+          0.0753541886806488,
+          -0.12428052723407745
+        ]
+      }
+    }
+  },
+  "outputs": {
+    "episode": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.npy",
+    "episode_frame_index": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Annotation/oakink2_test/episode_frame_index.npz",
+    "overlay": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Audit/overlays/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.jpg",
+    "video": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_left/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.mp4"
+  },
+  "quality_gate_notes": {
+    "label_validity": "kept_frames and annotation_valid contain finite MANO labels",
+    "rgb_detector": "not used in this pilot; overlay contact sheet requires visual review",
+    "task_activity": "task_active follows the official half-open per-hand primitive intervals",
+    "temporal_outlier_policy": "metrics are reported but not threshold-filtered from one episode; robust thresholds must be calibrated on the full dataset distribution",
+    "visibility": "visible is a separate geometric observability mask, not a label-validity mask"
+  },
+  "right": {
+    "annotation_valid_fraction": 1.0,
+    "beta_max_delta": 0.0,
+    "centered_mano_root_error_max_m": 0.0,
+    "geometric_visible_fraction": 1.0,
+    "joints_in_frame_count_median": 21.0,
+    "joints_in_frame_count_p05": 21.0,
+    "mesh_vertices_in_frame_fraction_p05": 1.0,
+    "quaternion_norm_error_max": 1.1920928955078125e-07,
+    "rotation": {
+      "max_determinant_error": 1.1920928955078125e-07,
+      "max_orthogonality_error": 1.1920928955078125e-07
+    },
+    "task_active_fraction": 0.8601760745727602,
+    "temporal": {
+      "joint_speed_max_mps": 0.6598672829568386,
+      "joint_speed_p95_mps": 0.2742575732991097,
+      "wrist_speed_max_mps": 0.3508009482175112,
+      "wrist_speed_p50_mps": 0.056934295571409166,
+      "wrist_speed_p95_mps": 0.2314079620409757
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "source": {
+    "annotation_sha256": "46bbd5005e2e81f108bb74c59eec4310bf00b60f2b691a2ae6e9f6ad413bb6e2",
+    "dataset": "OakInk2",
+    "dataset_revision": "21705616140d726607027e70d58b7837f442ffd8",
+    "mocap_clock_inferred": true,
+    "mocap_frame_id_clock_hz": 120.0,
+    "rgb_fps": 30.0,
+    "sequence_key": "scene_01__A003/seq__c992d1f58dbad7366f42__2023-04-16-10-00-22",
+    "sequence_token": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22",
+    "split_group_id": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22"
+  },
+  "status": "passed",
+  "task": {
+    "initial_condition": null,
+    "instruction": "Scoop something out of the bowl and wipe the bowl with the sponge.",
+    "pdg": {
+      "e": [
+        [
+          0,
+          1
+        ]
+      ],
+      "id_map": {
+        "((1466, 4952), (965, 4468))": 0,
+        "((6009, 8267), (5280, 8074))": 1
+      },
+      "v": [
+        0,
+        1
+      ]
+    },
+    "phases": [
+      {
+        "left_decode_range": [
+          0,
+          174
+        ],
+        "left_interval": [
+          769,
+          1466
+        ],
+        "phase": "approach",
+        "right_decode_range": [
+          0,
+          49
+        ],
+        "right_interval": [
+          769,
+          965
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": [
+          87,
+          174
+        ],
+        "left_interval": [
+          1117,
+          1466
+        ],
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          25,
+          49
+        ],
+        "right_interval": [
+          867,
+          965
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": [
+          174,
+          1045
+        ],
+        "left_interval": [
+          1466,
+          4952
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          49,
+          924
+        ],
+        "right_interval": [
+          965,
+          4468
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          924,
+          931
+        ],
+        "right_interval": [
+          4468,
+          4494
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          924,
+          931
+        ],
+        "right_interval": [
+          4468,
+          4494
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          931,
+          937
+        ],
+        "right_interval": [
+          4494,
+          4520
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          931,
+          937
+        ],
+        "right_interval": [
+          4494,
+          4520
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "interaction",
+        "right_decode_range": [
+          937,
+          1025
+        ],
+        "right_interval": [
+          4520,
+          4872
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          1025,
+          1076
+        ],
+        "right_interval": [
+          4872,
+          5076
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          1025,
+          1076
+        ],
+        "right_interval": [
+          4872,
+          5076
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1045,
+          1220
+        ],
+        "left_interval": [
+          4952,
+          5653
+        ],
+        "phase": "interaction",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1220,
+          1265
+        ],
+        "left_interval": [
+          5653,
+          5831
+        ],
+        "phase": "retreat",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1220,
+          1265
+        ],
+        "left_interval": [
+          5653,
+          5831
+        ],
+        "phase": "retreat_uniform",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1265,
+          1309
+        ],
+        "left_interval": [
+          5831,
+          6009
+        ],
+        "phase": "approach",
+        "right_decode_range": [
+          1076,
+          1127
+        ],
+        "right_interval": [
+          5076,
+          5280
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1265,
+          1309
+        ],
+        "left_interval": [
+          5831,
+          6009
+        ],
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          1076,
+          1127
+        ],
+        "right_interval": [
+          5076,
+          5280
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1309,
+          1873
+        ],
+        "left_interval": [
+          6009,
+          8267
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          1127,
+          1825
+        ],
+        "right_interval": [
+          5280,
+          8074
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1873,
+          1931
+        ],
+        "left_interval": [
+          8267,
+          8500
+        ],
+        "phase": "retreat",
+        "right_decode_range": [
+          1825,
+          1931
+        ],
+        "right_interval": [
+          8074,
+          8500
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1873,
+          1902
+        ],
+        "left_interval": [
+          8267,
+          8383
+        ],
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          1825,
+          1878
+        ],
+        "right_interval": [
+          8074,
+          8287
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      }
+    ],
+    "primitives": [
+      {
+        "description": "Scoop the content with the spoon from the bowl to the plate.",
+        "description_zh": "\u7528\u8c03\u7fb9\u5c06\u5185\u5bb9\u4ece\u7897\u8200\u5230\u789f\u5b50\u3002",
+        "interaction_mode": "rh_main",
+        "left_decode_range": [
+          174,
+          1045
+        ],
+        "left_interval": [
+          1466,
+          4952
+        ],
+        "object_ids": [
+          "C12001",
+          "O02@0030@00002"
+        ],
+        "object_ids_left": [
+          "C12001"
+        ],
+        "object_ids_right": [
+          "O02@0030@00002"
+        ],
+        "primitive": "scoop",
+        "primitive_left": "rearrange",
+        "primitive_right": "scoop",
+        "right_decode_range": [
+          49,
+          924
+        ],
+        "right_interval": [
+          965,
+          4468
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "description": "Rearrange the spoon from one position to another position.",
+        "description_zh": "\u5c06\u8c03\u7fb9\u4ece\u4e00\u4e2a\u4f4d\u7f6e\u79fb\u52a8\u5230\u53e6\u4e00\u4e2a\u4f4d\u7f6e\u3002",
+        "interaction_mode": "rh_main",
+        "left_decode_range": null,
+        "left_interval": null,
+        "object_ids": [
+          "O02@0030@00002"
+        ],
+        "object_ids_left": null,
+        "object_ids_right": [
+          "O02@0030@00002"
+        ],
+        "primitive": "rearrange",
+        "primitive_left": null,
+        "primitive_right": "rearrange",
+        "right_decode_range": [
+          937,
+          1025
+        ],
+        "right_interval": [
+          4520,
+          4872
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "description": "Hold the bowl to the position.",
+        "description_zh": "\u7528\u624b\u6293\u63e1\u7897\u5e76\u4fdd\u6301\u4f4d\u7f6e\u3002",
+        "interaction_mode": "lh_main",
+        "left_decode_range": [
+          1045,
+          1220
+        ],
+        "left_interval": [
+          4952,
+          5653
+        ],
+        "object_ids": [
+          "C12001"
+        ],
+        "object_ids_left": [
+          "C12001"
+        ],
+        "object_ids_right": null,
+        "primitive": "hold",
+        "primitive_left": "hold",
+        "primitive_right": null,
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "description": "Wipe the bowl with the sponge.",
+        "description_zh": "\u7528\u6d77\u7ef5\u64e6\u7897\u3002",
+        "interaction_mode": "bh_main",
+        "left_decode_range": [
+          1309,
+          1873
+        ],
+        "left_interval": [
+          6009,
+          8267
+        ],
+        "object_ids": [
+          "O02@0100@00001"
+        ],
+        "object_ids_left": [
+          "O02@0100@00001"
+        ],
+        "object_ids_right": [
+          "O02@0100@00001"
+        ],
+        "primitive": "wipe",
+        "primitive_left": "wipe",
+        "primitive_right": "wipe",
+        "right_decode_range": [
+          1127,
+          1825
+        ],
+        "right_interval": [
+          5280,
+          8074
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      }
+    ],
+    "recipe": null,
+    "source_endpoint_half_open": [
+      769,
+      8500
+    ]
+  },
+  "training_anchors": {
+    "participant_fallback_to_both_hands": false,
+    "participating_hands": [
+      "left",
+      "right"
+    ],
+    "policy": "current-frame visibility of at least one task-participating hand and at least one valid t-to-t+1 hand action",
+    "valid_anchor_count": 1930,
+    "valid_anchor_fraction": 0.9994821336095288
+  },
+  "video": {
+    "codec": "mp4v",
+    "fps": 30.0,
+    "frame_count": 1931,
+    "height": 480,
+    "sha256": "c5db35c08801c072f6d3f7a9b75a4be579345c1d8ae3e5a6171ff756aa424188",
+    "width": 848
+  }
+}

Audit/reports/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.json

@@ -0,0 +1,709 @@
+{
+  "camera": {
+    "bottom_row_error_max": 0.0,
+    "convention": "world_to_camera",
+    "extrinsics_max_element_delta_from_first": 0.0,
+    "intrinsics_max_delta": 0.0,
+    "is_moving": false,
+    "rotation": {
+      "max_determinant_error": 0.0,
+      "max_orthogonality_error": 2.8537701979303165e-08
+    },
+    "translation_range_m": {
+      "max": [
+        0.16642194986343384,
+        -0.07580462843179703,
+        1.0317531824111938
+      ],
+      "min": [
+        0.16642194986343384,
+        -0.07580462843179703,
+        1.0317531824111938
+      ]
+    }
+  },
+  "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right",
+  "frame_alignment": {
+    "exact_rgb_mocap_matches": 2256,
+    "mocap_frame_count_raw": 9030,
+    "rgb_frame_count_raw": 2256,
+    "rgb_frame_step_histogram": {
+      "3": 6,
+      "4": 2236,
+      "5": 13
+    },
+    "rgb_frame_step_median": 4.0,
+    "rgb_ids_missing_from_mocap": [],
+    "rgb_ids_missing_from_raw_mano": [],
+    "selected_frame_count": 1931,
+    "selected_frame_id_first": 769,
+    "selected_frame_id_last": 8496,
+    "selection": "exact source frame-ID intersection; no nearest-frame fallback"
+  },
+  "index": {
+    "episode_count": 4,
+    "episode_index": 3,
+    "sample_count": 7724
+  },
+  "left": {
+    "annotation_valid_fraction": 1.0,
+    "beta_max_delta": 0.0,
+    "centered_mano_root_error_max_m": 0.0,
+    "geometric_visible_fraction": 1.0,
+    "joints_in_frame_count_median": 21.0,
+    "joints_in_frame_count_p05": 21.0,
+    "mesh_vertices_in_frame_fraction_p05": 1.0,
+    "quaternion_norm_error_max": 1.1920928955078125e-07,
+    "rotation": {
+      "max_determinant_error": 1.1920928955078125e-07,
+      "max_orthogonality_error": 1.1920928955078125e-07
+    },
+    "task_active_fraction": 0.833764888658726,
+    "temporal": {
+      "joint_speed_max_mps": 0.6915868073701859,
+      "joint_speed_p95_mps": 0.09914277540519828,
+      "wrist_speed_max_mps": 0.3304008487612009,
+      "wrist_speed_p50_mps": 0.011308134708087891,
+      "wrist_speed_p95_mps": 0.084205345949158
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "objects": {
+    "C12001": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": true,
+        "max_rotation_displacement_deg": 27.46525753675541,
+        "max_translation_displacement_m": 0.13600690934935442
+      },
+      "rotation": {
+        "max_determinant_error": 8.344650268554688e-07,
+        "max_orthogonality_error": 9.5367431640625e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.00011599162826314569,
+          0.06942780315876007,
+          0.20651951432228088
+        ],
+        "min": [
+          -0.09820790588855743,
+          0.03677818551659584,
+          0.0882682278752327
+        ]
+      }
+    },
+    "O02@0017@00002": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": false,
+        "max_rotation_displacement_deg": 0.6979305604272346,
+        "max_translation_displacement_m": 0.0011904526820621345
+      },
+      "rotation": {
+        "max_determinant_error": 2.980232238769531e-07,
+        "max_orthogonality_error": 3.5762786865234375e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.14978064596652985,
+          0.013917146250605583,
+          0.07753923535346985
+        ],
+        "min": [
+          0.1489780843257904,
+          0.01303054764866829,
+          0.07638830691576004
+        ]
+      }
+    },
+    "O02@0030@00002": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": true,
+        "max_rotation_displacement_deg": 68.79707775869402,
+        "max_translation_displacement_m": 0.3128508920893646
+      },
+      "rotation": {
+        "max_determinant_error": 3.5762786865234375e-07,
+        "max_orthogonality_error": 3.5762786865234375e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.40805307030677795,
+          0.18298612534999847,
+          0.2643045485019684
+        ],
+        "min": [
+          -0.05577271804213524,
+          0.05358877778053284,
+          0.0773523673415184
+        ]
+      }
+    },
+    "O02@0100@00001": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": true,
+        "max_rotation_displacement_deg": 123.03509047843191,
+        "max_translation_displacement_m": 0.3799079002673594
+      },
+      "rotation": {
+        "max_determinant_error": 3.5762786865234375e-07,
+        "max_orthogonality_error": 4.76837158203125e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.20378628373146057,
+          0.21925698220729828,
+          0.16977769136428833
+        ],
+        "min": [
+          -0.042702049016952515,
+          0.0753541886806488,
+          -0.12428052723407745
+        ]
+      }
+    }
+  },
+  "outputs": {
+    "episode": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.npy",
+    "episode_frame_index": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Annotation/oakink2_test/episode_frame_index.npz",
+    "overlay": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Audit/overlays/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.jpg",
+    "video": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_right/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.mp4"
+  },
+  "quality_gate_notes": {
+    "label_validity": "kept_frames and annotation_valid contain finite MANO labels",
+    "rgb_detector": "not used in this pilot; overlay contact sheet requires visual review",
+    "task_activity": "task_active follows the official half-open per-hand primitive intervals",
+    "temporal_outlier_policy": "metrics are reported but not threshold-filtered from one episode; robust thresholds must be calibrated on the full dataset distribution",
+    "visibility": "visible is a separate geometric observability mask, not a label-validity mask"
+  },
+  "right": {
+    "annotation_valid_fraction": 1.0,
+    "beta_max_delta": 0.0,
+    "centered_mano_root_error_max_m": 0.0,
+    "geometric_visible_fraction": 1.0,
+    "joints_in_frame_count_median": 21.0,
+    "joints_in_frame_count_p05": 21.0,
+    "mesh_vertices_in_frame_fraction_p05": 1.0,
+    "quaternion_norm_error_max": 1.1920928955078125e-07,
+    "rotation": {
+      "max_determinant_error": 1.1920928955078125e-07,
+      "max_orthogonality_error": 1.1920928955078125e-07
+    },
+    "task_active_fraction": 0.8601760745727602,
+    "temporal": {
+      "joint_speed_max_mps": 0.6598672829568386,
+      "joint_speed_p95_mps": 0.2742575732991097,
+      "wrist_speed_max_mps": 0.3508009482175112,
+      "wrist_speed_p50_mps": 0.056934295571409166,
+      "wrist_speed_p95_mps": 0.2314079620409757
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "source": {
+    "annotation_sha256": "46bbd5005e2e81f108bb74c59eec4310bf00b60f2b691a2ae6e9f6ad413bb6e2",
+    "dataset": "OakInk2",
+    "dataset_revision": "21705616140d726607027e70d58b7837f442ffd8",
+    "mocap_clock_inferred": true,
+    "mocap_frame_id_clock_hz": 120.0,
+    "rgb_fps": 30.0,
+    "sequence_key": "scene_01__A003/seq__c992d1f58dbad7366f42__2023-04-16-10-00-22",
+    "sequence_token": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22",
+    "split_group_id": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22"
+  },
+  "status": "passed",
+  "task": {
+    "initial_condition": null,
+    "instruction": "Scoop something out of the bowl and wipe the bowl with the sponge.",
+    "pdg": {
+      "e": [
+        [
+          0,
+          1
+        ]
+      ],
+      "id_map": {
+        "((1466, 4952), (965, 4468))": 0,
+        "((6009, 8267), (5280, 8074))": 1
+      },
+      "v": [
+        0,
+        1
+      ]
+    },
+    "phases": [
+      {
+        "left_decode_range": [
+          0,
+          174
+        ],
+        "left_interval": [
+          769,
+          1466
+        ],
+        "phase": "approach",
+        "right_decode_range": [
+          0,
+          49
+        ],
+        "right_interval": [
+          769,
+          965
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": [
+          87,
+          174
+        ],
+        "left_interval": [
+          1117,
+          1466
+        ],
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          25,
+          49
+        ],
+        "right_interval": [
+          867,
+          965
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": [
+          174,
+          1045
+        ],
+        "left_interval": [
+          1466,
+          4952
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          49,
+          924
+        ],
+        "right_interval": [
+          965,
+          4468
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          924,
+          931
+        ],
+        "right_interval": [
+          4468,
+          4494
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          924,
+          931
+        ],
+        "right_interval": [
+          4468,
+          4494
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          931,
+          937
+        ],
+        "right_interval": [
+          4494,
+          4520
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          931,
+          937
+        ],
+        "right_interval": [
+          4494,
+          4520
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "interaction",
+        "right_decode_range": [
+          937,
+          1025
+        ],
+        "right_interval": [
+          4520,
+          4872
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          1025,
+          1076
+        ],
+        "right_interval": [
+          4872,
+          5076
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          1025,
+          1076
+        ],
+        "right_interval": [
+          4872,
+          5076
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1045,
+          1220
+        ],
+        "left_interval": [
+          4952,
+          5653
+        ],
+        "phase": "interaction",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1220,
+          1265
+        ],
+        "left_interval": [
+          5653,
+          5831
+        ],
+        "phase": "retreat",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1220,
+          1265
+        ],
+        "left_interval": [
+          5653,
+          5831
+        ],
+        "phase": "retreat_uniform",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1265,
+          1309
+        ],
+        "left_interval": [
+          5831,
+          6009
+        ],
+        "phase": "approach",
+        "right_decode_range": [
+          1076,
+          1127
+        ],
+        "right_interval": [
+          5076,
+          5280
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1265,
+          1309
+        ],
+        "left_interval": [
+          5831,
+          6009
+        ],
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          1076,
+          1127
+        ],
+        "right_interval": [
+          5076,
+          5280
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1309,
+          1873
+        ],
+        "left_interval": [
+          6009,
+          8267
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          1127,
+          1825
+        ],
+        "right_interval": [
+          5280,
+          8074
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1873,
+          1931
+        ],
+        "left_interval": [
+          8267,
+          8500
+        ],
+        "phase": "retreat",
+        "right_decode_range": [
+          1825,
+          1931
+        ],
+        "right_interval": [
+          8074,
+          8500
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1873,
+          1902
+        ],
+        "left_interval": [
+          8267,
+          8383
+        ],
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          1825,
+          1878
+        ],
+        "right_interval": [
+          8074,
+          8287
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      }
+    ],
+    "primitives": [
+      {
+        "description": "Scoop the content with the spoon from the bowl to the plate.",
+        "description_zh": "\u7528\u8c03\u7fb9\u5c06\u5185\u5bb9\u4ece\u7897\u8200\u5230\u789f\u5b50\u3002",
+        "interaction_mode": "rh_main",
+        "left_decode_range": [
+          174,
+          1045
+        ],
+        "left_interval": [
+          1466,
+          4952
+        ],
+        "object_ids": [
+          "C12001",
+          "O02@0030@00002"
+        ],
+        "object_ids_left": [
+          "C12001"
+        ],
+        "object_ids_right": [
+          "O02@0030@00002"
+        ],
+        "primitive": "scoop",
+        "primitive_left": "rearrange",
+        "primitive_right": "scoop",
+        "right_decode_range": [
+          49,
+          924
+        ],
+        "right_interval": [
+          965,
+          4468
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "description": "Rearrange the spoon from one position to another position.",
+        "description_zh": "\u5c06\u8c03\u7fb9\u4ece\u4e00\u4e2a\u4f4d\u7f6e\u79fb\u52a8\u5230\u53e6\u4e00\u4e2a\u4f4d\u7f6e\u3002",
+        "interaction_mode": "rh_main",
+        "left_decode_range": null,
+        "left_interval": null,
+        "object_ids": [
+          "O02@0030@00002"
+        ],
+        "object_ids_left": null,
+        "object_ids_right": [
+          "O02@0030@00002"
+        ],
+        "primitive": "rearrange",
+        "primitive_left": null,
+        "primitive_right": "rearrange",
+        "right_decode_range": [
+          937,
+          1025
+        ],
+        "right_interval": [
+          4520,
+          4872
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "description": "Hold the bowl to the position.",
+        "description_zh": "\u7528\u624b\u6293\u63e1\u7897\u5e76\u4fdd\u6301\u4f4d\u7f6e\u3002",
+        "interaction_mode": "lh_main",
+        "left_decode_range": [
+          1045,
+          1220
+        ],
+        "left_interval": [
+          4952,
+          5653
+        ],
+        "object_ids": [
+          "C12001"
+        ],
+        "object_ids_left": [
+          "C12001"
+        ],
+        "object_ids_right": null,
+        "primitive": "hold",
+        "primitive_left": "hold",
+        "primitive_right": null,
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "description": "Wipe the bowl with the sponge.",
+        "description_zh": "\u7528\u6d77\u7ef5\u64e6\u7897\u3002",
+        "interaction_mode": "bh_main",
+        "left_decode_range": [
+          1309,
+          1873
+        ],
+        "left_interval": [
+          6009,
+          8267
+        ],
+        "object_ids": [
+          "O02@0100@00001"
+        ],
+        "object_ids_left": [
+          "O02@0100@00001"
+        ],
+        "object_ids_right": [
+          "O02@0100@00001"
+        ],
+        "primitive": "wipe",
+        "primitive_left": "wipe",
+        "primitive_right": "wipe",
+        "right_decode_range": [
+          1127,
+          1825
+        ],
+        "right_interval": [
+          5280,
+          8074
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      }
+    ],
+    "recipe": null,
+    "source_endpoint_half_open": [
+      769,
+      8500
+    ]
+  },
+  "training_anchors": {
+    "participant_fallback_to_both_hands": false,
+    "participating_hands": [
+      "left",
+      "right"
+    ],
+    "policy": "current-frame visibility of at least one task-participating hand and at least one valid t-to-t+1 hand action",
+    "valid_anchor_count": 1930,
+    "valid_anchor_fraction": 0.9994821336095288
+  },
+  "video": {
+    "codec": "mp4v",
+    "fps": 30.0,
+    "frame_count": 1931,
+    "height": 480,
+    "sha256": "e204f5fbfe87b2e7d9a131314a73543848aa1def92cdfc7deb5e6734aea0a523",
+    "width": 848
+  }
+}

Audit/reports/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.json

@@ -0,0 +1,709 @@
+{
+  "camera": {
+    "bottom_row_error_max": 0.0,
+    "convention": "world_to_camera",
+    "extrinsics_max_element_delta_from_first": 0.0,
+    "intrinsics_max_delta": 0.0,
+    "is_moving": false,
+    "rotation": {
+      "max_determinant_error": 0.0,
+      "max_orthogonality_error": 5.960464477539063e-08
+    },
+    "translation_range_m": {
+      "max": [
+        -0.008108546026051044,
+        0.09894935041666031,
+        1.1005057096481323
+      ],
+      "min": [
+        -0.008108546026051044,
+        0.09894935041666031,
+        1.1005057096481323
+      ]
+    }
+  },
+  "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top",
+  "frame_alignment": {
+    "exact_rgb_mocap_matches": 2256,
+    "mocap_frame_count_raw": 9030,
+    "rgb_frame_count_raw": 2256,
+    "rgb_frame_step_histogram": {
+      "3": 6,
+      "4": 2236,
+      "5": 13
+    },
+    "rgb_frame_step_median": 4.0,
+    "rgb_ids_missing_from_mocap": [],
+    "rgb_ids_missing_from_raw_mano": [],
+    "selected_frame_count": 1931,
+    "selected_frame_id_first": 769,
+    "selected_frame_id_last": 8496,
+    "selection": "exact source frame-ID intersection; no nearest-frame fallback"
+  },
+  "index": {
+    "episode_count": 2,
+    "episode_index": 1,
+    "sample_count": 3862
+  },
+  "left": {
+    "annotation_valid_fraction": 1.0,
+    "beta_max_delta": 0.0,
+    "centered_mano_root_error_max_m": 0.0,
+    "geometric_visible_fraction": 1.0,
+    "joints_in_frame_count_median": 21.0,
+    "joints_in_frame_count_p05": 21.0,
+    "mesh_vertices_in_frame_fraction_p05": 1.0,
+    "quaternion_norm_error_max": 1.1920928955078125e-07,
+    "rotation": {
+      "max_determinant_error": 1.1920928955078125e-07,
+      "max_orthogonality_error": 1.1920928955078125e-07
+    },
+    "task_active_fraction": 0.833764888658726,
+    "temporal": {
+      "joint_speed_max_mps": 0.6915868073701859,
+      "joint_speed_p95_mps": 0.09914277540519828,
+      "wrist_speed_max_mps": 0.3304008487612009,
+      "wrist_speed_p50_mps": 0.011308134708087891,
+      "wrist_speed_p95_mps": 0.084205345949158
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "objects": {
+    "C12001": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": true,
+        "max_rotation_displacement_deg": 27.46525753675541,
+        "max_translation_displacement_m": 0.13600690934935442
+      },
+      "rotation": {
+        "max_determinant_error": 8.344650268554688e-07,
+        "max_orthogonality_error": 9.5367431640625e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.00011599162826314569,
+          0.06942780315876007,
+          0.20651951432228088
+        ],
+        "min": [
+          -0.09820790588855743,
+          0.03677818551659584,
+          0.0882682278752327
+        ]
+      }
+    },
+    "O02@0017@00002": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": false,
+        "max_rotation_displacement_deg": 0.6979305604272346,
+        "max_translation_displacement_m": 0.0011904526820621345
+      },
+      "rotation": {
+        "max_determinant_error": 2.980232238769531e-07,
+        "max_orthogonality_error": 3.5762786865234375e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.14978064596652985,
+          0.013917146250605583,
+          0.07753923535346985
+        ],
+        "min": [
+          0.1489780843257904,
+          0.01303054764866829,
+          0.07638830691576004
+        ]
+      }
+    },
+    "O02@0030@00002": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": true,
+        "max_rotation_displacement_deg": 68.79707775869402,
+        "max_translation_displacement_m": 0.3128508920893646
+      },
+      "rotation": {
+        "max_determinant_error": 3.5762786865234375e-07,
+        "max_orthogonality_error": 3.5762786865234375e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.40805307030677795,
+          0.18298612534999847,
+          0.2643045485019684
+        ],
+        "min": [
+          -0.05577271804213524,
+          0.05358877778053284,
+          0.0773523673415184
+        ]
+      }
+    },
+    "O02@0100@00001": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": true,
+        "max_rotation_displacement_deg": 123.03509047843191,
+        "max_translation_displacement_m": 0.3799079002673594
+      },
+      "rotation": {
+        "max_determinant_error": 3.5762786865234375e-07,
+        "max_orthogonality_error": 4.76837158203125e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.20378628373146057,
+          0.21925698220729828,
+          0.16977769136428833
+        ],
+        "min": [
+          -0.042702049016952515,
+          0.0753541886806488,
+          -0.12428052723407745
+        ]
+      }
+    }
+  },
+  "outputs": {
+    "episode": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.npy",
+    "episode_frame_index": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Annotation/oakink2_test/episode_frame_index.npz",
+    "overlay": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Audit/overlays/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.jpg",
+    "video": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_top/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.mp4"
+  },
+  "quality_gate_notes": {
+    "label_validity": "kept_frames and annotation_valid contain finite MANO labels",
+    "rgb_detector": "not used in this pilot; overlay contact sheet requires visual review",
+    "task_activity": "task_active follows the official half-open per-hand primitive intervals",
+    "temporal_outlier_policy": "metrics are reported but not threshold-filtered from one episode; robust thresholds must be calibrated on the full dataset distribution",
+    "visibility": "visible is a separate geometric observability mask, not a label-validity mask"
+  },
+  "right": {
+    "annotation_valid_fraction": 1.0,
+    "beta_max_delta": 0.0,
+    "centered_mano_root_error_max_m": 0.0,
+    "geometric_visible_fraction": 1.0,
+    "joints_in_frame_count_median": 21.0,
+    "joints_in_frame_count_p05": 21.0,
+    "mesh_vertices_in_frame_fraction_p05": 1.0,
+    "quaternion_norm_error_max": 1.1920928955078125e-07,
+    "rotation": {
+      "max_determinant_error": 1.1920928955078125e-07,
+      "max_orthogonality_error": 1.1920928955078125e-07
+    },
+    "task_active_fraction": 0.8601760745727602,
+    "temporal": {
+      "joint_speed_max_mps": 0.6598672829568386,
+      "joint_speed_p95_mps": 0.2742575732991097,
+      "wrist_speed_max_mps": 0.3508009482175112,
+      "wrist_speed_p50_mps": 0.056934295571409166,
+      "wrist_speed_p95_mps": 0.2314079620409757
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "source": {
+    "annotation_sha256": "46bbd5005e2e81f108bb74c59eec4310bf00b60f2b691a2ae6e9f6ad413bb6e2",
+    "dataset": "OakInk2",
+    "dataset_revision": "21705616140d726607027e70d58b7837f442ffd8",
+    "mocap_clock_inferred": true,
+    "mocap_frame_id_clock_hz": 120.0,
+    "rgb_fps": 30.0,
+    "sequence_key": "scene_01__A003/seq__c992d1f58dbad7366f42__2023-04-16-10-00-22",
+    "sequence_token": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22",
+    "split_group_id": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22"
+  },
+  "status": "passed",
+  "task": {
+    "initial_condition": null,
+    "instruction": "Scoop something out of the bowl and wipe the bowl with the sponge.",
+    "pdg": {
+      "e": [
+        [
+          0,
+          1
+        ]
+      ],
+      "id_map": {
+        "((1466, 4952), (965, 4468))": 0,
+        "((6009, 8267), (5280, 8074))": 1
+      },
+      "v": [
+        0,
+        1
+      ]
+    },
+    "phases": [
+      {
+        "left_decode_range": [
+          0,
+          174
+        ],
+        "left_interval": [
+          769,
+          1466
+        ],
+        "phase": "approach",
+        "right_decode_range": [
+          0,
+          49
+        ],
+        "right_interval": [
+          769,
+          965
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": [
+          87,
+          174
+        ],
+        "left_interval": [
+          1117,
+          1466
+        ],
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          25,
+          49
+        ],
+        "right_interval": [
+          867,
+          965
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": [
+          174,
+          1045
+        ],
+        "left_interval": [
+          1466,
+          4952
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          49,
+          924
+        ],
+        "right_interval": [
+          965,
+          4468
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          924,
+          931
+        ],
+        "right_interval": [
+          4468,
+          4494
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          924,
+          931
+        ],
+        "right_interval": [
+          4468,
+          4494
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          931,
+          937
+        ],
+        "right_interval": [
+          4494,
+          4520
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          931,
+          937
+        ],
+        "right_interval": [
+          4494,
+          4520
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "interaction",
+        "right_decode_range": [
+          937,
+          1025
+        ],
+        "right_interval": [
+          4520,
+          4872
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          1025,
+          1076
+        ],
+        "right_interval": [
+          4872,
+          5076
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          1025,
+          1076
+        ],
+        "right_interval": [
+          4872,
+          5076
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1045,
+          1220
+        ],
+        "left_interval": [
+          4952,
+          5653
+        ],
+        "phase": "interaction",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1220,
+          1265
+        ],
+        "left_interval": [
+          5653,
+          5831
+        ],
+        "phase": "retreat",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1220,
+          1265
+        ],
+        "left_interval": [
+          5653,
+          5831
+        ],
+        "phase": "retreat_uniform",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1265,
+          1309
+        ],
+        "left_interval": [
+          5831,
+          6009
+        ],
+        "phase": "approach",
+        "right_decode_range": [
+          1076,
+          1127
+        ],
+        "right_interval": [
+          5076,
+          5280
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1265,
+          1309
+        ],
+        "left_interval": [
+          5831,
+          6009
+        ],
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          1076,
+          1127
+        ],
+        "right_interval": [
+          5076,
+          5280
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1309,
+          1873
+        ],
+        "left_interval": [
+          6009,
+          8267
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          1127,
+          1825
+        ],
+        "right_interval": [
+          5280,
+          8074
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1873,
+          1931
+        ],
+        "left_interval": [
+          8267,
+          8500
+        ],
+        "phase": "retreat",
+        "right_decode_range": [
+          1825,
+          1931
+        ],
+        "right_interval": [
+          8074,
+          8500
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1873,
+          1902
+        ],
+        "left_interval": [
+          8267,
+          8383
+        ],
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          1825,
+          1878
+        ],
+        "right_interval": [
+          8074,
+          8287
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      }
+    ],
+    "primitives": [
+      {
+        "description": "Scoop the content with the spoon from the bowl to the plate.",
+        "description_zh": "\u7528\u8c03\u7fb9\u5c06\u5185\u5bb9\u4ece\u7897\u8200\u5230\u789f\u5b50\u3002",
+        "interaction_mode": "rh_main",
+        "left_decode_range": [
+          174,
+          1045
+        ],
+        "left_interval": [
+          1466,
+          4952
+        ],
+        "object_ids": [
+          "C12001",
+          "O02@0030@00002"
+        ],
+        "object_ids_left": [
+          "C12001"
+        ],
+        "object_ids_right": [
+          "O02@0030@00002"
+        ],
+        "primitive": "scoop",
+        "primitive_left": "rearrange",
+        "primitive_right": "scoop",
+        "right_decode_range": [
+          49,
+          924
+        ],
+        "right_interval": [
+          965,
+          4468
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "description": "Rearrange the spoon from one position to another position.",
+        "description_zh": "\u5c06\u8c03\u7fb9\u4ece\u4e00\u4e2a\u4f4d\u7f6e\u79fb\u52a8\u5230\u53e6\u4e00\u4e2a\u4f4d\u7f6e\u3002",
+        "interaction_mode": "rh_main",
+        "left_decode_range": null,
+        "left_interval": null,
+        "object_ids": [
+          "O02@0030@00002"
+        ],
+        "object_ids_left": null,
+        "object_ids_right": [
+          "O02@0030@00002"
+        ],
+        "primitive": "rearrange",
+        "primitive_left": null,
+        "primitive_right": "rearrange",
+        "right_decode_range": [
+          937,
+          1025
+        ],
+        "right_interval": [
+          4520,
+          4872
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "description": "Hold the bowl to the position.",
+        "description_zh": "\u7528\u624b\u6293\u63e1\u7897\u5e76\u4fdd\u6301\u4f4d\u7f6e\u3002",
+        "interaction_mode": "lh_main",
+        "left_decode_range": [
+          1045,
+          1220
+        ],
+        "left_interval": [
+          4952,
+          5653
+        ],
+        "object_ids": [
+          "C12001"
+        ],
+        "object_ids_left": [
+          "C12001"
+        ],
+        "object_ids_right": null,
+        "primitive": "hold",
+        "primitive_left": "hold",
+        "primitive_right": null,
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "description": "Wipe the bowl with the sponge.",
+        "description_zh": "\u7528\u6d77\u7ef5\u64e6\u7897\u3002",
+        "interaction_mode": "bh_main",
+        "left_decode_range": [
+          1309,
+          1873
+        ],
+        "left_interval": [
+          6009,
+          8267
+        ],
+        "object_ids": [
+          "O02@0100@00001"
+        ],
+        "object_ids_left": [
+          "O02@0100@00001"
+        ],
+        "object_ids_right": [
+          "O02@0100@00001"
+        ],
+        "primitive": "wipe",
+        "primitive_left": "wipe",
+        "primitive_right": "wipe",
+        "right_decode_range": [
+          1127,
+          1825
+        ],
+        "right_interval": [
+          5280,
+          8074
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      }
+    ],
+    "recipe": null,
+    "source_endpoint_half_open": [
+      769,
+      8500
+    ]
+  },
+  "training_anchors": {
+    "participant_fallback_to_both_hands": false,
+    "participating_hands": [
+      "left",
+      "right"
+    ],
+    "policy": "current-frame visibility of at least one task-participating hand and at least one valid t-to-t+1 hand action",
+    "valid_anchor_count": 1930,
+    "valid_anchor_fraction": 0.9994821336095288
+  },
+  "video": {
+    "codec": "mp4v",
+    "fps": 30.0,
+    "frame_count": 1931,
+    "height": 480,
+    "sha256": "92c6a2cb2faaa316fd414eede8e62458c402f255bae0effd2eee3b00612f416d",
+    "width": 848
+  }
+}

Audit/reports/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.json

@@ -0,0 +1,709 @@
+{
+  "camera": {
+    "bottom_row_error_max": 0.0,
+    "convention": "world_to_camera",
+    "extrinsics_max_element_delta_from_first": 0.5082454085350037,
+    "intrinsics_max_delta": 0.0,
+    "is_moving": true,
+    "rotation": {
+      "max_determinant_error": 4.172325134277344e-07,
+      "max_orthogonality_error": 4.76837158203125e-07
+    },
+    "translation_range_m": {
+      "max": [
+        0.03315845876932144,
+        0.11747503280639648,
+        0.6852789521217346
+      ],
+      "min": [
+        -0.4179677665233612,
+        -0.28537702560424805,
+        0.4675871729850769
+      ]
+    }
+  },
+  "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric",
+  "frame_alignment": {
+    "exact_rgb_mocap_matches": 2256,
+    "mocap_frame_count_raw": 9030,
+    "rgb_frame_count_raw": 2256,
+    "rgb_frame_step_histogram": {
+      "3": 6,
+      "4": 2236,
+      "5": 13
+    },
+    "rgb_frame_step_median": 4.0,
+    "rgb_ids_missing_from_mocap": [],
+    "rgb_ids_missing_from_raw_mano": [],
+    "selected_frame_count": 1931,
+    "selected_frame_id_first": 769,
+    "selected_frame_id_last": 8496,
+    "selection": "exact source frame-ID intersection; no nearest-frame fallback"
+  },
+  "index": {
+    "episode_count": 1,
+    "episode_index": 0,
+    "sample_count": 1931
+  },
+  "left": {
+    "annotation_valid_fraction": 1.0,
+    "beta_max_delta": 0.0,
+    "centered_mano_root_error_max_m": 0.0,
+    "geometric_visible_fraction": 0.9269808389435525,
+    "joints_in_frame_count_median": 21.0,
+    "joints_in_frame_count_p05": 0.0,
+    "mesh_vertices_in_frame_fraction_p05": 0.0,
+    "quaternion_norm_error_max": 1.1920928955078125e-07,
+    "rotation": {
+      "max_determinant_error": 1.1920928955078125e-07,
+      "max_orthogonality_error": 1.1920928955078125e-07
+    },
+    "task_active_fraction": 0.833764888658726,
+    "temporal": {
+      "joint_speed_max_mps": 0.6915868073701859,
+      "joint_speed_p95_mps": 0.09914277540519828,
+      "wrist_speed_max_mps": 0.3304008487612009,
+      "wrist_speed_p50_mps": 0.011308134708087891,
+      "wrist_speed_p95_mps": 0.084205345949158
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "objects": {
+    "C12001": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": true,
+        "max_rotation_displacement_deg": 27.46525753675541,
+        "max_translation_displacement_m": 0.13600690934935442
+      },
+      "rotation": {
+        "max_determinant_error": 8.344650268554688e-07,
+        "max_orthogonality_error": 9.5367431640625e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.00011599162826314569,
+          0.06942780315876007,
+          0.20651951432228088
+        ],
+        "min": [
+          -0.09820790588855743,
+          0.03677818551659584,
+          0.0882682278752327
+        ]
+      }
+    },
+    "O02@0017@00002": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": false,
+        "max_rotation_displacement_deg": 0.6979305604272346,
+        "max_translation_displacement_m": 0.0011904526820621345
+      },
+      "rotation": {
+        "max_determinant_error": 2.980232238769531e-07,
+        "max_orthogonality_error": 3.5762786865234375e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.14978064596652985,
+          0.013917146250605583,
+          0.07753923535346985
+        ],
+        "min": [
+          0.1489780843257904,
+          0.01303054764866829,
+          0.07638830691576004
+        ]
+      }
+    },
+    "O02@0030@00002": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": true,
+        "max_rotation_displacement_deg": 68.79707775869402,
+        "max_translation_displacement_m": 0.3128508920893646
+      },
+      "rotation": {
+        "max_determinant_error": 3.5762786865234375e-07,
+        "max_orthogonality_error": 3.5762786865234375e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.40805307030677795,
+          0.18298612534999847,
+          0.2643045485019684
+        ],
+        "min": [
+          -0.05577271804213524,
+          0.05358877778053284,
+          0.0773523673415184
+        ]
+      }
+    },
+    "O02@0100@00001": {
+      "annotation_valid_fraction": 1.0,
+      "bottom_row_error_max": 0.0,
+      "convention": "object_to_world; transform_camspace = world_to_camera @ object_to_world",
+      "motion": {
+        "is_moving": true,
+        "max_rotation_displacement_deg": 123.03509047843191,
+        "max_translation_displacement_m": 0.3799079002673594
+      },
+      "rotation": {
+        "max_determinant_error": 3.5762786865234375e-07,
+        "max_orthogonality_error": 4.76837158203125e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.20378628373146057,
+          0.21925698220729828,
+          0.16977769136428833
+        ],
+        "min": [
+          -0.042702049016952515,
+          0.0753541886806488,
+          -0.12428052723407745
+        ]
+      }
+    }
+  },
+  "outputs": {
+    "episode": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.npy",
+    "episode_frame_index": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Annotation/oakink2_test/episode_frame_index.npz",
+    "overlay": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Audit/overlays/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.jpg",
+    "video": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output/Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/egocentric/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.mp4"
+  },
+  "quality_gate_notes": {
+    "label_validity": "kept_frames and annotation_valid contain finite MANO labels",
+    "rgb_detector": "not used in this pilot; overlay contact sheet requires visual review",
+    "task_activity": "task_active follows the official half-open per-hand primitive intervals",
+    "temporal_outlier_policy": "metrics are reported but not threshold-filtered from one episode; robust thresholds must be calibrated on the full dataset distribution",
+    "visibility": "visible is a separate geometric observability mask, not a label-validity mask"
+  },
+  "right": {
+    "annotation_valid_fraction": 1.0,
+    "beta_max_delta": 0.0,
+    "centered_mano_root_error_max_m": 0.0,
+    "geometric_visible_fraction": 0.7767995857068877,
+    "joints_in_frame_count_median": 11.0,
+    "joints_in_frame_count_p05": 0.0,
+    "mesh_vertices_in_frame_fraction_p05": 0.03341902419924736,
+    "quaternion_norm_error_max": 1.1920928955078125e-07,
+    "rotation": {
+      "max_determinant_error": 1.1920928955078125e-07,
+      "max_orthogonality_error": 1.1920928955078125e-07
+    },
+    "task_active_fraction": 0.8601760745727602,
+    "temporal": {
+      "joint_speed_max_mps": 0.6598672829568386,
+      "joint_speed_p95_mps": 0.2742575732991097,
+      "wrist_speed_max_mps": 0.3508009482175112,
+      "wrist_speed_p50_mps": 0.056934295571409166,
+      "wrist_speed_p95_mps": 0.2314079620409757
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "source": {
+    "annotation_sha256": "46bbd5005e2e81f108bb74c59eec4310bf00b60f2b691a2ae6e9f6ad413bb6e2",
+    "dataset": "OakInk2",
+    "dataset_revision": "21705616140d726607027e70d58b7837f442ffd8",
+    "mocap_clock_inferred": true,
+    "mocap_frame_id_clock_hz": 120.0,
+    "rgb_fps": 30.0,
+    "sequence_key": "scene_01__A003/seq__c992d1f58dbad7366f42__2023-04-16-10-00-22",
+    "sequence_token": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22",
+    "split_group_id": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22"
+  },
+  "status": "passed",
+  "task": {
+    "initial_condition": null,
+    "instruction": "Scoop something out of the bowl and wipe the bowl with the sponge.",
+    "pdg": {
+      "e": [
+        [
+          0,
+          1
+        ]
+      ],
+      "id_map": {
+        "((1466, 4952), (965, 4468))": 0,
+        "((6009, 8267), (5280, 8074))": 1
+      },
+      "v": [
+        0,
+        1
+      ]
+    },
+    "phases": [
+      {
+        "left_decode_range": [
+          0,
+          174
+        ],
+        "left_interval": [
+          769,
+          1466
+        ],
+        "phase": "approach",
+        "right_decode_range": [
+          0,
+          49
+        ],
+        "right_interval": [
+          769,
+          965
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": [
+          87,
+          174
+        ],
+        "left_interval": [
+          1117,
+          1466
+        ],
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          25,
+          49
+        ],
+        "right_interval": [
+          867,
+          965
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": [
+          174,
+          1045
+        ],
+        "left_interval": [
+          1466,
+          4952
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          49,
+          924
+        ],
+        "right_interval": [
+          965,
+          4468
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          924,
+          931
+        ],
+        "right_interval": [
+          4468,
+          4494
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          924,
+          931
+        ],
+        "right_interval": [
+          4468,
+          4494
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          931,
+          937
+        ],
+        "right_interval": [
+          4494,
+          4520
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          931,
+          937
+        ],
+        "right_interval": [
+          4494,
+          4520
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "interaction",
+        "right_decode_range": [
+          937,
+          1025
+        ],
+        "right_interval": [
+          4520,
+          4872
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          1025,
+          1076
+        ],
+        "right_interval": [
+          4872,
+          5076
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          1025,
+          1076
+        ],
+        "right_interval": [
+          4872,
+          5076
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1045,
+          1220
+        ],
+        "left_interval": [
+          4952,
+          5653
+        ],
+        "phase": "interaction",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1220,
+          1265
+        ],
+        "left_interval": [
+          5653,
+          5831
+        ],
+        "phase": "retreat",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1220,
+          1265
+        ],
+        "left_interval": [
+          5653,
+          5831
+        ],
+        "phase": "retreat_uniform",
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "left_decode_range": [
+          1265,
+          1309
+        ],
+        "left_interval": [
+          5831,
+          6009
+        ],
+        "phase": "approach",
+        "right_decode_range": [
+          1076,
+          1127
+        ],
+        "right_interval": [
+          5076,
+          5280
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1265,
+          1309
+        ],
+        "left_interval": [
+          5831,
+          6009
+        ],
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          1076,
+          1127
+        ],
+        "right_interval": [
+          5076,
+          5280
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1309,
+          1873
+        ],
+        "left_interval": [
+          6009,
+          8267
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          1127,
+          1825
+        ],
+        "right_interval": [
+          5280,
+          8074
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1873,
+          1931
+        ],
+        "left_interval": [
+          8267,
+          8500
+        ],
+        "phase": "retreat",
+        "right_decode_range": [
+          1825,
+          1931
+        ],
+        "right_interval": [
+          8074,
+          8500
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      },
+      {
+        "left_decode_range": [
+          1873,
+          1902
+        ],
+        "left_interval": [
+          8267,
+          8383
+        ],
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          1825,
+          1878
+        ],
+        "right_interval": [
+          8074,
+          8287
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      }
+    ],
+    "primitives": [
+      {
+        "description": "Scoop the content with the spoon from the bowl to the plate.",
+        "description_zh": "\u7528\u8c03\u7fb9\u5c06\u5185\u5bb9\u4ece\u7897\u8200\u5230\u789f\u5b50\u3002",
+        "interaction_mode": "rh_main",
+        "left_decode_range": [
+          174,
+          1045
+        ],
+        "left_interval": [
+          1466,
+          4952
+        ],
+        "object_ids": [
+          "C12001",
+          "O02@0030@00002"
+        ],
+        "object_ids_left": [
+          "C12001"
+        ],
+        "object_ids_right": [
+          "O02@0030@00002"
+        ],
+        "primitive": "scoop",
+        "primitive_left": "rearrange",
+        "primitive_right": "scoop",
+        "right_decode_range": [
+          49,
+          924
+        ],
+        "right_interval": [
+          965,
+          4468
+        ],
+        "source_interval_key": "((1466, 4952), (965, 4468))"
+      },
+      {
+        "description": "Rearrange the spoon from one position to another position.",
+        "description_zh": "\u5c06\u8c03\u7fb9\u4ece\u4e00\u4e2a\u4f4d\u7f6e\u79fb\u52a8\u5230\u53e6\u4e00\u4e2a\u4f4d\u7f6e\u3002",
+        "interaction_mode": "rh_main",
+        "left_decode_range": null,
+        "left_interval": null,
+        "object_ids": [
+          "O02@0030@00002"
+        ],
+        "object_ids_left": null,
+        "object_ids_right": [
+          "O02@0030@00002"
+        ],
+        "primitive": "rearrange",
+        "primitive_left": null,
+        "primitive_right": "rearrange",
+        "right_decode_range": [
+          937,
+          1025
+        ],
+        "right_interval": [
+          4520,
+          4872
+        ],
+        "source_interval_key": "(None, (4520, 4872))"
+      },
+      {
+        "description": "Hold the bowl to the position.",
+        "description_zh": "\u7528\u624b\u6293\u63e1\u7897\u5e76\u4fdd\u6301\u4f4d\u7f6e\u3002",
+        "interaction_mode": "lh_main",
+        "left_decode_range": [
+          1045,
+          1220
+        ],
+        "left_interval": [
+          4952,
+          5653
+        ],
+        "object_ids": [
+          "C12001"
+        ],
+        "object_ids_left": [
+          "C12001"
+        ],
+        "object_ids_right": null,
+        "primitive": "hold",
+        "primitive_left": "hold",
+        "primitive_right": null,
+        "right_decode_range": null,
+        "right_interval": null,
+        "source_interval_key": "((4952, 5653), None)"
+      },
+      {
+        "description": "Wipe the bowl with the sponge.",
+        "description_zh": "\u7528\u6d77\u7ef5\u64e6\u7897\u3002",
+        "interaction_mode": "bh_main",
+        "left_decode_range": [
+          1309,
+          1873
+        ],
+        "left_interval": [
+          6009,
+          8267
+        ],
+        "object_ids": [
+          "O02@0100@00001"
+        ],
+        "object_ids_left": [
+          "O02@0100@00001"
+        ],
+        "object_ids_right": [
+          "O02@0100@00001"
+        ],
+        "primitive": "wipe",
+        "primitive_left": "wipe",
+        "primitive_right": "wipe",
+        "right_decode_range": [
+          1127,
+          1825
+        ],
+        "right_interval": [
+          5280,
+          8074
+        ],
+        "source_interval_key": "((6009, 8267), (5280, 8074))"
+      }
+    ],
+    "recipe": null,
+    "source_endpoint_half_open": [
+      769,
+      8500
+    ]
+  },
+  "training_anchors": {
+    "participant_fallback_to_both_hands": false,
+    "participating_hands": [
+      "left",
+      "right"
+    ],
+    "policy": "current-frame visibility of at least one task-participating hand and at least one valid t-to-t+1 hand action",
+    "valid_anchor_count": 1930,
+    "valid_anchor_fraction": 0.9994821336095288
+  },
+  "video": {
+    "codec": "mp4v",
+    "fps": 30.0,
+    "frame_count": 1931,
+    "height": 480,
+    "sha256": "2eda1d787ec56c184c22504c1ddd3fb4e9081670cb3c812b0fb5977a220cadb6",
+    "width": 848
+  }
+}

Audit/rgb_detector/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/full_frame_summary.json

@@ -0,0 +1,86 @@
+{
+  "coverage": "every converted frame",
+  "dataset_name": "oakink2_test",
+  "dataset_root": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/output",
+  "decode_errors": [],
+  "decoded_frame_count": 7724,
+  "detector": "/scratch/chonghej/VLA/VLA-yuzhen/weights/hawor/external/detector.pt",
+  "detector_class_names": {
+    "0": "left",
+    "1": "right"
+  },
+  "detector_confidence": 0.05,
+  "detector_sha256": "5ef3df44e42d2db52d4ffe91f83a22ce9925e2acc9abebf453f2c5d22e380033",
+  "episode_count": 4,
+  "episodes": [
+    {
+      "aligned_fraction": 1.0,
+      "assessable_hand_samples": 3862,
+      "center_distance_normalized_median": 0.029256945170314207,
+      "decoded_frame_count": 1931,
+      "detector_frame_count": 1931,
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left",
+      "keypoint_error_normalized_median": 0.007654473880612967,
+      "projected_points_inside_box_ratio_median": 1.0,
+      "requested_frame_count": 1931,
+      "same_side_detection_fraction": 1.0,
+      "split": "test",
+      "status": "pass",
+      "strong_aligned_fraction": 0.9836872087001554,
+      "video_name": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_left/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.mp4"
+    },
+    {
+      "aligned_fraction": 0.9106680476437079,
+      "assessable_hand_samples": 3862,
+      "center_distance_normalized_median": 0.022267928649692417,
+      "decoded_frame_count": 1931,
+      "detector_frame_count": 1931,
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right",
+      "keypoint_error_normalized_median": 0.007598661429968542,
+      "projected_points_inside_box_ratio_median": 0.9523809523809523,
+      "requested_frame_count": 1931,
+      "same_side_detection_fraction": 0.9145520455722423,
+      "split": "test",
+      "status": "pass",
+      "strong_aligned_fraction": 0.8249611600207146,
+      "video_name": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_right/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.mp4"
+    },
+    {
+      "aligned_fraction": 1.0,
+      "assessable_hand_samples": 3862,
+      "center_distance_normalized_median": 0.02098007483856157,
+      "decoded_frame_count": 1931,
+      "detector_frame_count": 1931,
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top",
+      "keypoint_error_normalized_median": 0.007207901279819285,
+      "projected_points_inside_box_ratio_median": 0.8571428571428571,
+      "requested_frame_count": 1931,
+      "same_side_detection_fraction": 1.0,
+      "split": "test",
+      "status": "pass",
+      "strong_aligned_fraction": 0.9847229414810978,
+      "video_name": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_top/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.mp4"
+    },
+    {
+      "aligned_fraction": 0.9899696048632218,
+      "assessable_hand_samples": 3290,
+      "center_distance_normalized_median": 0.038828502681355376,
+      "decoded_frame_count": 1931,
+      "detector_frame_count": 1931,
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric",
+      "keypoint_error_normalized_median": 0.01596227341533426,
+      "projected_points_inside_box_ratio_median": 0.8571428571428571,
+      "requested_frame_count": 1931,
+      "same_side_detection_fraction": 0.9908814589665653,
+      "split": "test",
+      "status": "pass",
+      "strong_aligned_fraction": 0.882370820668693,
+      "video_name": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/egocentric/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.mp4"
+    }
+  ],
+  "interpretation": "Detector agreement is independent evidence for RGB/MANO alignment. Detector misses are unverified, not automatic MANO failures.",
+  "requested_frame_count": 7724,
+  "status_counts": {
+    "pass": 4
+  }
+}

Audit/rgb_detector/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/per_frame.jsonl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84b7a8aff9028d5f4cd81028124e51e4fce69aae86e91e6b233b76595baec637
+size 10618314

Build/partial_statistics/test/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json

@@ -0,0 +1,1112 @@
+{
+  "angle": {
+    "accumulators": {
+      "action_left": {
+        "count": 7720,
+        "sum": [
+          -0.0271043935790658,
+          -0.021980473771691322,
+          0.05400744080543518,
+          -0.7072181179533779,
+          -1.0959168203661704,
+          -0.6220802278093913,
+          406.26754925306886,
+          2433.003876298666,
+          -1704.9786638864898,
+          1027.4632701575756,
+          -106.19828760511882,
+          -4619.173605263233,
+          -1036.950995117426,
+          923.5079135596752,
+          -4329.491877406836,
+          385.53772803308675,
+          470.5526420456008,
+          -4624.189299702644,
+          -1739.980265557766,
+          -120.4703962362255,
+          -4308.4821746349335,
+          -669.0941986920079,
+          173.8156721582418,
+          -4251.769988000393,
+          -2755.7252776660025,
+          -1535.8398609086871,
+          -6276.699953198433,
+          -3111.864056944847,
+          -418.3918243162334,
+          -2702.475481159985,
+          -1993.9817510172725,
+          -1684.8860830068588,
+          -2082.7240006625652,
+          -1696.5919178460317,
+          -14.600217907340266,
+          -6553.147352099419,
+          -596.9449717756361,
+          -393.69976546929956,
+          -3837.826578259468,
+          -894.7969015538692,
+          -1492.9217988848686,
+          -3683.2149022221565,
+          6060.1287924051285,
+          2067.542376279831,
+          3026.2158004641533,
+          -827.6437486467767,
+          -772.375165682286,
+          -2828.553484559059,
+          527.2210209441837,
+          177.79263959355012,
+          618.2882777936757
+        ],
+        "sumsq": [
+          0.007354979679701542,
+          0.004467891292612653,
+          0.006341108005668339,
+          0.6539163782448877,
+          0.654872453020008,
+          0.5549665895500481,
+          24.527600370452333,
+          792.4962388541045,
+          527.6212551460198,
+          145.72126210791592,
+          3.9320834700310288,
+          2876.9085509871998,
+          150.94354734662974,
+          112.43112495282999,
+          2566.09228565157,
+          26.12810901883691,
+          48.29392821535088,
+          2848.471534208699,
+          394.9186713099922,
+          7.1264508015296215,
+          2482.9716540494965,
+          72.64042949143784,
+          5.662314379853269,
+          2442.9634915640045,
+          1219.0261365857366,
+          342.63150401480846,
+          5425.892424530763,
+          1296.8296417050642,
+          36.40052896750517,
+          1029.7965987864645,
+          543.2129474046143,
+          370.87728631967474,
+          593.4715152946145,
+          417.4121582636279,
+          23.41386067320372,
+          5845.00912782884,
+          51.9874535902208,
+          23.489086213064173,
+          1977.1629111635546,
+          106.14260299105356,
+          290.8566238281905,
+          1817.5586620132078,
+          4937.745652145128,
+          566.8673121687656,
+          1208.5823715805782,
+          107.82877885596181,
+          113.21608035846916,
+          1048.796336169751,
+          118.51033436328531,
+          188.28952086893204,
+          66.43726281930682
+        ]
+      },
+      "action_right": {
+        "count": 7720,
+        "sum": [
+          0.10733774676918983,
+          0.034534698352217674,
+          -0.03418046236038208,
+          1.3131044111316896,
+          -5.708967397724791,
+          -2.1331651301434817,
+          -0.3896570531069301,
+          -1813.164072192274,
+          4218.806186493486,
+          1375.6166266798973,
+          0.9491642036773555,
+          4951.647772520781,
+          -1220.2577188004507,
+          -937.2878700047731,
+          4454.471153259277,
+          321.3575828641551,
+          1063.3125729402527,
+          6470.705226778984,
+          -1342.224031507969,
+          102.62127590693126,
+          4618.6163947582245,
+          -1424.322344571352,
+          175.87198123690905,
+          3034.4619024395943,
+          -1818.578263469215,
+          2341.5991778075695,
+          5237.355182608037,
+          -2978.9062810242176,
+          263.64308071817504,
+          2855.290110886097,
+          -2708.0386243462563,
+          1694.0014449357986,
+          2494.075219899416,
+          -1521.6542005660012,
+          1596.7513843866473,
+          6935.176217794418,
+          -803.1761243790388,
+          311.74382647126913,
+          3384.6704158186913,
+          -1124.4642354547977,
+          1282.9956604838371,
+          3640.108658671379,
+          4849.477489688434,
+          -2320.2905506461393,
+          503.81521192379296,
+          -500.4367106862155,
+          145.82323953468585,
+          2729.4093903303146,
+          -477.4816972545625,
+          1634.1145523716696,
+          -1454.3730192165822
+        ],
+        "sumsq": [
+          0.04019968516653209,
+          0.02923172939915895,
+          0.03378836690550102,
+          2.0111857369540065,
+          1.241467517612968,
+          1.5610137387005487,
+          48.56218794931839,
+          541.0444321699144,
+          4073.020051364296,
+          255.03350763328385,
+          8.599637017775578,
+          3738.845723394638,
+          228.14440080075974,
+          118.35025485332166,
+          2772.677696407555,
+          28.30789568269117,
+          190.71570090447048,
+          6259.674187885127,
+          235.50551875185084,
+          6.9639374937981895,
+          2865.8078027415536,
+          274.21198230859864,
+          5.505315619115737,
+          1272.3871562339223,
+          549.4698453097676,
+          735.0033252469717,
+          3869.313625917685,
+          1222.8884279446809,
+          21.331530759946872,
+          1140.8809278781457,
+          985.6349566764484,
+          380.37869887999153,
+          867.7704772482673,
+          374.4125834357452,
+          378.9966735665934,
+          6863.420265029034,
+          88.06020741523324,
+          17.326529344661832,
+          1569.8039972842414,
+          169.7468466648408,
+          223.9557690222401,
+          1780.0442220831756,
+          3840.7964641384133,
+          1101.5072900626271,
+          770.2102003051457,
+          88.9265136261375,
+          140.33259718140982,
+          1009.2223114287208,
+          57.6361364638026,
+          405.04398165520627,
+          322.41445525563984
+        ]
+      },
+      "state_left": {
+        "count": 7720,
+        "sum": [
+          100.00468720588833,
+          -764.3115956103429,
+          7328.190900593996,
+          -5086.30695523345,
+          2432.7069155401196,
+          3024.2210211816287,
+          406.18843636568636,
+          2433.096178561449,
+          -1704.5081640133285,
+          1027.089830905199,
+          -106.48658872283704,
+          -4619.689104855061,
+          -1036.3191957175732,
+          923.6288693845272,
+          -4329.835508078337,
+          385.52830742957303,
+          470.55846307991305,
+          -4624.221452474594,
+          -1740.1615050435066,
+          -120.70613635395421,
+          -4308.427034378052,
+          -669.672578881844,
+          173.98168897905998,
+          -4252.014708697796,
+          -2756.094446543604,
+          -1535.778740130365,
+          -6276.643099308014,
+          -3112.0929214954376,
+          -418.33196749165654,
+          -2702.575103826821,
+          -1993.2729530259967,
+          -1684.7846927046776,
+          -2083.0916236042976,
+          -1696.8369690362888,
+          -14.60789615532849,
+          -6553.220695614815,
+          -597.0623392332345,
+          -393.6639117872137,
+          -3837.913023710251,
+          -894.5586039721966,
+          -1492.7552528977394,
+          -3683.1701276898384,
+          6059.929785013199,
+          2067.9036867320538,
+          3026.381825864315,
+          -827.8265211490798,
+          -773.4526932276785,
+          -2828.4203379154205,
+          527.1331767810043,
+          177.711276690432,
+          618.4415538795292,
+          1264.2825824022293,
+          -1287.5811338424683,
+          473.2331398129463,
+          1181.4810460805893,
+          -1611.5620374679565,
+          -2640.336229801178,
+          -1260.005853176117,
+          -1801.6700541973114,
+          2121.7562663555145,
+          1374.6882736682892
+        ],
+        "sumsq": [
+          121.064343762197,
+          241.80376751220572,
+          7963.28650894477,
+          46981.09997587135,
+          2911.8190143599677,
+          29172.27287902112,
+          24.514502971928078,
+          792.5263029939723,
+          527.2232665530846,
+          145.55961803040066,
+          3.937503246354524,
+          2877.2017872972388,
+          150.62409801501354,
+          112.46252987011628,
+          2566.2091972367425,
+          26.1262697228151,
+          48.29381805438008,
+          2848.4949560976197,
+          394.9826047382935,
+          7.101670877585049,
+          2482.9340915913144,
+          72.5808826732951,
+          5.6591781390521625,
+          2443.0600279028704,
+          1218.9061686751904,
+          342.61865907910766,
+          5425.8593355943685,
+          1296.9250813046326,
+          36.405097009902434,
+          1029.8123910768302,
+          543.0486445202508,
+          370.8323766158933,
+          593.5670273702626,
+          417.4110774321046,
+          23.414237847248664,
+          5845.0524085666275,
+          51.987463657282774,
+          23.48905814261455,
+          1977.202935332514,
+          106.08928095393291,
+          290.7973589232391,
+          1817.5368790126415,
+          4937.599021366587,
+          566.9761661125409,
+          1208.688059592798,
+          107.84112535089122,
+          112.87698564922223,
+          1048.6841520988708,
+          118.52700013151097,
+          188.31757300198774,
+          66.4695433436733,
+          207.0479855136841,
+          214.7493751589451,
+          29.009016142126683,
+          180.8157334517714,
+          336.41608816164137,
+          903.0279023835102,
+          205.64957902047595,
+          420.4682622009482,
+          583.1411468677285,
+          244.78858157527213
+        ]
+      },
+      "state_right": {
+        "count": 7720,
+        "sum": [
+          -594.1428242586553,
+          -1037.0395698659122,
+          7065.901150971651,
+          -6306.007849608124,
+          -4200.570382400495,
+          1519.2116224762121,
+          -0.5636000064550899,
+          -1812.822176313959,
+          4219.209086235613,
+          1376.3617088198662,
+          0.8001433828212612,
+          4952.3404322862625,
+          -1221.2622887481702,
+          -937.2657629102468,
+          4455.3578081429005,
+          321.133551892628,
+          1063.3540505757555,
+          6471.700827717781,
+          -1342.1208206415176,
+          102.82935837424884,
+          4618.394944787025,
+          -1424.427371904254,
+          175.82944150624098,
+          3035.0295070409775,
+          -1819.89874503779,
+          2341.7267858088017,
+          5238.268181358842,
+          -2979.6501739919186,
+          263.27148251916515,
+          2855.0759405493736,
+          -2706.670850753784,
+          1694.1343231797218,
+          2494.7575082480907,
+          -1522.5781125547364,
+          1596.9243792238121,
+          6935.952100992203,
+          -803.1009671390057,
+          311.96864062873647,
+          3385.1092851758003,
+          -1124.7352005243301,
+          1282.662789106369,
+          3640.06118786335,
+          4849.03338930849,
+          -2321.1556974917185,
+          503.0583179909736,
+          -501.12286951092756,
+          147.24973864812637,
+          2729.9635804891586,
+          -477.3110977939607,
+          1634.5282114674337,
+          -1453.9540610890836,
+          -850.9111702442169,
+          -1947.4745750427246,
+          -911.5972527861595,
+          1180.7113337516785,
+          1530.6181180477142,
+          860.7326811552048,
+          139.1317442059517,
+          411.2177188694477,
+          -1880.0881069898605,
+          -1659.7127145528793
+        ],
+        "sumsq": [
+          148.47125828439837,
+          166.0549329752109,
+          7315.810199056028,
+          34119.84500701598,
+          4279.220959524876,
+          26558.97091309964,
+          48.52085005402646,
+          540.9236013853847,
+          4073.5277400489585,
+          255.28193121686783,
+          8.586391139737273,
+          3739.034383962869,
+          228.67015842554255,
+          118.34503110535758,
+          2773.082431307772,
+          28.26151756887896,
+          190.72025066632204,
+          6260.58988689848,
+          235.46989997432442,
+          6.9296787029526,
+          2865.658659056514,
+          274.226563771502,
+          5.502645773991496,
+          1272.5597634184244,
+          549.2426105019487,
+          735.0452746849589,
+          3869.5973475071805,
+          1223.2590452086324,
+          21.33627153702755,
+          1140.7659716331705,
+          984.8981638241128,
+          380.44085166057675,
+          868.1767565403532,
+          374.3439180182628,
+          379.01637391141867,
+          6863.9622045340075,
+          88.05353690996061,
+          17.313404024686516,
+          1570.0449694405224,
+          169.8037686339007,
+          223.80575208664,
+          1780.0107345826655,
+          3840.2976212891745,
+          1101.5650347964115,
+          770.5513627851574,
+          89.0547190688069,
+          139.71390687444125,
+          1009.564829239454,
+          57.584639045448235,
+          405.21242678621206,
+          322.17999829209435,
+          93.78883674175941,
+          491.27684202562705,
+          107.64372426000908,
+          180.5802142033248,
+          303.4704434321133,
+          95.96641818764533,
+          2.507466612149012,
+          21.904146672563652,
+          457.86674741511723,
+          356.8194682446212
+        ]
+      }
+    },
+    "action_type": "angle",
+    "dataset_name": "oakink2_test",
+    "indexed_sample_count": 7720
+  },
+  "keypoints": {
+    "accumulators": {
+      "action_left": {
+        "count": 7720,
+        "sum": [
+          -0.0271043935790658,
+          -0.021980473771691322,
+          0.05400744080543518,
+          -0.7072181179533779,
+          -1.0959168203661704,
+          -0.6220802278093913,
+          0.0,
+          0.0,
+          0.0,
+          190.16847387701273,
+          -121.01816675812006,
+          196.27902282774448,
+          404.8598358184099,
+          -164.9859357625246,
+          282.4249015748501,
+          595.2467906475067,
+          -251.5128336250782,
+          277.95127546042204,
+          843.1461357474327,
+          -340.49534215033054,
+          291.8701210990548,
+          689.2869509160519,
+          -39.61474190466106,
+          155.64541215449572,
+          934.74075999856,
+          -64.21693059569225,
+          94.30917020142078,
+          1035.8414057791233,
+          -192.14028903469443,
+          49.210540062747896,
+          1072.1308359205723,
+          -361.3176620602608,
+          21.16753951367673,
+          739.8144036829472,
+          -11.863165671937168,
+          -27.329293715767562,
+          945.8979513347149,
+          -132.23121318221092,
+          -82.30092029832304,
+          1000.5904354453087,
+          -295.92094249278307,
+          -118.99649412371218,
+          1001.7657758891582,
+          -473.729118257761,
+          -144.15799886919558,
+          638.5800868570805,
+          -31.131064077839255,
+          -205.41466680169106,
+          787.0052480399609,
+          -189.322395991534,
+          -245.1296986863017,
+          803.7624982595444,
+          -370.5265429839492,
+          -266.89258570224047,
+          784.5185787081718,
+          -538.3534815758467,
+          -244.11928062140942,
+          536.2530333101749,
+          -76.16018483415246,
+          -331.7170299887657,
+          608.2950923442841,
+          -199.67989432439208,
+          -392.6493306905031,
+          612.8371618390083,
+          -334.0843680128455,
+          -401.9971683770418,
+          610.3488961309195,
+          -456.9018721804023,
+          -369.08846236020327
+        ],
+        "sumsq": [
+          0.007354979679701542,
+          0.004467891292612653,
+          0.006341108005668339,
+          0.6539163782448877,
+          0.654872453020008,
+          0.5549665895500481,
+          0.0,
+          0.0,
+          0.0,
+          4.68446223532588,
+          1.8970721095203167,
+          4.990343886297282,
+          21.240900705521888,
+          3.607592570189959,
+          10.379084301347584,
+          45.90771990926423,
+          8.38595601386211,
+          10.150930511634213,
+          92.1171370666988,
+          15.603956565572622,
+          11.833341687205468,
+          61.54358817398344,
+          0.20328080002266272,
+          3.138017399578193,
+          113.18342539366489,
+          0.6890586408138983,
+          1.1798694656074435,
+          139.09771818500724,
+          5.062994720068488,
+          0.3785350624409515,
+          149.51825620193466,
+          17.184694003850876,
+          0.15103157641334178,
+          70.89706630787023,
+          0.018229883388931143,
+          0.09674744753932127,
+          115.91719761746279,
+          2.3287411485390637,
+          0.8959599888010765,
+          129.9153492859879,
+          11.518410500208901,
+          1.8846441514776784,
+          131.1524304931413,
+          29.409459732337897,
+          2.7996359654319702,
+          52.8218299650776,
+          0.12553667754157116,
+          5.465697582545434,
+          80.31166339550822,
+          4.820757181057133,
+          7.802611422114367,
+          84.35700229521628,
+          18.274592268748798,
+          9.304484455511185,
+          81.97106022316505,
+          38.37438161869239,
+          7.9296175149152734,
+          37.249652297197734,
+          0.7513437505148153,
+          14.253392225980404,
+          48.019453161566496,
+          5.329044678159369,
+          19.989774662635806,
+          49.22217196003823,
+          14.943407812392033,
+          21.106179561502305,
+          49.86222409505046,
+          27.9170759309487,
+          18.178542537466875
+        ]
+      },
+      "action_right": {
+        "count": 7720,
+        "sum": [
+          0.10733774676918983,
+          0.034534698352217674,
+          -0.03418046236038208,
+          1.3131044111316896,
+          -5.708967397724791,
+          -2.1331651301434817,
+          0.0,
+          0.0,
+          0.0,
+          -187.58135084062815,
+          -119.7129584737122,
+          201.88517220318317,
+          -373.7515273988247,
+          -233.7402129843831,
+          291.5508567839861,
+          -513.0687477141619,
+          -376.4180945456028,
+          281.4421937018633,
+          -701.815886169672,
+          -542.8579481393099,
+          359.8353233858943,
+          -686.1891729235649,
+          -40.75403114594519,
+          159.06055778265,
+          -888.3880370557308,
+          -133.26311886192707,
+          116.46946319565177,
+          -936.5943265855312,
+          -285.8694658204913,
+          86.28326646843925,
+          -907.2313133776188,
+          -449.81068716943264,
+          68.36826354204823,
+          -736.8755514025688,
+          -12.619331780355424,
+          -26.859163210727274,
+          -901.7077708542347,
+          -174.75016919896007,
+          -36.20178296807302,
+          -911.3500680923462,
+          -342.28827802091837,
+          -48.04090938784793,
+          -855.1893391609192,
+          -520.9076910167933,
+          -59.46047477661159,
+          -637.5910566151142,
+          -30.947337662801147,
+          -206.58511105924845,
+          -776.6883914172649,
+          -193.16993221640587,
+          -202.1239614635706,
+          -793.5988442003727,
+          -371.8902162462473,
+          -198.43061070144176,
+          -769.8775978684425,
+          -533.5432375669479,
+          -162.0980940796435,
+          -537.7759544551373,
+          -76.78450848907232,
+          -334.3873242735863,
+          -639.9020734727383,
+          -187.33713161759079,
+          -383.971980959177,
+          -667.1741344332695,
+          -321.8316956833005,
+          -397.0508762598038,
+          -667.555181980133,
+          -448.17561074346304,
+          -363.5584651529789
+        ],
+        "sumsq": [
+          0.04019968516653209,
+          0.02923172939915895,
+          0.03378836690550102,
+          2.0111857369540065,
+          1.241467517612968,
+          1.5610137387005487,
+          0.0,
+          0.0,
+          0.0,
+          4.55787087865244,
+          1.8563720759754083,
+          5.279484812889964,
+          18.16268455649253,
+          7.1174791324388105,
+          11.141070187784601,
+          34.31835003041952,
+          18.57247373613231,
+          11.162297067641392,
+          64.73141553675771,
+          38.90048742910922,
+          19.259961452050234,
+          60.99165557480952,
+          0.21514132832221072,
+          3.2772358862862916,
+          102.5238585429804,
+          3.7512780244111332,
+          1.8825759611299677,
+          114.76706997203499,
+          12.456542578244502,
+          1.2043080324145676,
+          109.53652752972889,
+          27.89714342010164,
+          0.9157298719888074,
+          70.33491946306253,
+          0.020627918987770666,
+          0.09344749331388805,
+          105.71049304351445,
+          4.387656582017208,
+          0.21468587059425837,
+          109.34335802958063,
+          15.728620306401563,
+          0.4033927251392445,
+          99.33186043480293,
+          35.559555607938,
+          0.6295048130885843,
+          52.658336201500006,
+          0.12405928865519787,
+          5.528161672456547,
+          78.44660003881836,
+          5.098860399165723,
+          5.331344438438529,
+          83.20985369353255,
+          18.38771694464039,
+          5.253067857669078,
+          80.9865786494809,
+          37.386801636578234,
+          3.741514302397761,
+          37.46152554276371,
+          0.7637125315946649,
+          14.48379308741592,
+          53.109932715509736,
+          4.697977160562713,
+          19.10699396906682,
+          58.20443142380684,
+          13.86572365587652,
+          20.497569470795433,
+          59.418291865219224,
+          26.66223127033503,
+          17.41133264118264
+        ]
+      },
+      "state_left": {
+        "count": 7720,
+        "sum": [
+          100.00468720588833,
+          -764.3115956103429,
+          7328.190900593996,
+          -5086.30695523345,
+          2432.7069155401196,
+          3024.2210211816287,
+          0.0,
+          0.0,
+          0.0,
+          190.1684738919139,
+          -121.01816676557064,
+          196.27902282774448,
+          404.8652273565531,
+          -164.9754906743765,
+          282.41814301908016,
+          595.2517221271992,
+          -251.4983784109354,
+          277.97012355178595,
+          843.1418034434319,
+          -340.4651692584157,
+          291.9225676432252,
+          689.2869508266449,
+          -39.61474190838635,
+          155.64541222155094,
+          934.7452628016472,
+          -64.20175390457734,
+          94.30582924187183,
+          1035.8455205857754,
+          -192.12685941532254,
+          49.2123459270224,
+          1072.128035157919,
+          -361.3125039190054,
+          21.170830897062388,
+          739.8144035339355,
+          -11.863165648654103,
+          -27.329293652437627,
+          945.897620767355,
+          -132.23222178965807,
+          -82.30112640373409,
+          1000.5906376838684,
+          -295.92332714796066,
+          -118.99103390984237,
+          1001.7602272927761,
+          -473.7383971065283,
+          -144.15306388773024,
+          638.5800867974758,
+          -31.131064077839255,
+          -205.41466675698757,
+          787.0044782161713,
+          -189.32561862841249,
+          -245.12999788671732,
+          803.7584450244904,
+          -370.5352781638503,
+          -266.89170802384615,
+          784.5137771368027,
+          -538.3638320416212,
+          -244.11987920105457,
+          536.2530333101749,
+          -76.16018483415246,
+          -331.7170300036669,
+          608.2934556007385,
+          -199.68302085250616,
+          -392.65124747157097,
+          612.8320597708225,
+          -334.09349170327187,
+          -402.0002875626087,
+          610.3382577449083,
+          -456.9123749509454,
+          -369.0941524878144,
+          1264.2825824022293,
+          -1287.5811338424683,
+          473.2331398129463,
+          1181.4810460805893,
+          -1611.5620374679565,
+          -2640.336229801178,
+          -1260.005853176117,
+          -1801.6700541973114,
+          2121.7562663555145,
+          1374.6882736682892
+        ],
+        "sumsq": [
+          121.064343762197,
+          241.80376751220572,
+          7963.28650894477,
+          46981.09997587135,
+          2911.8190143599677,
+          29172.27287902112,
+          0.0,
+          0.0,
+          0.0,
+          4.684462236060007,
+          1.8970721097539063,
+          4.990343886297278,
+          21.241426850863306,
+          3.607261580856488,
+          10.378483622722834,
+          45.90844909106919,
+          8.385214231808819,
+          10.152680631057688,
+          92.116220979023,
+          15.601986867618548,
+          11.839528535081083,
+          61.54358815801788,
+          0.20328080006089502,
+          3.138017402282036,
+          113.18451369131766,
+          0.6885994092022913,
+          1.179753996013573,
+          139.0988427767776,
+          5.062181025273112,
+          0.37858318653140133,
+          149.51740152504038,
+          17.18420787895098,
+          0.15109721340932675,
+          70.8970662793104,
+          0.018229883317373994,
+          0.0967474470909361,
+          115.9171142434956,
+          2.328762271625397,
+          0.8959634345681173,
+          129.91540690653704,
+          11.518535352270439,
+          1.88449442104187,
+          131.15064146028627,
+          29.41023591996634,
+          2.799456061189108,
+          52.82182995521692,
+          0.1255366775415712,
+          5.4656975801664816,
+          80.31149264785218,
+          4.820824072223213,
+          7.802629836713653,
+          84.3559426993073,
+          18.27500521929628,
+          9.304418430542638,
+          81.96961821317916,
+          38.37515348971176,
+          7.929665678990978,
+          37.249652297197734,
+          0.7513437505148154,
+          14.253392227260967,
+          48.01916683156931,
+          5.3291257305827155,
+          19.989978962988143,
+          49.22112701213857,
+          14.943767856376162,
+          21.106569913372816,
+          49.859708378456446,
+          27.917640770111916,
+          18.179314240150656,
+          207.0479855136841,
+          214.7493751589451,
+          29.009016142126683,
+          180.8157334517714,
+          336.41608816164137,
+          903.0279023835102,
+          205.64957902047595,
+          420.4682622009482,
+          583.1411468677285,
+          244.78858157527213
+        ]
+      },
+      "state_right": {
+        "count": 7720,
+        "sum": [
+          -594.1428242586553,
+          -1037.0395698659122,
+          7065.901150971651,
+          -6306.007849608124,
+          -4200.570382400495,
+          1519.2116224762121,
+          0.0,
+          0.0,
+          0.0,
+          -187.5813508182764,
+          -119.7129584774375,
+          201.8851721510291,
+          -373.7717522829771,
+          -233.71031152457,
+          291.5384100973606,
+          -513.087094321847,
+          -376.3894086703658,
+          281.45044457912445,
+          -701.8237335383892,
+          -542.8267037123442,
+          359.86305191367865,
+          -686.1891728639603,
+          -40.75403111241758,
+          159.0605577751994,
+          -888.3825169801712,
+          -133.27488138408808,
+          116.48005168512464,
+          -936.5719686448574,
+          -285.8972210213542,
+          86.29650361323729,
+          -907.1736312806606,
+          -449.8612714111805,
+          68.37930792137195,
+          -736.8755513131618,
+          -12.619331750553101,
+          -26.859163215383887,
+          -901.6955808699131,
+          -174.78037207573652,
+          -36.20099530200554,
+          -911.3248006105423,
+          -342.33236879855394,
+          -48.03218310766533,
+          -855.1351225972176,
+          -520.9748832583427,
+          -59.44246240942266,
+          -637.5910565853119,
+          -30.947337662801147,
+          -206.58511114120483,
+          -776.6815253794193,
+          -193.19606805592775,
+          -202.1211252361536,
+          -793.5731289684772,
+          -371.9466050863266,
+          -198.41185009479523,
+          -769.8289641141891,
+          -533.6221337914467,
+          -162.07015988603234,
+          -537.7759543955326,
+          -76.78450848534703,
+          -334.3873242586851,
+          -639.8993484079838,
+          -187.37065329402685,
+          -383.97109492123127,
+          -667.1571389436722,
+          -321.894404809922,
+          -397.0437582284212,
+          -667.519677311182,
+          -448.249398753047,
+          -363.53719402849674,
+          -850.9111702442169,
+          -1947.4745750427246,
+          -911.5972527861595,
+          1180.7113337516785,
+          1530.6181180477142,
+          860.7326811552048,
+          139.1317442059517,
+          411.2177188694477,
+          -1880.0881069898605,
+          -1659.7127145528793
+        ],
+        "sumsq": [
+          148.47125828439837,
+          166.0549329752109,
+          7315.810199056028,
+          34119.84500701598,
+          4279.220959524876,
+          26558.97091309964,
+          0.0,
+          0.0,
+          0.0,
+          4.557870877566231,
+          1.856372076090944,
+          5.279484810162212,
+          18.164571897343354,
+          7.11614265335361,
+          11.139923838325023,
+          34.320999844847954,
+          18.570671712943366,
+          11.163086468194736,
+          64.73303708818662,
+          38.89824267084873,
+          19.263551977257418,
+          60.99165556421365,
+          0.21514132796822508,
+          3.2772358859792727,
+          102.52256091892598,
+          3.751786206330347,
+          1.8829446101239782,
+          114.76115664338833,
+          12.458636006797263,
+          1.2046685038964244,
+          109.51974566709605,
+          27.902813009910663,
+          0.9159529419357451,
+          70.3349194459947,
+          0.020627918890339266,
+          0.09344749334629038,
+          105.70745891904328,
+          4.388468203249262,
+          0.21467455557592366,
+          109.33631996607807,
+          15.731309374602596,
+          0.4031726109185466,
+          99.31515789983641,
+          35.56642728061336,
+          0.6288340758068496,
+          52.658336196577274,
+          0.1240592886551979,
+          5.52816167684281,
+          78.44508618699953,
+          5.099468696835708,
+          5.331173609497662,
+          83.20325711104334,
+          18.390717952834237,
+          5.251670920188102,
+          80.97257261948036,
+          37.393717328666206,
+          3.7393359320478057,
+          37.46152553445958,
+          0.76371253152056,
+          14.483793086125047,
+          53.109452067631324,
+          4.698761507937877,
+          19.106900679300512,
+          58.20094105539765,
+          13.868290261827863,
+          20.496708123745123,
+          59.41008274814871,
+          26.667058558055608,
+          17.4086284514096,
+          93.78883674175941,
+          491.27684202562705,
+          107.64372426000908,
+          180.5802142033248,
+          303.4704434321133,
+          95.96641818764533,
+          2.507466612149012,
+          21.904146672563652,
+          457.86674741511723,
+          356.8194682446212
+        ]
+      }
+    },
+    "action_type": "keypoints",
+    "dataset_name": "oakink2_test",
+    "indexed_sample_count": 7720
+  }
+}

Build/sequence_indices/test/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e72201a05c4d4468586e1305120da96625d21105f341e7430361fe949c41696
+size 125484

Build/sequences/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json

@@ -0,0 +1,364 @@
+{
+  "created_at": "2026-08-11T05:10:14.476055+00:00",
+  "episodes": [
+    {
+      "camera": "allocentric_left",
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left",
+      "indexed_anchor_count": 1930,
+      "label_path": "Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.npy",
+      "overlay_path": "Audit/overlays/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.jpg",
+      "report_path": "Audit/reports/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.json",
+      "video_path": "Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_left/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.mp4"
+    },
+    {
+      "camera": "allocentric_right",
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right",
+      "indexed_anchor_count": 1930,
+      "label_path": "Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.npy",
+      "overlay_path": "Audit/overlays/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.jpg",
+      "report_path": "Audit/reports/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.json",
+      "video_path": "Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_right/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.mp4"
+    },
+    {
+      "camera": "allocentric_top",
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top",
+      "indexed_anchor_count": 1930,
+      "label_path": "Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.npy",
+      "overlay_path": "Audit/overlays/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.jpg",
+      "report_path": "Audit/reports/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.json",
+      "video_path": "Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_top/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.mp4"
+    },
+    {
+      "camera": "egocentric",
+      "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric",
+      "indexed_anchor_count": 1930,
+      "label_path": "Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.npy",
+      "overlay_path": "Audit/overlays/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.jpg",
+      "report_path": "Audit/reports/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.json",
+      "video_path": "Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/egocentric/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.mp4"
+    }
+  ],
+  "files": [
+    {
+      "path": "Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.npy",
+      "sha256": "48db7e9d0ea0d9ae56abae882f4ab28c17860939e016d0c934dce83c86992d97",
+      "size": 5628986
+    },
+    {
+      "path": "Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.npy",
+      "sha256": "828417e5c3838763de3a1fe0983f361d1af8553aad1691f83568fbbce675f1a3",
+      "size": 5628989
+    },
+    {
+      "path": "Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.npy",
+      "sha256": "428246a7dd0e9b8a3b11e2cb75e9e24afef7b43b7785b65834747dd5cd8c8753",
+      "size": 5628983
+    },
+    {
+      "path": "Annotation/oakink2_test/episodic_annotations/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.npy",
+      "sha256": "116e660e4b1ea32ecf666bd9a9a15a1c9bff342a82bb6ed03516d2867cf15ec5",
+      "size": 5628967
+    },
+    {
+      "path": "Audit/loader_smoke/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json",
+      "sha256": "1b91e29c3e9e8e6b3b583516a758eb0f70b7eacceabb6b82cbe97e767a2eeb07",
+      "size": 2651
+    },
+    {
+      "path": "Audit/overlays/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.jpg",
+      "sha256": "757dbb3fbf3304b7b9cfa2d65e1de2d61268207809f5a09e94b7458a80ddab5f",
+      "size": 1631692
+    },
+    {
+      "path": "Audit/overlays/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.jpg",
+      "sha256": "1d22b92935a19a08f4d9e9495bfaf551de7d141f9d4409e333d43f91ffaebbaa",
+      "size": 1736961
+    },
+    {
+      "path": "Audit/overlays/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.jpg",
+      "sha256": "872d7896374030a6455abf0a330c5aaf1af2640e51162650f4fbe3e5e89a0c92",
+      "size": 1648516
+    },
+    {
+      "path": "Audit/overlays/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.jpg",
+      "sha256": "68da0a1fc887c03bac01f665d2ed37933c87d178e360295f4fa085a88510cac0",
+      "size": 1698387
+    },
+    {
+      "path": "Audit/reports/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.json",
+      "sha256": "5d918dc2699e25b781ba0075944b1b5a7c76c67f17ddd037e3d3eb6d535400de",
+      "size": 19559
+    },
+    {
+      "path": "Audit/reports/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.json",
+      "sha256": "86b845b0ec1ca322a4b31ee4f637cacf2f75b0ddb8c183bc18ae81e764d022c5",
+      "size": 19563
+    },
+    {
+      "path": "Audit/reports/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.json",
+      "sha256": "c2083842480f24cabc5c6d5cb3280ebd8011ea13cdaa8829a6b96ec94c10a2b6",
+      "size": 19554
+    },
+    {
+      "path": "Audit/reports/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.json",
+      "sha256": "a0109334449d968c15a84dd8a466a118def1a0940813f49e807be1a4b239d07a",
+      "size": 19601
+    },
+    {
+      "path": "Audit/rgb_detector/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/full_frame_summary.json",
+      "sha256": "70c4ae0f309415312fa5c7d4ded2e2199211e0ad98d14651928759c84eb43e79",
+      "size": 4203
+    },
+    {
+      "path": "Audit/rgb_detector/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/per_frame.jsonl",
+      "sha256": "84b7a8aff9028d5f4cd81028124e51e4fce69aae86e91e6b233b76595baec637",
+      "size": 10618314
+    },
+    {
+      "path": "Build/partial_statistics/test/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.json",
+      "sha256": "41162dfe269649ab0f3f381ceaab55a09b11c524ff53d4b27b0266a197b374de",
+      "size": 31795
+    },
+    {
+      "path": "Build/sequence_indices/test/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.npz",
+      "sha256": "3e72201a05c4d4468586e1305120da96625d21105f341e7430361fe949c41696",
+      "size": 125484
+    },
+    {
+      "path": "Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_left/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.mp4",
+      "sha256": "c5db35c08801c072f6d3f7a9b75a4be579345c1d8ae3e5a6171ff756aa424188",
+      "size": 12697369
+    },
+    {
+      "path": "Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_right/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.mp4",
+      "sha256": "e204f5fbfe87b2e7d9a131314a73543848aa1def92cdfc7deb5e6734aea0a523",
+      "size": 14117237
+    },
+    {
+      "path": "Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_top/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.mp4",
+      "sha256": "92c6a2cb2faaa316fd414eede8e62458c402f255bae0effd2eee3b00612f416d",
+      "size": 12135006
+    },
+    {
+      "path": "Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/egocentric/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.mp4",
+      "sha256": "2eda1d787ec56c184c22504c1ddd3fb4e9081670cb3c812b0fb5977a220cadb6",
+      "size": 20457883
+    }
+  ],
+  "geometric_quality": {
+    "accepted": [
+      "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left",
+      "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right",
+      "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top",
+      "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric"
+    ],
+    "metrics": {
+      "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left": {
+        "frame_count": 1931,
+        "left_visible_fraction": 1.0,
+        "right_visible_fraction": 1.0,
+        "training_anchor_count": 1930,
+        "training_anchor_fraction": 0.9994821336095288
+      },
+      "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right": {
+        "frame_count": 1931,
+        "left_visible_fraction": 1.0,
+        "right_visible_fraction": 1.0,
+        "training_anchor_count": 1930,
+        "training_anchor_fraction": 0.9994821336095288
+      },
+      "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top": {
+        "frame_count": 1931,
+        "left_visible_fraction": 1.0,
+        "right_visible_fraction": 1.0,
+        "training_anchor_count": 1930,
+        "training_anchor_fraction": 0.9994821336095288
+      },
+      "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric": {
+        "frame_count": 1931,
+        "left_visible_fraction": 0.9269808389435525,
+        "right_visible_fraction": 0.7767995857068877,
+        "training_anchor_count": 1930,
+        "training_anchor_fraction": 0.9994821336095288
+      }
+    },
+    "rejected": {}
+  },
+  "loader_smoke": {
+    "checks": [
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left",
+        "frame_id": 0,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left",
+        "frame_id": 965,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right",
+        "frame_id": 0,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right",
+        "frame_id": 965,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top",
+        "frame_id": 0,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top",
+        "frame_id": 965,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric",
+        "frame_id": 0,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric",
+        "frame_id": 965,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      }
+    ],
+    "probe_count": 8,
+    "status": "passed"
+  },
+  "official_split": {
+    "file_sha256": "1d83dc4c7754cbed78514709f9b4670aae550060c1c7397101ddad227a19cf3e",
+    "name": "test",
+    "repository_commit": "4cb9c461b92c032715374bd252c7179c70a14bde"
+  },
+  "partial_statistics_action_types": [
+    "angle",
+    "keypoints"
+  ],
+  "pipeline_code_sha256": {
+    "episode_converter": "17ab0c517bec94f1d38f43243b810f45953f8b317c5dd09f8bb493c4a6b79df1",
+    "rgb_audit": "e3388de1a3adbd12c8aafa276b88b998fdf37d94529002195dd2cf1e47c8ef0f",
+    "streaming_orchestrator": "091d318ffc531a82e2f09057685e0c9991edb670ca2df2c575c426825a032af2"
+  },
+  "pipeline_git_revision": "52f1d7e114b15f461792a996ea340667e696b4d0",
+  "pipeline_git_worktree_dirty": true,
+  "pipeline_version": "oakink2-vitra-streaming-v1",
+  "rgb_quality": {
+    "coverage": "every converted frame",
+    "rejected": {},
+    "status_counts": {
+      "pass": 4
+    }
+  },
+  "source": {
+    "annotation_path": "anno_preview/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.pkl",
+    "annotation_sha256": "46bbd5005e2e81f108bb74c59eec4310bf00b60f2b691a2ae6e9f6ad413bb6e2",
+    "annotation_size": 77440087,
+    "data_path": "data/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22.tar",
+    "data_sha256": "46df7acc4898ff93524271791b5be8420ca571604ff1d6ea95acfb3ead73a612",
+    "data_size": 4540815360,
+    "repo_id": "kelvin34501/OakInk-v2",
+    "revision": "21705616140d726607027e70d58b7837f442ffd8",
+    "sequence_token": "scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22"
+  }
+}

Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_left/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5db35c08801c072f6d3f7a9b75a4be579345c1d8ae3e5a6171ff756aa424188
+size 12697369

Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_right/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e204f5fbfe87b2e7d9a131314a73543848aa1def92cdfc7deb5e6734aea0a523
+size 14117237

Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/allocentric_top/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_allocentric_top.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92c6a2cb2faaa316fd414eede8e62458c402f255bae0effd2eee3b00612f416d
+size 12135006

Video/OakInk2_root/scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22/egocentric/OakInk2_scene_01__A003++seq__c992d1f58dbad7366f42__2023-04-16-10-00-22_egocentric.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eda1d787ec56c184c22504c1ddd3fb4e9081670cb3c812b0fb5977a220cadb6
+size 20457883