Add OakInk2 val sequence scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38 (oakink2-vitra-streaming-v1)

Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:222f66aa5a7704d51a44ab87ef9508a7546b41054c9a289cce0ef6feb51cd816
+size 3421035

Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b9fb083015bac263da55381f8b30e1c58bc746e2d263181eb98ea0c7919880f
+size 3421038

Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d25e700a703484ee53330c4277df1c533ac67c4b508a04ee3132b9846835022
+size 3421032

Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f29cf45c0a8afd1a7fd60978bd90d54a1d240489a5e6804c005b974f023a26
+size 3421016

Audit/loader_smoke/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json

@@ -0,0 +1,142 @@
+{
+  "checks": [
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left",
+      "frame_id": 0,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left",
+      "frame_id": 643,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right",
+      "frame_id": 0,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right",
+      "frame_id": 643,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top",
+      "frame_id": 0,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top",
+      "frame_id": 643,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric",
+      "frame_id": 0,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    },
+    {
+      "action_shape": [
+        16,
+        138
+      ],
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric",
+      "frame_id": 643,
+      "image_shape": [
+        1,
+        480,
+        848,
+        3
+      ],
+      "state_shape": [
+        158
+      ]
+    }
+  ],
+  "probe_count": 8,
+  "status": "passed"
+}

Audit/reports/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.json

@@ -0,0 +1,576 @@
+{
+  "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": 5.960464477539063e-08,
+      "max_orthogonality_error": 5.960464477539063e-08
+    },
+    "translation_range_m": {
+      "max": [
+        -0.18439961969852448,
+        0.010187341831624508,
+        0.9091236591339111
+      ],
+      "min": [
+        -0.18439961969852448,
+        0.010187341831624508,
+        0.9091236591339111
+      ]
+    }
+  },
+  "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left",
+  "frame_alignment": {
+    "exact_rgb_mocap_matches": 1569,
+    "mocap_frame_count_raw": 6289,
+    "rgb_frame_count_raw": 1569,
+    "rgb_frame_step_histogram": {
+      "3": 29,
+      "4": 1497,
+      "5": 41,
+      "6": 1
+    },
+    "rgb_frame_step_median": 4.0,
+    "rgb_ids_missing_from_mocap": [],
+    "rgb_ids_missing_from_raw_mano": [],
+    "selected_frame_count": 1287,
+    "selected_frame_id_first": 640,
+    "selected_frame_id_last": 5794,
+    "selection": "exact source frame-ID intersection; no nearest-frame fallback"
+  },
+  "index": {
+    "episode_count": 3,
+    "episode_index": 2,
+    "sample_count": 3861
+  },
+  "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": 0.4405594405594406,
+    "temporal": {
+      "joint_speed_max_mps": 0.5809913389384747,
+      "joint_speed_p95_mps": 0.14981778105720878,
+      "wrist_speed_max_mps": 0.36294816993176937,
+      "wrist_speed_p50_mps": 0.011690280953189358,
+      "wrist_speed_p95_mps": 0.12659422354772687
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "objects": {
+    "O02@0037@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": 88.55198820908832,
+        "max_translation_displacement_m": 0.32061568320427214
+      },
+      "rotation": {
+        "max_determinant_error": 4.76837158203125e-07,
+        "max_orthogonality_error": 4.76837158203125e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.26683545112609863,
+          0.3029031753540039,
+          0.22057349979877472
+        ],
+        "min": [
+          0.06572756171226501,
+          0.022279370576143265,
+          0.14361153542995453
+        ]
+      }
+    },
+    "O02@0037@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": 93.90451308536119,
+        "max_translation_displacement_m": 0.3222468269198921
+      },
+      "rotation": {
+        "max_determinant_error": 4.172325134277344e-07,
+        "max_orthogonality_error": 4.76837158203125e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.2668045163154602,
+          0.30454039573669434,
+          0.22509469091892242
+        ],
+        "min": [
+          0.06526750326156616,
+          0.023340407758951187,
+          0.14374269545078278
+        ]
+      }
+    }
+  },
+  "outputs": {
+    "episode": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.npy",
+    "episode_frame_index": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Annotation/oakink2_val/episode_frame_index.npz",
+    "overlay": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Audit/overlays/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.jpg",
+    "video": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_left/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_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": 0.40326340326340326,
+    "temporal": {
+      "joint_speed_max_mps": 0.6545610353350639,
+      "joint_speed_p95_mps": 0.21825056872330606,
+      "wrist_speed_max_mps": 0.3995460458099842,
+      "wrist_speed_p50_mps": 0.034074668074026704,
+      "wrist_speed_p95_mps": 0.1818716072011739
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "source": {
+    "annotation_sha256": "440023f3fbea9e739410e3c2777f1d79d292af9b09730b33858fe6a56aa407ab",
+    "dataset": "OakInk2",
+    "dataset_revision": "21705616140d726607027e70d58b7837f442ffd8",
+    "mocap_clock_inferred": true,
+    "mocap_frame_id_clock_hz": 120.0,
+    "rgb_fps": 30.0,
+    "sequence_key": "scene_02__A001/seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38",
+    "sequence_token": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38",
+    "split_group_id": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38"
+  },
+  "status": "passed",
+  "task": {
+    "initial_condition": null,
+    "instruction": "Staple paper.",
+    "pdg": {
+      "e": [],
+      "id_map": {
+        "((2373, 4645), (2491, 4573))": 0
+      },
+      "v": [
+        0
+      ]
+    },
+    "phases": [
+      {
+        "left_decode_range": [
+          0,
+          95
+        ],
+        "left_interval": [
+          640,
+          1021
+        ],
+        "phase": "approach",
+        "right_decode_range": [
+          0,
+          108
+        ],
+        "right_interval": [
+          640,
+          1073
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": [
+          48,
+          95
+        ],
+        "left_interval": [
+          830,
+          1021
+        ],
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          54,
+          108
+        ],
+        "right_interval": [
+          856,
+          1073
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": [
+          95,
+          219
+        ],
+        "left_interval": [
+          1021,
+          1518
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          108,
+          206
+        ],
+        "right_interval": [
+          1073,
+          1466
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          206,
+          219
+        ],
+        "right_interval": [
+          1466,
+          1518
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          206,
+          219
+        ],
+        "right_interval": [
+          1466,
+          1518
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          219,
+          232
+        ],
+        "right_interval": [
+          1518,
+          1571
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          219,
+          232
+        ],
+        "right_interval": [
+          1518,
+          1571
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": [
+          219,
+          433
+        ],
+        "left_interval": [
+          1518,
+          2373
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          232,
+          403
+        ],
+        "right_interval": [
+          1571,
+          2255
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          403,
+          433
+        ],
+        "right_interval": [
+          2255,
+          2373
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          403,
+          433
+        ],
+        "right_interval": [
+          2255,
+          2373
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          433,
+          462
+        ],
+        "right_interval": [
+          2373,
+          2491
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          433,
+          462
+        ],
+        "right_interval": [
+          2373,
+          2491
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": [
+          433,
+          1000
+        ],
+        "left_interval": [
+          2373,
+          4645
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          462,
+          981
+        ],
+        "right_interval": [
+          2491,
+          4573
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          981,
+          1000
+        ],
+        "right_interval": [
+          4573,
+          4645
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          981,
+          1000
+        ],
+        "right_interval": [
+          4573,
+          4645
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          1000,
+          1017
+        ],
+        "right_interval": [
+          4645,
+          4717
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          1000,
+          1017
+        ],
+        "right_interval": [
+          4645,
+          4717
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": [
+          1000,
+          1200
+        ],
+        "left_interval": [
+          4645,
+          5449
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          1017,
+          1200
+        ],
+        "right_interval": [
+          4717,
+          5449
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": [
+          1200,
+          1287
+        ],
+        "left_interval": [
+          5449,
+          5798
+        ],
+        "phase": "retreat",
+        "right_decode_range": [
+          1200,
+          1287
+        ],
+        "right_interval": [
+          5449,
+          5798
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": [
+          1200,
+          1244
+        ],
+        "left_interval": [
+          5449,
+          5623
+        ],
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          1200,
+          1244
+        ],
+        "right_interval": [
+          5449,
+          5623
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      }
+    ],
+    "primitives": [
+      {
+        "description": "Staple paper together with stapler.",
+        "description_zh": "\u7528\u8ba2\u4e66\u673a\u88c5\u8ba2\u7eb8",
+        "interaction_mode": "rh_main",
+        "left_decode_range": [
+          433,
+          1000
+        ],
+        "left_interval": [
+          2373,
+          4645
+        ],
+        "object_ids": [
+          "O02@0037@00001",
+          "O02@0037@00002"
+        ],
+        "object_ids_left": [],
+        "object_ids_right": [
+          "O02@0037@00001",
+          "O02@0037@00002"
+        ],
+        "primitive": "staple_paper_together",
+        "primitive_left": "hold",
+        "primitive_right": "staple_paper_together",
+        "right_decode_range": [
+          462,
+          981
+        ],
+        "right_interval": [
+          2491,
+          4573
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      }
+    ],
+    "recipe": null,
+    "source_endpoint_half_open": [
+      640,
+      5798
+    ]
+  },
+  "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": 1286,
+    "valid_anchor_fraction": 0.9992229992229992
+  },
+  "video": {
+    "codec": "mp4v",
+    "fps": 30.0,
+    "frame_count": 1287,
+    "height": 480,
+    "sha256": "e2f6ceec12e48f1520b5a70fabc15f2214cc1a5fc42b8743b2eaa60fece3a5f3",
+    "width": 848
+  }
+}

Audit/reports/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.json

@@ -0,0 +1,576 @@
+{
+  "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": [
+        0.2029397040605545,
+        -0.0765170231461525,
+        1.0337954759597778
+      ],
+      "min": [
+        0.2029397040605545,
+        -0.0765170231461525,
+        1.0337954759597778
+      ]
+    }
+  },
+  "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right",
+  "frame_alignment": {
+    "exact_rgb_mocap_matches": 1569,
+    "mocap_frame_count_raw": 6289,
+    "rgb_frame_count_raw": 1569,
+    "rgb_frame_step_histogram": {
+      "3": 29,
+      "4": 1497,
+      "5": 41,
+      "6": 1
+    },
+    "rgb_frame_step_median": 4.0,
+    "rgb_ids_missing_from_mocap": [],
+    "rgb_ids_missing_from_raw_mano": [],
+    "selected_frame_count": 1287,
+    "selected_frame_id_first": 640,
+    "selected_frame_id_last": 5794,
+    "selection": "exact source frame-ID intersection; no nearest-frame fallback"
+  },
+  "index": {
+    "episode_count": 4,
+    "episode_index": 3,
+    "sample_count": 5148
+  },
+  "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": 19.0,
+    "joints_in_frame_count_p05": 19.0,
+    "mesh_vertices_in_frame_fraction_p05": 0.894987165927887,
+    "quaternion_norm_error_max": 1.1920928955078125e-07,
+    "rotation": {
+      "max_determinant_error": 1.1920928955078125e-07,
+      "max_orthogonality_error": 1.1920928955078125e-07
+    },
+    "task_active_fraction": 0.4405594405594406,
+    "temporal": {
+      "joint_speed_max_mps": 0.5809913389384747,
+      "joint_speed_p95_mps": 0.14981778105720878,
+      "wrist_speed_max_mps": 0.36294816993176937,
+      "wrist_speed_p50_mps": 0.011690280953189358,
+      "wrist_speed_p95_mps": 0.12659422354772687
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "objects": {
+    "O02@0037@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": 88.55198820908832,
+        "max_translation_displacement_m": 0.32061568320427214
+      },
+      "rotation": {
+        "max_determinant_error": 4.76837158203125e-07,
+        "max_orthogonality_error": 4.76837158203125e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.26683545112609863,
+          0.3029031753540039,
+          0.22057349979877472
+        ],
+        "min": [
+          0.06572756171226501,
+          0.022279370576143265,
+          0.14361153542995453
+        ]
+      }
+    },
+    "O02@0037@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": 93.90451308536119,
+        "max_translation_displacement_m": 0.3222468269198921
+      },
+      "rotation": {
+        "max_determinant_error": 4.172325134277344e-07,
+        "max_orthogonality_error": 4.76837158203125e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.2668045163154602,
+          0.30454039573669434,
+          0.22509469091892242
+        ],
+        "min": [
+          0.06526750326156616,
+          0.023340407758951187,
+          0.14374269545078278
+        ]
+      }
+    }
+  },
+  "outputs": {
+    "episode": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.npy",
+    "episode_frame_index": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Annotation/oakink2_val/episode_frame_index.npz",
+    "overlay": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Audit/overlays/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.jpg",
+    "video": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_right/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_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": 0.9897172451019287,
+    "quaternion_norm_error_max": 1.1920928955078125e-07,
+    "rotation": {
+      "max_determinant_error": 1.1920928955078125e-07,
+      "max_orthogonality_error": 1.1920928955078125e-07
+    },
+    "task_active_fraction": 0.40326340326340326,
+    "temporal": {
+      "joint_speed_max_mps": 0.6545610353350639,
+      "joint_speed_p95_mps": 0.21825056872330606,
+      "wrist_speed_max_mps": 0.3995460458099842,
+      "wrist_speed_p50_mps": 0.034074668074026704,
+      "wrist_speed_p95_mps": 0.1818716072011739
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "source": {
+    "annotation_sha256": "440023f3fbea9e739410e3c2777f1d79d292af9b09730b33858fe6a56aa407ab",
+    "dataset": "OakInk2",
+    "dataset_revision": "21705616140d726607027e70d58b7837f442ffd8",
+    "mocap_clock_inferred": true,
+    "mocap_frame_id_clock_hz": 120.0,
+    "rgb_fps": 30.0,
+    "sequence_key": "scene_02__A001/seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38",
+    "sequence_token": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38",
+    "split_group_id": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38"
+  },
+  "status": "passed",
+  "task": {
+    "initial_condition": null,
+    "instruction": "Staple paper.",
+    "pdg": {
+      "e": [],
+      "id_map": {
+        "((2373, 4645), (2491, 4573))": 0
+      },
+      "v": [
+        0
+      ]
+    },
+    "phases": [
+      {
+        "left_decode_range": [
+          0,
+          95
+        ],
+        "left_interval": [
+          640,
+          1021
+        ],
+        "phase": "approach",
+        "right_decode_range": [
+          0,
+          108
+        ],
+        "right_interval": [
+          640,
+          1073
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": [
+          48,
+          95
+        ],
+        "left_interval": [
+          830,
+          1021
+        ],
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          54,
+          108
+        ],
+        "right_interval": [
+          856,
+          1073
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": [
+          95,
+          219
+        ],
+        "left_interval": [
+          1021,
+          1518
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          108,
+          206
+        ],
+        "right_interval": [
+          1073,
+          1466
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          206,
+          219
+        ],
+        "right_interval": [
+          1466,
+          1518
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          206,
+          219
+        ],
+        "right_interval": [
+          1466,
+          1518
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          219,
+          232
+        ],
+        "right_interval": [
+          1518,
+          1571
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          219,
+          232
+        ],
+        "right_interval": [
+          1518,
+          1571
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": [
+          219,
+          433
+        ],
+        "left_interval": [
+          1518,
+          2373
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          232,
+          403
+        ],
+        "right_interval": [
+          1571,
+          2255
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          403,
+          433
+        ],
+        "right_interval": [
+          2255,
+          2373
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          403,
+          433
+        ],
+        "right_interval": [
+          2255,
+          2373
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          433,
+          462
+        ],
+        "right_interval": [
+          2373,
+          2491
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          433,
+          462
+        ],
+        "right_interval": [
+          2373,
+          2491
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": [
+          433,
+          1000
+        ],
+        "left_interval": [
+          2373,
+          4645
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          462,
+          981
+        ],
+        "right_interval": [
+          2491,
+          4573
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          981,
+          1000
+        ],
+        "right_interval": [
+          4573,
+          4645
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          981,
+          1000
+        ],
+        "right_interval": [
+          4573,
+          4645
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          1000,
+          1017
+        ],
+        "right_interval": [
+          4645,
+          4717
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          1000,
+          1017
+        ],
+        "right_interval": [
+          4645,
+          4717
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": [
+          1000,
+          1200
+        ],
+        "left_interval": [
+          4645,
+          5449
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          1017,
+          1200
+        ],
+        "right_interval": [
+          4717,
+          5449
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": [
+          1200,
+          1287
+        ],
+        "left_interval": [
+          5449,
+          5798
+        ],
+        "phase": "retreat",
+        "right_decode_range": [
+          1200,
+          1287
+        ],
+        "right_interval": [
+          5449,
+          5798
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": [
+          1200,
+          1244
+        ],
+        "left_interval": [
+          5449,
+          5623
+        ],
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          1200,
+          1244
+        ],
+        "right_interval": [
+          5449,
+          5623
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      }
+    ],
+    "primitives": [
+      {
+        "description": "Staple paper together with stapler.",
+        "description_zh": "\u7528\u8ba2\u4e66\u673a\u88c5\u8ba2\u7eb8",
+        "interaction_mode": "rh_main",
+        "left_decode_range": [
+          433,
+          1000
+        ],
+        "left_interval": [
+          2373,
+          4645
+        ],
+        "object_ids": [
+          "O02@0037@00001",
+          "O02@0037@00002"
+        ],
+        "object_ids_left": [],
+        "object_ids_right": [
+          "O02@0037@00001",
+          "O02@0037@00002"
+        ],
+        "primitive": "staple_paper_together",
+        "primitive_left": "hold",
+        "primitive_right": "staple_paper_together",
+        "right_decode_range": [
+          462,
+          981
+        ],
+        "right_interval": [
+          2491,
+          4573
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      }
+    ],
+    "recipe": null,
+    "source_endpoint_half_open": [
+      640,
+      5798
+    ]
+  },
+  "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": 1286,
+    "valid_anchor_fraction": 0.9992229992229992
+  },
+  "video": {
+    "codec": "mp4v",
+    "fps": 30.0,
+    "frame_count": 1287,
+    "height": 480,
+    "sha256": "4741aab56d8f6b410388f5eab5476d72fd3b830edc020551b55b50f1fdd4e1da",
+    "width": 848
+  }
+}

Audit/reports/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.json

@@ -0,0 +1,576 @@
+{
+  "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": 1.1920928955078125e-07
+    },
+    "translation_range_m": {
+      "max": [
+        -0.006590346805751324,
+        0.09401052445173264,
+        1.103084921836853
+      ],
+      "min": [
+        -0.006590346805751324,
+        0.09401052445173264,
+        1.103084921836853
+      ]
+    }
+  },
+  "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top",
+  "frame_alignment": {
+    "exact_rgb_mocap_matches": 1569,
+    "mocap_frame_count_raw": 6289,
+    "rgb_frame_count_raw": 1569,
+    "rgb_frame_step_histogram": {
+      "3": 29,
+      "4": 1497,
+      "5": 41,
+      "6": 1
+    },
+    "rgb_frame_step_median": 4.0,
+    "rgb_ids_missing_from_mocap": [],
+    "rgb_ids_missing_from_raw_mano": [],
+    "selected_frame_count": 1287,
+    "selected_frame_id_first": 640,
+    "selected_frame_id_last": 5794,
+    "selection": "exact source frame-ID intersection; no nearest-frame fallback"
+  },
+  "index": {
+    "episode_count": 2,
+    "episode_index": 1,
+    "sample_count": 2574
+  },
+  "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": 0.4405594405594406,
+    "temporal": {
+      "joint_speed_max_mps": 0.5809913389384747,
+      "joint_speed_p95_mps": 0.14981778105720878,
+      "wrist_speed_max_mps": 0.36294816993176937,
+      "wrist_speed_p50_mps": 0.011690280953189358,
+      "wrist_speed_p95_mps": 0.12659422354772687
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "objects": {
+    "O02@0037@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": 88.55198820908832,
+        "max_translation_displacement_m": 0.32061568320427214
+      },
+      "rotation": {
+        "max_determinant_error": 4.76837158203125e-07,
+        "max_orthogonality_error": 4.76837158203125e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.26683545112609863,
+          0.3029031753540039,
+          0.22057349979877472
+        ],
+        "min": [
+          0.06572756171226501,
+          0.022279370576143265,
+          0.14361153542995453
+        ]
+      }
+    },
+    "O02@0037@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": 93.90451308536119,
+        "max_translation_displacement_m": 0.3222468269198921
+      },
+      "rotation": {
+        "max_determinant_error": 4.172325134277344e-07,
+        "max_orthogonality_error": 4.76837158203125e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.2668045163154602,
+          0.30454039573669434,
+          0.22509469091892242
+        ],
+        "min": [
+          0.06526750326156616,
+          0.023340407758951187,
+          0.14374269545078278
+        ]
+      }
+    }
+  },
+  "outputs": {
+    "episode": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.npy",
+    "episode_frame_index": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Annotation/oakink2_val/episode_frame_index.npz",
+    "overlay": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Audit/overlays/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.jpg",
+    "video": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_top/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_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": 0.40326340326340326,
+    "temporal": {
+      "joint_speed_max_mps": 0.6545610353350639,
+      "joint_speed_p95_mps": 0.21825056872330606,
+      "wrist_speed_max_mps": 0.3995460458099842,
+      "wrist_speed_p50_mps": 0.034074668074026704,
+      "wrist_speed_p95_mps": 0.1818716072011739
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "source": {
+    "annotation_sha256": "440023f3fbea9e739410e3c2777f1d79d292af9b09730b33858fe6a56aa407ab",
+    "dataset": "OakInk2",
+    "dataset_revision": "21705616140d726607027e70d58b7837f442ffd8",
+    "mocap_clock_inferred": true,
+    "mocap_frame_id_clock_hz": 120.0,
+    "rgb_fps": 30.0,
+    "sequence_key": "scene_02__A001/seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38",
+    "sequence_token": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38",
+    "split_group_id": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38"
+  },
+  "status": "passed",
+  "task": {
+    "initial_condition": null,
+    "instruction": "Staple paper.",
+    "pdg": {
+      "e": [],
+      "id_map": {
+        "((2373, 4645), (2491, 4573))": 0
+      },
+      "v": [
+        0
+      ]
+    },
+    "phases": [
+      {
+        "left_decode_range": [
+          0,
+          95
+        ],
+        "left_interval": [
+          640,
+          1021
+        ],
+        "phase": "approach",
+        "right_decode_range": [
+          0,
+          108
+        ],
+        "right_interval": [
+          640,
+          1073
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": [
+          48,
+          95
+        ],
+        "left_interval": [
+          830,
+          1021
+        ],
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          54,
+          108
+        ],
+        "right_interval": [
+          856,
+          1073
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": [
+          95,
+          219
+        ],
+        "left_interval": [
+          1021,
+          1518
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          108,
+          206
+        ],
+        "right_interval": [
+          1073,
+          1466
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          206,
+          219
+        ],
+        "right_interval": [
+          1466,
+          1518
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          206,
+          219
+        ],
+        "right_interval": [
+          1466,
+          1518
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          219,
+          232
+        ],
+        "right_interval": [
+          1518,
+          1571
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          219,
+          232
+        ],
+        "right_interval": [
+          1518,
+          1571
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": [
+          219,
+          433
+        ],
+        "left_interval": [
+          1518,
+          2373
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          232,
+          403
+        ],
+        "right_interval": [
+          1571,
+          2255
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          403,
+          433
+        ],
+        "right_interval": [
+          2255,
+          2373
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          403,
+          433
+        ],
+        "right_interval": [
+          2255,
+          2373
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          433,
+          462
+        ],
+        "right_interval": [
+          2373,
+          2491
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          433,
+          462
+        ],
+        "right_interval": [
+          2373,
+          2491
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": [
+          433,
+          1000
+        ],
+        "left_interval": [
+          2373,
+          4645
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          462,
+          981
+        ],
+        "right_interval": [
+          2491,
+          4573
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          981,
+          1000
+        ],
+        "right_interval": [
+          4573,
+          4645
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          981,
+          1000
+        ],
+        "right_interval": [
+          4573,
+          4645
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          1000,
+          1017
+        ],
+        "right_interval": [
+          4645,
+          4717
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          1000,
+          1017
+        ],
+        "right_interval": [
+          4645,
+          4717
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": [
+          1000,
+          1200
+        ],
+        "left_interval": [
+          4645,
+          5449
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          1017,
+          1200
+        ],
+        "right_interval": [
+          4717,
+          5449
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": [
+          1200,
+          1287
+        ],
+        "left_interval": [
+          5449,
+          5798
+        ],
+        "phase": "retreat",
+        "right_decode_range": [
+          1200,
+          1287
+        ],
+        "right_interval": [
+          5449,
+          5798
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": [
+          1200,
+          1244
+        ],
+        "left_interval": [
+          5449,
+          5623
+        ],
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          1200,
+          1244
+        ],
+        "right_interval": [
+          5449,
+          5623
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      }
+    ],
+    "primitives": [
+      {
+        "description": "Staple paper together with stapler.",
+        "description_zh": "\u7528\u8ba2\u4e66\u673a\u88c5\u8ba2\u7eb8",
+        "interaction_mode": "rh_main",
+        "left_decode_range": [
+          433,
+          1000
+        ],
+        "left_interval": [
+          2373,
+          4645
+        ],
+        "object_ids": [
+          "O02@0037@00001",
+          "O02@0037@00002"
+        ],
+        "object_ids_left": [],
+        "object_ids_right": [
+          "O02@0037@00001",
+          "O02@0037@00002"
+        ],
+        "primitive": "staple_paper_together",
+        "primitive_left": "hold",
+        "primitive_right": "staple_paper_together",
+        "right_decode_range": [
+          462,
+          981
+        ],
+        "right_interval": [
+          2491,
+          4573
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      }
+    ],
+    "recipe": null,
+    "source_endpoint_half_open": [
+      640,
+      5798
+    ]
+  },
+  "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": 1286,
+    "valid_anchor_fraction": 0.9992229992229992
+  },
+  "video": {
+    "codec": "mp4v",
+    "fps": 30.0,
+    "frame_count": 1287,
+    "height": 480,
+    "sha256": "8c201cab0bf461679d94806dea90191bc5ecccea209a54e321a6e84eb6a454d3",
+    "width": 848
+  }
+}

Audit/reports/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.json

@@ -0,0 +1,576 @@
+{
+  "camera": {
+    "bottom_row_error_max": 0.0,
+    "convention": "world_to_camera",
+    "extrinsics_max_element_delta_from_first": 0.1932990998029709,
+    "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": [
+        0.08776993304491043,
+        0.12202184647321701,
+        0.6698789596557617
+      ],
+      "min": [
+        -0.02123400941491127,
+        -0.055278096348047256,
+        0.6001088619232178
+      ]
+    }
+  },
+  "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric",
+  "frame_alignment": {
+    "exact_rgb_mocap_matches": 1569,
+    "mocap_frame_count_raw": 6289,
+    "rgb_frame_count_raw": 1569,
+    "rgb_frame_step_histogram": {
+      "3": 29,
+      "4": 1497,
+      "5": 41,
+      "6": 1
+    },
+    "rgb_frame_step_median": 4.0,
+    "rgb_ids_missing_from_mocap": [],
+    "rgb_ids_missing_from_raw_mano": [],
+    "selected_frame_count": 1287,
+    "selected_frame_id_first": 640,
+    "selected_frame_id_last": 5794,
+    "selection": "exact source frame-ID intersection; no nearest-frame fallback"
+  },
+  "index": {
+    "episode_count": 1,
+    "episode_index": 0,
+    "sample_count": 1287
+  },
+  "left": {
+    "annotation_valid_fraction": 1.0,
+    "beta_max_delta": 0.0,
+    "centered_mano_root_error_max_m": 0.0,
+    "geometric_visible_fraction": 0.9518259518259519,
+    "joints_in_frame_count_median": 21.0,
+    "joints_in_frame_count_p05": 5.0,
+    "mesh_vertices_in_frame_fraction_p05": 0.20347043871879578,
+    "quaternion_norm_error_max": 1.1920928955078125e-07,
+    "rotation": {
+      "max_determinant_error": 1.1920928955078125e-07,
+      "max_orthogonality_error": 1.1920928955078125e-07
+    },
+    "task_active_fraction": 0.4405594405594406,
+    "temporal": {
+      "joint_speed_max_mps": 0.5809913389384747,
+      "joint_speed_p95_mps": 0.14981778105720878,
+      "wrist_speed_max_mps": 0.36294816993176937,
+      "wrist_speed_p50_mps": 0.011690280953189358,
+      "wrist_speed_p95_mps": 0.12659422354772687
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "objects": {
+    "O02@0037@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": 88.55198820908832,
+        "max_translation_displacement_m": 0.32061568320427214
+      },
+      "rotation": {
+        "max_determinant_error": 4.76837158203125e-07,
+        "max_orthogonality_error": 4.76837158203125e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.26683545112609863,
+          0.3029031753540039,
+          0.22057349979877472
+        ],
+        "min": [
+          0.06572756171226501,
+          0.022279370576143265,
+          0.14361153542995453
+        ]
+      }
+    },
+    "O02@0037@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": 93.90451308536119,
+        "max_translation_displacement_m": 0.3222468269198921
+      },
+      "rotation": {
+        "max_determinant_error": 4.172325134277344e-07,
+        "max_orthogonality_error": 4.76837158203125e-07
+      },
+      "translation_range_m": {
+        "max": [
+          0.2668045163154602,
+          0.30454039573669434,
+          0.22509469091892242
+        ],
+        "min": [
+          0.06526750326156616,
+          0.023340407758951187,
+          0.14374269545078278
+        ]
+      }
+    }
+  },
+  "outputs": {
+    "episode": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.npy",
+    "episode_frame_index": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Annotation/oakink2_val/episode_frame_index.npz",
+    "overlay": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Audit/overlays/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.jpg",
+    "video": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output/Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/egocentric/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_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": 1.0,
+    "joints_in_frame_count_median": 21.0,
+    "joints_in_frame_count_p05": 12.0,
+    "mesh_vertices_in_frame_fraction_p05": 0.5359897017478943,
+    "quaternion_norm_error_max": 1.1920928955078125e-07,
+    "rotation": {
+      "max_determinant_error": 1.1920928955078125e-07,
+      "max_orthogonality_error": 1.1920928955078125e-07
+    },
+    "task_active_fraction": 0.40326340326340326,
+    "temporal": {
+      "joint_speed_max_mps": 0.6545610353350639,
+      "joint_speed_p95_mps": 0.21825056872330606,
+      "wrist_speed_max_mps": 0.3995460458099842,
+      "wrist_speed_p50_mps": 0.034074668074026704,
+      "wrist_speed_p95_mps": 0.1818716072011739
+    },
+    "translated_wrist_vs_tsl_error_max_m": 0.0
+  },
+  "source": {
+    "annotation_sha256": "440023f3fbea9e739410e3c2777f1d79d292af9b09730b33858fe6a56aa407ab",
+    "dataset": "OakInk2",
+    "dataset_revision": "21705616140d726607027e70d58b7837f442ffd8",
+    "mocap_clock_inferred": true,
+    "mocap_frame_id_clock_hz": 120.0,
+    "rgb_fps": 30.0,
+    "sequence_key": "scene_02__A001/seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38",
+    "sequence_token": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38",
+    "split_group_id": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38"
+  },
+  "status": "passed",
+  "task": {
+    "initial_condition": null,
+    "instruction": "Staple paper.",
+    "pdg": {
+      "e": [],
+      "id_map": {
+        "((2373, 4645), (2491, 4573))": 0
+      },
+      "v": [
+        0
+      ]
+    },
+    "phases": [
+      {
+        "left_decode_range": [
+          0,
+          95
+        ],
+        "left_interval": [
+          640,
+          1021
+        ],
+        "phase": "approach",
+        "right_decode_range": [
+          0,
+          108
+        ],
+        "right_interval": [
+          640,
+          1073
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": [
+          48,
+          95
+        ],
+        "left_interval": [
+          830,
+          1021
+        ],
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          54,
+          108
+        ],
+        "right_interval": [
+          856,
+          1073
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": [
+          95,
+          219
+        ],
+        "left_interval": [
+          1021,
+          1518
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          108,
+          206
+        ],
+        "right_interval": [
+          1073,
+          1466
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          206,
+          219
+        ],
+        "right_interval": [
+          1466,
+          1518
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          206,
+          219
+        ],
+        "right_interval": [
+          1466,
+          1518
+        ],
+        "source_interval_key": "((1021, 1518), (1073, 1466))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          219,
+          232
+        ],
+        "right_interval": [
+          1518,
+          1571
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          219,
+          232
+        ],
+        "right_interval": [
+          1518,
+          1571
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": [
+          219,
+          433
+        ],
+        "left_interval": [
+          1518,
+          2373
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          232,
+          403
+        ],
+        "right_interval": [
+          1571,
+          2255
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          403,
+          433
+        ],
+        "right_interval": [
+          2255,
+          2373
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          403,
+          433
+        ],
+        "right_interval": [
+          2255,
+          2373
+        ],
+        "source_interval_key": "((1518, 2373), (1571, 2255))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          433,
+          462
+        ],
+        "right_interval": [
+          2373,
+          2491
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          433,
+          462
+        ],
+        "right_interval": [
+          2373,
+          2491
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": [
+          433,
+          1000
+        ],
+        "left_interval": [
+          2373,
+          4645
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          462,
+          981
+        ],
+        "right_interval": [
+          2491,
+          4573
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat",
+        "right_decode_range": [
+          981,
+          1000
+        ],
+        "right_interval": [
+          4573,
+          4645
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          981,
+          1000
+        ],
+        "right_interval": [
+          4573,
+          4645
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach",
+        "right_decode_range": [
+          1000,
+          1017
+        ],
+        "right_interval": [
+          4645,
+          4717
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": null,
+        "left_interval": null,
+        "phase": "approach_uniform",
+        "right_decode_range": [
+          1000,
+          1017
+        ],
+        "right_interval": [
+          4645,
+          4717
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": [
+          1000,
+          1200
+        ],
+        "left_interval": [
+          4645,
+          5449
+        ],
+        "phase": "interaction",
+        "right_decode_range": [
+          1017,
+          1200
+        ],
+        "right_interval": [
+          4717,
+          5449
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": [
+          1200,
+          1287
+        ],
+        "left_interval": [
+          5449,
+          5798
+        ],
+        "phase": "retreat",
+        "right_decode_range": [
+          1200,
+          1287
+        ],
+        "right_interval": [
+          5449,
+          5798
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      },
+      {
+        "left_decode_range": [
+          1200,
+          1244
+        ],
+        "left_interval": [
+          5449,
+          5623
+        ],
+        "phase": "retreat_uniform",
+        "right_decode_range": [
+          1200,
+          1244
+        ],
+        "right_interval": [
+          5449,
+          5623
+        ],
+        "source_interval_key": "((4645, 5449), (4717, 5449))"
+      }
+    ],
+    "primitives": [
+      {
+        "description": "Staple paper together with stapler.",
+        "description_zh": "\u7528\u8ba2\u4e66\u673a\u88c5\u8ba2\u7eb8",
+        "interaction_mode": "rh_main",
+        "left_decode_range": [
+          433,
+          1000
+        ],
+        "left_interval": [
+          2373,
+          4645
+        ],
+        "object_ids": [
+          "O02@0037@00001",
+          "O02@0037@00002"
+        ],
+        "object_ids_left": [],
+        "object_ids_right": [
+          "O02@0037@00001",
+          "O02@0037@00002"
+        ],
+        "primitive": "staple_paper_together",
+        "primitive_left": "hold",
+        "primitive_right": "staple_paper_together",
+        "right_decode_range": [
+          462,
+          981
+        ],
+        "right_interval": [
+          2491,
+          4573
+        ],
+        "source_interval_key": "((2373, 4645), (2491, 4573))"
+      }
+    ],
+    "recipe": null,
+    "source_endpoint_half_open": [
+      640,
+      5798
+    ]
+  },
+  "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": 1286,
+    "valid_anchor_fraction": 0.9992229992229992
+  },
+  "video": {
+    "codec": "mp4v",
+    "fps": 30.0,
+    "frame_count": 1287,
+    "height": 480,
+    "sha256": "d3a114e6ea35c2c7264428a808d7cd7bb57cd2b57d342281c5517164da6de9b6",
+    "width": 848
+  }
+}

Audit/rgb_detector/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/full_frame_summary.json

@@ -0,0 +1,86 @@
+{
+  "coverage": "every converted frame",
+  "dataset_name": "oakink2_val",
+  "dataset_root": "/scratch/chonghej/VLA/VLA-yuzhen/datasets/oakink2_streaming_v1/jobs/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/output",
+  "decode_errors": [],
+  "decoded_frame_count": 5148,
+  "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": 0.9937839937839937,
+      "assessable_hand_samples": 2574,
+      "center_distance_normalized_median": 0.02274542843531511,
+      "decoded_frame_count": 1287,
+      "detector_frame_count": 1287,
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left",
+      "keypoint_error_normalized_median": 0.005328602175991754,
+      "projected_points_inside_box_ratio_median": 1.0,
+      "requested_frame_count": 1287,
+      "same_side_detection_fraction": 0.9937839937839937,
+      "split": "train",
+      "status": "pass",
+      "strong_aligned_fraction": 0.9895104895104895,
+      "video_name": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_left/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.mp4"
+    },
+    {
+      "aligned_fraction": 1.0,
+      "assessable_hand_samples": 2574,
+      "center_distance_normalized_median": 0.01359031013128384,
+      "decoded_frame_count": 1287,
+      "detector_frame_count": 1287,
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right",
+      "keypoint_error_normalized_median": 0.00488315827015872,
+      "projected_points_inside_box_ratio_median": 0.9523809523809523,
+      "requested_frame_count": 1287,
+      "same_side_detection_fraction": 1.0,
+      "split": "train",
+      "status": "pass",
+      "strong_aligned_fraction": 0.9961149961149961,
+      "video_name": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_right/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.mp4"
+    },
+    {
+      "aligned_fraction": 1.0,
+      "assessable_hand_samples": 2574,
+      "center_distance_normalized_median": 0.011424641178724302,
+      "decoded_frame_count": 1287,
+      "detector_frame_count": 1287,
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top",
+      "keypoint_error_normalized_median": 0.004754391329819731,
+      "projected_points_inside_box_ratio_median": 1.0,
+      "requested_frame_count": 1287,
+      "same_side_detection_fraction": 1.0,
+      "split": "train",
+      "status": "pass",
+      "strong_aligned_fraction": 1.0,
+      "video_name": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_top/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.mp4"
+    },
+    {
+      "aligned_fraction": 1.0,
+      "assessable_hand_samples": 2512,
+      "center_distance_normalized_median": 0.042153631943465886,
+      "decoded_frame_count": 1287,
+      "detector_frame_count": 1287,
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric",
+      "keypoint_error_normalized_median": 0.01699776608892632,
+      "projected_points_inside_box_ratio_median": 0.8571428571428571,
+      "requested_frame_count": 1287,
+      "same_side_detection_fraction": 1.0,
+      "split": "train",
+      "status": "pass",
+      "strong_aligned_fraction": 0.9808917197452229,
+      "video_name": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/egocentric/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.mp4"
+    }
+  ],
+  "interpretation": "Detector agreement is independent evidence for RGB/MANO alignment. Detector misses are unverified, not automatic MANO failures.",
+  "requested_frame_count": 5148,
+  "status_counts": {
+    "pass": 4
+  }
+}

Build/partial_statistics/val/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json

@@ -0,0 +1,1112 @@
+{
+  "angle": {
+    "accumulators": {
+      "action_left": {
+        "count": 5144,
+        "sum": [
+          -0.07488872110843658,
+          0.0036230282858014107,
+          0.013595610857009888,
+          0.4783250141163222,
+          -1.571015026539044,
+          -0.43924102239835605,
+          -236.7759029820445,
+          1218.2217263393104,
+          -1065.4537007054314,
+          1238.774111688137,
+          126.32862954222946,
+          -4648.930056840181,
+          -1054.1115582883358,
+          331.32945001497865,
+          -3182.2820649612695,
+          -373.7883125297667,
+          -337.2324258026201,
+          -5220.548292249441,
+          -1270.6462295651436,
+          25.136055101669626,
+          -3139.6562875807285,
+          -328.97707752135466,
+          39.07258070648095,
+          -2910.539583711885,
+          -2534.612559519708,
+          -2226.0292032808065,
+          -5128.798153564334,
+          -3666.623469233513,
+          -1546.7173327661585,
+          -3696.1858008694835,
+          -1082.317180985352,
+          -1238.7537173479795,
+          -1675.9251259565353,
+          -1673.744929698296,
+          -1330.872864083387,
+          -5812.204653277993,
+          -264.6898163892329,
+          -193.2812341041863,
+          -3923.9584911875427,
+          -918.9000437259674,
+          -1358.7180888652802,
+          -2621.2203163802624,
+          1302.520621297881,
+          3163.174137175083,
+          -145.1866567968391,
+          -881.9823374182452,
+          518.3109913519584,
+          -1550.8542611002922,
+          -1027.4530602283776,
+          -931.0887255601119,
+          495.740747930824
+        ],
+        "sumsq": [
+          0.004312269669335844,
+          0.00766680795591757,
+          0.006885275930522461,
+          0.47797190087101227,
+          0.3076348673899904,
+          0.36478131955096005,
+          23.960356329037097,
+          308.66362265567744,
+          384.4500798671236,
+          300.9874794881924,
+          16.420161843523278,
+          4632.2509722414125,
+          242.28492019344137,
+          28.340818303765023,
+          2229.618169606693,
+          75.27080398223431,
+          61.823266267182404,
+          6063.428660561984,
+          319.206313437961,
+          3.443615913177383,
+          2053.8779284898164,
+          56.57506559050914,
+          2.5741303331932945,
+          1820.0595369440643,
+          1730.4768273261257,
+          1105.6223892364012,
+          5854.361668939122,
+          2767.4574655563615,
+          684.5820708358774,
+          3249.302207852908,
+          475.2172527443026,
+          311.54597954141167,
+          589.5274500996745,
+          635.867656205363,
+          418.71700126398173,
+          7533.038585672265,
+          52.499873801500655,
+          27.730695183679092,
+          3394.095393852021,
+          171.28446537279277,
+          365.24045413078744,
+          1488.616304214856,
+          1241.9198753962987,
+          2304.6910194049633,
+          446.85157548626086,
+          181.03324930157487,
+          139.51112103179318,
+          491.10407591432494,
+          224.90113884318825,
+          183.233947913499,
+          60.119401419494594
+        ]
+      },
+      "action_right": {
+        "count": 5144,
+        "sum": [
+          0.055261965841054916,
+          0.00021495763212442398,
+          -0.030565977096557617,
+          -0.07006769987799544,
+          1.2277286613186789,
+          0.7936639387241939,
+          378.15943869948387,
+          -1209.524043560028,
+          3439.328704714775,
+          929.6121935248375,
+          176.54868532094406,
+          2654.473002433777,
+          -887.1364633738995,
+          -566.1014285683632,
+          2398.141804754734,
+          228.13727102521807,
+          327.5303260103683,
+          4595.117416143417,
+          -1094.4401131272316,
+          53.67657006715308,
+          2963.623025536537,
+          -817.3396401214413,
+          94.06850642344216,
+          1652.3347133814823,
+          -1167.2527787862346,
+          699.180687129614,
+          2677.940019548405,
+          -2830.667327582836,
+          958.8443101849407,
+          3096.8768170564435,
+          -1638.7856244863942,
+          1299.2599015831947,
+          1968.3252260684967,
+          -867.915590552846,
+          605.1715467431495,
+          3801.033681795001,
+          -457.1735864132643,
+          264.16859997811844,
+          3250.506978750229,
+          -738.799668431282,
+          1187.1319402456284,
+          2757.9577027112246,
+          2373.1428573168814,
+          -2328.5815027952194,
+          372.9463623617776,
+          -541.533809283108,
+          267.04368659760803,
+          2155.3345281481743,
+          -843.6806699135341,
+          1573.2654071450233,
+          -1375.216538488865
+        ],
+        "sumsq": [
+          0.011378928059827667,
+          0.01654711469417999,
+          0.012327212316399994,
+          0.4567928756294223,
+          0.41592925098615485,
+          0.48560497328809066,
+          31.26076997083864,
+          331.0922028254822,
+          2476.3095344977387,
+          171.56024132723053,
+          10.461290992374037,
+          1575.5608643055618,
+          176.07889219498654,
+          65.75438728596717,
+          1278.3494475223783,
+          36.0458364963426,
+          41.60462221807288,
+          4722.360935979772,
+          233.87709661509936,
+          9.205642480550543,
+          1844.3521614849715,
+          149.24882611762362,
+          2.9918391326154743,
+          672.1077130195881,
+          389.6983084131521,
+          125.45979978240521,
+          1794.4518165159443,
+          1632.7183457629153,
+          284.02594018037644,
+          2176.172475140208,
+          677.7987063133462,
+          332.59577257845814,
+          780.1971887411604,
+          204.0396390328132,
+          108.91407582077046,
+          3395.1086485892656,
+          68.29173198759608,
+          32.76986914045368,
+          2276.020315335522,
+          110.30311156886849,
+          279.8428181677291,
+          1683.7987821578358,
+          1494.2858085429905,
+          1173.0174482774255,
+          504.87201027581307,
+          139.91956061764554,
+          179.63035346854272,
+          932.9507074676203,
+          156.32515195139558,
+          488.00356954810394,
+          373.295769944991
+        ]
+      },
+      "state_left": {
+        "count": 5144,
+        "sum": [
+          406.75319538265467,
+          -614.950825325679,
+          4634.269653469324,
+          -3467.9586247571087,
+          2951.8674023544913,
+          -4741.221236564444,
+          -236.7829120561364,
+          1217.8879194669425,
+          -1065.4154389342293,
+          1238.9544566869736,
+          126.43529777610092,
+          -4649.323570996523,
+          -1054.1933114230633,
+          331.28049394860864,
+          -3182.8760424721986,
+          -373.7112024478556,
+          -337.5150805648882,
+          -5220.669983834028,
+          -1270.6011573672295,
+          25.11714487246354,
+          -3140.0114654302597,
+          -329.0920070782013,
+          39.272491526011436,
+          -2911.1426050951704,
+          -2534.7380289658904,
+          -2226.2150528281927,
+          -5129.240119621158,
+          -3666.838438272476,
+          -1546.7651555992197,
+          -3696.367248971481,
+          -1082.6869776190724,
+          -1238.8085339516401,
+          -1676.144758105278,
+          -1673.7101198108867,
+          -1331.0437068501487,
+          -5812.291778698564,
+          -264.83348790183663,
+          -193.28968595340848,
+          -3924.396192844957,
+          -918.8387454152107,
+          -1358.7305650115013,
+          -2621.749921530485,
+          1301.6095787268132,
+          3163.0342240184546,
+          -145.81124743213877,
+          -881.626962485956,
+          518.1207682988606,
+          -1550.9917930364609,
+          -1027.827695865184,
+          -931.2424679331016,
+          495.51193588447495,
+          294.7356851696968,
+          -3029.749704360962,
+          -3553.4203748703003,
+          -896.9964854717255,
+          -810.8617329597473,
+          -2636.940439224243,
+          1515.1802320480347,
+          -3822.2785272598267,
+          187.35298243165016,
+          1419.4700117111206
+        ],
+        "sumsq": [
+          103.20337117821424,
+          245.8576892649911,
+          4803.534237459364,
+          19339.27305473454,
+          3766.248622215888,
+          14792.85823215451,
+          23.95989229037195,
+          308.54054351627883,
+          384.42840097353303,
+          301.068383449492,
+          16.39827125198424,
+          4632.3393535104915,
+          242.35344212376083,
+          28.328688152615015,
+          2229.62788922942,
+          75.28965098826313,
+          61.78349159590294,
+          6063.477364538172,
+          319.1806348005901,
+          3.4409937241667996,
+          2053.986107705551,
+          56.5350922598621,
+          2.553039140447146,
+          1820.0698937308373,
+          1730.4225973580928,
+          1105.6509623779223,
+          5854.5261874013895,
+          2767.535008831179,
+          684.5719744995768,
+          3249.2291682371447,
+          474.8475333774005,
+          311.55425122675416,
+          589.6925081258228,
+          635.8646443317037,
+          418.71790846053943,
+          7533.063809680957,
+          52.43885073518197,
+          27.72917873776331,
+          3394.1608373432987,
+          171.2591251273606,
+          365.2458883756701,
+          1488.5920813414295,
+          1240.8470940613765,
+          2304.6690167249208,
+          446.34125420404956,
+          180.8102036081434,
+          139.5379757964703,
+          491.16844661645456,
+          225.0991940369094,
+          183.31639979060103,
+          60.116912791929984,
+          16.88746580724146,
+          1784.4835285916283,
+          2454.6649223451373,
+          156.4157649589089,
+          127.81818623220929,
+          1351.76027994093,
+          446.3007650834246,
+          2840.1658514680225,
+          6.823705292774884,
+          391.6981170581588
+        ]
+      },
+      "state_right": {
+        "count": 5144,
+        "sum": [
+          -62.54498257488012,
+          -550.4312472222373,
+          4803.304621428251,
+          -3020.182821009139,
+          -2344.011614393717,
+          -67.27063019946158,
+          378.30852948129177,
+          -1209.5900924503803,
+          3439.4803224802017,
+          929.6711459755898,
+          176.54945269349264,
+          2654.4647163152695,
+          -887.6185251176357,
+          -565.9826335310936,
+          2398.36919349432,
+          228.2188188219443,
+          327.579597459815,
+          4595.162048578262,
+          -1094.6282458901405,
+          53.670327315077884,
+          2963.6993193626404,
+          -817.2502784314565,
+          94.13799475511769,
+          1652.8751999333035,
+          -1167.1959522245452,
+          699.6001867951127,
+          2677.6896247570403,
+          -2831.203259587288,
+          958.8446921017021,
+          3097.5334430127405,
+          -1638.657440465875,
+          1299.1646423339844,
+          1968.3967121839523,
+          -867.9447944147978,
+          605.4263422795484,
+          3801.1096369475126,
+          -457.10047157108784,
+          264.1659885496192,
+          3250.7132592201233,
+          -738.8809862732887,
+          1187.1645876169205,
+          2758.2343491762877,
+          2372.875117663294,
+          -2328.366567134857,
+          373.31310866819695,
+          -541.0810714450781,
+          267.36847352143377,
+          2155.2500151991844,
+          -844.0936042168178,
+          1573.1091015934944,
+          -1374.9657265543938,
+          2198.201551437378,
+          -1792.8430440425873,
+          135.91752518713474,
+          1483.825752735138,
+          853.1647397279739,
+          900.4293261766434,
+          -1297.8533992767334,
+          2487.8204758167267,
+          -2726.779149055481,
+          -1931.9780669212341
+        ],
+        "sumsq": [
+          112.08831219091336,
+          156.48248206025477,
+          5060.986957776633,
+          24093.22742318613,
+          3249.8723341214413,
+          15979.70121161627,
+          31.283692922720494,
+          331.10793389968865,
+          2476.4332630146123,
+          171.58828965984614,
+          10.461328724165519,
+          1575.5580853442787,
+          176.42123261082403,
+          65.72087366329897,
+          1278.4192718949043,
+          36.068923048949685,
+          41.606891598975366,
+          4722.384855147915,
+          233.96391808894467,
+          9.20672564269616,
+          1844.3967769075023,
+          149.25228464051557,
+          2.999708504353579,
+          672.023371815516,
+          389.7087579189122,
+          125.57918435391012,
+          1794.4585076362134,
+          1632.9846686996532,
+          284.0258613165167,
+          2176.170302929787,
+          677.8211834036879,
+          332.55023948345774,
+          780.2504002270103,
+          204.04086080909184,
+          108.94892132424995,
+          3395.128308680191,
+          68.31000456918018,
+          32.770215330891205,
+          2276.1069702390464,
+          110.3332132765508,
+          279.85968374956167,
+          1683.8499670826739,
+          1494.0328357851615,
+          1172.9727544062555,
+          504.69292060179384,
+          139.76795720771273,
+          179.66239005520865,
+          932.8681365283537,
+          156.49006614547474,
+          487.89749556783454,
+          373.14888446279645,
+          939.3643197398319,
+          624.8612326150611,
+          3.591285702370787,
+          428.02077458786914,
+          141.50273583108424,
+          157.6152743854821,
+          327.45401361084214,
+          1203.1980404146468,
+          1445.4363389820633,
+          725.6102743127328
+        ]
+      }
+    },
+    "action_type": "angle",
+    "dataset_name": "oakink2_val",
+    "indexed_sample_count": 5144
+  },
+  "keypoints": {
+    "accumulators": {
+      "action_left": {
+        "count": 5144,
+        "sum": [
+          -0.07488872110843658,
+          0.0036230282858014107,
+          0.013595610857009888,
+          0.4783250141163222,
+          -1.571015026539044,
+          -0.43924102239835605,
+          0.0,
+          0.0,
+          0.0,
+          126.52798894047737,
+          -80.3708890452981,
+          128.66842478513718,
+          274.10083362460136,
+          -113.3654890730977,
+          155.26824458688498,
+          390.9278889000416,
+          -173.78872487694025,
+          126.63025059551,
+          557.0512708723545,
+          -205.64040601998568,
+          125.9776795823127,
+          455.8132290840149,
+          -26.51930807158351,
+          100.87611369043589,
+          617.513380497694,
+          -37.706812895514304,
+          72.69536915421486,
+          656.4870559573174,
+          -134.8356806524098,
+          59.96943469811231,
+          641.8351511955261,
+          -234.78748364001513,
+          62.700551070855,
+          488.95667922496796,
+          -8.565499172080308,
+          -20.064490555785596,
+          571.2291808128357,
+          -131.35376588487998,
+          -36.55878386530094,
+          551.1114983856678,
+          -231.05487428978086,
+          -42.203827815596014,
+          499.7612919807434,
+          -313.19881308823824,
+          -38.452342652063635,
+          421.0831698477268,
+          -21.34909535944462,
+          -137.12757601588964,
+          478.0919096171856,
+          -140.1373401535675,
+          -127.68609621375799,
+          427.22058871388435,
+          -217.84999492578208,
+          -111.5457624271512,
+          365.33564561605453,
+          -258.2740431483835,
+          -73.39144406467676,
+          352.23077714443207,
+          -51.964215379208326,
+          -219.97045826911926,
+          374.5459361076355,
+          -139.20424937456846,
+          -234.07008934020996,
+          331.8567849099636,
+          -167.8012342005968,
+          -196.52363136410713,
+          301.53980623185635,
+          -175.0594240348437,
+          -141.36683949828148
+        ],
+        "sumsq": [
+          0.004312269669335844,
+          0.00766680795591757,
+          0.006885275930522461,
+          0.47797190087101227,
+          0.3076348673899904,
+          0.36478131955096005,
+          0.0,
+          0.0,
+          0.0,
+          3.1122340562446524,
+          1.2557309109510364,
+          3.218422149434136,
+          14.61966961022317,
+          2.5243258916965217,
+          4.8087049517998555,
+          29.720480148428127,
+          5.962816966921015,
+          3.5351977706030375,
+          60.396642301974566,
+          8.485387859032162,
+          4.690863259439025,
+          40.38991053810231,
+          0.13671728238658543,
+          1.9782251775440969,
+          74.13907301759029,
+          0.43613786573329355,
+          1.0470400673388813,
+          84.02711493613018,
+          3.7730650876026934,
+          0.7433264401091993,
+          81.47255353099882,
+          11.019499725686211,
+          0.8477592382977379,
+          46.477183934430336,
+          0.014262786949460036,
+          0.07826278795964124,
+          63.769082682893156,
+          3.758797852417075,
+          0.295082713217488,
+          60.77653543768313,
+          11.027335624912023,
+          0.4814481118835964,
+          53.66394452717738,
+          20.01726840819477,
+          0.6117566179465553,
+          34.46948598931,
+          0.0886049519182823,
+          3.6555155723162,
+          44.81491914866405,
+          4.210714751840021,
+          3.224519496799078,
+          38.08543281158428,
+          9.836260422278308,
+          2.8163342153104325,
+          32.784593003643685,
+          13.85291887609127,
+          1.9854731670122943,
+          24.118685919084662,
+          0.5249377293891079,
+          9.406493489721457,
+          27.523521575786578,
+          4.026965708127938,
+          10.728689932863382,
+          22.898199286078924,
+          5.786882053866653,
+          8.17930889833573,
+          20.87834071875289,
+          6.5828000583265425,
+          5.544829216565218
+        ]
+      },
+      "action_right": {
+        "count": 5144,
+        "sum": [
+          0.055261965841054916,
+          0.00021495763212442398,
+          -0.030565977096557617,
+          -0.07006769987799544,
+          1.2277286613186789,
+          0.7936639387241939,
+          0.0,
+          0.0,
+          0.0,
+          -122.59170115739107,
+          -76.34488569572568,
+          131.51545579731464,
+          -256.00861360132694,
+          -135.2140348032117,
+          180.82344743609428,
+          -347.07361145317554,
+          -229.07309893518686,
+          179.28242318332195,
+          -482.9872595667839,
+          -305.72255109250546,
+          248.97132036834955,
+          -444.5587814450264,
+          -27.212460169568658,
+          101.96297439932823,
+          -581.0007306933403,
+          -110.47009445354342,
+          75.49457754194736,
+          -612.3978500366211,
+          -207.80584143847227,
+          51.17005802039057,
+          -605.5285474956036,
+          -308.2466266155243,
+          30.61159089296416,
+          -477.8223061263561,
+          -9.691083724144846,
+          -17.436008360236883,
+          -577.5740652084351,
+          -119.21232728194445,
+          -35.45102658867836,
+          -577.8698442578316,
+          -222.8830844461918,
+          -49.433168560266495,
+          -544.3381126970053,
+          -325.7722986713052,
+          -61.920113801024854,
+          -414.55796563625336,
+          -21.272034034132957,
+          -132.92462235689163,
+          -517.7059648633003,
+          -109.3080700961873,
+          -142.4872649013996,
+          -523.1397881507874,
+          -217.1988585293293,
+          -148.92964805662632,
+          -498.97171252965927,
+          -303.1215276196599,
+          -127.12251194193959,
+          -350.18106627464294,
+          -48.88442277535796,
+          -215.77855175733566,
+          -418.095724850893,
+          -103.2893248014152,
+          -264.70870155096054,
+          -420.85499811172485,
+          -182.86401791498065,
+          -265.96047730743885,
+          -410.95684434473515,
+          -246.93393109738827,
+          -233.60404920578003
+        ],
+        "sumsq": [
+          0.011378928059827667,
+          0.01654711469417999,
+          0.012327212316399994,
+          0.4567928756294223,
+          0.41592925098615485,
+          0.48560497328809066,
+          0.0,
+          0.0,
+          0.0,
+          2.92160287571236,
+          1.1330757332608914,
+          3.362425177600319,
+          12.756908497726862,
+          3.620459119189157,
+          6.424351047465441,
+          23.54652154737124,
+          10.455347247968751,
+          6.658683385521246,
+          45.71672423130188,
+          18.801408354650516,
+          13.687881996408896,
+          38.4200058631199,
+          0.14395761828953732,
+          2.021082454968764,
+          65.67592416465949,
+          2.4979158566218733,
+          1.154230970999481,
+          73.35492430862357,
+          8.663169216826116,
+          0.6023246662650324,
+          73.22180667854016,
+          18.840026654193153,
+          0.321571658678274,
+          44.38455603264216,
+          0.018257601817557353,
+          0.059100775182683155,
+          65.11735526200599,
+          3.084835676973442,
+          0.26173700976049386,
+          66.28947710374165,
+          10.197294124666787,
+          0.5509460637763125,
+          62.06443257922053,
+          21.40481346494457,
+          0.9599017154265166,
+          33.40946867660781,
+          0.0879664525564769,
+          3.4348668796119086,
+          52.268450139551355,
+          2.6464471608568805,
+          3.974046414131801,
+          54.484848882600375,
+          9.876239283768493,
+          4.492270483011655,
+          52.53417666790332,
+          18.84817346837926,
+          3.5884702136462283,
+          23.838798440366887,
+          0.46455808516349156,
+          9.051396461604691,
+          34.02939435252969,
+          2.2568788834666678,
+          13.634522068880967,
+          35.00994623923396,
+          6.9994899728769715,
+          13.927775800980779,
+          34.6289619862123,
+          12.58512024823083,
+          11.244604496720509
+        ]
+      },
+      "state_left": {
+        "count": 5144,
+        "sum": [
+          406.75319538265467,
+          -614.950825325679,
+          4634.269653469324,
+          -3467.9586247571087,
+          2951.8674023544913,
+          -4741.221236564444,
+          0.0,
+          0.0,
+          0.0,
+          126.52798900008202,
+          -80.37088904902339,
+          128.66842480748892,
+          274.09021036326885,
+          -113.36484067887068,
+          155.28270339220762,
+          390.90865382552147,
+          -173.80383668839931,
+          126.65966486185789,
+          557.0156229734421,
+          -205.6624410301447,
+          126.02212977595627,
+          455.81322914361954,
+          -26.519308073446155,
+          100.87611371278763,
+          617.514681905508,
+          -37.70589609039598,
+          72.70604853332043,
+          656.4853844642639,
+          -134.84166369959712,
+          59.98468499723822,
+          641.8267458081245,
+          -234.81362599879503,
+          62.71897659881506,
+          488.95667922496796,
+          -8.56549915112555,
+          -20.0644906219095,
+          571.230787217617,
+          -131.35749239707366,
+          -36.54996773111634,
+          551.1105555593967,
+          -231.0679143704474,
+          -42.189918930176646,
+          499.7573019862175,
+          -313.23893198370934,
+          -38.43507654992845,
+          421.0831698477268,
+          -21.349095348268747,
+          -137.1275760680437,
+          478.09264156222343,
+          -140.13973984960467,
+          -127.68121319264174,
+          427.22021517157555,
+          -217.8646689262241,
+          -111.53653059154749,
+          365.3340005874634,
+          -258.31278522126377,
+          -73.3797145113349,
+          352.23077714443207,
+          -51.964215375483036,
+          -219.97045828402042,
+          374.5476396083832,
+          -139.2139310874045,
+          -234.06726178526878,
+          331.8602630198002,
+          -167.8244068659842,
+          -196.51803168654442,
+          301.54530473053455,
+          -175.0999072851264,
+          -141.3607907295227,
+          294.7356851696968,
+          -3029.749704360962,
+          -3553.4203748703003,
+          -896.9964854717255,
+          -810.8617329597473,
+          -2636.940439224243,
+          1515.1802320480347,
+          -3822.2785272598267,
+          187.35298243165016,
+          1419.4700117111206
+        ],
+        "sumsq": [
+          103.20337117821424,
+          245.8576892649911,
+          4803.534237459364,
+          19339.27305473454,
+          3766.248622215888,
+          14792.85823215451,
+          0.0,
+          0.0,
+          0.0,
+          3.112234059176867,
+          1.2557309110674457,
+          3.2184221505523176,
+          14.61863291666783,
+          2.524301402400125,
+          4.809946596386109,
+          29.717655658789635,
+          5.963516042657764,
+          3.53829475409132,
+          60.389679622254455,
+          8.48639442362119,
+          4.697645866758955,
+          40.389910548665526,
+          0.13671728240579073,
+          1.978225178420752,
+          74.13938684817603,
+          0.43611941171329155,
+          1.047384739710756,
+          84.02664726560322,
+          3.7733008100896743,
+          0.7437583322525368,
+          81.46984476445122,
+          11.020893246362643,
+          0.8482663250264031,
+          46.47718393443033,
+          0.014262786879674685,
+          0.07826278847548211,
+          63.76948567261926,
+          3.7588368163096795,
+          0.2948897820789021,
+          60.77626193737377,
+          11.027711171164807,
+          0.4809502172489845,
+          53.66260005349766,
+          20.018646911262895,
+          0.6109354269355156,
+          34.46948598931,
+          0.08860495182551606,
+          3.655515575096822,
+          44.815080173953874,
+          4.210742697759667,
+          3.2242099343234747,
+          38.085334597433196,
+          9.836586817089762,
+          2.8155735807558027,
+          32.784085447157025,
+          13.853878704174784,
+          1.9844038843762513,
+          24.118685919084655,
+          0.5249377293138426,
+          9.406493490995883,
+          27.52381516026266,
+          4.027161336147594,
+          10.728387789135999,
+          22.898906316201213,
+          5.78735235128311,
+          8.178597202899335,
+          20.879616238536734,
+          6.583472764211946,
+          5.543989146302312,
+          16.88746580724146,
+          1784.4835285916283,
+          2454.6649223451373,
+          156.4157649589089,
+          127.81818623220929,
+          1351.76027994093,
+          446.3007650834246,
+          2840.1658514680225,
+          6.823705292774884,
+          391.6981170581588
+        ]
+      },
+      "state_right": {
+        "count": 5144,
+        "sum": [
+          -62.54498257488012,
+          -550.4312472222373,
+          4803.304621428251,
+          -3020.182821009139,
+          -2344.011614393717,
+          -67.27063019946158,
+          0.0,
+          0.0,
+          0.0,
+          -122.59170115739107,
+          -76.3448856882751,
+          131.51545580476522,
+          -256.00198106467724,
+          -135.2180404663086,
+          180.83071951568127,
+          -347.05551908910275,
+          -229.0889409855008,
+          179.30311620235443,
+          -482.95199996232986,
+          -305.74854461848736,
+          249.0039866939187,
+          -444.55878150463104,
+          -27.212460169568658,
+          101.96297438442707,
+          -580.9991753399372,
+          -110.47507335990667,
+          75.49303306639194,
+          -612.3942682147026,
+          -207.81311107426882,
+          51.16638820338994,
+          -605.5194799602032,
+          -308.25943256914616,
+          30.60686612590507,
+          -477.82230615615845,
+          -9.691083715297282,
+          -17.436008407734334,
+          -577.5741397738457,
+          -119.21331719774753,
+          -35.44931264035404,
+          -577.8684151172638,
+          -222.88634644448757,
+          -49.4311230443418,
+          -544.3295703977346,
+          -325.79056496173143,
+          -61.91504645254463,
+          -414.5579657256603,
+          -21.272034032270312,
+          -132.9246224090457,
+          -517.7065871953964,
+          -109.31044404488057,
+          -142.48017545044422,
+          -523.1401161551476,
+          -217.20714539289474,
+          -148.91680240631104,
+          -498.96798861026764,
+          -303.1427410468459,
+          -127.10408386960626,
+          -350.18106639385223,
+          -48.88442277908325,
+          -215.7785518169403,
+          -418.09939128160477,
+          -103.28406160511076,
+          -264.7010446637869,
+          -420.8613758087158,
+          -182.8688439130783,
+          -265.9462566226721,
+          -410.9626540094614,
+          -246.9465992860496,
+          -233.58421829342842,
+          2198.201551437378,
+          -1792.8430440425873,
+          135.91752518713474,
+          1483.825752735138,
+          853.1647397279739,
+          900.4293261766434,
+          -1297.8533992767334,
+          2487.8204758167267,
+          -2726.779149055481,
+          -1931.9780669212341
+        ],
+        "sumsq": [
+          112.08831219091336,
+          156.48248206025477,
+          5060.986957776633,
+          24093.22742318613,
+          3249.8723341214413,
+          15979.70121161627,
+          0.0,
+          0.0,
+          0.0,
+          2.92160287571236,
+          1.133075733039735,
+          3.362425177981292,
+          12.756282479541447,
+          3.620612425340757,
+          6.424998378534841,
+          23.54402192553285,
+          10.456376432468424,
+          6.660811677510724,
+          45.7101547156757,
+          18.803432075539163,
+          13.69283499565142,
+          38.4200058734223,
+          0.14395761828953735,
+          2.0210824543780306,
+          65.67555949559102,
+          2.498059826086675,
+          1.1541742881092987,
+          73.35396036734677,
+          8.663563389087495,
+          0.6022111707724627,
+          73.21904262483352,
+          18.841069626655592,
+          0.3214518895306121,
+          44.38455603817877,
+          0.018257601784220413,
+          0.05910077550467604,
+          65.11737360684194,
+          3.0848505004404903,
+          0.26170981533739285,
+          66.28907453217829,
+          10.197425775879983,
+          0.5508886272920779,
+          62.061646671498615,
+          21.405956370916794,
+          0.9596915669985363,
+          33.40946869101853,
+          0.08796645254107166,
+          3.434866882307304,
+          52.26858532404605,
+          2.6464754275504214,
+          3.973636515284433,
+          54.48493418575951,
+          9.876477495830239,
+          4.491333729975666,
+          52.5330450549645,
+          18.849075805360968,
+          3.587067832893257,
+          23.83879845659738,
+          0.464558085234296,
+          9.051396466605235,
+          34.03002568934089,
+          2.2567958949146263,
+          13.63373050269291,
+          35.0112458592127,
+          6.999584191284455,
+          13.926038067351302,
+          34.630324622119296,
+          12.585444572056943,
+          11.241996558910932,
+          939.3643197398319,
+          624.8612326150611,
+          3.591285702370787,
+          428.02077458786914,
+          141.50273583108424,
+          157.6152743854821,
+          327.45401361084214,
+          1203.1980404146468,
+          1445.4363389820633,
+          725.6102743127328
+        ]
+      }
+    },
+    "action_type": "keypoints",
+    "dataset_name": "oakink2_val",
+    "indexed_sample_count": 5144
+  }
+}

Build/sequence_indices/val/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6aa5d18fa22b6c7ef838bec18564ff60443e0b2181fa17d42f9035e04df4541
+size 84268

Build/sequences/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json

@@ -0,0 +1,364 @@
+{
+  "created_at": "2026-08-11T02:47:24.042653+00:00",
+  "episodes": [
+    {
+      "camera": "allocentric_left",
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left",
+      "indexed_anchor_count": 1286,
+      "label_path": "Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.npy",
+      "overlay_path": "Audit/overlays/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.jpg",
+      "report_path": "Audit/reports/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.json",
+      "video_path": "Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_left/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.mp4"
+    },
+    {
+      "camera": "allocentric_right",
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right",
+      "indexed_anchor_count": 1286,
+      "label_path": "Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.npy",
+      "overlay_path": "Audit/overlays/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.jpg",
+      "report_path": "Audit/reports/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.json",
+      "video_path": "Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_right/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.mp4"
+    },
+    {
+      "camera": "allocentric_top",
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top",
+      "indexed_anchor_count": 1286,
+      "label_path": "Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.npy",
+      "overlay_path": "Audit/overlays/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.jpg",
+      "report_path": "Audit/reports/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.json",
+      "video_path": "Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_top/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.mp4"
+    },
+    {
+      "camera": "egocentric",
+      "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric",
+      "indexed_anchor_count": 1286,
+      "label_path": "Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.npy",
+      "overlay_path": "Audit/overlays/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.jpg",
+      "report_path": "Audit/reports/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.json",
+      "video_path": "Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/egocentric/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.mp4"
+    }
+  ],
+  "files": [
+    {
+      "path": "Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.npy",
+      "sha256": "222f66aa5a7704d51a44ab87ef9508a7546b41054c9a289cce0ef6feb51cd816",
+      "size": 3421035
+    },
+    {
+      "path": "Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.npy",
+      "sha256": "5b9fb083015bac263da55381f8b30e1c58bc746e2d263181eb98ea0c7919880f",
+      "size": 3421038
+    },
+    {
+      "path": "Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.npy",
+      "sha256": "5d25e700a703484ee53330c4277df1c533ac67c4b508a04ee3132b9846835022",
+      "size": 3421032
+    },
+    {
+      "path": "Annotation/oakink2_val/episodic_annotations/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.npy",
+      "sha256": "a4f29cf45c0a8afd1a7fd60978bd90d54a1d240489a5e6804c005b974f023a26",
+      "size": 3421016
+    },
+    {
+      "path": "Audit/loader_smoke/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json",
+      "sha256": "eba98554bd4498b44fca0b9e016335a96b8da88f62854d29aced725c62831853",
+      "size": 2651
+    },
+    {
+      "path": "Audit/overlays/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.jpg",
+      "sha256": "a8f7c15e1941a7abf2959515b9b0510724babe58846556ec9e6b6d9b01c6a51b",
+      "size": 942291
+    },
+    {
+      "path": "Audit/overlays/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.jpg",
+      "sha256": "babca17f14e18884b8c730defa41e5e7f2be51e4317fe30d980bae0aa8b91df7",
+      "size": 951059
+    },
+    {
+      "path": "Audit/overlays/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.jpg",
+      "sha256": "ee3db84ba5dc4797bfff4632829a6ea97caa55f8e0adccd94cee15db11562d27",
+      "size": 933890
+    },
+    {
+      "path": "Audit/overlays/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.jpg",
+      "sha256": "505db3d6b80888744883675b87e181fdaf95238cb67af0d2c1cff89bb73bf4a7",
+      "size": 998493
+    },
+    {
+      "path": "Audit/reports/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.json",
+      "sha256": "9b2d1349aea4d01ed37d9c1f8009aaa4f6569f4bcc3f6a37e6ce44a6ab471c63",
+      "size": 15696
+    },
+    {
+      "path": "Audit/reports/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.json",
+      "sha256": "60ea50dc5b64c329642f7a90416d7d277a346dec5f684e384cbeb93e34a0f8e9",
+      "size": 15706
+    },
+    {
+      "path": "Audit/reports/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.json",
+      "sha256": "9643be6d10929c9a8bf6f7d00d6e748a3d48be8a902dd37fb902ee68ec57a011",
+      "size": 15672
+    },
+    {
+      "path": "Audit/reports/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.json",
+      "sha256": "e5257f5fc9b3835dadbcd36de609f730ba1650cd6bbef1af3b009b4ceb72a08d",
+      "size": 15723
+    },
+    {
+      "path": "Audit/rgb_detector/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/full_frame_summary.json",
+      "sha256": "2a83401efeb50403c932d5a1ee2d85a952320d135c55080bb3e027a0ef0c4304",
+      "size": 4145
+    },
+    {
+      "path": "Audit/rgb_detector/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/per_frame.jsonl",
+      "sha256": "0c47493d115a6e5619babf61c4aa91c38ea430d7149b00ade402df25f50ee1c0",
+      "size": 7209116
+    },
+    {
+      "path": "Build/partial_statistics/val/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.json",
+      "sha256": "7ecddb6c8b447772d9c30cfb1369e1e57a407edcdec5c2c05f6f3096605dec5a",
+      "size": 31872
+    },
+    {
+      "path": "Build/sequence_indices/val/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.npz",
+      "sha256": "a6aa5d18fa22b6c7ef838bec18564ff60443e0b2181fa17d42f9035e04df4541",
+      "size": 84268
+    },
+    {
+      "path": "Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_left/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.mp4",
+      "sha256": "e2f6ceec12e48f1520b5a70fabc15f2214cc1a5fc42b8743b2eaa60fece3a5f3",
+      "size": 7791753
+    },
+    {
+      "path": "Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_right/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.mp4",
+      "sha256": "4741aab56d8f6b410388f5eab5476d72fd3b830edc020551b55b50f1fdd4e1da",
+      "size": 8152440
+    },
+    {
+      "path": "Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_top/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.mp4",
+      "sha256": "8c201cab0bf461679d94806dea90191bc5ecccea209a54e321a6e84eb6a454d3",
+      "size": 8050111
+    },
+    {
+      "path": "Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/egocentric/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.mp4",
+      "sha256": "d3a114e6ea35c2c7264428a808d7cd7bb57cd2b57d342281c5517164da6de9b6",
+      "size": 13262090
+    }
+  ],
+  "geometric_quality": {
+    "accepted": [
+      "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left",
+      "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right",
+      "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top",
+      "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric"
+    ],
+    "metrics": {
+      "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left": {
+        "frame_count": 1287,
+        "left_visible_fraction": 1.0,
+        "right_visible_fraction": 1.0,
+        "training_anchor_count": 1286,
+        "training_anchor_fraction": 0.9992229992229992
+      },
+      "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right": {
+        "frame_count": 1287,
+        "left_visible_fraction": 1.0,
+        "right_visible_fraction": 1.0,
+        "training_anchor_count": 1286,
+        "training_anchor_fraction": 0.9992229992229992
+      },
+      "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top": {
+        "frame_count": 1287,
+        "left_visible_fraction": 1.0,
+        "right_visible_fraction": 1.0,
+        "training_anchor_count": 1286,
+        "training_anchor_fraction": 0.9992229992229992
+      },
+      "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric": {
+        "frame_count": 1287,
+        "left_visible_fraction": 0.9518259518259519,
+        "right_visible_fraction": 1.0,
+        "training_anchor_count": 1286,
+        "training_anchor_fraction": 0.9992229992229992
+      }
+    },
+    "rejected": {}
+  },
+  "loader_smoke": {
+    "checks": [
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left",
+        "frame_id": 0,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left",
+        "frame_id": 643,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right",
+        "frame_id": 0,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right",
+        "frame_id": 643,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top",
+        "frame_id": 0,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top",
+        "frame_id": 643,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric",
+        "frame_id": 0,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      },
+      {
+        "action_shape": [
+          16,
+          138
+        ],
+        "episode_id": "OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric",
+        "frame_id": 643,
+        "image_shape": [
+          1,
+          480,
+          848,
+          3
+        ],
+        "state_shape": [
+          158
+        ]
+      }
+    ],
+    "probe_count": 8,
+    "status": "passed"
+  },
+  "official_split": {
+    "file_sha256": "5d978e684dbf791b3d6084a1e2d359054109bf8bcb0539bcdfdc31e1f42e285d",
+    "name": "val",
+    "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_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.pkl",
+    "annotation_sha256": "440023f3fbea9e739410e3c2777f1d79d292af9b09730b33858fe6a56aa407ab",
+    "annotation_size": 51889664,
+    "data_path": "data/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38.tar",
+    "data_sha256": "a56f469c3f69b4fddd86389b8b2a4782a5ddb56d72a661642b52769d8afa5ede",
+    "data_size": 3054325760,
+    "repo_id": "kelvin34501/OakInk-v2",
+    "revision": "21705616140d726607027e70d58b7837f442ffd8",
+    "sequence_token": "scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38"
+  }
+}

Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_left/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2f6ceec12e48f1520b5a70fabc15f2214cc1a5fc42b8743b2eaa60fece3a5f3
+size 7791753

Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_right/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4741aab56d8f6b410388f5eab5476d72fd3b830edc020551b55b50f1fdd4e1da
+size 8152440

Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/allocentric_top/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_allocentric_top.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c201cab0bf461679d94806dea90191bc5ecccea209a54e321a6e84eb6a454d3
+size 8050111

Video/OakInk2_root/scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38/egocentric/OakInk2_scene_02__A001++seq__9ece9dbeab9d71e2c362__2023-04-22-14-25-38_egocentric.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3a114e6ea35c2c7264428a808d7cd7bb57cd2b57d342281c5517164da6de9b6
+size 13262090