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permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + +Note: this license covers only the frontend and tools code in this directory. +The data assets exported by these tools (under _dist/ or pushed to HF Dataset) +are derivative works of Action100M and are governed by the FAIR Noncommercial +Research License v1 (see LICENSE-Action100M). diff --git a/samples/-4eiU1SHpzY_111.9_123.8/bg_template.png b/samples/-4eiU1SHpzY_111.9_123.8/bg_template.png new file mode 100644 index 0000000000000000000000000000000000000000..a3d53b95e266fcbfb8ab3b3d7d5a11f0102d653f --- /dev/null +++ b/samples/-4eiU1SHpzY_111.9_123.8/bg_template.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcc61f73b855df7235cc14ecf4aeebd4f2f26b6e6a001565ff4ff7eb86c4b19e +size 133471 diff --git 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mode 100644 index 031e7df041ee47ca361f187d088834243847f09c..0000000000000000000000000000000000000000 --- a/samples/-4eiU1SHpzY_111.9_123.8/recording.viser +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0b93ed0566a43d6b8bb91330d88bd0015c53eecb75884bd8be77e5f51e0fd05b -size 11018822 diff --git a/samples/-4eiU1SHpzY_111.9_123.8/scene.json b/samples/-4eiU1SHpzY_111.9_123.8/scene.json index 2a250e9cab78edbdb925a3204324765d459f84e3..eec7e89748ac63213e74c09d5c85799f6eb8228b 100644 --- a/samples/-4eiU1SHpzY_111.9_123.8/scene.json +++ b/samples/-4eiU1SHpzY_111.9_123.8/scene.json @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 665.4743727892637, + "focal": 666.3211813867092, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - -0.007885012775659561, - -0.9975646138191223, - -0.06930194050073624 + -0.00854605995118618, + -0.9975987672805786, + -0.06872943788766861 ] }, "reconstruction": { @@ -38,108 +38,108 @@ "objects": [ { "id": 0, - "prompt": "blender", + "prompt": "bowl", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 56000, - "scale_correction": 0.4648690819740296, + "n_points": 59868, + "scale_correction": 0.12786123156547546, "tracker_ok": true, "canonical_translation": [ - -0.9297536611557007, - 0.040310654789209366, - 2.0337624549865723 + -0.3790712058544159, + -0.2842137813568115, + 1.2602393627166748 ], "canonical_rotation_quat": [ - 0.06495233625173569, - 0.07299277186393738, - 0.7100450992584229, - 0.6973444819450378 + 0.011012043803930283, + 0.01681751012802124, + 0.7007223963737488, + 0.7131507396697998 ], - "canonical_scale": 0.46486908197402954 + "canonical_scale": 0.12786123156547546 }, { "id": 1, - "prompt": "blender", + "prompt": "black blender lid", "color_hex": "#6a9460", "ply": "objects/obj_1.ply", - "n_points": 64224, - "scale_correction": 0.4154363572597504, + "n_points": 52196, + "scale_correction": 0.13319085538387299, 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- "n_points": 78896, - "scale_correction": 0.19900753796100606, + "n_points": 58684, + "scale_correction": 0.20521920840813754, "tracker_ok": true, "canonical_translation": [ - -0.18533863127231598, - -0.14748400449752808, - 1.235338568687439 + -0.17929530143737793, + -0.1424250453710556, + 1.2188831567764282 ], "canonical_rotation_quat": [ - 0.4491003751754761, - 0.48177865147590637, - 0.5514456629753113, - 0.5119627714157104 + 0.45743146538734436, + 0.49411335587501526, + 0.5433987975120544, + 0.5013243556022644 ], - "canonical_scale": 0.2842964828014374 + "canonical_scale": 0.27781325578689575 } ], "object_pose_traj": "object_pose.bin", @@ -159,58 +159,86 @@ "flow_video": "flow.mp4", "mask_video": "mask.mp4", "signals": "signals.json", - "thumb": "thumb.jpg" + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 240, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 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7.5, "duration": 8.0, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 661.0284949541092, + "focal": 664.1007874906063, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - -0.006800350267440081, - -0.9978541135787964, - -0.06512261182069778 + -0.007423870265483856, + -0.9980911016464233, + -0.06131185218691826 ] }, "reconstruction": { @@ -41,75 +41,117 @@ "prompt": "white plastic container", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 51952, - "scale_correction": 0.27654320001602173, + "n_points": 52996, + "scale_correction": 0.1997815668582916, "tracker_ok": true, "canonical_translation": [ - -0.571489691734314, - -0.1577637493610382, - 1.2311794757843018 + -0.07085764408111572, + -0.28088709712028503, + 1.2356538772583008 ], "canonical_rotation_quat": [ - 0.43483078479766846, - 0.4747698903083801, - 0.5646421313285828, - 0.5164251923561096 + 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b/samples/-5a3oTSdP3U_168.6_173.4/scene.json index f5a5cfff07c929d271aaed485c2c881693b7c1a6..db35e350323b904b4a4fa64df680df9fbf0efe94 100644 --- a/samples/-5a3oTSdP3U_168.6_173.4/scene.json +++ b/samples/-5a3oTSdP3U_168.6_173.4/scene.json @@ -1,6 +1,6 @@ { "id": "-5a3oTSdP3U_168.6_173.4", - "fps": 13.9583333333333, + "fps": 11.249999999999973, "duration": 9.600000000000023, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 662.2070204466581, + "focal": 665.5584895014763, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - -0.01706109195947647, - -0.9769572615623474, - -0.2127518653869629 + -0.016384106129407883, + -0.9760852456092834, + -0.21677008271217346 ] }, "reconstruction": { @@ -38,50 +38,50 @@ "objects": [ { "id": 0, - "prompt": "yellow outline", + "prompt": "brown-covered pamphlet", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 8460, - 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4b54933d98e231206401d2a537473dd227ed043e..0000000000000000000000000000000000000000 --- a/samples/-821U1ZYZOs_245.0_249.0/recording.viser +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c91008a1f34ad1b24371a4fbb8059b82fedd142b45a8ac6d8c8148bfbead6a63 -size 4073653 diff --git a/samples/-821U1ZYZOs_245.0_249.0/scene.json b/samples/-821U1ZYZOs_245.0_249.0/scene.json index 7022fd8952d0c5514f05057942054a87f5c12022..cae4fd4bf486a608c1b60dea2d0bf121bc945e27 100644 --- a/samples/-821U1ZYZOs_245.0_249.0/scene.json +++ b/samples/-821U1ZYZOs_245.0_249.0/scene.json @@ -1,6 +1,6 @@ { "id": "-821U1ZYZOs_245.0_249.0", - "fps": 10.0, + "fps": 7.5, "duration": 8.0, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 847.677996352315, + "focal": 841.4148371070623, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - 0.010523323900997639, - -0.9993402361869812, - 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a/samples/-821U1ZYZOs_321.4_325.4/scene.json +++ b/samples/-821U1ZYZOs_321.4_325.4/scene.json @@ -1,6 +1,6 @@ { "id": "-821U1ZYZOs_321.4_325.4", - "fps": 10.125, + "fps": 7.5, "duration": 8.0, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 861.6803794503212, + "focal": 850.0029958337545, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - 0.01074136607348919, - -0.9992391467094421, - -0.03749239072203636 + 0.011653000488877296, + -0.999153196811676, + -0.039461590349674225 ] }, "reconstruction": { @@ -38,57 +38,36 @@ "objects": [ { "id": 0, - "prompt": "paper box", + "prompt": "silver pan", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 69008, - "scale_correction": 0.15650050342082983, - "tracker_ok": true, - "canonical_translation": [ - 0.4532146453857422, - -0.1399897038936615, - 1.3139601945877075 - ], - "canonical_rotation_quat": [ - 0.09024382382631302, - 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+ "fps": 9.464285714285676, "duration": 11.200000000000045, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 717.7203973978758, + "focal": 721.2507344484329, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - -0.010419178754091263, - -0.906943678855896, - -0.4211229681968689 + -0.029595278203487396, + -0.8849676251411438, + -0.4647112488746643 ] }, "reconstruction": { @@ -38,36 +38,57 @@ "objects": [ { "id": 0, - "prompt": "grill", + "prompt": "charcoal grill", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 19628, - "scale_correction": 0.7352442435146623, + "n_points": 33712, + "scale_correction": 1.162191390991211, "tracker_ok": true, "canonical_translation": [ - -0.027454964816570282, - -0.13721805810928345, - 1.4381452798843384 + -0.0387766994535923, + -0.1438530683517456, + 1.4020556211471558 ], "canonical_rotation_quat": [ - 0.017369328066706657, - 0.04273456335067749, - 0.870513916015625, - 0.4899771213531494 + 0.041395824402570724, + 0.08908345550298691, + 0.8373116850852966, + 0.5378285050392151 ], - "canonical_scale": 0.9245729446411133 + "canonical_scale": 1.162191390991211 + }, + { + "id": 1, + "prompt": "bacon-wrapped sausage", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 32548, + "scale_correction": 0.3086021542549132, + "tracker_ok": true, + "canonical_translation": [ + 0.15644904971122742, + -0.1030263602733612, + 1.5664879083633423 + ], + "canonical_rotation_quat": [ + 0.04604095220565796, + 0.12134572863578796, + 0.9065757989883423, + 0.40159156918525696 + ], + "canonical_scale": 0.30860215425491333 } ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ - 144, - 1, + 106, + 2, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 1, + 2, 8, 3 ], @@ -75,24 +96,58 @@ "flow_video": "flow.mp4", "mask_video": "mask.mp4", "signals": "signals.json", - "thumb": "thumb.jpg" + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 106, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 106, + 480, + 853 + ], + "oids": [ + 0, + 1 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } }, "stats": { - "n_frames": 144, - "n_objects": 1, - "has_grasp": false, + "n_frames": 106, + "n_objects": 2, + "has_grasp": true, "mean_trust": 0.0, - "mean_iou": 0.40825192597323273 + "mean_iou": 0.5692369786272624 }, "tracking_summary": { "0": { "path": "DEPTH_STATIC", "anchor_fitness": 1.0, - "median_chamfer_mm": 16.562969926206318, - "mean_iou": 0.40825192597323273, + "median_chamfer_mm": 25.280553965326558, + "mean_iou": 0.5225071711926154, "grasp_rate": 0.0, "trust_rate": 0.0, "tracking_status": "ok" + }, + "1": { + "path": "WRIST", + "anchor_fitness": 1.0, + 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See LICENSE-Action100M for terms." diff --git a/samples/-8WOMg810tk_333.9_339.5/signals.json b/samples/-8WOMg810tk_333.9_339.5/signals.json index c77f0a30eeadfc9a506fd2d335d460434320c4a9..15f6fe2dc8ad89cbeadc20c9c2163da1ffac15d5 100644 --- a/samples/-8WOMg810tk_333.9_339.5/signals.json +++ b/samples/-8WOMg810tk_333.9_339.5/signals.json @@ -1 +1 @@ -{"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1428571492433548, 0.2857142984867096, 0.2380952388048172, 0.3333333432674408, 0.4761904776096344, 0.6666666865348816, 0.9047619104385376, 0.761904776096344, 0.3333333432674408, 0.0476190485060215, 0.0, 0.0, 0.0, 0.0, 0.0, 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newline at end of file diff --git a/samples/-8WOMg810tk_52.2_56.3/recording.viser b/samples/-8WOMg810tk_52.2_56.3/recording.viser deleted file mode 100644 index 757f3f819831eac56266d1272888b4f2f90546af..0000000000000000000000000000000000000000 --- a/samples/-8WOMg810tk_52.2_56.3/recording.viser +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fd4a63c43048fe3e3d8b92a0b59055dc6753c3fc250948273bde0e27f40bc51b -size 6303431 diff --git a/samples/-8WOMg810tk_52.2_56.3/scene.json b/samples/-8WOMg810tk_52.2_56.3/scene.json index 68fd6215c09b4cb51b97c677b0eabf52f2eb11e3..06f9d61fac3fff86d6bc108c13a6be9cccc96cbb 100644 --- a/samples/-8WOMg810tk_52.2_56.3/scene.json +++ b/samples/-8WOMg810tk_52.2_56.3/scene.json @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 894.8387134075165, + "focal": 909.5818724632263, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - -0.010469818487763405, - 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"object_pose_shape": [ 81, - 5, + 2, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 5, + 2, 8, 3 ], @@ -159,21 +96,46 @@ "flow_video": "flow.mp4", "mask_video": "mask.mp4", "signals": "signals.json", - "thumb": "thumb.jpg" + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 81, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 81, + 480, + 853 + ], + "oids": [ + 0, + 1 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } }, "stats": { "n_frames": 81, - "n_objects": 5, - "has_grasp": true, - "mean_trust": 0.1308641975308642, - "mean_iou": 0.5043259730482663 + "n_objects": 2, + "has_grasp": false, + "mean_trust": 0.49382716049382713, + "mean_iou": 0.6284159765142977 }, "tracking_summary": { "0": { "path": "DEPTH_STATIC", "anchor_fitness": 1.0, - 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--- a/samples/-8WOMg810tk_56.3_60.3/recording.viser +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:dd0187599eac63ece520c5103d68fa2573dac931ee93c4ad3456d90db230dc17 -size 5448103 diff --git a/samples/-8WOMg810tk_56.3_60.3/scene.json b/samples/-8WOMg810tk_56.3_60.3/scene.json index c0ddaafcc2c8ff69594f09e6b9f9337ea3b0ccc7..d8f00c60c8e8ccc493d4dc2411a6ba52cc985950 100644 --- a/samples/-8WOMg810tk_56.3_60.3/scene.json +++ b/samples/-8WOMg810tk_56.3_60.3/scene.json @@ -1,6 +1,6 @@ { "id": "-8WOMg810tk_56.3_60.3", - "fps": 10.0, + "fps": 7.125, "duration": 8.0, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 894.8162476420403, + "focal": 904.1684569716454, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - 0.0036195465363562107, - -0.9210827350616455, - -0.3893500864505768 + -0.014566720463335514, + -0.9200274348258972, + -0.3915831744670868 ] }, 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a/samples/-8WOMg810tk_92.8_97.6/recording.viser +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:016f51a7851dc00d96515b4ea628aeb2d44eaa2d090511f9d2074ebf6d7c1c19 -size 9054956 diff --git a/samples/-8WOMg810tk_92.8_97.6/scene.json b/samples/-8WOMg810tk_92.8_97.6/scene.json index 782a2155d4fc0983137122b784b6bd6c82655a55..f357154f252d9115c4a9d5f24f43de68999f0aff 100644 --- a/samples/-8WOMg810tk_92.8_97.6/scene.json +++ b/samples/-8WOMg810tk_92.8_97.6/scene.json @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 1041.8134020864964, + "focal": 1040.8427926003933, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - 0.11641981452703476, - -0.7942811846733093, - -0.5962917804718018 + 0.12155938893556595, + -0.8008663654327393, + -0.5863756537437439 ] }, "reconstruction": { @@ -41,105 +41,105 @@ "prompt": "wooden cutting board", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - 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0.46276623010635376 }, { "id": 3, - "prompt": "raw bacon", + "prompt": "raw bacon strip", "color_hex": "#c89968", "ply": "objects/obj_3.ply", - "n_points": 18156, - "scale_correction": 0.5842663049697877, + "n_points": 14388, + "scale_correction": 0.3302950859069824, "tracker_ok": true, "canonical_translation": [ - 0.4531545341014862, - -0.0683228075504303, - 2.235198974609375 + 0.42490553855895996, + -0.13124363124370575, + 2.133981704711914 ], "canonical_rotation_quat": [ - 0.06941744685173035, - 0.006896192207932472, - 0.8714215159416199, - 0.4855493903160095 + 0.33625373244285583, + 0.6507433652877808, + 0.6591172218322754, + 0.17038488388061523 ], - "canonical_scale": 0.5842663049697876 + "canonical_scale": 0.3302950859069824 }, { "id": 4, - "prompt": "raw bacon", + "prompt": "raw bacon strip", "color_hex": "#7a8c4a", "ply": "objects/obj_4.ply", - "n_points": 12672, - "scale_correction": 0.3247268199920654, + "n_points": 14512, + "scale_correction": 0.4599602818489075, "tracker_ok": true, "canonical_translation": [ - 0.40767166018486023, - -0.12867508828639984, - 2.224609851837158 + 0.5200024843215942, + -0.11666321009397507, + 2.130211353302002 ], "canonical_rotation_quat": [ - 0.35570216178894043, - 0.6422989964485168, - 0.6552551984786987, - 0.17767538130283356 + 0.28793859481811523, + 0.6340497136116028, + 0.6739901304244995, + 0.2465960681438446 ], - "canonical_scale": 0.32472681999206543 + "canonical_scale": 0.45996028184890747 } ], "object_pose_traj": "object_pose.bin", @@ -159,21 +159,49 @@ "flow_video": "flow.mp4", "mask_video": "mask.mp4", "signals": "signals.json", - "thumb": "thumb.jpg" + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 132, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 132, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2, + 3, + 4 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } }, "stats": { "n_frames": 132, "n_objects": 5, "has_grasp": true, "mean_trust": 0.0, - "mean_iou": 0.5484054526234805 + "mean_iou": 0.4672587165067076 }, "tracking_summary": { "0": { "path": "DEPTH_STATIC", "anchor_fitness": 1.0, - "median_chamfer_mm": 36.686706297818816, - "mean_iou": 0.2604804521044067, + "median_chamfer_mm": 38.588902241137106, + "mean_iou": 0.35075394828215434, "grasp_rate": 0.0, "trust_rate": 0.0, "tracking_status": "ok" @@ -181,8 +209,8 @@ "1": { "path": "DEPTH_STATIC", "anchor_fitness": 1.0, - "median_chamfer_mm": 16.27896915841854, - "mean_iou": 0.8515288832151807, + "median_chamfer_mm": 13.865634499582512, + "mean_iou": 0.6468461858908032, "grasp_rate": 0.0, "trust_rate": 0.0, "tracking_status": "ok" @@ -190,17 +218,17 @@ "2": { "path": "WRIST", "anchor_fitness": 1.0, - "median_chamfer_mm": 27.08671011932566, - "mean_iou": 0.4369982007224317, - "grasp_rate": 0.4772727272727273, + "median_chamfer_mm": 29.939826366243263, + "mean_iou": 0.39802672535213324, + "grasp_rate": 0.75, "trust_rate": 0.0, "tracking_status": "ok" }, "3": { "path": "DEPTH_STATIC", "anchor_fitness": 1.0, - "median_chamfer_mm": 10.198426912422923, - "mean_iou": 0.6267724370672516, + "median_chamfer_mm": 40.12706623327053, + "mean_iou": 0.4171595234280482, "grasp_rate": 0.0, "trust_rate": 0.0, "tracking_status": "ok" @@ -208,8 +236,8 @@ "4": { "path": "DEPTH_STATIC", "anchor_fitness": 1.0, - "median_chamfer_mm": 39.14246246872807, - "mean_iou": 0.5662472900081319, + "median_chamfer_mm": 24.151770289515035, + "mean_iou": 0.5235071995803988, "grasp_rate": 0.0, "trust_rate": 0.0, "tracking_status": "ok" diff --git a/samples/-8WOMg810tk_92.8_97.6/signals.json b/samples/-8WOMg810tk_92.8_97.6/signals.json index c350e9f2aad86d48932d18cb22e96c63ae01f10a..96d4a50ee0862eea7a1e9f2af80841383a51f01e 100644 --- a/samples/-8WOMg810tk_92.8_97.6/signals.json +++ 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sha256:f3d9c42587ced1a1cabae06cd97b10944f8e1eb02b8a80dc9d633e6bd16d1115 -size 3475378 diff --git a/samples/-9A2VyaIkX4_105.4_109.4/scene.json b/samples/-9A2VyaIkX4_105.4_109.4/scene.json index 4b94e9cd94a9ad6bb0439f8282263e08e9344151..11f3b9b2c5849afa002abcec95b15736d73f2965 100644 --- a/samples/-9A2VyaIkX4_105.4_109.4/scene.json +++ b/samples/-9A2VyaIkX4_105.4_109.4/scene.json @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 726.1337531656027, + "focal": 733.6302364468575, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - 0.0014459813246503472, - -0.9999987483024597, - -0.0006213194574229419 + 0.0014688598457723856, + -0.9999974370002747, + -0.001735745114274323 ] }, "reconstruction": { @@ -41,21 +41,21 @@ "prompt": "cardboard box of cinnamon toast crunch", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 120452, - "scale_correction": 0.27131575345993036, + "n_points": 102776, + 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-H6qlPWRoZM_1269.5_1274.3/signals.json b/samples/-H6qlPWRoZM_1269.5_1274.3/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..94d43f7b9256e181fd5645ef5607399bed1569c3 --- /dev/null +++ b/samples/-H6qlPWRoZM_1269.5_1274.3/signals.json @@ -0,0 +1 @@ +{"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0476190485060215, 0.3333333432674408, 0.6666666865348816, 0.9523809552192688, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-HJPuU5UjII_177.7_186.2/signals.json b/samples/-HJPuU5UjII_177.7_186.2/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..3aad6e8b49ef45e6bd607b58e4ccf9c6b71d12e0 --- /dev/null +++ b/samples/-HJPuU5UjII_177.7_186.2/signals.json @@ -0,0 +1 @@ +{"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0476190485060215, 0.3333333432674408, 0.6666666865348816, 0.9523809552192688, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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sha256:33e616f4700644e6016647232f3f2b38dbf91e3dd5c8c3b01dd0716731702433 -size 2580031 diff --git a/samples/-HJPuU5UjII_235.4_239.4/scene.json b/samples/-HJPuU5UjII_235.4_239.4/scene.json index f51048c4f634a788760b30514adbb5efa7c8ac57..ce1733657f1a2d57fafe12ec044882c8ff91b66d 100644 --- a/samples/-HJPuU5UjII_235.4_239.4/scene.json +++ b/samples/-HJPuU5UjII_235.4_239.4/scene.json @@ -1,6 +1,6 @@ { "id": "-HJPuU5UjII_235.4_239.4", - "fps": 10.0, + "fps": 5.375, "duration": 8.0, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 755.691160172224, + "focal": 759.0606819391251, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - 0.0003265613049734384, - -0.9995157718658447, - -0.031115185469388962 + 0.0011387292761355639, + -0.9994933009147644, + -0.03181106224656105 ] }, "reconstruction": { @@ -38,36 +38,57 @@ "objects": [ { "id": 0, - "prompt": "a glass bowl of raw chicken", + "prompt": "glass bowl of raw chicken", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 54368, - "scale_correction": 0.7616625428199768, + "n_points": 54800, + "scale_correction": 0.2737343609333037, "tracker_ok": true, "canonical_translation": [ - 1.371581792831421, - -0.30583372712135315, - 2.767160654067993 + 0.22343482077121735, + -0.3451355993747711, + 1.3410652875900269 ], "canonical_rotation_quat": [ - 0.037854332476854324, - -0.0036334930919110775, - -0.9985657930374146, - -0.03768587112426758 + 0.6749545335769653, + 0.734316885471344, + 0.05664221569895744, + 0.044796235859394073 ], - "canonical_scale": 1.0880893468856812 + "canonical_scale": 0.27373436093330383 + }, + { + "id": 1, + "prompt": "tongs", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 31668, + "scale_correction": 0.14241117238998413, + "tracker_ok": true, + "canonical_translation": [ + 0.07582127302885056, + -0.23020252585411072, + 1.359078288078308 + ], + "canonical_rotation_quat": 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b/samples/-I7eETVxmbk_320.5_324.5/scene.json @@ -1,6 +1,6 @@ { "id": "-I7eETVxmbk_320.5_324.5", - "fps": 10.125, + "fps": 7.5, "duration": 8.0, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 763.4042831659317, + "focal": 763.2412779331207, "cx": 427.0, "cy": 240.0, "width": 854, "height": 480, "gravity_up": [ - -0.009845406748354435, - -0.9759737253189087, - -0.21766594052314758 + -0.008881837129592896, + -0.976631760597229, + -0.21473608911037445 ] }, "reconstruction": { @@ -41,68 +41,68 @@ "prompt": "brown wooden chopping board", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 30560, - "scale_correction": 0.38130772113800043, + "n_points": 31260, + "scale_correction": 0.2660329163074493, "tracker_ok": true, "canonical_translation": [ - -0.04455907642841339, - -0.262990266084671, - 1.325985074043274 + -0.042992979288101196, + -0.2484847903251648, + 1.3460150957107544 ], 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9a8ddad263e5ff8c2150871c15c6fd6234269942..f9f9c8512ad7f3861066545009f7588d85a74ad6 100644 --- a/samples/-ON6vOTrAHI_181.2_185.2/scene.json +++ b/samples/-ON6vOTrAHI_181.2_185.2/scene.json @@ -1,6 +1,6 @@ { "id": "-ON6vOTrAHI_181.2_185.2", - "fps": 15.125, + "fps": 5.5, "duration": 8.0, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 730.7061767578125, + "focal": 734.0793228149414, "cx": 320.0, "cy": 240.0, "width": 640, "height": 480, "gravity_up": [ - 0.062465131282806396, - -0.9446516633033752, - -0.32207342982292175 + 0.05183814838528633, + -0.9427416920661926, + -0.3294709324836731 ] }, "reconstruction": { @@ -41,54 +41,33 @@ "prompt": "red-and-white bucket", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 115724, - "scale_correction": 0.35196682199633256, + "n_points": 78624, + "scale_correction": 0.4108115553855895, "tracker_ok": true, "canonical_translation": [ - -0.2097361832857132, - -0.11426234245300293, - 1.708215355873108 + -0.3489428162574768, + -0.08324775844812393, + 1.6255675554275513 ], "canonical_rotation_quat": [ - 0.28001168370246887, - 0.47716808319091797, - 0.7017959356307983, - 0.44876110553741455 + 0.17051109671592712, + 0.24813546240329742, + -0.8044595718383789, + -0.5120542049407959 ], - "canonical_scale": 0.47520431876182556 - }, - { - "id": 1, - "prompt": "red-and-white bucket", - "color_hex": "#6a9460", - "ply": "objects/obj_1.ply", - "n_points": 51736, - "scale_correction": 0.35845158696174617, - "tracker_ok": true, - "canonical_translation": [ - 0.18151840567588806, - -0.1384466588497162, - 1.7851110696792603 - ], - "canonical_rotation_quat": [ - 0.032536715269088745, - 0.007426509167999029, - 0.8311113715171814, - 0.5551036596298218 - ], - "canonical_scale": 0.5120736956596375 + "canonical_scale": 0.5868736505508423 } ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ - 121, - 2, + 44, + 1, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 2, + 1, 8, 3 ], @@ -96,30 +75,45 @@ "flow_video": "flow.mp4", "mask_video": "mask.mp4", "signals": "signals.json", - "thumb": "thumb.jpg" + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 44, + 480, + 640 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 44, + 480, + 640 + ], + "oids": [ + 0 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } }, "stats": { - "n_frames": 121, - "n_objects": 2, - "has_grasp": true, + "n_frames": 44, + "n_objects": 1, + "has_grasp": false, "mean_trust": 0.0, - "mean_iou": 0.3539437707231188 + "mean_iou": 0.4484517511644167 }, "tracking_summary": { "0": { "path": "DEPTH_STATIC", "anchor_fitness": 1.0, - "median_chamfer_mm": 38.27196438521385, - "mean_iou": 0.5909335756695209, - "grasp_rate": 0.12396694214876033, - "trust_rate": 0.0, - "tracking_status": "ok" - }, - "1": { - "path": "DEPTH_STATIC", - "anchor_fitness": 1.0, - "median_chamfer_mm": 51.0095482639533, - "mean_iou": 0.11695396577671663, + "median_chamfer_mm": 55.07451565876009, + "mean_iou": 0.4484517511644167, "grasp_rate": 0.0, "trust_rate": 0.0, "tracking_status": "ok" diff --git a/samples/-ON6vOTrAHI_181.2_185.2/signals.json b/samples/-ON6vOTrAHI_181.2_185.2/signals.json index 389a0b18ef4165a555fd3312a11c29e751223fea..78c973400b967f6d936c1d1b84e35eaf5c79c30b 100644 --- a/samples/-ON6vOTrAHI_181.2_185.2/signals.json +++ b/samples/-ON6vOTrAHI_181.2_185.2/signals.json @@ -1 +1 @@ -{"contact_l": [0.0, 2.0816681711721685e-16, 0.1428571492433548, 0.3333333432674408, 0.761904776096344, 0.9523809552192688, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9523809552192688, 0.6666666865348816, 0.3333333432674408, 0.0476190485060215, 0.0, 0.0, 0.0, 0.0, 0.1428571492433548, 0.3333333432674408, 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37a68969e8d8244095d0b13ebafcd4e34ccb95cb..0000000000000000000000000000000000000000 --- a/samples/-Oflftjt0fs_57.2_63.2/recording.viser +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:01f8f4947baf62fcc13100bbeeb0f1f864c5642b6654d0c41bbe5d3c408c524f -size 5142138 diff --git a/samples/-Oflftjt0fs_57.2_63.2/scene.json b/samples/-Oflftjt0fs_57.2_63.2/scene.json index 43b00b057e9d84cfb82f06355ba853f5ac905cce..6c376b82099e33782ab4effb452bec0b5741f18e 100644 --- a/samples/-Oflftjt0fs_57.2_63.2/scene.json +++ b/samples/-Oflftjt0fs_57.2_63.2/scene.json @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 807.8672289550304, + "focal": 811.902174115181, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - 0.019967854022979736, - -0.9871070384979248, - -0.15881137549877167 + 0.01935475319623947, + -0.9872816205024719, + -0.1577988862991333 ] }, "reconstruction": { @@ -41,33 +41,54 @@ "prompt": 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\ No newline at end of file diff --git a/samples/-Pfpxc5M7b0_257.7_264.2/recording.viser b/samples/-Pfpxc5M7b0_257.7_264.2/recording.viser deleted file mode 100644 index 6b2705e9daba75832a61bf736924490b780ffb2e..0000000000000000000000000000000000000000 --- a/samples/-Pfpxc5M7b0_257.7_264.2/recording.viser +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1545febedf59c9718b4b6c025df57bac038266f5f95590f42e3856b73ab5fd5b -size 4396167 diff --git a/samples/-Pfpxc5M7b0_257.7_264.2/scene.json b/samples/-Pfpxc5M7b0_257.7_264.2/scene.json index bea1f513c4c28cf5a127c3fd118cbe98779e411f..5a6b38e17f4360c87407a15040551d1e79f1eb6f 100644 --- a/samples/-Pfpxc5M7b0_257.7_264.2/scene.json +++ b/samples/-Pfpxc5M7b0_257.7_264.2/scene.json @@ -1,7 +1,7 @@ { "id": "-Pfpxc5M7b0_257.7_264.2", - "fps": 12.079510703363981, - "duration": 13.079999999999927, + "fps": 9.709480122324212, + "duration": 13.079999999999929, "video_source": { "type": "youtube", "youtube_id": "-Pfpxc5M7b0", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 745.6875262409449, + "focal": 743.181613534689, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - 0.012025575153529644, - -0.961821973323822, - -0.27341151237487793 + 0.011778422631323338, + -0.9616344571113586, + -0.2740810215473175 ] }, "reconstruction": { @@ -38,57 +38,78 @@ "objects": [ { "id": 0, - "prompt": "red siracha bottle with green cap", + "prompt": "red sriracha bottle with green cap", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 35588, - "scale_correction": 0.1696653068065643, + "n_points": 36580, + "scale_correction": 0.16604660451412193, "tracker_ok": true, "canonical_translation": [ - 0.02429194003343582, - -0.2242908626794815, - 0.9078872203826904 + 0.02865469455718994, + -0.22112196683883667, + 0.9125939607620239 ], "canonical_rotation_quat": [ - 0.04839574173092842, - 0.04544945806264877, - 0.7252350449562073, - 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b/samples/-QALmP1nHtM_678.2_682.2/scene.json index 83275f0bd7669f60cc199d60dac4f308e7b3cd2e..425f1071b8bb40ff136219513288f9f03e499084 100644 --- a/samples/-QALmP1nHtM_678.2_682.2/scene.json +++ b/samples/-QALmP1nHtM_678.2_682.2/scene.json @@ -1,6 +1,6 @@ { "id": "-QALmP1nHtM_678.2_682.2", - "fps": 10.125, + "fps": 7.5, "duration": 8.0, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 902.1559950113297, + "focal": 899.7310929298401, "cx": 427.0, "cy": 240.0, "width": 854, "height": 480, "gravity_up": [ - -0.00943665113300085, - -0.9978159070014954, - -0.06537944078445435 + -0.009507331997156143, + -0.9972301721572876, + -0.07376735657453537 ] }, "reconstruction": { @@ -41,110 +41,110 @@ "prompt": "large white bowl", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 61944, - "scale_correction": 0.2454425543546676, + "n_points": 59844, + "scale_correction": 0.2395690977573395, 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a/samples/-QALmP1nHtM_715.0_719.0/recording.viser +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:283b0a37c05af93308519bb15aeebce5d5db28a7bc40812c081a9e08f5264251 -size 4912399 diff --git a/samples/-QALmP1nHtM_715.0_719.0/scene.json b/samples/-QALmP1nHtM_715.0_719.0/scene.json index 92d72a68986d56cc14ae9b828ca408c0eb81dfa9..5f41c57cb1e00c695446cd859bc3d0c774ba8801 100644 --- a/samples/-QALmP1nHtM_715.0_719.0/scene.json +++ b/samples/-QALmP1nHtM_715.0_719.0/scene.json @@ -1,6 +1,6 @@ { "id": "-QALmP1nHtM_715.0_719.0", - "fps": 10.25, + "fps": 7.5, "duration": 8.0, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 917.5422432422638, + "focal": 929.1699100136757, "cx": 427.0, "cy": 240.0, "width": 854, "height": 480, "gravity_up": [ - -0.0037819810677319765, - -0.9987096190452576, - -0.050644103437662125 + -0.0024164519272744656, + -0.9989871382713318, + 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a/samples/-QED0HrDVy4_172.0_177.2/recording.viser +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:37419d42363efa6c151ed469fbcdf0b8becb62aa52e3aab4c94374bedb374535 -size 3897730 diff --git a/samples/-QED0HrDVy4_172.0_177.2/scene.json b/samples/-QED0HrDVy4_172.0_177.2/scene.json index 08b8735dd2ed64a2e4d314a11e30f61978530c30..aeca3171790edaabcc52e91ca24f85ba3d77bb5e 100644 --- a/samples/-QED0HrDVy4_172.0_177.2/scene.json +++ b/samples/-QED0HrDVy4_172.0_177.2/scene.json @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 829.4243534505367, + "focal": 834.6787303239107, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - -0.0044244728051126, - -0.9726739525794983, - -0.23213332891464233 + -0.004144624806940556, + -0.972428560256958, + -0.23316431045532227 ] }, "reconstruction": { @@ -38,24 +38,24 @@ "objects": [ { "id": 0, - "prompt": "white bowl", + "prompt": "dark argan oil bottle", 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a/samples/-WFScKY5jxA_119.5_124.7/recording.viser +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0857b7e6e07946f25a1b66a8b780823cc100bd2a66ce057df264b48d22efd95f -size 5368380 diff --git a/samples/-WFScKY5jxA_119.5_124.7/scene.json b/samples/-WFScKY5jxA_119.5_124.7/scene.json index 65f6e23d1c69f5daf2a237d763f0975b0b3fb1e8..a1b457cf800490ac8b99afa434f2fb5d3da8becd 100644 --- a/samples/-WFScKY5jxA_119.5_124.7/scene.json +++ b/samples/-WFScKY5jxA_119.5_124.7/scene.json @@ -1,6 +1,6 @@ { "id": "-WFScKY5jxA_119.5_124.7", - "fps": 13.442940038684752, + "fps": 8.994197292069654, "duration": 10.339999999999975, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 1101.4306566119194, + "focal": 1102.7700657248497, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - 0.010732728987932205, - -0.9970653057098389, - -0.07579967379570007 + -0.01044494565576315, + -0.9970566630363464, + -0.07595378905534744 ] }, "reconstruction": { @@ -38,50 +38,50 @@ "objects": [ { "id": 0, - "prompt": "blender", + "prompt": "blender lid", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 82544, - "scale_correction": 0.4467351436614992, + "n_points": 76832, + "scale_correction": 0.09586821496486662, "tracker_ok": true, "canonical_translation": [ - 0.15495426952838898, - -0.008332589641213417, - 1.7235342264175415 + 0.30577099323272705, + -0.040783971548080444, + 1.531765103340149 ], "canonical_rotation_quat": [ - 0.35683944821357727, - 0.3931630253791809, - -0.6204475164413452, - -0.5771769881248474 + 0.6671643257141113, + 0.7259104251861572, + 0.12223131954669952, + 0.11404053866863251 ], - "canonical_scale": 0.446735143661499 + "canonical_scale": 0.09586821496486664 }, { "id": 1, - "prompt": "blender lid", + "prompt": "blender of bright red mixture", "color_hex": "#6a9460", "ply": "objects/obj_1.ply", - "n_points": 102384, - 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/k3TqZpNhlSk_333.8_337.8/signals.json b/samples/-_ow-vw258c_58.4_64.3/signals.json similarity index 87% rename from samples/k3TqZpNhlSk_333.8_337.8/signals.json rename to samples/-_ow-vw258c_58.4_64.3/signals.json index 364a5d96da3111fa86a0fbf114e7e56202fa2aea..1d5b67f8fc345f1b9ae1dd786c8970cfd1f1d50f 100644 --- a/samples/k3TqZpNhlSk_333.8_337.8/signals.json +++ b/samples/-_ow-vw258c_58.4_64.3/signals.json @@ -1 +1 @@ -{"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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a/samples/7OrTlHd-2aw_262.8_266.8/scene.json b/samples/7OrTlHd-2aw_262.8_266.8/scene.json index 14da83462682fd74d5080bb52d015c481443f63d..9b03d176dd39c252a31b64aa6151d05fad802efa 100644 --- a/samples/7OrTlHd-2aw_262.8_266.8/scene.json +++ b/samples/7OrTlHd-2aw_262.8_266.8/scene.json @@ -1,6 +1,6 @@ { "id": "7OrTlHd-2aw_262.8_266.8", - "fps": 15.0, + "fps": 7.5, "duration": 8.0, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 636.7822021245956, + "focal": 649.7197234481573, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - -0.002746323822066188, - -0.9767875671386719, - -0.2141927033662796 + -0.007986853830516338, + -0.9696427583694458, + -0.24439559876918793 ] }, "reconstruction": { @@ -41,47 +41,47 @@ "prompt": "brass valve", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 52752, - "scale_correction": 0.1718124598264693, + "n_points": 46752, + 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sha256:fe0ac06f6272d64adfdc28ecaf864c3beadea33e757aa548c4526bc36fae5f6a -size 4631969 diff --git a/samples/NJ0_jMbxv5I_754.0_758.0/scene.json b/samples/NJ0_jMbxv5I_754.0_758.0/scene.json index 4960a0b1d1e80a53ba729f9ec800a216de2b89d2..9f86753c0a74304530a82fbffa1a539940b1a86e 100644 --- a/samples/NJ0_jMbxv5I_754.0_758.0/scene.json +++ b/samples/NJ0_jMbxv5I_754.0_758.0/scene.json @@ -1,6 +1,6 @@ { "id": "NJ0_jMbxv5I_754.0_758.0", - "fps": 15.125, + "fps": 14.25, "duration": 8.0, "video_source": { "type": "youtube", @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 795.7709303796291, + "focal": 795.237584143877, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - 0.026497675105929375, - -0.9720272421836853, - -0.23336857557296753 + 0.027181517332792282, + -0.9719331860542297, + -0.2336816042661667 ] }, "reconstruction": { @@ -38,120 +38,36 @@ "objects": [ { "id": 0, - "prompt": "black tray", + "prompt": "black tray of white round food pieces", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 29100, - "scale_correction": 0.3728720545768738, + "n_points": 28916, + "scale_correction": 0.37367081642150873, "tracker_ok": true, "canonical_translation": [ - 0.03776288032531738, - -0.23295378684997559, - 1.3879610300064087 + 0.037361711263656616, + -0.23031608760356903, + 1.379230260848999 ], "canonical_rotation_quat": [ - 0.4812801480293274, - 0.5718226432800293, - -0.48537471890449524, - -0.4536515176296234 + 0.43300893902778625, + 0.5738881826400757, + -0.5345049500465393, + -0.44436484575271606 ], - "canonical_scale": 0.3728720545768738 - }, - { - "id": 1, - "prompt": "white bowl", - "color_hex": "#6a9460", - "ply": "objects/obj_1.ply", - "n_points": 42120, - "scale_correction": 0.21568146347999567, - "tracker_ok": true, - "canonical_translation": [ - 0.4582904875278473, - -0.2989053726196289, - 1.0930761098861694 - ], - "canonical_rotation_quat": [ - 0.5233768820762634, - 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b/samples/fp1Z1GhgiyA_84.7_93.3/recording.viser deleted file mode 100644 index 14c83f5d56b5b109d1a2dda9bd0cfac5d451ea09..0000000000000000000000000000000000000000 --- a/samples/fp1Z1GhgiyA_84.7_93.3/recording.viser +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ebdd30933cdae1e18f3f2505d7c44c1c476413ac55dece336fd82da89187419d -size 8550308 diff --git a/samples/fp1Z1GhgiyA_84.7_93.3/scene.json b/samples/fp1Z1GhgiyA_84.7_93.3/scene.json index 2b87a89e83a53624623847abe31add6e63658a59..c12e4ddae7a5a4f6340a16555cb0eca05fd22e7d 100644 --- a/samples/fp1Z1GhgiyA_84.7_93.3/scene.json +++ b/samples/fp1Z1GhgiyA_84.7_93.3/scene.json @@ -19,15 +19,15 @@ "license": "fair-noncommercial-research-license-v1" }, "camera": { - "focal": 761.4776850640774, + "focal": 780.8063110113144, "cx": 426.5, "cy": 240.0, "width": 853, "height": 480, "gravity_up": [ - -0.14823207259178162, - -0.7376987934112549, - -0.6586558818817139 + -0.06803663074970245, + -0.7525938153266907, + -0.6549606919288635 ] }, "reconstruction": { @@ -41,21 +41,21 @@ "prompt": "white plastic tub", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 89840, - "scale_correction": 1.4186451943354637, + "n_points": 88820, + "scale_correction": 1.7032067775726314, "tracker_ok": true, "canonical_translation": [ - -0.04327479004859924, - 0.06163402646780014, - 1.8103957176208496 + 0.12603893876075745, + 0.022836558520793915, + 1.7834155559539795 ], "canonical_rotation_quat": [ - 0.17262636125087738, - 0.3474404513835907, - -0.8763192892074585, - -0.28556910157203674 + 0.1878705620765686, + 0.3463688790798187, + -0.8587397336959839, + -0.3275657892227173 ], - "canonical_scale": 1.7489652633666992 + "canonical_scale": 1.7032067775726318 } ], "object_pose_traj": "object_pose.bin", @@ -75,21 +75,45 @@ "flow_video": "flow.mp4", "mask_video": "mask.mp4", "signals": "signals.json", - "thumb": "thumb.jpg" + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": 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version https://git-lfs.github.com/spec/v1 -oid sha256:2cd048a2edb21d38cbbc7e4f2d85909512dbd8ef5f04f3916120c5bf1dc24e3f -size 6463 +oid sha256:eaa663ecf1c20ad81870c20359037d59782cc3d8a13cf63989d81438cfc2638f +size 6278 diff --git a/samples/index.json b/samples/index.json index 5920b19568545a882c42abc065eaddca89acc31f..f09175b5f1189cfffc65a6c8e9c713c61dd9f7b6 100644 --- a/samples/index.json +++ b/samples/index.json @@ -14,15 +14,15 @@ "n_frames": 240, "n_objects": 5, "objects": [ - "blender", - "blender", - "lid", "bowl", + "black blender lid", + "bowl", + "blender jar", "blender jar" ], "has_grasp": true, - "mean_trust": 0.16083333333333333, - "mean_iou": 0.6421158132408646, + "mean_trust": 0.13666666666666666, + "mean_iou": 0.6849837860374801, "thumb_url": "https://i.ytimg.com/vi/-4eiU1SHpzY/hqdefault.jpg", "video_url": "./-4eiU1SHpzY_111.9_123.8/depth.mp4", "video_raw_url": "./-4eiU1SHpzY_111.9_123.8/depth.mp4" @@ -38,16 +38,18 @@ "start_sec": 319.44, "end_sec": 323.44, 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"note": "", + "start_sec": 78.33, + "end_sec": 83.83, + "duration_sec": 11.0, + "n_frames": 83, + "n_objects": 2, + "objects": [ + "long wooden board", + "long wooden board" + ], + "has_grasp": true, + "mean_trust": 0.0, + "mean_iou": 0.24484190047785076, + "thumb_url": "https://i.ytimg.com/vi/-6Z315Ts-Y4/hqdefault.jpg", + "video_url": "./-6Z315Ts-Y4_78.3_83.8/depth.mp4", + "video_raw_url": "./-6Z315Ts-Y4_78.3_83.8/depth.mp4" + }, { "name": "-821U1ZYZOs_245.0_249.0", "video_uid": "-821U1ZYZOs", @@ -87,16 +136,14 @@ "start_sec": 245.0, "end_sec": 249.0, "duration_sec": 8.0, - "n_frames": 80, - "n_objects": 3, + "n_frames": 60, + "n_objects": 1, "objects": [ - "silver pot", - "can in the hand", - "can in the hand" + "silver pot" ], "has_grasp": true, "mean_trust": 0.0, - "mean_iou": 0.666075794391867, + "mean_iou": 0.7561325370460394, "thumb_url": "https://i.ytimg.com/vi/-821U1ZYZOs/hqdefault.jpg", "video_url": "./-821U1ZYZOs_245.0_249.0/depth.mp4", "video_raw_url": "./-821U1ZYZOs_245.0_249.0/depth.mp4" @@ -112,15 +159,14 @@ "start_sec": 321.4, "end_sec": 325.4, "duration_sec": 8.0, - "n_frames": 81, - "n_objects": 2, + "n_frames": 60, + "n_objects": 1, "objects": [ - "paper box", "silver pan" ], - "has_grasp": true, + "has_grasp": false, "mean_trust": 0.0, - "mean_iou": 0.6778426479541666, + "mean_iou": 0.6705826702224773, "thumb_url": "https://i.ytimg.com/vi/-821U1ZYZOs/hqdefault.jpg", "video_url": "./-821U1ZYZOs_321.4_325.4/depth.mp4", "video_raw_url": "./-821U1ZYZOs_321.4_325.4/depth.mp4" @@ -136,18 +182,18 @@ "start_sec": 122.72, "end_sec": 130.73, "duration_sec": 16.019999999999982, - "n_frames": 180, + "n_frames": 120, "n_objects": 5, "objects": [ "wooden cutting board", "sliced pork-belly bacon", - "sliced pork-belly bacon", "clear plastic bottle of liquid seasoning", + "sliced pork-belly bacon", "sliced pork-belly bacon" ], "has_grasp": true, "mean_trust": 0.0, - "mean_iou": 0.1848689180757353, + "mean_iou": 0.20738865795681286, "thumb_url": "https://i.ytimg.com/vi/-8WOMg810tk/hqdefault.jpg", "video_url": "./-8WOMg810tk_122.7_130.7/depth.mp4", "video_raw_url": "./-8WOMg810tk_122.7_130.7/depth.mp4" @@ -163,18 +209,44 @@ "start_sec": 333.87, "end_sec": 339.47, "duration_sec": 11.200000000000045, - "n_frames": 144, - "n_objects": 1, + "n_frames": 106, + "n_objects": 2, "objects": [ - "grill" + "charcoal grill", + "bacon-wrapped sausage" ], - "has_grasp": false, + "has_grasp": true, "mean_trust": 0.0, - "mean_iou": 0.40825192597323273, + "mean_iou": 0.5692369786272624, "thumb_url": "https://i.ytimg.com/vi/-8WOMg810tk/hqdefault.jpg", "video_url": "./-8WOMg810tk_333.9_339.5/depth.mp4", "video_raw_url": "./-8WOMg810tk_333.9_339.5/depth.mp4" }, + { + "name": "-8WOMg810tk_48.4_60.3", + "video_uid": "-8WOMg810tk", + "segment_id": 5089520, + "action_brief": "Season and garnish bacon", + "actor": "A man wearing a black shirt, black vest and blue jeans", + "favorited_at": "2026-05-07T17:54:43", + "note": "", + "start_sec": 48.38, + "end_sec": 60.26, + "duration_sec": 23.75999999999999, + "n_frames": 227, + "n_objects": 3, + "objects": [ + "wooden cutting board", + "slab of bacon", + "clear seasoning packet" + ], + "has_grasp": true, + "mean_trust": 0.3333333333333333, + "mean_iou": 0.6149376498877616, + "thumb_url": "https://i.ytimg.com/vi/-8WOMg810tk/hqdefault.jpg", + "video_url": "./-8WOMg810tk_48.4_60.3/depth.mp4", + "video_raw_url": "./-8WOMg810tk_48.4_60.3/depth.mp4" + }, { "name": "-8WOMg810tk_52.2_56.3", "video_uid": "-8WOMg810tk", @@ -187,17 +259,14 @@ "end_sec": 56.26, "duration_sec": 8.019999999999996, "n_frames": 81, - "n_objects": 5, + "n_objects": 2, "objects": [ "bamboo cutting board", - "red countertop", - "knife", - "metal can", - "sliced bacon" + "knife" ], - "has_grasp": true, - "mean_trust": 0.1308641975308642, - "mean_iou": 0.5043259730482663, + "has_grasp": false, + "mean_trust": 0.49382716049382713, + "mean_iou": 0.6284159765142977, "thumb_url": "https://i.ytimg.com/vi/-8WOMg810tk/hqdefault.jpg", "video_url": "./-8WOMg810tk_52.2_56.3/depth.mp4", "video_raw_url": "./-8WOMg810tk_52.2_56.3/depth.mp4" @@ -213,18 +282,16 @@ "start_sec": 56.26, "end_sec": 60.26, "duration_sec": 8.0, - "n_frames": 80, - "n_objects": 5, + "n_frames": 57, + "n_objects": 3, "objects": [ - "cutting board", + "wooden cutting board", "knife", - "metal can", - "metal can", - "raw bacon" + "raw bacon strip" ], - "has_grasp": true, - "mean_trust": 0.0025, - "mean_iou": 0.5129827713522921, + "has_grasp": false, + "mean_trust": 0.6666666666666666, + "mean_iou": 0.630005021948174, "thumb_url": "https://i.ytimg.com/vi/-8WOMg810tk/hqdefault.jpg", "video_url": "./-8WOMg810tk_56.3_60.3/depth.mp4", "video_raw_url": "./-8WOMg810tk_56.3_60.3/depth.mp4" @@ -245,13 +312,13 @@ "objects": [ "wooden cutting board", "knife", - "raw bacon", - "raw bacon", - "raw bacon" + "raw bacon strip", + "raw bacon strip", + "raw bacon strip" ], "has_grasp": true, "mean_trust": 0.0, - "mean_iou": 0.5484054526234805, + "mean_iou": 0.4672587165067076, "thumb_url": "https://i.ytimg.com/vi/-8WOMg810tk/hqdefault.jpg", "video_url": "./-8WOMg810tk_92.8_97.6/depth.mp4", "video_raw_url": "./-8WOMg810tk_92.8_97.6/depth.mp4" @@ -274,62 +341,81 @@ ], "has_grasp": true, "mean_trust": 0.0, - "mean_iou": 0.5876148296293613, + "mean_iou": 0.7879996886663366, "thumb_url": "https://i.ytimg.com/vi/-9A2VyaIkX4/hqdefault.jpg", "video_url": "./-9A2VyaIkX4_105.4_109.4/depth.mp4", "video_raw_url": "./-9A2VyaIkX4_105.4_109.4/depth.mp4" }, { - "name": "-B1sQkAK-GA_567.2_572.4", - "video_uid": "-B1sQkAK-GA", - "segment_id": 6202818, - "action_brief": "Staple fabric", - "actor": "The woman", - "favorited_at": null, + "name": "-DVV5l5eEQg_102.7_113.7", + "video_uid": "-DVV5l5eEQg", + "segment_id": 4814185, + "action_brief": "Show oil bottle and tilt bowl", + "actor": "The woman in a grey patterned top standing at the kitchen counter", + "favorited_at": "2026-05-07T18:36:32", "note": "", - 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crafter’s hands", + "favorited_at": "2026-05-07T17:35:41", + "note": "", + "start_sec": 1269.47, + "end_sec": 1274.27, + "duration_sec": 9.599999999999909, + "n_frames": 132, + "n_objects": 2, + "objects": [ + "floral paper sheet", + "floral paper sheet" + ], + "has_grasp": true, + "mean_trust": 0.0, + "mean_iou": 0.6068005038660454, + "thumb_url": "https://i.ytimg.com/vi/-H6qlPWRoZM/hqdefault.jpg", + "video_url": "./-H6qlPWRoZM_1269.5_1274.3/depth.mp4", + "video_raw_url": "./-H6qlPWRoZM_1269.5_1274.3/depth.mp4" + }, + { + "name": "-HJPuU5UjII_177.7_186.2", "video_uid": "-HJPuU5UjII", - "segment_id": 6408501, - "action_brief": "Whisk ingredients", - "actor": "the man in a green hoodie", - "favorited_at": null, + "segment_id": 6408408, + "action_brief": "Whisk bowl", + "actor": "A man wearing a green hoodie standing at the kitchen countertop.", + "favorited_at": "2026-05-07T17:52:55", "note": "", - "start_sec": 182.25, + "start_sec": 177.71, "end_sec": 186.25, - "duration_sec": 8.0, - "n_frames": 121, - "n_objects": 3, + "duration_sec": 17.079999999999984, + "n_frames": 188, + "n_objects": 1, "objects": [ - "yellow bowl", - "whisk", - "red mixing bowl" + "red bowl" ], "has_grasp": true, - "mean_trust": 0.0027548209366391185, - "mean_iou": 0.632507700001089, + "mean_trust": 0.0, + "mean_iou": 0.7889484791481658, "thumb_url": "https://i.ytimg.com/vi/-HJPuU5UjII/hqdefault.jpg", - "video_url": "./-HJPuU5UjII_182.2_186.2/depth.mp4", - "video_raw_url": "./-HJPuU5UjII_182.2_186.2/depth.mp4" + "video_url": "./-HJPuU5UjII_177.7_186.2/depth.mp4", + "video_raw_url": "./-HJPuU5UjII_177.7_186.2/depth.mp4" }, { "name": "-HJPuU5UjII_235.4_239.4", @@ -342,14 +428,15 @@ "start_sec": 235.37, "end_sec": 239.37, "duration_sec": 8.0, - "n_frames": 80, - "n_objects": 1, + "n_frames": 43, + "n_objects": 2, "objects": [ - "a glass bowl of raw chicken" + "glass bowl of raw chicken", + "tongs" ], - "has_grasp": false, + "has_grasp": true, "mean_trust": 0.0, - "mean_iou": 0.3023940092667406, + "mean_iou": 0.6496668739230862, "thumb_url": "https://i.ytimg.com/vi/-HJPuU5UjII/hqdefault.jpg", "video_url": "./-HJPuU5UjII_235.4_239.4/depth.mp4", "video_raw_url": "./-HJPuU5UjII_235.4_239.4/depth.mp4" @@ -365,7 +452,7 @@ "start_sec": 25.29, "end_sec": 43.84, "duration_sec": 37.10000000000001, - "n_frames": 339, + "n_frames": 254, "n_objects": 0, "objects": [], "has_grasp": false, @@ -386,7 +473,7 @@ "start_sec": 320.52, "end_sec": 324.52, "duration_sec": 8.0, - "n_frames": 81, + "n_frames": 60, "n_objects": 3, "objects": [ "brown wooden chopping board", @@ -394,12 +481,82 @@ "brown wooden chopping board" ], "has_grasp": true, - "mean_trust": 0.1851851851851852, - "mean_iou": 0.5934067155704631, + "mean_trust": 0.2222222222222222, + "mean_iou": 0.6084957832217265, "thumb_url": "https://i.ytimg.com/vi/-I7eETVxmbk/hqdefault.jpg", "video_url": "./-I7eETVxmbk_320.5_324.5/depth.mp4", "video_raw_url": "./-I7eETVxmbk_320.5_324.5/depth.mp4" }, + { + "name": "-IA63nyvmg0_132.1_141.0", + "video_uid": "-IA63nyvmg0", + "segment_id": 18938352, + "action_brief": "Show polish can and peel tape", + "actor": "the presenter wearing a black shirt and baseball cap", + "favorited_at": "2026-05-07T18:35:57", + "note": "", + "start_sec": 132.08, + "end_sec": 141.04, + "duration_sec": 17.91999999999996, + "n_frames": 174, + "n_objects": 1, + "objects": [ + "tape strip" + ], + "has_grasp": false, + "mean_trust": 0.6724137931034483, + "mean_iou": 0.7929075428390039, + "thumb_url": "https://i.ytimg.com/vi/-IA63nyvmg0/hqdefault.jpg", + "video_url": "./-IA63nyvmg0_132.1_141.0/depth.mp4", + "video_raw_url": "./-IA63nyvmg0_132.1_141.0/depth.mp4" + }, + { + "name": "-LJXo3IiUyc_855.9_860.7", + "video_uid": "-LJXo3IiUyc", + "segment_id": 15069676, + "action_brief": "Adjust mixer", + "actor": "the DJ instructor in the blue striped shirt", + "favorited_at": "2026-05-07T17:33:02", + "note": "", + "start_sec": 855.92, + "end_sec": 860.72, + "duration_sec": 9.600000000000136, + "n_frames": 106, + "n_objects": 0, + "objects": [], + "has_grasp": false, + "mean_trust": null, + "mean_iou": null, + "thumb_url": "https://i.ytimg.com/vi/-LJXo3IiUyc/hqdefault.jpg", + "video_url": "./-LJXo3IiUyc_855.9_860.7/depth.mp4", + "video_raw_url": "./-LJXo3IiUyc_855.9_860.7/depth.mp4" + }, + { + "name": "-N_cOdrYjWw_318.5_328.1", + "video_uid": "-N_cOdrYjWw", + "segment_id": 19136504, + "action_brief": "place jar", + "actor": "the woman in a black shirt wearing white gloves", + "favorited_at": "2026-05-07T18:25:29", + "note": "", + "start_sec": 318.52, + "end_sec": 328.13, + "duration_sec": 19.220000000000027, + "n_frames": 205, + "n_objects": 4, + "objects": [ + "yellow-white striped towel", + "glass bowl of meat mixture", + "glass bowl of meat mixture", + "glass jar of brown meat" + ], + "has_grasp": true, + "mean_trust": 0.006097560975609756, + "mean_iou": 0.7052727289855634, + "thumb_url": "https://i.ytimg.com/vi/-N_cOdrYjWw/hqdefault.jpg", + "video_url": "./-N_cOdrYjWw_318.5_328.1/depth.mp4", + "video_raw_url": "./-N_cOdrYjWw_318.5_328.1/depth.mp4" + }, { "name": "-ON6vOTrAHI_181.2_185.2", "video_uid": "-ON6vOTrAHI", @@ -411,15 +568,14 @@ "start_sec": 181.18, "end_sec": 185.18, "duration_sec": 8.0, - "n_frames": 121, - "n_objects": 2, + "n_frames": 44, + "n_objects": 1, "objects": [ - "red-and-white bucket", "red-and-white bucket" ], - "has_grasp": true, + "has_grasp": false, "mean_trust": 0.0, - "mean_iou": 0.3539437707231188, + "mean_iou": 0.4484517511644167, "thumb_url": "https://i.ytimg.com/vi/-ON6vOTrAHI/hqdefault.jpg", "video_url": "./-ON6vOTrAHI_181.2_185.2/depth.mp4", "video_raw_url": "./-ON6vOTrAHI_181.2_185.2/depth.mp4" @@ -436,17 +592,43 @@ "end_sec": 63.2, "duration_sec": 12.02000000000001, "n_frames": 151, - "n_objects": 1, + "n_objects": 2, "objects": [ - "dark-brown leather saddle" + "dark-brown leather saddle", + "small brush" ], "has_grasp": true, "mean_trust": 0.0, - "mean_iou": 0.4725419384666264, + "mean_iou": 0.44744441784562516, "thumb_url": "https://i.ytimg.com/vi/-Oflftjt0fs/hqdefault.jpg", "video_url": "./-Oflftjt0fs_57.2_63.2/depth.mp4", "video_raw_url": "./-Oflftjt0fs_57.2_63.2/depth.mp4" }, + { + "name": "-Ovm27e3Ezo_243.7_248.5", + "video_uid": "-Ovm27e3Ezo", + "segment_id": 17624917, + "action_brief": "Pour olive oil", + "actor": "the woman in the floral apron", + "favorited_at": "2026-05-07T17:37:39", + "note": "", + "start_sec": 243.67, + "end_sec": 248.47, + "duration_sec": 9.600000000000023, + "n_frames": 134, + "n_objects": 3, + "objects": [ + "olive-oil bottle", + "olive-oil bottle", + "blender jar of fruit" + ], + "has_grasp": true, + "mean_trust": 0.03233830845771144, + "mean_iou": 0.6901793183892719, + "thumb_url": "https://i.ytimg.com/vi/-Ovm27e3Ezo/hqdefault.jpg", + "video_url": "./-Ovm27e3Ezo_243.7_248.5/depth.mp4", + "video_raw_url": "./-Ovm27e3Ezo_243.7_248.5/depth.mp4" + }, { "name": "-Pfpxc5M7b0_257.7_264.2", "video_uid": "-Pfpxc5M7b0", @@ -457,16 +639,17 @@ "note": 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"mean_trust": 0.07926829268292683, - "mean_iou": 0.781505130755338, + "mean_trust": 0.17222222222222225, + "mean_iou": 0.6271008485708701, "thumb_url": "https://i.ytimg.com/vi/-QALmP1nHtM/hqdefault.jpg", "video_url": "./-QALmP1nHtM_216.9_220.9/depth.mp4", "video_raw_url": "./-QALmP1nHtM_216.9_220.9/depth.mp4" @@ -506,18 +690,18 @@ "start_sec": 678.21, "end_sec": 682.21, "duration_sec": 8.0, - "n_frames": 81, + "n_frames": 60, "n_objects": 5, "objects": [ "large white bowl", - "roasted turkey", - "white rectangular plate with chicken meat", - "white rectangular plate with chicken meat", - "large knife" + "white rectangular plate of roasted turkey", + "white rectangular plate of roasted turkey", + "large knife", + "fork" ], "has_grasp": true, - "mean_trust": 0.04444444444444444, - "mean_iou": 0.4550660126139251, + "mean_trust": 0.09333333333333334, + "mean_iou": 0.34948691776175606, "thumb_url": "https://i.ytimg.com/vi/-QALmP1nHtM/hqdefault.jpg", "video_url": "./-QALmP1nHtM_678.2_682.2/depth.mp4", "video_raw_url": "./-QALmP1nHtM_678.2_682.2/depth.mp4" @@ -533,21 +717,46 @@ "start_sec": 715.05, "end_sec": 719.05, "duration_sec": 8.0, - "n_frames": 82, + "n_frames": 60, "n_objects": 4, "objects": [ - "white bowl of brown stuffing or gravy", "plate of roasted turkey", "square plate of sliced food", + "white bowl of brown stuffing", "square plate of sliced food" ], "has_grasp": true, "mean_trust": 0.0, - "mean_iou": 0.45741823279025456, + "mean_iou": 0.4277766103575644, "thumb_url": "https://i.ytimg.com/vi/-QALmP1nHtM/hqdefault.jpg", "video_url": "./-QALmP1nHtM_715.0_719.0/depth.mp4", "video_raw_url": "./-QALmP1nHtM_715.0_719.0/depth.mp4" }, + { + "name": "-QALmP1nHtM_715.0_723.1", + "video_uid": "-QALmP1nHtM", + "segment_id": 504676, + "action_brief": "Arrange dishes", + "actor": "A short‑haired woman wearing a white apron and a black‑and‑white patterned shirt", + "favorited_at": "2026-05-07T16:45:12", + "note": "", + "start_sec": 715.05, + "end_sec": 723.06, + "duration_sec": 16.019999999999982, + "n_frames": 121, + "n_objects": 3, + "objects": [ + "white bowl of stuffing", + "spoon", + "spoon" + ], + "has_grasp": true, + "mean_trust": 0.0, + "mean_iou": 0.4277817895181942, + "thumb_url": "https://i.ytimg.com/vi/-QALmP1nHtM/hqdefault.jpg", + "video_url": "./-QALmP1nHtM_715.0_723.1/depth.mp4", + "video_raw_url": "./-QALmP1nHtM_715.0_723.1/depth.mp4" + }, { "name": "-QED0HrDVy4_172.0_177.2", "video_uid": "-QED0HrDVy4", @@ -562,11 +771,11 @@ "n_frames": 140, "n_objects": 1, "objects": [ - "white bowl" + "dark argan oil bottle" ], - "has_grasp": false, - "mean_trust": 0.17142857142857143, - "mean_iou": 0.7933286363854243, + "has_grasp": true, + "mean_trust": 0.0, + "mean_iou": 0.40913065654185, "thumb_url": "https://i.ytimg.com/vi/-QED0HrDVy4/hqdefault.jpg", "video_url": "./-QED0HrDVy4_172.0_177.2/depth.mp4", "video_raw_url": "./-QED0HrDVy4_172.0_177.2/depth.mp4" @@ -582,7 +791,7 @@ "start_sec": 205.68, "end_sec": 209.68, "duration_sec": 8.0, - "n_frames": 82, + "n_frames": 54, "n_objects": 0, "objects": [], "has_grasp": false, @@ -592,6 +801,75 @@ "video_url": "./-QhzvVVDYg8_205.7_209.7/depth.mp4", "video_raw_url": "./-QhzvVVDYg8_205.7_209.7/depth.mp4" }, + { + "name": "-R2qOLA1W0Q_663.0_667.8", + "video_uid": "-R2qOLA1W0Q", + "segment_id": 18519331, + "action_brief": "Grab empty container", + "actor": "The cook wearing a red T‑shirt", + "favorited_at": "2026-05-07T17:39:13", + "note": "", + "start_sec": 663.0, + "end_sec": 667.8, + "duration_sec": 9.599999999999909, + "n_frames": 126, + "n_objects": 0, + "objects": [], + "has_grasp": false, + "mean_trust": null, + "mean_iou": null, + "thumb_url": "https://i.ytimg.com/vi/-R2qOLA1W0Q/hqdefault.jpg", + "video_url": "./-R2qOLA1W0Q_663.0_667.8/depth.mp4", + "video_raw_url": "./-R2qOLA1W0Q_663.0_667.8/depth.mp4" + }, + { + "name": "-SsQVS63Reo_223.6_250.6", + "video_uid": "-SsQVS63Reo", + "segment_id": 7327887, + "action_brief": "Saute onions", + "actor": "The woman in the red shirt and white apron", + "favorited_at": "2026-05-07T18:11:26", + "note": "", + "start_sec": 223.62, + "end_sec": 250.58, + "duration_sec": 53.920000000000016, + "n_frames": 352, + "n_objects": 2, + "objects": [ + "black skillet", + "wooden spoon" + ], + "has_grasp": true, + "mean_trust": 0.0014204545454545455, + "mean_iou": 0.3510783291279705, + "thumb_url": "https://i.ytimg.com/vi/-SsQVS63Reo/hqdefault.jpg", + "video_url": "./-SsQVS63Reo_223.6_250.6/depth.mp4", + "video_raw_url": "./-SsQVS63Reo_223.6_250.6/depth.mp4" + }, + { + "name": "-SsQVS63Reo_371.8_375.8", + "video_uid": "-SsQVS63Reo", + "segment_id": 7328053, + "action_brief": "Add turkey to pan", + "actor": "the woman in a red short‑sleeved shirt and white apron with short brown hair", + "favorited_at": "2026-05-07T18:08:19", + "note": "", + "start_sec": 371.77, + "end_sec": 375.78, + "duration_sec": 8.019999999999982, + "n_frames": 121, + "n_objects": 2, + "objects": [ + "bowl of chopped turkey", + "wooden spoon" + ], + "has_grasp": true, + "mean_trust": 0.0, + "mean_iou": 0.32956363559487645, + "thumb_url": "https://i.ytimg.com/vi/-SsQVS63Reo/hqdefault.jpg", + "video_url": "./-SsQVS63Reo_371.8_375.8/depth.mp4", + "video_raw_url": "./-SsQVS63Reo_371.8_375.8/depth.mp4" + }, { "name": "-WFScKY5jxA_119.5_124.7", "video_uid": "-WFScKY5jxA", @@ -603,19 +881,63 @@ "start_sec": 119.54, "end_sec": 124.71, "duration_sec": 10.339999999999975, - "n_frames": 139, + "n_frames": 93, "n_objects": 2, "objects": [ - "blender", - "blender lid" + "blender lid", + "blender of bright red mixture" ], "has_grasp": true, - "mean_trust": 0.0, - "mean_iou": 0.33992414139187377, + "mean_trust": 0.010752688172043012, + "mean_iou": 0.6432449434538811, "thumb_url": "https://i.ytimg.com/vi/-WFScKY5jxA/hqdefault.jpg", "video_url": "./-WFScKY5jxA_119.5_124.7/depth.mp4", "video_raw_url": "./-WFScKY5jxA_119.5_124.7/depth.mp4" }, + { + "name": "-_ow-vw258c_58.4_64.3", + "video_uid": "-_ow-vw258c", + "segment_id": 8847, + "action_brief": "Hold and rotate bottle", + "actor": "The woman in a grey sweater with short blonde hair", + "favorited_at": "2026-05-07T17:48:36", + "note": "", + "start_sec": 58.39, + "end_sec": 64.26, + "duration_sec": 11.740000000000009, + "n_frames": 120, + "n_objects": 0, + "objects": [], + "has_grasp": false, + "mean_trust": null, + "mean_iou": null, + "thumb_url": "https://i.ytimg.com/vi/-_ow-vw258c/hqdefault.jpg", + "video_url": "./-_ow-vw258c_58.4_64.3/depth.mp4", + "video_raw_url": "./-_ow-vw258c_58.4_64.3/depth.mp4" + }, + { + "name": "-_ow-vw258c_79.8_86.4", + "video_uid": "-_ow-vw258c", + "segment_id": 1859825, + "action_brief": "Lift condensed‑milk can", + "actor": "The woman with short blonde hair wearing a grey, cut‑shoulder top", + "favorited_at": "2026-05-07T17:50:26", + "note": "", + "start_sec": 79.75, + "end_sec": 86.42, + "duration_sec": 13.340000000000003, + "n_frames": 100, + "n_objects": 1, + "objects": [ + "eagle brand condensed milk can" + ], + "has_grasp": true, + "mean_trust": 0.0, + "mean_iou": 0.5507493309604367, + "thumb_url": "https://i.ytimg.com/vi/-_ow-vw258c/hqdefault.jpg", + "video_url": "./-_ow-vw258c_79.8_86.4/depth.mp4", + "video_raw_url": "./-_ow-vw258c_79.8_86.4/depth.mp4" + }, { "name": "-s4DjOIVJZY_215.3_220.6", "video_uid": "-s4DjOIVJZY", @@ -628,17 +950,13 @@ "end_sec": 220.55, "duration_sec": 10.400000000000034, "n_frames": 141, - "n_objects": 5, + "n_objects": 1, "objects": [ - "brown paper bags", - "brown paper bags", - "brown paper bags", - "glass french press", - "brown paper bags" + "glass french press of dark coffee" ], "has_grasp": true, - "mean_trust": 0.16028368794326242, - "mean_iou": 0.6762908004192102, + "mean_trust": 0.0, + "mean_iou": 0.7007965902819878, "thumb_url": "https://i.ytimg.com/vi/-s4DjOIVJZY/hqdefault.jpg", "video_url": "./-s4DjOIVJZY_215.3_220.6/depth.mp4", "video_raw_url": "./-s4DjOIVJZY_215.3_220.6/depth.mp4" @@ -658,18 +976,41 @@ "n_objects": 5, "objects": [ "white cutting board", - "grapefruit", + "halved grapefruit", "large kitchen knife", - "grapefruit", - "grapefruit" + "halved grapefruit", + "halved grapefruit" ], "has_grasp": true, - "mean_trust": 0.1366906474820144, - "mean_iou": 0.5837429742284955, + "mean_trust": 0.1669064748201439, + "mean_iou": 0.5760291435504133, "thumb_url": "https://i.ytimg.com/vi/-veJClpdyMA/hqdefault.jpg", "video_url": "./-veJClpdyMA_237.2_242.4/depth.mp4", "video_raw_url": "./-veJClpdyMA_237.2_242.4/depth.mp4" }, + { + "name": "-wU6h7BA8Os_131.9_140.4", + "video_uid": "-wU6h7BA8Os", + "segment_id": 1225457, + "action_brief": "Place dish in oven", + "actor": "The female presenter wearing a light‑colored top", + "favorited_at": "2026-05-07T17:51:45", + "note": "", + "start_sec": 131.88, + "end_sec": 140.39, + "duration_sec": 17.019999999999982, + "n_frames": 88, + "n_objects": 1, + "objects": [ + "transparent glass baking dish" + ], + "has_grasp": true, + "mean_trust": 0.0, + "mean_iou": 0.574141431632455, + "thumb_url": "https://i.ytimg.com/vi/-wU6h7BA8Os/hqdefault.jpg", + "video_url": "./-wU6h7BA8Os_131.9_140.4/depth.mp4", + "video_raw_url": "./-wU6h7BA8Os_131.9_140.4/depth.mp4" + }, { "name": "7OrTlHd-2aw_262.8_266.8", "video_uid": "7OrTlHd-2aw", @@ -681,7 +1022,7 @@ "start_sec": 262.8, "end_sec": 266.8, "duration_sec": 8.0, - "n_frames": 120, + "n_frames": 60, "n_objects": 2, "objects": [ "brass valve", @@ -689,7 +1030,7 @@ ], "has_grasp": true, "mean_trust": 0.0, - "mean_iou": 0.19991592477546838, + "mean_iou": 0.2510348502809867, "thumb_url": "https://i.ytimg.com/vi/7OrTlHd-2aw/hqdefault.jpg", "video_url": "./7OrTlHd-2aw_262.8_266.8/depth.mp4", "video_raw_url": "./7OrTlHd-2aw_262.8_266.8/depth.mp4" @@ -706,13 +1047,14 @@ "end_sec": 384.85, "duration_sec": 19.220000000000027, "n_frames": 206, - "n_objects": 1, + "n_objects": 2, "objects": [ - "wheel" + "black wheel rim", + "light-colored brush" ], "has_grasp": true, "mean_trust": 0.0, - "mean_iou": 0.38950095668633633, + "mean_iou": 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