Upload latest data; new affordance_all (+ soft) H5 (union of train and val); refresh train/val splits and metadata (82 objects, σ=0.03)

affordance_all.h5

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affordance_all_soft.h5

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affordance_train.h5

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+size 6895008

affordance_train_soft.h5

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+size 7804360

affordance_val.h5

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+size 1669935

affordance_val_soft.h5

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+size 1909410

dataset_info.json

@@ -6,22 +6,30 @@
   "width_mismatch_rel": 0.35,
   "merged_dir": "/home/vision/Project/Affordance2Grasp/output/grasp_collect_no_rot/merged",
   "with_hp": true,
-  "n_objects": 75,
-  "total_grasps_trusted": 2284,
-  "total_grasps_used": 2281,
-  "total_method_c": 1355,
-  "total_method_b": 651,
-  "total_method_a": 275,
-  "train_objects": 60,
-  "val_objects": 15,
+  "n_objects": 82,
+  "total_grasps_trusted": 3749,
+  "total_grasps_used": 3745,
+  "total_method_c": 2213,
+  "total_method_b": 1084,
+  "total_method_a": 448,
+  "train_objects": 66,
+  "val_objects": 16,
   "num_points": 4096,
   "contact_radius": 0.005,
   "train_ratio": 0.8,
-  "avg_positive_ratio": 0.06646484375,
-  "generation_time_seconds": 281.3,
-  "skipped_count": 2,
+  "avg_positive_ratio": 0.08019721798780488,
+  "generation_time_seconds": 142.9,
+  "skipped_count": 10,
   "skipped": [
+    "C12001: no trusted grasps or all dropped",
+    "C42001: no trusted grasps or all dropped",
+    "C43001: no trusted grasps or all dropped",
+    "C40001: no trusted grasps or all dropped",
+    "C41001: no trusted grasps or all dropped",
+    "O50001: no trusted grasps or all dropped",
     "S10015: no trusted grasps or all dropped",
+    "ycb_dex_08: no trusted grasps or all dropped",
+    "ycb_dex_01: no trusted grasps or all dropped",
     "ycb_dex_19: no trusted grasps or all dropped"
   ]
 }

merge_all_meta.json

@@ -0,0 +1,92 @@
+{
+  "dataset_dir": "/home/vision/Project/Affordance2Grasp/output/affordance_no_rot_executed",
+  "affordance_all_h5": "/home/vision/Project/Affordance2Grasp/output/affordance_no_rot_executed/affordance_all.h5",
+  "affordance_all_soft_h5": "/home/vision/Project/Affordance2Grasp/output/affordance_no_rot_executed/affordance_all_soft.h5",
+  "num_samples": 82,
+  "objects": [
+    "A01001",
+    "A01002",
+    "A01005",
+    "A01006",
+    "A01008",
+    "A01009",
+    "A01010",
+    "A01023",
+    "A01026",
+    "A01027",
+    "A02011",
+    "A02012",
+    "A02014",
+    "A02015",
+    "A02018",
+    "A02021",
+    "A02028",
+    "A02029",
+    "A02030",
+    "A02031",
+    "A15015",
+    "A15027",
+    "A16012",
+    "A16013",
+    "A16026",
+    "C03001",
+    "C10001",
+    "C14001",
+    "C15001",
+    "C22001",
+    "C35001",
+    "C50001",
+    "C51001",
+    "C52001",
+    "C90001",
+    "O01000",
+    "O02001",
+    "O03001",
+    "O03002",
+    "O03003",
+    "O21001",
+    "O24001",
+    "O36001",
+    "O36002",
+    "O93001",
+    "S10005",
+    "S10007",
+    "S10008",
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+    "S10013",
+    "S10014",
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+    "S16002",
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+    "S20001",
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+    "S20022",
+    "Y03006",
+    "Y03021",
+    "Y27035",
+    "Y29040",
+    "Y35037",
+    "ycb_dex_02",
+    "ycb_dex_03",
+    "ycb_dex_04",
+    "ycb_dex_05",
+    "ycb_dex_06",
+    "ycb_dex_07",
+    "ycb_dex_11",
+    "ycb_dex_12",
+    "ycb_dex_14",
+    "ycb_dex_15",
+    "ycb_dex_17",
+    "ycb_dex_18"
+  ],
+  "split_json": "/home/vision/Project/Affordance2Grasp/output/affordance_no_rot_executed/objects_train_val_split.json",
+  "note": "Source train/val HDF5 files were not modified."
+}

objects_train_val_split.json

@@ -1,82 +1,89 @@
 {
   "train": [
-    "C14001",
-    "Y35037",
+    "O36001",
+    "O03001",
+    "O03003",
+    "C15001",
     "A02029",
     "A01023",
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     "S16001",
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     "A01002",
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-    "A15015",
-    "ycb_dex_02",
-    "S16005",
-    "O02001",
-    "O36001",
-    "A16026",
+    "ycb_dex_06",
     "ycb_dex_15",
+    "ycb_dex_07",
+    "A15015",
+    "Y35037",
+    "S10022",
+    "C51001",
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+    "A16013",
+    "ycb_dex_14",
     "S10014",
     "A02021",
     "A01027",
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+    "S10013",
     "A01010",
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-    "ycb_dex_14",
+    "O03002",
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-    "S10019",
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-    "O24001",
-    "ycb_dex_04",
+    "Y03021",
+    "O02001",
+    "Y03006",
+    "ycb_dex_12",
     "A01026"
   ],
   "val": [
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+    "S16003",
+    "A01005",
+    "A01008",
+    "S10018",
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+    "S20021",
     "C52001",
-    "O03001",
-    "C15001",
-    "A15027",
-    "S10005",
-    "A01001",
+    "C10001",
+    "O21001",
     "S20001",
-    "Y29040",
-    "S15004",
-    "S20005",
-    "S10008",
-    "C03001",
+    "C22001",
+    "A16026",
     "A02030",
-    "A01008"
+    "A01001",
+    "S20005",
+    "S15004"
   ],
   "seed": 42
 }

objects_trainable.txt

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soft_gt_export_meta.json

@@ -0,0 +1,118 @@
+{
+  "dataset_dir": "/home/vision/Project/Affordance2Grasp/output/affordance_no_rot_executed",
+  "heatmap_sigma_ratio": 0.03,
+  "label_threshold": 0.5,
+  "note": "Exported on canonical H5 points (no train-time augmentation). Training recomputes the same formula on augmented points each step.",
+  "splits": [
+    {
+      "source": "affordance_train.h5",
+      "output": "affordance_train_soft.h5",
+      "num_samples": 66,
+      "heatmap_sigma_ratio": 0.03,
+      "sigma_m_min": 0.00346827763132751,
+      "sigma_m_max": 0.011007514782249928,
+      "sigma_m_mean": 0.00599457835778594,
+      "soft_max_mean": 0.9696969985961914,
+      "soft_mean_mean": 0.17669305205345154,
+      "contact_frac_mean": 0.07447398792613637,
+      "objects": [
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+        "A02031",
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+        "C03001",
+        "C15001",
+        "C35001",
+        "C50001",
+        "C51001",
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+        "O02001",
+        "O03001",
+        "O03002",
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+        "O36001",
+        "O36002",
+        "O93001",
+        "S10005",
+        "S10007",
+        "S10008",
+        "S10010",
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+        "S10017",
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+        "S10020",
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+        "S16001",
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+        "S16005",
+        "S20022",
+        "Y03006",
+        "Y03021",
+        "Y27035",
+        "Y29040",
+        "Y35037",
+        "ycb_dex_02",
+        "ycb_dex_03",
+        "ycb_dex_04",
+        "ycb_dex_05",
+        "ycb_dex_06",
+        "ycb_dex_07",
+        "ycb_dex_11",
+        "ycb_dex_12",
+        "ycb_dex_14",
+        "ycb_dex_15",
+        "ycb_dex_17",
+        "ycb_dex_18"
+      ]
+    },
+    {
+      "source": "affordance_val.h5",
+      "output": "affordance_val_soft.h5",
+      "num_samples": 16,
+      "heatmap_sigma_ratio": 0.03,
+      "sigma_m_min": 0.0037413702812045813,
+      "sigma_m_max": 0.008071960881352425,
+      "sigma_m_mean": 0.00578483659774065,
+      "soft_max_mean": 1.0,
+      "soft_mean_mean": 0.24649930000305176,
+      "contact_frac_mean": 0.1038055419921875,
+      "objects": [
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+        "A01005",
+        "A01008",
+        "A02030",
+        "A16026",
+        "C10001",
+        "C14001",
+        "C22001",
+        "C52001",
+        "O21001",
+        "S10018",
+        "S15004",
+        "S16003",
+        "S20001",
+        "S20005",
+        "S20021"
+      ]
+    }
+  ]
+}