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1 Parent(s): 0ada1ba

Replace Human Hand validation data with validity-aligned release (#2)

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- Stage removal of old data/human_hand (9f09266d2a122b1d3f638db513e01b22bc077b28)
- Stage removal of old inputs/human_hand (a8976c248b5b54ba4036ebb0b3eb4b3381bd56f2)
- Stage Human Hand validation archive group 1/4 (991b0b2f6e55078a59a3fe9e0083066c0c467273)
- Stage Human Hand validation archive group 2/4 (0e29cfe8e4aff92d51e952133fb26860c7291a4d)
- Stage Human Hand validation archive group 3/4 (8efe64485d9b4966118f12fa568db25c8289a01f)
- Stage Human Hand validation archive group 4/4 (dc2a364bdd98a606d0be9f3e8d6aacc4ee975aa7)
- Stage Human Hand validation inputs 1/4 (e83b871d098906937872a7e12d88a692f6634896)
- Stage Human Hand validation inputs 2/4 (169297ae343af0f5e458be5cc22945acab8e5834)
- Stage Human Hand validation inputs 3/4 (8e8fdc34bed81fc66f85483205ec8e1a6ba6eba2)
- Stage Human Hand validation inputs 4/4 (752a5b83ac880419ff233e212ec346421e8e2290)
- Update validation metadata: README.md (3e0930af41614b7a010df18a9db6760cf997f84f)
- Update validation metadata: SHA256SUMS (c8a2eaa2aa2b06fa1842b887739c88f1c05eeae4)
- Update validation metadata: validation_manifest.json (7352a8aeb0d59191732442dfe70348d49d3b41e1)
- Update validation metadata: inputs/SHA256SUMS (29f0e35bb5a6726ff62ed3958f01d341eceea121)
- Update validation metadata: inputs/validation_input_manifest.json (687011fe14989aeaefc19360a0bfb0212c148f6c)
- Restore Human Hand input metadata: inputs/human_hand/README.md (a2a3e1278bd44d1609629a5b1be1fa052026c7f6)
- Restore Human Hand input metadata: inputs/human_hand/schema.json (f04266e76a63ad162cc9cf667473676a7e13e965)

This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. README.md +20 -45
  2. SHA256SUMS +22 -22
  3. data/human_hand/hangtowel/ep000002.tar +2 -2
  4. data/human_hand/hangtowel/ep000007.tar +2 -2
  5. data/human_hand/hangtowel/ep000008.tar +2 -2
  6. data/human_hand/hangtowel/ep000011.tar +2 -2
  7. data/human_hand/hangtowel/ep000015.tar +2 -2
  8. data/human_hand/pickfruit/ep000006.tar +2 -2
  9. data/human_hand/pickfruit/ep000017.tar +2 -2
  10. data/human_hand/pickfruit/ep000022.tar +2 -2
  11. data/human_hand/pickfruit/ep000026.tar +2 -2
  12. data/human_hand/pickfruit/ep000032.tar +2 -2
  13. data/human_hand/pourwater/ep000015.tar +2 -2
  14. data/human_hand/pourwater/ep000016.tar +2 -2
  15. data/human_hand/pourwater/ep000020.tar +2 -2
  16. data/human_hand/pourwater/ep000021.tar +2 -2
  17. data/human_hand/pourwater/ep000022.tar +2 -2
  18. data/human_hand/pulldrawer/ep000010.tar +2 -2
  19. data/human_hand/pulldrawer/ep000017.tar +2 -2
  20. data/human_hand/pulldrawer/ep000018.tar +2 -2
  21. data/human_hand/pulldrawer/ep000024.tar +2 -2
  22. data/human_hand/pulldrawer/ep000026.tar +2 -2
  23. inputs/SHA256SUMS +207 -290
  24. inputs/human_hand/README.md +2 -2
  25. inputs/human_hand/hangtowel/ep000002/controls/action_57d_spec.json +0 -60
  26. inputs/human_hand/hangtowel/ep000002/controls/hand_camera_poses.npz +2 -2
  27. inputs/human_hand/hangtowel/ep000002/metadata.json +7 -8
  28. inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_left.png +2 -2
  29. inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_right.png +2 -2
  30. inputs/human_hand/hangtowel/ep000002/observations/fisheye/top_head.png +2 -2
  31. inputs/human_hand/hangtowel/ep000002/observations/hand_left.png +2 -2
  32. inputs/human_hand/hangtowel/ep000002/observations/hand_right.png +2 -2
  33. inputs/human_hand/hangtowel/ep000002/observations/head_stereo_left.png +2 -2
  34. inputs/human_hand/hangtowel/ep000002/observations/head_stereo_right.png +2 -2
  35. inputs/human_hand/hangtowel/ep000002/observations/top_head.png +2 -2
  36. inputs/human_hand/hangtowel/ep000002/pinhole_migration.json +0 -39
  37. inputs/human_hand/hangtowel/ep000002/source_map.json +0 -1878
  38. inputs/human_hand/hangtowel/ep000002/trajectory.parquet +0 -3
  39. inputs/human_hand/hangtowel/ep000007/controls/action_57d_spec.json +0 -60
  40. inputs/human_hand/hangtowel/ep000007/controls/hand_camera_poses.npz +2 -2
  41. inputs/human_hand/hangtowel/ep000007/metadata.json +7 -8
  42. inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_left.png +2 -2
  43. inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_right.png +2 -2
  44. inputs/human_hand/hangtowel/ep000007/observations/fisheye/top_head.png +2 -2
  45. inputs/human_hand/hangtowel/ep000007/observations/hand_left.png +2 -2
  46. inputs/human_hand/hangtowel/ep000007/observations/hand_right.png +2 -2
  47. inputs/human_hand/hangtowel/ep000007/observations/head_stereo_left.png +2 -2
  48. inputs/human_hand/hangtowel/ep000007/observations/head_stereo_right.png +2 -2
  49. inputs/human_hand/hangtowel/ep000007/observations/top_head.png +2 -2
  50. inputs/human_hand/hangtowel/ep000007/pinhole_migration.json +0 -39
README.md CHANGED
@@ -26,51 +26,26 @@ Extract an episode with `tar -xf <episode>.tar -C <destination>`.
26
  size and SHA-256 of every episode archive. `SHA256SUMS` covers all repository
27
  files except itself. Validation inputs are available under `inputs/`.
28
 
29
- ## Human Hand wrist-local coordinate frame
30
-
31
- Human Hand inputs use a 57-dimensional action vector containing camera motion,
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- right-wrist motion, five right fingertips, left-wrist motion, and five left
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- fingertips. Fingertip positions are expressed in the corresponding released
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- wrist-local frame.
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-
36
- The released frame is obtained from the source wrist pose by applying the
37
- following fixed alignment:
38
-
39
- ```text
40
- aligned_wrist_in_camera = source_wrist_in_camera @ A
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-
42
- [ 0 1 0 0 ]
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- A = [-1 0 0 0 ]
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- [ 0 0 1 0 ]
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- [ 0 0 0 1 ]
46
- ```
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-
48
- Consequently, the axes of the **released, aligned frame** are defined as:
49
-
50
- - **+X (red):** normal to the palm plane, pointing from the dorsal side toward
51
- the palmar side.
52
- - **+Y (green):** from wrist to fingertips for the left hand, and from
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- fingertips to wrist for the right hand.
54
- - **+Z (blue):** within the palm plane, pointing from the pinky side toward the
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- thumb side.
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-
57
- The illustration below projects these released axes onto a public validation
58
- frame. `L` and `R` mark the left- and right-wrist origins, respectively.
59
-
60
- ![Released Human Hand wrist-local coordinate frame](assets/human_hand_wrist_coordinate_frame.png)
61
-
62
- For a fingertip position given in the head-camera frame, the released
63
- wrist-local coordinate is computed as:
64
-
65
- ```text
66
- fingertip_in_wrist = inverse(aligned_wrist_in_camera) @ fingertip_in_camera
67
- ```
68
-
69
- The raw source-frame joint positions and `xyzw` quaternions are retained in
70
- `controls/hand_camera_poses.npz`. The machine-readable 57D field layout is
71
- provided in each episode's `controls/action_57d_spec.json`. The source wrist
72
- basis and the released aligned basis are therefore intentionally not
73
- interchangeable.
74
 
75
  ## Human Hand joint visualization
76
 
 
26
  size and SHA-256 of every episode archive. `SHA256SUMS` covers all repository
27
  files except itself. Validation inputs are available under `inputs/`.
28
 
29
+ ## Human Hand absolute pose format
30
+
31
+ Human Hand validation inputs provide synchronized absolute hand and camera
32
+ poses in `controls/hand_camera_poses.npz`. Pose sample `t` corresponds directly
33
+ to validation video frame `t`.
34
+
35
+ - `left_positions_camera` and `right_positions_camera` contain the 21 hand
36
+ joints in the released camera-reference coordinates.
37
+ - `left_quaternions_camera_xyzw` and `right_quaternions_camera_xyzw` contain
38
+ the corresponding joint orientations in XYZW order.
39
+ - `camera_position_world` and `camera_quaternion_world_xyzw` contain the
40
+ tracked camera-reference pose.
41
+ - `left_valid`, `right_valid`, and `camera_valid` indicate whether each
42
+ measurement is usable.
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+
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+ The leading initialization interval in which the pose tracking was invalid has
45
+ been removed, so the first released sample is valid. Any unavailable
46
+ measurements occurring later in an episode remain present and are marked by
47
+ the validity arrays. Delta-action tensors, source-frame indices, internal
48
+ source mappings, and cleaning records are not part of the public release.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
49
 
50
  ## Human Hand joint visualization
51
 
SHA256SUMS CHANGED
@@ -1,4 +1,4 @@
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- # Ego-human ACWMBench inference dataset
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- Canonical 15 FPS bimanual human-hand trajectories. The active `top_head`, `hand_left`, and `hand_right` observations are rectified 640x480 pinhole images (90 degree HFOV, 38 degree downward pitch). Original images and calibration are retained in `observations/fisheye/` and `calibration_fisheye.json`. Physical controls remain unchanged; read `calibration.json` for the source-to-virtual rotation.
 
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+ # Human Hand validation inputs
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+ Each validation episode provides frame-0 camera observations, camera calibration, and per-frame absolute hand/camera poses. Pose sample `t` corresponds to validation video frame `t`. Delta-action tensors and internal source/cleaning mappings are not included.
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