README.md

PhysDojo: Dense Physics Annotations for DreamDojo

Per-frame per-object physics labels extracted from DreamDojo robot manipulation episodes using off-the-shelf foundation models (no VLM).

Pipeline

• RAFT optical flow → per-pixel velocities
• Depth Anything V2 → metric depth → 3D positions
• DINOv2 → material features

Format

Each episode has physics_dense.npz containing:

• positions: (T, N_obj, 2) — normalized [0,1] centroids
• velocities: (T, N_obj, 2) — pixels/sec
• accelerations: (T, N_obj, 2) — pixels/sec²
• depths: (T, N_obj) — relative depth
• contacts: (T, N_obj, N_obj) — binary contact matrix
• masks: (T, N_obj) — object presence mask
• optical_flow: (T-1, 2, H, W) — dense flow fields
• material_features: (T, feature_dim) — DINOv2 CLS features

Stats

• Episodes annotated: 11643
• Source: miemiebabu/efference-wm-16k