license: apache-2.0
library_name: pytorch
pipeline_tag: image-classification
tags:
- robotics
- capture-qa
- hand-detection
- edge
datasets:
- lerobot/droid_1.0.1
- imageomics/KABR
model-index:
- name: referee-hands-s
results:
- task:
type: image-classification
name: Hand/gripper visibility (clip-level)
dataset:
type: referee-lab/hands-visible
name: referee-lab/hands-visible
split: full
metrics:
- type: accuracy
name: Clip accuracy
value: 0.9778
referee-hands-s
A 1.5M-parameter MobileNetV3-small classifier for hand/gripper visibility in robot-training footage. 96px inputs, sized for microcontroller-class deployment.
Benchmark
97.8% clip accuracy on referee-lab/hands-visible (45-clip public benchmark, robot + wildlife domains) — matching gemma3:27b at 1/18,000th the parameters.
| Model | Params | Accuracy |
|---|---|---|
| gemma3:27b | 27B | 97.8% |
| referee-hands-s | 1.5M | 97.8% |
| referee-hands-s, cross-video split | 1.5M | 95.6% |
| qwen2.5vl:32b | 32B | 74.4% |
| constant-answer floor | — | 68.9% |
The cross-video row keeps every training frame at least 60 seconds away from any test clip on its source stream. Under that separation the model scores 100% on real footage (41/41); its two misses are synthetic drawn-hand control clips outside the training distribution.
Intended use and scope
Version 1 targets fixed-camera and wrist-camera robot workspace footage — the domain it was trained on (DROID, ALOHA-sim, KABR negatives). Human egocentric and general webcam scenes are outside the v1 training distribution; a mixed-domain v2 is in development. Use for capture-pipeline gating in the supported domain.
Usage
import torch
from torchvision import models, transforms
from safetensors.torch import load_file
net = models.mobilenet_v3_small()
net.classifier[3] = torch.nn.Linear(net.classifier[3].in_features, 1)
net.load_state_dict(load_file("model.safetensors"))
net.eval()
tf = transforms.Compose([transforms.Resize((96, 96)), transforms.ToTensor()])
p = torch.sigmoid(net(tf(img).unsqueeze(0)).squeeze()) # P(hand/gripper visible)
Clip-level verdict: sample ~12 frames, yes if max(p) > 0.5.
Training: distilled from gemma3:27b pseudo-labels on CC BY / CC0 / MIT media. Benchmark, gates, and tooling: https://github.com/publu/referee-lab