File size: 7,441 Bytes
63b7c45
 
a3cb40f
 
63b7c45
 
 
42a887b
a3cb40f
63b7c45
 
 
 
 
bb4635a
63b7c45
bb4635a
42a887b
 
63b7c45
42a887b
 
63b7c45
 
 
 
5f64b9d
63b7c45
 
 
 
 
15d9278
 
 
63b7c45
 
 
 
8f84b5f
63b7c45
 
 
e5b5dd7
 
 
 
 
 
ff337f2
 
bcc83ce
e5b5dd7
ff337f2
 
 
e5b5dd7
 
ff337f2
 
 
 
e5b5dd7
ff337f2
e5b5dd7
 
 
5f64b9d
e5b5dd7
 
ff337f2
 
bcc83ce
e5b5dd7
ff337f2
 
 
e5b5dd7
 
ff337f2
 
 
 
e5b5dd7
ff337f2
e5b5dd7
 
 
5f64b9d
e5b5dd7
 
ff337f2
 
bcc83ce
15d9278
ff337f2
 
 
15d9278
 
ff337f2
 
 
 
15d9278
ff337f2
bcc83ce
 
 
 
 
 
eaa5c4c
 
bcc83ce
 
eaa5c4c
 
 
bcc83ce
 
eaa5c4c
 
 
 
bcc83ce
eaa5c4c
e5b5dd7
 
63b7c45
 
5f64b9d
bcc83ce
63b7c45
 
 
 
 
bcc83ce
63b7c45
 
 
 
 
 
 
407f6fa
 
 
 
 
 
5f64b9d
407f6fa
 
 
e5b5dd7
 
 
5f64b9d
e5b5dd7
 
 
 
 
 
bcc83ce
 
e5b5dd7
 
 
407f6fa
 
 
63b7c45
 
5f64b9d
bcc83ce
407f6fa
42a887b
f257248
 
63b7c45
bcc83ce
 
 
 
 
 
e8ba717
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bcc83ce
 
 
 
 
 
e8ba717
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bcc83ce
 
 
 
 
 
e8ba717
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bcc83ce
 
 
 
 
 
e8ba717
eaa5c4c
e8ba717
 
eaa5c4c
 
 
 
 
e8ba717
 
eaa5c4c
e8ba717
eaa5c4c
e8ba717
 
 
bcc83ce
 
63b7c45
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
{
  "id": "-8WOMg810tk_56.3_60.3",
  "fps": 15.159574468085115,
  "duration": 3.759999999999998,
  "video_source": {
    "type": "youtube",
    "youtube_id": "-8WOMg810tk",
    "start_seconds": 56.3,
    "end_seconds": 60.059999999999995,
    "url": "https://youtube.com/watch?v=-8WOMg810tk&t=56",
    "embed_blocked": false
  },
  "action100m_metadata": {
    "action_brief": "Seal and relocate pickle jar",
    "action_detailed": "Pick up the silver pickle jar, turn it upside\u2011down, replace its lid, and slide the sealed jar to the side of the cutting board.",
    "actor": "the man in a black shirt and light\u2011brown button\u2011up",
    "summary": "Standing at a wooden cutting board on a bright red countertop, the man lifts a small silver jar that contains a pickle, turns the jar upside\u2011down, puts its lid back on, and then slides the sealed jar to the side of the board, leaving a strip of raw bacon and a knife behind while a stove can be seen in the background.",
    "video_title": null,
    "video_duration": null,
    "segment_id": 5089594,
    "level": null,
    "favorited_at": null,
    "source_dataset": "Action100M",
    "license": "fair-noncommercial-research-license-v1"
  },
  "camera": {
    "focal": 893.3401417136192,
    "cx": 426.5,
    "cy": 240.0,
    "width": 853,
    "height": 480,
    "gravity_up": [
      -0.004368576221168041,
      -0.9093911051750183,
      -0.41591915488243103
    ]
  },
  "reconstruction": {
    "hand_joints": "hand_joints.bin",
    "hand_joints_2d": "hand_joints_2d.bin",
    "hand_verts": "hand_verts.bin",
    "hand_faces": "hand_faces.bin",
    "hand_meta": "hand_meta.json",
    "objects": [
      {
        "id": 0,
        "prompt": "cutting board",
        "color_hex": "#d97757",
        "ply": "objects/obj_0.ply",
        "n_points": 23160,
        "scale_correction": 0.8992558717727661,
        "tracker_ok": true,
        "canonical_translation": [
          0.06007883697748184,
          -0.13989755511283875,
          1.688077449798584
        ],
        "canonical_rotation_quat": [
          0.020557846873998642,
          0.0423353835940361,
          0.8399435877799988,
          0.5406290888786316
        ],
        "canonical_scale": 0.8992558717727661
      },
      {
        "id": 1,
        "prompt": "bacon",
        "color_hex": "#6a9460",
        "ply": "objects/obj_1.ply",
        "n_points": 42424,
        "scale_correction": 0.2721719443798065,
        "tracker_ok": true,
        "canonical_translation": [
          0.032388366758823395,
          -0.05452249199151993,
          1.7325026988983154
        ],
        "canonical_rotation_quat": [
          0.03532104566693306,
          0.034605950117111206,
          0.840742290019989,
          0.5391727685928345
        ],
        "canonical_scale": 0.2721719443798065
      },
      {
        "id": 2,
        "prompt": "knife",
        "color_hex": "#5a7daa",
        "ply": "objects/obj_2.ply",
        "n_points": 4500,
        "scale_correction": 0.53959059715271,
        "tracker_ok": true,
        "canonical_translation": [
          0.3445190191268921,
          -0.11891699582338333,
          1.8006877899169922
        ],
        "canonical_rotation_quat": [
          0.14395177364349365,
          0.14962296187877655,
          0.815277636051178,
          0.5405675172805786
        ],
        "canonical_scale": 0.53959059715271
      },
      {
        "id": 3,
        "prompt": "small silver can",
        "color_hex": "#c89968",
        "ply": "objects/obj_3.ply",
        "n_points": 132300,
        "scale_correction": 0.10199382156133652,
        "tracker_ok": true,
        "canonical_translation": [
          -0.1513480544090271,
          -0.020918037742376328,
          1.8430315256118774
        ],
        "canonical_rotation_quat": [
          0.0238476675003767,
          0.11086605489253998,
          0.8828025460243225,
          0.4558504521846771
        ],
        "canonical_scale": 0.10199382156133652
      }
    ],
    "object_pose_traj": "object_pose.bin",
    "object_pose_shape": [
      57,
      4,
      4,
      4
    ],
    "object_obb": "object_obb.bin",
    "object_obb_shape": [
      4,
      8,
      3
    ],
    "depth_video": "depth.mp4",
    "flow_video": "flow.mp4",
    "mask_video": "mask.mp4",
    "signals": "signals.json",
    "thumb": "thumb.jpg",
    "raw": {
      "depth_npz": "depth.npz",
      "depth_unit": "millimeter",
      "depth_dtype": "uint16",
      "depth_shape": [
        57,
        480,
        853
      ],
      "masks_npz": "masks.npz",
      "masks_meta": {
        "shape": [
          57,
          480,
          853
        ],
        "oids": [
          0,
          1,
          2,
          3
        ],
        "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": 57,
    "n_objects": 4,
    "has_grasp": false,
    "mean_trust": null,
    "mean_iou": null,
    "sam3_quality": 0.9266131350852578
  },
  "tracking_summary": {
    "0": {
      "path": null,
      "anchor_fitness": null,
      "median_chamfer_mm": null,
      "mean_iou": null,
      "grasp_rate": 0.0,
      "trust_rate": 0.0,
      "tracking_status": "ok",
      "state_counts": {
        "static": 57,
        "grasped_l": 0,
        "grasped_r": 0,
        "grasped_both": 0,
        "moving": 0
      },
      "state_fractions": {
        "static": 1.0,
        "grasped": 0.0,
        "moving": 0.0
      },
      "is_static_global": true,
      "n_state_frames": 57
    },
    "1": {
      "path": null,
      "anchor_fitness": null,
      "median_chamfer_mm": null,
      "mean_iou": null,
      "grasp_rate": 0.0,
      "trust_rate": 0.0,
      "tracking_status": "ok",
      "state_counts": {
        "static": 57,
        "grasped_l": 0,
        "grasped_r": 0,
        "grasped_both": 0,
        "moving": 0
      },
      "state_fractions": {
        "static": 1.0,
        "grasped": 0.0,
        "moving": 0.0
      },
      "is_static_global": true,
      "n_state_frames": 57
    },
    "2": {
      "path": null,
      "anchor_fitness": null,
      "median_chamfer_mm": null,
      "mean_iou": null,
      "grasp_rate": 0.0,
      "trust_rate": 0.0,
      "tracking_status": "ok",
      "state_counts": {
        "static": 57,
        "grasped_l": 0,
        "grasped_r": 0,
        "grasped_both": 0,
        "moving": 0
      },
      "state_fractions": {
        "static": 1.0,
        "grasped": 0.0,
        "moving": 0.0
      },
      "is_static_global": true,
      "n_state_frames": 57
    },
    "3": {
      "path": null,
      "anchor_fitness": null,
      "median_chamfer_mm": null,
      "mean_iou": null,
      "grasp_rate": 0.0,
      "trust_rate": 0.12280701754385964,
      "tracking_status": "ok",
      "state_counts": {
        "static": 13,
        "grasped_l": 0,
        "grasped_r": 37,
        "grasped_both": 0,
        "moving": 7
      },
      "state_fractions": {
        "static": 0.22807017543859648,
        "grasped": 0.0,
        "moving": 0.12280701754385964
      },
      "is_static_global": false,
      "n_state_frames": 57
    }
  },
  "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
}