2026-05-17: spurious_filter medium mode — drop 26 oids that are far from hand zone AND static (6/17)
Browse files- samples/-821U1ZYZOs_245.0_249.0/masks.npz +2 -2
- samples/-821U1ZYZOs_245.0_249.0/object_obb.bin +2 -2
- samples/-821U1ZYZOs_245.0_249.0/object_pose.bin +2 -2
- samples/-821U1ZYZOs_245.0_249.0/pose_track.json +9 -2396
- samples/-821U1ZYZOs_245.0_249.0/recording.viser +2 -2
- samples/-821U1ZYZOs_245.0_249.0/scene.json +4 -49
- samples/-821U1ZYZOs_245.0_249.0/signals.json +1 -1
samples/-821U1ZYZOs_245.0_249.0/masks.npz
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| 6883 |
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false,
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| 6884 |
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false,
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false,
|
| 6886 |
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false,
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false,
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| 6888 |
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false,
|
| 6889 |
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false,
|
| 6890 |
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false,
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| 6891 |
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false,
|
| 6892 |
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false,
|
| 6893 |
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false,
|
| 6894 |
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false,
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| 6895 |
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false,
|
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false,
|
| 6897 |
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false,
|
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false,
|
| 6899 |
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false,
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| 6900 |
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false,
|
| 6901 |
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false,
|
| 6902 |
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false,
|
| 6903 |
-
false,
|
| 6904 |
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false,
|
| 6905 |
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false,
|
| 6906 |
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false,
|
| 6907 |
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false,
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| 6908 |
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false,
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| 6909 |
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false,
|
| 6910 |
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false,
|
| 6911 |
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false,
|
| 6912 |
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false,
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| 6913 |
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false,
|
| 6914 |
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false,
|
| 6915 |
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false,
|
| 6916 |
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false,
|
| 6917 |
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false,
|
| 6918 |
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false,
|
| 6919 |
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false,
|
| 6920 |
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false,
|
| 6921 |
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false,
|
| 6922 |
-
false,
|
| 6923 |
-
false,
|
| 6924 |
-
false,
|
| 6925 |
-
false,
|
| 6926 |
-
false,
|
| 6927 |
-
false,
|
| 6928 |
-
false
|
| 6929 |
-
],
|
| 6930 |
-
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|
| 6931 |
-
false,
|
| 6932 |
-
false,
|
| 6933 |
-
false,
|
| 6934 |
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false,
|
| 6935 |
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false,
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| 6936 |
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false,
|
| 6937 |
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false,
|
| 6938 |
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false,
|
| 6939 |
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false,
|
| 6940 |
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false,
|
| 6941 |
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false,
|
| 6942 |
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false,
|
| 6943 |
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false,
|
| 6944 |
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false,
|
| 6945 |
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false,
|
| 6946 |
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false,
|
| 6947 |
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false,
|
| 6948 |
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false,
|
| 6949 |
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false,
|
| 6950 |
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false,
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| 6951 |
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false,
|
| 6952 |
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false,
|
| 6953 |
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false,
|
| 6954 |
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false,
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| 6955 |
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false,
|
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false,
|
| 6957 |
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false,
|
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false,
|
| 6959 |
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false,
|
| 6960 |
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false,
|
| 6961 |
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false,
|
| 6962 |
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false,
|
| 6963 |
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false,
|
| 6964 |
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false,
|
| 6965 |
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false,
|
| 6966 |
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false,
|
| 6967 |
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false,
|
| 6968 |
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false,
|
| 6969 |
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false,
|
| 6970 |
-
false,
|
| 6971 |
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false,
|
| 6972 |
-
false,
|
| 6973 |
-
false,
|
| 6974 |
-
false,
|
| 6975 |
-
false,
|
| 6976 |
-
false,
|
| 6977 |
-
false,
|
| 6978 |
-
false,
|
| 6979 |
-
false,
|
| 6980 |
-
false,
|
| 6981 |
-
false,
|
| 6982 |
-
false,
|
| 6983 |
-
false,
|
| 6984 |
-
false,
|
| 6985 |
-
false,
|
| 6986 |
-
false,
|
| 6987 |
-
false,
|
| 6988 |
-
false,
|
| 6989 |
-
false,
|
| 6990 |
-
false,
|
| 6991 |
-
false,
|
| 6992 |
-
false
|
| 6993 |
-
],
|
| 6994 |
-
"wrist_r_per_frame": [
|
| 6995 |
-
false,
|
| 6996 |
-
false,
|
| 6997 |
-
false,
|
| 6998 |
-
false,
|
| 6999 |
-
false,
|
| 7000 |
-
false,
|
| 7001 |
-
false,
|
| 7002 |
-
false,
|
| 7003 |
-
false,
|
| 7004 |
-
false,
|
| 7005 |
-
false,
|
| 7006 |
-
false,
|
| 7007 |
-
false,
|
| 7008 |
-
false,
|
| 7009 |
-
false,
|
| 7010 |
-
false,
|
| 7011 |
-
false,
|
| 7012 |
-
false,
|
| 7013 |
-
false,
|
| 7014 |
-
false,
|
| 7015 |
-
false,
|
| 7016 |
-
false,
|
| 7017 |
-
false,
|
| 7018 |
-
false,
|
| 7019 |
-
false,
|
| 7020 |
-
false,
|
| 7021 |
-
false,
|
| 7022 |
-
false,
|
| 7023 |
-
false,
|
| 7024 |
-
false,
|
| 7025 |
-
false,
|
| 7026 |
-
false,
|
| 7027 |
-
false,
|
| 7028 |
-
false,
|
| 7029 |
-
false,
|
| 7030 |
-
false,
|
| 7031 |
-
false,
|
| 7032 |
-
false,
|
| 7033 |
-
false,
|
| 7034 |
-
false,
|
| 7035 |
-
false,
|
| 7036 |
-
false,
|
| 7037 |
-
false,
|
| 7038 |
-
false,
|
| 7039 |
-
false,
|
| 7040 |
-
false,
|
| 7041 |
-
false,
|
| 7042 |
-
false,
|
| 7043 |
-
false,
|
| 7044 |
-
false,
|
| 7045 |
-
false,
|
| 7046 |
-
false,
|
| 7047 |
-
false,
|
| 7048 |
-
false,
|
| 7049 |
-
false,
|
| 7050 |
-
false,
|
| 7051 |
-
false,
|
| 7052 |
-
false,
|
| 7053 |
-
false,
|
| 7054 |
-
false,
|
| 7055 |
-
false,
|
| 7056 |
-
false
|
| 7057 |
-
],
|
| 7058 |
-
"is_moving_per_frame": [
|
| 7059 |
-
false,
|
| 7060 |
-
false,
|
| 7061 |
-
false,
|
| 7062 |
-
false,
|
| 7063 |
-
false,
|
| 7064 |
-
false,
|
| 7065 |
-
false,
|
| 7066 |
-
false,
|
| 7067 |
-
false,
|
| 7068 |
-
false,
|
| 7069 |
-
false,
|
| 7070 |
-
false,
|
| 7071 |
-
false,
|
| 7072 |
-
false,
|
| 7073 |
-
false,
|
| 7074 |
-
false,
|
| 7075 |
-
false,
|
| 7076 |
-
false,
|
| 7077 |
-
false,
|
| 7078 |
-
false,
|
| 7079 |
-
false,
|
| 7080 |
-
false,
|
| 7081 |
-
false,
|
| 7082 |
-
false,
|
| 7083 |
-
false,
|
| 7084 |
-
false,
|
| 7085 |
-
false,
|
| 7086 |
-
false,
|
| 7087 |
-
false,
|
| 7088 |
-
false,
|
| 7089 |
-
false,
|
| 7090 |
-
false,
|
| 7091 |
-
false,
|
| 7092 |
-
false,
|
| 7093 |
-
false,
|
| 7094 |
-
false,
|
| 7095 |
-
false,
|
| 7096 |
-
false,
|
| 7097 |
-
false,
|
| 7098 |
-
false,
|
| 7099 |
-
false,
|
| 7100 |
-
false,
|
| 7101 |
-
false,
|
| 7102 |
-
false,
|
| 7103 |
-
false,
|
| 7104 |
-
false,
|
| 7105 |
-
false,
|
| 7106 |
-
false,
|
| 7107 |
-
false,
|
| 7108 |
-
false,
|
| 7109 |
-
false,
|
| 7110 |
-
false,
|
| 7111 |
-
false,
|
| 7112 |
-
false,
|
| 7113 |
-
false,
|
| 7114 |
-
false,
|
| 7115 |
-
false,
|
| 7116 |
-
false,
|
| 7117 |
-
false,
|
| 7118 |
-
false,
|
| 7119 |
-
false,
|
| 7120 |
-
false
|
| 7121 |
],
|
| 7122 |
-
"
|
| 7123 |
-
|
| 7124 |
-
|
| 7125 |
-
|
| 7126 |
-
false,
|
| 7127 |
-
false,
|
| 7128 |
-
false,
|
| 7129 |
-
false,
|
| 7130 |
-
false,
|
| 7131 |
-
false,
|
| 7132 |
-
false,
|
| 7133 |
-
false,
|
| 7134 |
-
false,
|
| 7135 |
-
false,
|
| 7136 |
-
false,
|
| 7137 |
-
false,
|
| 7138 |
-
false,
|
| 7139 |
-
false,
|
| 7140 |
-
false,
|
| 7141 |
-
false,
|
| 7142 |
-
false,
|
| 7143 |
-
false,
|
| 7144 |
-
false,
|
| 7145 |
-
false,
|
| 7146 |
-
false,
|
| 7147 |
-
false,
|
| 7148 |
-
false,
|
| 7149 |
-
false,
|
| 7150 |
-
false,
|
| 7151 |
-
false,
|
| 7152 |
-
false,
|
| 7153 |
-
false,
|
| 7154 |
-
false,
|
| 7155 |
-
false,
|
| 7156 |
-
false,
|
| 7157 |
-
false,
|
| 7158 |
-
false,
|
| 7159 |
-
false,
|
| 7160 |
-
false,
|
| 7161 |
-
false,
|
| 7162 |
-
false,
|
| 7163 |
-
false,
|
| 7164 |
-
false,
|
| 7165 |
-
false,
|
| 7166 |
-
false,
|
| 7167 |
-
false,
|
| 7168 |
-
false,
|
| 7169 |
-
false,
|
| 7170 |
-
false,
|
| 7171 |
-
false,
|
| 7172 |
-
false,
|
| 7173 |
-
false,
|
| 7174 |
-
false,
|
| 7175 |
-
false,
|
| 7176 |
-
false,
|
| 7177 |
-
false,
|
| 7178 |
-
false,
|
| 7179 |
-
false,
|
| 7180 |
-
false,
|
| 7181 |
-
false,
|
| 7182 |
-
false,
|
| 7183 |
-
false,
|
| 7184 |
-
false
|
| 7185 |
-
]
|
| 7186 |
}
|
| 7187 |
}
|
|
|
|
| 2392 |
true,
|
| 2393 |
true,
|
| 2394 |
true
|
| 2395 |
+
],
|
| 2396 |
+
"spurious_flag": false,
|
| 2397 |
+
"spurious_reason": "ok",
|
| 2398 |
+
"spurious_d3d_m": 0.0,
|
| 2399 |
+
"spurious_motion2d_px": 0.5
|
| 2400 |
},
|
| 2401 |
"1": {
|
| 2402 |
"mode": "position_first",
|
|
|
|
| 4791 |
false,
|
| 4792 |
false,
|
| 4793 |
false
|
|
|
|
|
|
|
|
|
|
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|
| 4794 |
],
|
| 4795 |
+
"spurious_flag": false,
|
| 4796 |
+
"spurious_reason": "ok",
|
| 4797 |
+
"spurious_d3d_m": 0.0,
|
| 4798 |
+
"spurious_motion2d_px": 42.627479553222656
|
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|
| 4799 |
}
|
| 4800 |
}
|
samples/-821U1ZYZOs_245.0_249.0/recording.viser
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9c7b1be4c8a343d5ccd344172c9e816c2cd63632e69ac3b64acf7653f7235f22
|
| 3 |
+
size 3688454
|
samples/-821U1ZYZOs_245.0_249.0/scene.json
CHANGED
|
@@ -83,39 +83,18 @@
|
|
| 83 |
0.751872181892395
|
| 84 |
],
|
| 85 |
"canonical_scale": 0.093817338347435
|
| 86 |
-
},
|
| 87 |
-
{
|
| 88 |
-
"id": 2,
|
| 89 |
-
"prompt": "tin can",
|
| 90 |
-
"color_hex": "#5a7daa",
|
| 91 |
-
"ply": "objects/obj_2.ply",
|
| 92 |
-
"n_points": 161260,
|
| 93 |
-
"scale_correction": 0.11613963544368744,
|
| 94 |
-
"tracker_ok": true,
|
| 95 |
-
"canonical_translation": [
|
| 96 |
-
0.48857244849205017,
|
| 97 |
-
-0.04199289157986641,
|
| 98 |
-
2.5106310844421387
|
| 99 |
-
],
|
| 100 |
-
"canonical_rotation_quat": [
|
| 101 |
-
0.07626000046730042,
|
| 102 |
-
0.10666307061910629,
|
| 103 |
-
-0.7133927345275879,
|
| 104 |
-
-0.6883881688117981
|
| 105 |
-
],
|
| 106 |
-
"canonical_scale": 0.11613963544368744
|
| 107 |
}
|
| 108 |
],
|
| 109 |
"object_pose_traj": "object_pose.bin",
|
| 110 |
"object_pose_shape": [
|
| 111 |
62,
|
| 112 |
-
|
| 113 |
4,
|
| 114 |
4
|
| 115 |
],
|
| 116 |
"object_obb": "object_obb.bin",
|
| 117 |
"object_obb_shape": [
|
| 118 |
-
|
| 119 |
8,
|
| 120 |
3
|
| 121 |
],
|
|
@@ -142,8 +121,7 @@
|
|
| 142 |
],
|
| 143 |
"oids": [
|
| 144 |
0,
|
| 145 |
-
1
|
| 146 |
-
2
|
| 147 |
],
|
| 148 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
| 149 |
},
|
|
@@ -153,7 +131,7 @@
|
|
| 153 |
},
|
| 154 |
"stats": {
|
| 155 |
"n_frames": 62,
|
| 156 |
-
"n_objects":
|
| 157 |
"has_grasp": false,
|
| 158 |
"mean_trust": null,
|
| 159 |
"mean_iou": null,
|
|
@@ -205,29 +183,6 @@
|
|
| 205 |
},
|
| 206 |
"is_static_global": false,
|
| 207 |
"n_state_frames": 62
|
| 208 |
-
},
|
| 209 |
-
"2": {
|
| 210 |
-
"path": null,
|
| 211 |
-
"anchor_fitness": null,
|
| 212 |
-
"median_chamfer_mm": null,
|
| 213 |
-
"mean_iou": null,
|
| 214 |
-
"grasp_rate": 0.0,
|
| 215 |
-
"trust_rate": 0.0,
|
| 216 |
-
"tracking_status": "ok",
|
| 217 |
-
"state_counts": {
|
| 218 |
-
"static": 62,
|
| 219 |
-
"grasped_l": 0,
|
| 220 |
-
"grasped_r": 0,
|
| 221 |
-
"grasped_both": 0,
|
| 222 |
-
"moving": 0
|
| 223 |
-
},
|
| 224 |
-
"state_fractions": {
|
| 225 |
-
"static": 1.0,
|
| 226 |
-
"grasped": 0.0,
|
| 227 |
-
"moving": 0.0
|
| 228 |
-
},
|
| 229 |
-
"is_static_global": true,
|
| 230 |
-
"n_state_frames": 62
|
| 231 |
}
|
| 232 |
},
|
| 233 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
|
|
|
| 83 |
0.751872181892395
|
| 84 |
],
|
| 85 |
"canonical_scale": 0.093817338347435
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
}
|
| 87 |
],
|
| 88 |
"object_pose_traj": "object_pose.bin",
|
| 89 |
"object_pose_shape": [
|
| 90 |
62,
|
| 91 |
+
2,
|
| 92 |
4,
|
| 93 |
4
|
| 94 |
],
|
| 95 |
"object_obb": "object_obb.bin",
|
| 96 |
"object_obb_shape": [
|
| 97 |
+
2,
|
| 98 |
8,
|
| 99 |
3
|
| 100 |
],
|
|
|
|
| 121 |
],
|
| 122 |
"oids": [
|
| 123 |
0,
|
| 124 |
+
1
|
|
|
|
| 125 |
],
|
| 126 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
| 127 |
},
|
|
|
|
| 131 |
},
|
| 132 |
"stats": {
|
| 133 |
"n_frames": 62,
|
| 134 |
+
"n_objects": 2,
|
| 135 |
"has_grasp": false,
|
| 136 |
"mean_trust": null,
|
| 137 |
"mean_iou": null,
|
|
|
|
| 183 |
},
|
| 184 |
"is_static_global": false,
|
| 185 |
"n_state_frames": 62
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
| 186 |
}
|
| 187 |
},
|
| 188 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
samples/-821U1ZYZOs_245.0_249.0/signals.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"n_frames": 62, "scene": {"contact_l": [0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 4.0, 5.024937629699707, 2.5, 2.0, 1.1180340051651, 1.0, 3.605551242828369, 3.0, 3.5, 2.2360680103302, 4.0, 2.0615527629852295, 6.020797252655029, 3.3541018962860107, 3.640054941177368, 3.8078866004943848, 4.609772205352783, 4.7434163093566895, 3.0, 3.8078866004943848, 3.041381359100342, 3.041381359100342, 1.8027756214141846, 1.0, 3.0, 2.692582368850708, 1.5811388492584229, 1.1180340051651, 0.5, 2.2360680103302, 2.0615527629852295, 1.5, 2.5, 1.0, 2.5, 2.5, 1.1180340051651, 1.8027756214141846, 1.0, 2.0615527629852295, 0.5, 1.0, 0.5, 0.5, 0.5, 0.7071067690849304, 1.1180340051651, 1.1180340051651, 1.0, 0.7071067690849304, 0.5, 0.0, 1.0, 0.
|
|
|
|
| 1 |
+
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