2026-05-17: spurious_filter medium mode — drop 26 oids that are far from hand zone AND static (10/17)
Browse files- samples/-IA63nyvmg0_132.1_141.0/masks.npz +2 -2
- samples/-IA63nyvmg0_132.1_141.0/object_obb.bin +2 -2
- samples/-IA63nyvmg0_132.1_141.0/object_pose.bin +2 -2
- samples/-IA63nyvmg0_132.1_141.0/pose_track.json +9 -5208
- samples/-IA63nyvmg0_132.1_141.0/recording.viser +2 -2
- samples/-IA63nyvmg0_132.1_141.0/scene.json +3 -48
- samples/-IA63nyvmg0_132.1_141.0/signals.json +1 -1
samples/-IA63nyvmg0_132.1_141.0/masks.npz
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| 8890 |
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153.5
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153.5
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153.5
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153.5
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false,
|
| 10383 |
-
false,
|
| 10384 |
-
false,
|
| 10385 |
-
false,
|
| 10386 |
-
false,
|
| 10387 |
-
false,
|
| 10388 |
-
false,
|
| 10389 |
-
false,
|
| 10390 |
-
false,
|
| 10391 |
-
false,
|
| 10392 |
-
false,
|
| 10393 |
-
false,
|
| 10394 |
-
false,
|
| 10395 |
-
false,
|
| 10396 |
-
false,
|
| 10397 |
-
false,
|
| 10398 |
-
false,
|
| 10399 |
-
false,
|
| 10400 |
-
false,
|
| 10401 |
-
false,
|
| 10402 |
-
false,
|
| 10403 |
-
false,
|
| 10404 |
-
false,
|
| 10405 |
-
false,
|
| 10406 |
-
false,
|
| 10407 |
-
false,
|
| 10408 |
-
false,
|
| 10409 |
-
false,
|
| 10410 |
-
false,
|
| 10411 |
-
false,
|
| 10412 |
-
false,
|
| 10413 |
-
false
|
| 10414 |
-
]
|
| 10415 |
},
|
| 10416 |
"3": {
|
| 10417 |
"mode": "position_first",
|
|
@@ -15618,6 +10415,10 @@
|
|
| 15618 |
false,
|
| 15619 |
false,
|
| 15620 |
false
|
| 15621 |
-
]
|
|
|
|
|
|
|
|
|
|
|
|
|
| 15622 |
}
|
| 15623 |
}
|
|
|
|
| 5204 |
false,
|
| 5205 |
false,
|
| 5206 |
false
|
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|
| 5207 |
],
|
| 5208 |
+
"spurious_flag": false,
|
| 5209 |
+
"spurious_reason": "ok",
|
| 5210 |
+
"spurious_d3d_m": 0.05062031582368929,
|
| 5211 |
+
"spurious_motion2d_px": 0.7071067690849304
|
|
|
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|
|
|
|
|
|
|
| 5212 |
},
|
| 5213 |
"3": {
|
| 5214 |
"mode": "position_first",
|
|
|
|
| 10415 |
false,
|
| 10416 |
false,
|
| 10417 |
false
|
| 10418 |
+
],
|
| 10419 |
+
"spurious_flag": false,
|
| 10420 |
+
"spurious_reason": "ok",
|
| 10421 |
+
"spurious_d3d_m": 0.24085843563079834,
|
| 10422 |
+
"spurious_motion2d_px": 0.5
|
| 10423 |
}
|
| 10424 |
}
|
samples/-IA63nyvmg0_132.1_141.0/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:a16da1a7c0e3d410c649e4846d5d6e2002fbf567647274959d8ba7717e232a46
|
| 3 |
+
size 4706188
|
samples/-IA63nyvmg0_132.1_141.0/scene.json
CHANGED
|
@@ -63,27 +63,6 @@
|
|
| 63 |
],
|
| 64 |
"canonical_scale": 0.169805645942688
|
| 65 |
},
|
| 66 |
-
{
|
| 67 |
-
"id": 2,
|
| 68 |
-
"prompt": "tape",
|
| 69 |
-
"color_hex": "#5a7daa",
|
| 70 |
-
"ply": "objects/obj_2.ply",
|
| 71 |
-
"n_points": 32692,
|
| 72 |
-
"scale_correction": 0.1761246621608734,
|
| 73 |
-
"tracker_ok": true,
|
| 74 |
-
"canonical_translation": [
|
| 75 |
-
0.862671971321106,
|
| 76 |
-
0.17108392715454102,
|
| 77 |
-
1.786488652229309
|
| 78 |
-
],
|
| 79 |
-
"canonical_rotation_quat": [
|
| 80 |
-
0.07644455879926682,
|
| 81 |
-
0.07682211697101593,
|
| 82 |
-
0.6734043955802917,
|
| 83 |
-
0.7312873005867004
|
| 84 |
-
],
|
| 85 |
-
"canonical_scale": 0.1761246621608734
|
| 86 |
-
},
|
| 87 |
{
|
| 88 |
"id": 3,
|
| 89 |
"prompt": "tape",
|
|
@@ -109,13 +88,13 @@
|
|
| 109 |
"object_pose_traj": "object_pose.bin",
|
| 110 |
"object_pose_shape": [
|
| 111 |
136,
|
| 112 |
-
|
| 113 |
4,
|
| 114 |
4
|
| 115 |
],
|
| 116 |
"object_obb": "object_obb.bin",
|
| 117 |
"object_obb_shape": [
|
| 118 |
-
|
| 119 |
8,
|
| 120 |
3
|
| 121 |
],
|
|
@@ -142,7 +121,6 @@
|
|
| 142 |
],
|
| 143 |
"oids": [
|
| 144 |
1,
|
| 145 |
-
2,
|
| 146 |
3
|
| 147 |
],
|
| 148 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
|
@@ -153,7 +131,7 @@
|
|
| 153 |
},
|
| 154 |
"stats": {
|
| 155 |
"n_frames": 136,
|
| 156 |
-
"n_objects":
|
| 157 |
"has_grasp": false,
|
| 158 |
"mean_trust": null,
|
| 159 |
"mean_iou": null,
|
|
@@ -183,29 +161,6 @@
|
|
| 183 |
"is_static_global": true,
|
| 184 |
"n_state_frames": 136
|
| 185 |
},
|
| 186 |
-
"2": {
|
| 187 |
-
"path": null,
|
| 188 |
-
"anchor_fitness": null,
|
| 189 |
-
"median_chamfer_mm": null,
|
| 190 |
-
"mean_iou": null,
|
| 191 |
-
"grasp_rate": 0.0,
|
| 192 |
-
"trust_rate": 0.0,
|
| 193 |
-
"tracking_status": "ok",
|
| 194 |
-
"state_counts": {
|
| 195 |
-
"static": 136,
|
| 196 |
-
"grasped_l": 0,
|
| 197 |
-
"grasped_r": 0,
|
| 198 |
-
"grasped_both": 0,
|
| 199 |
-
"moving": 0
|
| 200 |
-
},
|
| 201 |
-
"state_fractions": {
|
| 202 |
-
"static": 1.0,
|
| 203 |
-
"grasped": 0.0,
|
| 204 |
-
"moving": 0.0
|
| 205 |
-
},
|
| 206 |
-
"is_static_global": true,
|
| 207 |
-
"n_state_frames": 136
|
| 208 |
-
},
|
| 209 |
"3": {
|
| 210 |
"path": null,
|
| 211 |
"anchor_fitness": null,
|
|
|
|
| 63 |
],
|
| 64 |
"canonical_scale": 0.169805645942688
|
| 65 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 66 |
{
|
| 67 |
"id": 3,
|
| 68 |
"prompt": "tape",
|
|
|
|
| 88 |
"object_pose_traj": "object_pose.bin",
|
| 89 |
"object_pose_shape": [
|
| 90 |
136,
|
| 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 |
1,
|
|
|
|
| 124 |
3
|
| 125 |
],
|
| 126 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
|
|
|
| 131 |
},
|
| 132 |
"stats": {
|
| 133 |
"n_frames": 136,
|
| 134 |
+
"n_objects": 2,
|
| 135 |
"has_grasp": false,
|
| 136 |
"mean_trust": null,
|
| 137 |
"mean_iou": null,
|
|
|
|
| 161 |
"is_static_global": true,
|
| 162 |
"n_state_frames": 136
|
| 163 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 164 |
"3": {
|
| 165 |
"path": null,
|
| 166 |
"anchor_fitness": null,
|
samples/-IA63nyvmg0_132.1_141.0/signals.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"n_frames": 136, "scene": {"contact_l": [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, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "contact_r": [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, 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|
|
|
|
| 1 |
+
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