2026-05-17: spurious_filter medium mode — drop 26 oids that are far from hand zone AND static (15/17)
Browse files- samples/-wU6h7BA8Os_131.9_140.4/masks.npz +2 -2
- samples/-wU6h7BA8Os_131.9_140.4/object_obb.bin +2 -2
- samples/-wU6h7BA8Os_131.9_140.4/object_pose.bin +2 -2
- samples/-wU6h7BA8Os_131.9_140.4/pose_track.json +5 -2282
- samples/-wU6h7BA8Os_131.9_140.4/recording.viser +2 -2
- samples/-wU6h7BA8Os_131.9_140.4/scene.json +3 -48
- samples/-wU6h7BA8Os_131.9_140.4/signals.json +1 -1
samples/-wU6h7BA8Os_131.9_140.4/masks.npz
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samples/-wU6h7BA8Os_131.9_140.4/object_obb.bin
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samples/-wU6h7BA8Os_131.9_140.4/object_pose.bin
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348.5
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348.5
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348.5
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348.5
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732.5,
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348.5
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348.5
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732.5,
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348.5
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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5.0,
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false,
|
| 2172 |
-
false,
|
| 2173 |
-
false,
|
| 2174 |
-
false,
|
| 2175 |
-
false,
|
| 2176 |
-
false,
|
| 2177 |
-
false,
|
| 2178 |
-
false,
|
| 2179 |
-
false,
|
| 2180 |
-
false,
|
| 2181 |
-
false,
|
| 2182 |
-
false,
|
| 2183 |
-
false,
|
| 2184 |
-
false,
|
| 2185 |
-
false,
|
| 2186 |
-
false,
|
| 2187 |
-
false,
|
| 2188 |
-
false,
|
| 2189 |
-
false,
|
| 2190 |
-
false,
|
| 2191 |
-
false,
|
| 2192 |
-
false,
|
| 2193 |
-
false,
|
| 2194 |
-
false,
|
| 2195 |
-
false,
|
| 2196 |
-
false,
|
| 2197 |
-
false,
|
| 2198 |
-
false,
|
| 2199 |
-
false,
|
| 2200 |
-
true,
|
| 2201 |
-
true,
|
| 2202 |
-
false,
|
| 2203 |
-
false,
|
| 2204 |
-
false,
|
| 2205 |
-
false,
|
| 2206 |
-
false,
|
| 2207 |
-
false,
|
| 2208 |
-
false,
|
| 2209 |
-
false,
|
| 2210 |
-
false,
|
| 2211 |
-
false,
|
| 2212 |
-
false,
|
| 2213 |
-
false,
|
| 2214 |
-
false,
|
| 2215 |
-
false,
|
| 2216 |
-
false,
|
| 2217 |
-
false,
|
| 2218 |
-
false,
|
| 2219 |
-
false
|
| 2220 |
-
],
|
| 2221 |
-
"close_per_frame": [
|
| 2222 |
-
false,
|
| 2223 |
-
false,
|
| 2224 |
-
false,
|
| 2225 |
-
false,
|
| 2226 |
-
false,
|
| 2227 |
-
false,
|
| 2228 |
-
false,
|
| 2229 |
-
false,
|
| 2230 |
-
false,
|
| 2231 |
-
false,
|
| 2232 |
-
false,
|
| 2233 |
-
false,
|
| 2234 |
-
false,
|
| 2235 |
-
false,
|
| 2236 |
-
false,
|
| 2237 |
-
false,
|
| 2238 |
-
false,
|
| 2239 |
-
false,
|
| 2240 |
-
false,
|
| 2241 |
-
false,
|
| 2242 |
-
false,
|
| 2243 |
-
false,
|
| 2244 |
-
false,
|
| 2245 |
-
false,
|
| 2246 |
-
false,
|
| 2247 |
-
false,
|
| 2248 |
-
false,
|
| 2249 |
-
false,
|
| 2250 |
-
false,
|
| 2251 |
-
false,
|
| 2252 |
-
false,
|
| 2253 |
-
false,
|
| 2254 |
-
false,
|
| 2255 |
-
false,
|
| 2256 |
-
false,
|
| 2257 |
-
false,
|
| 2258 |
-
false,
|
| 2259 |
-
false,
|
| 2260 |
-
false,
|
| 2261 |
-
false,
|
| 2262 |
-
false,
|
| 2263 |
-
false,
|
| 2264 |
-
false,
|
| 2265 |
-
false,
|
| 2266 |
-
false,
|
| 2267 |
-
false,
|
| 2268 |
-
false,
|
| 2269 |
-
false,
|
| 2270 |
-
false,
|
| 2271 |
-
false,
|
| 2272 |
-
false,
|
| 2273 |
-
false,
|
| 2274 |
-
false,
|
| 2275 |
-
false,
|
| 2276 |
-
false,
|
| 2277 |
-
false,
|
| 2278 |
-
false,
|
| 2279 |
-
false,
|
| 2280 |
-
false
|
| 2281 |
-
]
|
| 2282 |
-
},
|
| 2283 |
"1": {
|
| 2284 |
"mode": "position_first",
|
| 2285 |
"algo_version": "v1-position-first",
|
|
@@ -4535,6 +2254,10 @@
|
|
| 4535 |
false,
|
| 4536 |
false,
|
| 4537 |
false
|
| 4538 |
-
]
|
|
|
|
|
|
|
|
|
|
|
|
|
| 4539 |
}
|
| 4540 |
}
|
|
|
|
| 1 |
{
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|
|
| 2 |
"1": {
|
| 3 |
"mode": "position_first",
|
| 4 |
"algo_version": "v1-position-first",
|
|
|
|
| 2254 |
false,
|
| 2255 |
false,
|
| 2256 |
false
|
| 2257 |
+
],
|
| 2258 |
+
"spurious_flag": false,
|
| 2259 |
+
"spurious_reason": "ok",
|
| 2260 |
+
"spurious_d3d_m": 0.0,
|
| 2261 |
+
"spurious_motion2d_px": 112.70536804199219
|
| 2262 |
}
|
| 2263 |
}
|
samples/-wU6h7BA8Os_131.9_140.4/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 sha256:662f553e13a5ba0339ede338d3a2dbf78f7f446f848092748e7af8fc10a80ea7
|
| 3 |
+
size 2377925
|
samples/-wU6h7BA8Os_131.9_140.4/scene.json
CHANGED
|
@@ -42,27 +42,6 @@
|
|
| 42 |
"hand_faces": "hand_faces.bin",
|
| 43 |
"hand_meta": "hand_meta.json",
|
| 44 |
"objects": [
|
| 45 |
-
{
|
| 46 |
-
"id": 0,
|
| 47 |
-
"prompt": "oven",
|
| 48 |
-
"color_hex": "#d97757",
|
| 49 |
-
"ply": "objects/obj_0.ply",
|
| 50 |
-
"n_points": 45996,
|
| 51 |
-
"scale_correction": 1.0911777019500732,
|
| 52 |
-
"tracker_ok": true,
|
| 53 |
-
"canonical_translation": [
|
| 54 |
-
-0.6675027012825012,
|
| 55 |
-
-0.35940998792648315,
|
| 56 |
-
1.437164306640625
|
| 57 |
-
],
|
| 58 |
-
"canonical_rotation_quat": [
|
| 59 |
-
0.4633425772190094,
|
| 60 |
-
0.4790608882904053,
|
| 61 |
-
-0.5063577890396118,
|
| 62 |
-
-0.5471892952919006
|
| 63 |
-
],
|
| 64 |
-
"canonical_scale": 1.0911777019500732
|
| 65 |
-
},
|
| 66 |
{
|
| 67 |
"id": 1,
|
| 68 |
"prompt": "glass dish",
|
|
@@ -88,13 +67,13 @@
|
|
| 88 |
"object_pose_traj": "object_pose.bin",
|
| 89 |
"object_pose_shape": [
|
| 90 |
59,
|
| 91 |
-
|
| 92 |
4,
|
| 93 |
4
|
| 94 |
],
|
| 95 |
"object_obb": "object_obb.bin",
|
| 96 |
"object_obb_shape": [
|
| 97 |
-
|
| 98 |
8,
|
| 99 |
3
|
| 100 |
],
|
|
@@ -120,7 +99,6 @@
|
|
| 120 |
853
|
| 121 |
],
|
| 122 |
"oids": [
|
| 123 |
-
0,
|
| 124 |
1
|
| 125 |
],
|
| 126 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
|
@@ -131,36 +109,13 @@
|
|
| 131 |
},
|
| 132 |
"stats": {
|
| 133 |
"n_frames": 59,
|
| 134 |
-
"n_objects":
|
| 135 |
"has_grasp": false,
|
| 136 |
"mean_trust": null,
|
| 137 |
"mean_iou": null,
|
| 138 |
"sam3_quality": 0.8596392225477922
|
| 139 |
},
|
| 140 |
"tracking_summary": {
|
| 141 |
-
"0": {
|
| 142 |
-
"path": null,
|
| 143 |
-
"anchor_fitness": null,
|
| 144 |
-
"median_chamfer_mm": null,
|
| 145 |
-
"mean_iou": null,
|
| 146 |
-
"grasp_rate": 0.0,
|
| 147 |
-
"trust_rate": 0.0,
|
| 148 |
-
"tracking_status": "ok",
|
| 149 |
-
"state_counts": {
|
| 150 |
-
"static": 59,
|
| 151 |
-
"grasped_l": 0,
|
| 152 |
-
"grasped_r": 0,
|
| 153 |
-
"grasped_both": 0,
|
| 154 |
-
"moving": 0
|
| 155 |
-
},
|
| 156 |
-
"state_fractions": {
|
| 157 |
-
"static": 1.0,
|
| 158 |
-
"grasped": 0.0,
|
| 159 |
-
"moving": 0.0
|
| 160 |
-
},
|
| 161 |
-
"is_static_global": true,
|
| 162 |
-
"n_state_frames": 59
|
| 163 |
-
},
|
| 164 |
"1": {
|
| 165 |
"path": null,
|
| 166 |
"anchor_fitness": null,
|
|
|
|
| 42 |
"hand_faces": "hand_faces.bin",
|
| 43 |
"hand_meta": "hand_meta.json",
|
| 44 |
"objects": [
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 45 |
{
|
| 46 |
"id": 1,
|
| 47 |
"prompt": "glass dish",
|
|
|
|
| 67 |
"object_pose_traj": "object_pose.bin",
|
| 68 |
"object_pose_shape": [
|
| 69 |
59,
|
| 70 |
+
1,
|
| 71 |
4,
|
| 72 |
4
|
| 73 |
],
|
| 74 |
"object_obb": "object_obb.bin",
|
| 75 |
"object_obb_shape": [
|
| 76 |
+
1,
|
| 77 |
8,
|
| 78 |
3
|
| 79 |
],
|
|
|
|
| 99 |
853
|
| 100 |
],
|
| 101 |
"oids": [
|
|
|
|
| 102 |
1
|
| 103 |
],
|
| 104 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
|
|
|
| 109 |
},
|
| 110 |
"stats": {
|
| 111 |
"n_frames": 59,
|
| 112 |
+
"n_objects": 1,
|
| 113 |
"has_grasp": false,
|
| 114 |
"mean_trust": null,
|
| 115 |
"mean_iou": null,
|
| 116 |
"sam3_quality": 0.8596392225477922
|
| 117 |
},
|
| 118 |
"tracking_summary": {
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 119 |
"1": {
|
| 120 |
"path": null,
|
| 121 |
"anchor_fitness": null,
|
samples/-wU6h7BA8Os_131.9_140.4/signals.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"n_frames": 59, "scene": {"contact_l": [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, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 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], "contact_r": [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, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 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], "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], "motion": [0.0,
|
|
|
|
| 1 |
+
{"n_frames": 59, "scene": {"contact_l": [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, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 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], "contact_r": [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, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 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], "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], "motion": [0.0, 1.5, 1.1180340051651, 2.0615527629852295, 4.5, 3.1622776985168457, 8.077747344970703, 6.082762718200684, 12.529964447021484, 13.928388595581055, 4.924428939819336, 7.905694007873535, 3.535533905029297, 9.013877868652344, 6.5, 6.041522979736328, 2.0, 2.0615527629852295, 11.180339813232422, 8.381526947021484, 3.0, 5.408327102661133, 1.4142135381698608, 7.106335163116455, 8.9442720413208, 5.0, 11.401754379272461, 4.7434163093566895, 5.385164737701416, 3.9051249027252197, 1.4142135381698608, 3.2015621662139893, 2.0, 3.1622776985168457, 3.5, 1.4142135381698608, 2.692582368850708, 1.0, 1.4142135381698608, 1.5811388492584229, 1.5811388492584229, 4.242640495300293, 14.230249404907227, 7.433034420013428, 8.077747344970703, 3.3541018962860107, 45.39823913574219, 5.830951690673828, 10.547511100769043, 9.013877868652344, 10.920165061950684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "per_object": {"1": {"trust": [true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, false, false, false, false, false, false, false], "state": ["grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "moving", "moving", "moving", "moving", "moving", "static", "static", "static", "static", "static", "static", "static", "static"]}}}
|