2026-05-17: spurious_filter medium mode — drop 26 oids that are far from hand zone AND static (8/17)

samples/-HJPuU5UjII_235.4_239.4/masks.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8386c79c933f627167b0f7d43bf0af9434c7400106eb2c6a7cc63c2f091f01a6
-size 51117
+oid sha256:220caaf658f2911e71f55dec4d22f1f5cd61a86c67c070a3dcb857da3a89e631
+size 34028

samples/-HJPuU5UjII_235.4_239.4/object_obb.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:401702c23f1e30b0084e5afe550c52ac4606c8361d0bd5c58c780048ad74cbba
-size 480
+oid sha256:ff637961e78da0ba0c3100ce41d49a19c6692f720cc2861b2a4020b62a1f18cb
+size 288

samples/-HJPuU5UjII_235.4_239.4/object_pose.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c9194490eace0de23f15c51351a1c612aca7f1474125fbe26130a1bc956fef1f
-size 13440
+oid sha256:59dee808d3f6028711632c05a8ce9f0ab25fa1f0e474acd7036622b583ab3d4a
+size 8064

samples/-HJPuU5UjII_235.4_239.4/recording.viser

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3e59f13d8feeedff967eedec35dc989999b53af3cf51151b8d8b389e91d35f0e
-size 3450050
+oid sha256:46f5273a6bd9b6b9b22338caa46f7c2e8eee642be7da0e4ffa2391f56dee6b16
+size 3448560

samples/-HJPuU5UjII_235.4_239.4/scene.json

@@ -63,27 +63,6 @@
         ],
         "canonical_scale": 0.28183209896087646
       },
-      {
-        "id": 1,
-        "prompt": "bowl",
-        "color_hex": "#6a9460",
-        "ply": "objects/obj_1.ply",
-        "n_points": 77060,
-        "scale_correction": 0.232456237077713,
-        "tracker_ok": true,
-        "canonical_translation": [
-          -0.3657809793949127,
-          -0.2688852548599243,
-          2.0070269107818604
-        ],
-        "canonical_rotation_quat": [
-          0.025267481803894043,
-          0.037048447877168655,
-          -0.6811606884002686,
-          -0.7307592630386353
-        ],
-        "canonical_scale": 0.232456237077713
-      },
       {
         "id": 2,
         "prompt": "shaker",
@@ -125,39 +104,18 @@
           0.7293359041213989
         ],
         "canonical_scale": 0.16093499958515167
-      },
-      {
-        "id": 4,
-        "prompt": "bowl",
-        "color_hex": "#7a8c4a",
-        "ply": "objects/obj_4.ply",
-        "n_points": 86712,
-        "scale_correction": 0.10104186832904816,
-        "tracker_ok": true,
-        "canonical_translation": [
-          0.7182883024215698,
-          -0.2894420325756073,
-          2.1444144248962402
-        ],
-        "canonical_rotation_quat": [
-          0.02412896603345871,
-          0.025474149733781815,
-          0.6530887484550476,
-          0.7564680576324463
-        ],
-        "canonical_scale": 0.10104186832904816
       }
     ],
     "object_pose_traj": "object_pose.bin",
     "object_pose_shape": [
       42,
-      5,
+      3,
       4,
       4
     ],
     "object_obb": "object_obb.bin",
     "object_obb_shape": [
-      5,
+      3,
       8,
       3
     ],
@@ -184,10 +142,8 @@
         ],
         "oids": [
           0,
-          1,
           2,
-          3,
-          4
+          3
         ],
         "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
       },
@@ -197,7 +153,7 @@
   },
   "stats": {
     "n_frames": 42,
-    "n_objects": 5,
+    "n_objects": 3,
     "has_grasp": false,
     "mean_trust": null,
     "mean_iou": null,
@@ -227,29 +183,6 @@
       "is_static_global": true,
       "n_state_frames": 42
     },
-    "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": 42,
-        "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": 42
-    },
     "2": {
       "path": null,
       "anchor_fitness": null,
@@ -295,29 +228,6 @@
       },
       "is_static_global": false,
       "n_state_frames": 42
-    },
-    "4": {
-      "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": 42,
-        "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": 42
     }
   },
   "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."

samples/-HJPuU5UjII_235.4_239.4/signals.json

@@ -1 +1 @@
-{"n_frames": 42, "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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "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, 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], "motion": [0.0, 8.86002254486084, 4.242640495300293, 3.640054941177368, 3.3541018962860107, 14.5, 1.1180340051651, 2.5, 3.8078866004943848, 4.123105525970459, 19.5, 10.965856552124023, 8.5440034866333, 10.307764053344727, 8.9442720413208, 9.552486419677734, 7.5, 8.732124328613281, 3.535533905029297, 6.5, 7.566372871398926, 11.597413063049316, 12.206555366516113, 22.299102783203125, 5.408327102661133, 15.628499984741211, 7.211102485656738, 7.632168769836426, 2.5495097637176514, 7.6157732009887695, 7.0, 3.3541018962860107, 4.4721360206604, 2.0, 2.8284270763397217, 6.020797252655029, 3.2015621662139893, 0.7071067690849304, 6.0, 2.5, 3.535533905029297, 2.5]}, "per_object": {"0": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "1": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "2": {"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], "state": ["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", "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", "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"]}, "3": {"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], "state": ["grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_l", "grasped_l", "grasped_l", "grasped_l"]}, "4": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}}}
+{"n_frames": 42, "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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "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, 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], "motion": [0.0, 8.86002254486084, 4.242640495300293, 3.640054941177368, 3.3541018962860107, 14.5, 1.1180340051651, 2.5, 3.8078866004943848, 4.123105525970459, 19.5, 10.965856552124023, 8.5440034866333, 10.307764053344727, 8.9442720413208, 9.552486419677734, 7.5, 8.732124328613281, 3.535533905029297, 6.5, 7.566372871398926, 11.597413063049316, 12.206555366516113, 22.299102783203125, 5.408327102661133, 15.628499984741211, 7.211102485656738, 7.632168769836426, 2.5495097637176514, 7.6157732009887695, 7.0, 3.3541018962860107, 4.4721360206604, 2.0, 2.8284270763397217, 6.020797252655029, 3.2015621662139893, 0.7071067690849304, 6.0, 2.5, 3.535533905029297, 2.5]}, "per_object": {"0": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "2": {"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], "state": ["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", "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", "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"]}, "3": {"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], "state": ["grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_l", "grasped_l", "grasped_l", "grasped_l"]}}}