2026-05-17: spurious_filter medium mode — drop 26 oids that are far from hand zone AND static (7/17)
Browse files- samples/-B1sQkAK-GA_567.2_572.4/masks.npz +2 -2
- samples/-B1sQkAK-GA_567.2_572.4/object_obb.bin +2 -2
- samples/-B1sQkAK-GA_567.2_572.4/object_pose.bin +2 -2
- samples/-B1sQkAK-GA_567.2_572.4/pose_track.json +14 -3005
- samples/-B1sQkAK-GA_567.2_572.4/recording.viser +2 -2
- samples/-B1sQkAK-GA_567.2_572.4/scene.json +3 -48
- samples/-B1sQkAK-GA_567.2_572.4/signals.json +1 -1
samples/-B1sQkAK-GA_567.2_572.4/masks.npz
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},
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false,
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false
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-
],
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"wrist_l_per_frame": [
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| 5688 |
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false,
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false,
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false,
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false,
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false
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-
],
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-
"wrist_r_per_frame": [
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false,
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false,
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false,
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false,
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false,
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false,
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false
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| 5846 |
-
],
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| 5847 |
-
"is_moving_per_frame": [
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| 5848 |
-
false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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| 5880 |
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false,
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false,
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false,
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false,
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| 5887 |
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false,
|
| 5888 |
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false,
|
| 5889 |
-
false,
|
| 5890 |
-
false,
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| 5891 |
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false,
|
| 5892 |
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false,
|
| 5893 |
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false,
|
| 5894 |
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false,
|
| 5895 |
-
false,
|
| 5896 |
-
false,
|
| 5897 |
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false,
|
| 5898 |
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false,
|
| 5899 |
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false,
|
| 5900 |
-
false,
|
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false,
|
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false,
|
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false,
|
| 5904 |
-
false,
|
| 5905 |
-
false,
|
| 5906 |
-
false,
|
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false,
|
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false,
|
| 5909 |
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false,
|
| 5910 |
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false,
|
| 5911 |
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false,
|
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false,
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false,
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false,
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false,
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false,
|
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false,
|
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-
false,
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false,
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-
false,
|
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-
false,
|
| 5922 |
-
false,
|
| 5923 |
-
false,
|
| 5924 |
-
false,
|
| 5925 |
-
false
|
| 5926 |
],
|
| 5927 |
-
"
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| 5928 |
-
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| 5929 |
-
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| 5930 |
-
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| 5931 |
-
false,
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false,
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false,
|
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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-
false,
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false,
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false,
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false,
|
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-
false,
|
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false,
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false,
|
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-
false,
|
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false,
|
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false,
|
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-
false,
|
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-
false,
|
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-
false,
|
| 5958 |
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false,
|
| 5959 |
-
false,
|
| 5960 |
-
false,
|
| 5961 |
-
false,
|
| 5962 |
-
false,
|
| 5963 |
-
false,
|
| 5964 |
-
false,
|
| 5965 |
-
false,
|
| 5966 |
-
false,
|
| 5967 |
-
false,
|
| 5968 |
-
false,
|
| 5969 |
-
false,
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| 5970 |
-
false,
|
| 5971 |
-
false,
|
| 5972 |
-
false,
|
| 5973 |
-
false,
|
| 5974 |
-
false,
|
| 5975 |
-
false,
|
| 5976 |
-
false,
|
| 5977 |
-
false,
|
| 5978 |
-
false,
|
| 5979 |
-
false,
|
| 5980 |
-
false,
|
| 5981 |
-
false,
|
| 5982 |
-
false,
|
| 5983 |
-
false,
|
| 5984 |
-
false,
|
| 5985 |
-
false,
|
| 5986 |
-
false,
|
| 5987 |
-
false,
|
| 5988 |
-
false,
|
| 5989 |
-
false,
|
| 5990 |
-
false,
|
| 5991 |
-
false,
|
| 5992 |
-
false,
|
| 5993 |
-
false,
|
| 5994 |
-
false,
|
| 5995 |
-
false,
|
| 5996 |
-
false,
|
| 5997 |
-
false,
|
| 5998 |
-
false,
|
| 5999 |
-
false,
|
| 6000 |
-
false,
|
| 6001 |
-
false,
|
| 6002 |
-
false,
|
| 6003 |
-
false,
|
| 6004 |
-
false,
|
| 6005 |
-
false
|
| 6006 |
-
]
|
| 6007 |
},
|
| 6008 |
"3": {
|
| 6009 |
"mode": "position_first",
|
|
@@ -8985,7 +5986,11 @@
|
|
| 8985 |
false,
|
| 8986 |
false,
|
| 8987 |
false
|
| 8988 |
-
]
|
|
|
|
|
|
|
|
|
|
|
|
|
| 8989 |
},
|
| 8990 |
"1": {
|
| 8991 |
"mode": "position_first",
|
|
@@ -11988,6 +8993,10 @@
|
|
| 11988 |
false,
|
| 11989 |
false,
|
| 11990 |
false
|
| 11991 |
-
]
|
|
|
|
|
|
|
|
|
|
|
|
|
| 11992 |
}
|
| 11993 |
}
|
|
|
|
| 3000 |
true,
|
| 3001 |
true,
|
| 3002 |
true
|
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|
| 3003 |
],
|
| 3004 |
+
"spurious_flag": false,
|
| 3005 |
+
"spurious_reason": "ok",
|
| 3006 |
+
"spurious_d3d_m": 0.0,
|
| 3007 |
+
"spurious_motion2d_px": 16.620769500732422
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 3008 |
},
|
| 3009 |
"3": {
|
| 3010 |
"mode": "position_first",
|
|
|
|
| 5986 |
false,
|
| 5987 |
false,
|
| 5988 |
false
|
| 5989 |
+
],
|
| 5990 |
+
"spurious_flag": false,
|
| 5991 |
+
"spurious_reason": "ok",
|
| 5992 |
+
"spurious_d3d_m": 0.1538455578502725,
|
| 5993 |
+
"spurious_motion2d_px": 96.10540771484375
|
| 5994 |
},
|
| 5995 |
"1": {
|
| 5996 |
"mode": "position_first",
|
|
|
|
| 8993 |
false,
|
| 8994 |
false,
|
| 8995 |
false
|
| 8996 |
+
],
|
| 8997 |
+
"spurious_flag": false,
|
| 8998 |
+
"spurious_reason": "ok",
|
| 8999 |
+
"spurious_d3d_m": 0.4162866175174713,
|
| 9000 |
+
"spurious_motion2d_px": 0.0
|
| 9001 |
}
|
| 9002 |
}
|
samples/-B1sQkAK-GA_567.2_572.4/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:dfc75758c046037a329d5de71cf9e9e05c334c4ca31a9eaeb45bf1db59f21cd8
|
| 3 |
+
size 7302684
|
samples/-B1sQkAK-GA_567.2_572.4/scene.json
CHANGED
|
@@ -84,27 +84,6 @@
|
|
| 84 |
],
|
| 85 |
"canonical_scale": 0.7015269994735718
|
| 86 |
},
|
| 87 |
-
{
|
| 88 |
-
"id": 2,
|
| 89 |
-
"prompt": "chair",
|
| 90 |
-
"color_hex": "#5a7daa",
|
| 91 |
-
"ply": "objects/obj_2.ply",
|
| 92 |
-
"n_points": 41308,
|
| 93 |
-
"scale_correction": 0.48227450251579285,
|
| 94 |
-
"tracker_ok": true,
|
| 95 |
-
"canonical_translation": [
|
| 96 |
-
-0.8618260622024536,
|
| 97 |
-
-0.05948769301176071,
|
| 98 |
-
2.2714056968688965
|
| 99 |
-
],
|
| 100 |
-
"canonical_rotation_quat": [
|
| 101 |
-
0.34949976205825806,
|
| 102 |
-
0.4530697464942932,
|
| 103 |
-
0.6327331066131592,
|
| 104 |
-
0.5217533111572266
|
| 105 |
-
],
|
| 106 |
-
"canonical_scale": 0.48227450251579285
|
| 107 |
-
},
|
| 108 |
{
|
| 109 |
"id": 3,
|
| 110 |
"prompt": "chair",
|
|
@@ -130,13 +109,13 @@
|
|
| 130 |
"object_pose_traj": "object_pose.bin",
|
| 131 |
"object_pose_shape": [
|
| 132 |
78,
|
| 133 |
-
|
| 134 |
4,
|
| 135 |
4
|
| 136 |
],
|
| 137 |
"object_obb": "object_obb.bin",
|
| 138 |
"object_obb_shape": [
|
| 139 |
-
|
| 140 |
8,
|
| 141 |
3
|
| 142 |
],
|
|
@@ -164,7 +143,6 @@
|
|
| 164 |
"oids": [
|
| 165 |
0,
|
| 166 |
1,
|
| 167 |
-
2,
|
| 168 |
3
|
| 169 |
],
|
| 170 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
|
@@ -175,7 +153,7 @@
|
|
| 175 |
},
|
| 176 |
"stats": {
|
| 177 |
"n_frames": 78,
|
| 178 |
-
"n_objects":
|
| 179 |
"has_grasp": false,
|
| 180 |
"mean_trust": null,
|
| 181 |
"mean_iou": null,
|
|
@@ -205,29 +183,6 @@
|
|
| 205 |
"is_static_global": false,
|
| 206 |
"n_state_frames": 78
|
| 207 |
},
|
| 208 |
-
"2": {
|
| 209 |
-
"path": null,
|
| 210 |
-
"anchor_fitness": null,
|
| 211 |
-
"median_chamfer_mm": null,
|
| 212 |
-
"mean_iou": null,
|
| 213 |
-
"grasp_rate": 0.0,
|
| 214 |
-
"trust_rate": 0.0,
|
| 215 |
-
"tracking_status": "ok",
|
| 216 |
-
"state_counts": {
|
| 217 |
-
"static": 78,
|
| 218 |
-
"grasped_l": 0,
|
| 219 |
-
"grasped_r": 0,
|
| 220 |
-
"grasped_both": 0,
|
| 221 |
-
"moving": 0
|
| 222 |
-
},
|
| 223 |
-
"state_fractions": {
|
| 224 |
-
"static": 1.0,
|
| 225 |
-
"grasped": 0.0,
|
| 226 |
-
"moving": 0.0
|
| 227 |
-
},
|
| 228 |
-
"is_static_global": true,
|
| 229 |
-
"n_state_frames": 78
|
| 230 |
-
},
|
| 231 |
"3": {
|
| 232 |
"path": null,
|
| 233 |
"anchor_fitness": null,
|
|
|
|
| 84 |
],
|
| 85 |
"canonical_scale": 0.7015269994735718
|
| 86 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 87 |
{
|
| 88 |
"id": 3,
|
| 89 |
"prompt": "chair",
|
|
|
|
| 109 |
"object_pose_traj": "object_pose.bin",
|
| 110 |
"object_pose_shape": [
|
| 111 |
78,
|
| 112 |
+
3,
|
| 113 |
4,
|
| 114 |
4
|
| 115 |
],
|
| 116 |
"object_obb": "object_obb.bin",
|
| 117 |
"object_obb_shape": [
|
| 118 |
+
3,
|
| 119 |
8,
|
| 120 |
3
|
| 121 |
],
|
|
|
|
| 143 |
"oids": [
|
| 144 |
0,
|
| 145 |
1,
|
|
|
|
| 146 |
3
|
| 147 |
],
|
| 148 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
|
|
|
| 153 |
},
|
| 154 |
"stats": {
|
| 155 |
"n_frames": 78,
|
| 156 |
+
"n_objects": 3,
|
| 157 |
"has_grasp": false,
|
| 158 |
"mean_trust": null,
|
| 159 |
"mean_iou": null,
|
|
|
|
| 183 |
"is_static_global": false,
|
| 184 |
"n_state_frames": 78
|
| 185 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 186 |
"3": {
|
| 187 |
"path": null,
|
| 188 |
"anchor_fitness": null,
|
samples/-B1sQkAK-GA_567.2_572.4/signals.json
CHANGED
|
@@ -1 +1 @@
|
|
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