| # UCBProject / ProcessedData |
|
|
| Phase 1A outputs of the Affordance2Grasp pipeline — used by downstream phases: |
| * **Phase 2** (training the main method's PointNet++ contact-prediction net) reads |
| `training_fp/{dataset}/{object}.hdf5`. |
| * **Phase 3** (inference, grasp sampling, sim execution, Sim2Real deployment) reads |
| per-object affordance priors from `human_prior_fp/{object}.hdf5`. |
|
|
| The upstream object meshes (SAM3D reconstructions) live in a sibling repo, |
| [`UCBProject/ObjMesh`](https://huggingface.co/datasets/UCBProject/ObjMesh). |
|
|
| ## Layout |
|
|
| ``` |
| training_fp/ |
| oakink/ 100 files (A* C* O* S* Y* — OakInk object IDs) |
| dexycb/ 20 files (ycb_dex_01 ... ycb_dex_20 — DexYCB grasp objects) |
| human_prior_fp/ |
| A01001.hdf5 ... Y35037.hdf5 100 oakink files |
| ycb_dex_01.hdf5 ... ycb_dex_20.hdf5 20 dexycb files |
| ``` |
|
|
| ## HDF5 schema |
|
|
| ### `training_fp/{ds}/{obj}.hdf5` (training-ready) |
| | key | shape | dtype | meaning | |
| |---|---|---|---| |
| | `point_cloud` | (4096, 3) | float32 | 4096 surface samples of the SAM3D object mesh (metric m, mesh canonical frame) | |
| | `normals` | (4096, 3) | float32 | per-point unit normals | |
| | `human_prior` | (4096,) | float32 | per-point contact probability in [0, 1] (Gaussian-smoothed, per-object max-normalised) | |
| | `robot_gt` | (4096,) | float32 | all-zero placeholder (no robot ground truth for this regime) | |
| | `force_center` | (3,) | float32 | centroid of mesh verts with `contact_smooth >= 80th percentile` | |
| | attr `object` | str | — | object id (e.g. `ycb_dex_14` or `A01001`) | |
|
|
| ### `human_prior_fp/{obj}.hdf5` (inference-ready, indexed by object only) |
| Same five fields as above. Same content as `training_fp/{ds}/{obj}.hdf5`, but flattened |
| across datasets so that `inference/predictor.py` can read by object id alone. |
|
|
| ## Provenance |
|
|
| Generated by: |
| * `data/batch_depth_pro.py` → `data/batch_haptic.py` → `tools/batch_obj_pose.py` → `data/batch_align_mano_fp.py` |
| * Source raw data: DexYCB (NVIDIA, CC-BY-NC-4.0) + OakInk (CVPR 2022). |
| * Phase 1A run on lab RTX 5090; OakInk completed 2026-05-10, DexYCB completed 2026-05-14. |
|
|
| HO3D-v3 and ARCTIC are not included here — those will be added when the partner runs |
| their Phase 1A on those datasets. |
|
|
