| # PhysDojo: Dense Physics Annotations for DreamDojo |
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| Per-frame per-object physics labels extracted from DreamDojo robot manipulation episodes |
| using off-the-shelf foundation models (no VLM). |
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| ## Pipeline |
| - **RAFT** optical flow → per-pixel velocities |
| - **Depth Anything V2** → metric depth → 3D positions |
| - **DINOv2** → material features |
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| ## Format |
| Each episode has `physics_dense.npz` containing: |
| - `positions`: (T, N_obj, 2) — normalized [0,1] centroids |
| - `velocities`: (T, N_obj, 2) — pixels/sec |
| - `accelerations`: (T, N_obj, 2) — pixels/sec² |
| - `depths`: (T, N_obj) — relative depth |
| - `contacts`: (T, N_obj, N_obj) — binary contact matrix |
| - `masks`: (T, N_obj) — object presence mask |
| - `optical_flow`: (T-1, 2, H, W) — dense flow fields |
| - `material_features`: (T, feature_dim) — DINOv2 CLS features |
| |
| ## Stats |
| - Episodes annotated: 11643 |
| - Source: miemiebabu/efference-wm-16k |
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