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README.md

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+# PhysDojo: Dense Physics Annotations for DreamDojo
+
+Per-frame per-object physics labels extracted from DreamDojo robot manipulation episodes
+using off-the-shelf foundation models (no VLM).
+
+## Pipeline
+- **RAFT** optical flow → per-pixel velocities
+- **Depth Anything V2** → metric depth → 3D positions
+- **DINOv2** → material features
+
+## 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