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Generating, promoting, or furthering fraud or the creation or promotion of disinformation + b. Generating, promoting, or furthering defamatory content, including the creation of defamatory statements, images, or other content + + c. Generating, promoting, or further distributing spam + + d. Impersonating another individual without consent, authorization, or legal right + + e. Representing that outputs of FAIR research materials or outputs from technology using FAIR research materials are human-generated + + f. Generating or facilitating false online engagement, including fake reviews and other means of fake online engagement + +4. Fail to appropriately disclose to end users any known dangers of your Research Materials. + +Please report any violation of this Policy or other problems that could lead to a violation of this Policy by submitting a report here [https://docs.google.com/forms/d/e/1FAIpQLSeb11cryAopJ7LNrC4nxEUXrHY26hfkXQMf_uH-oFgA3WlYZQ/viewform]. diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..f354a8e43f4d42e1c3fca4dd48909348852eb535 --- /dev/null +++ b/README.md @@ -0,0 +1,51 @@ +--- +license: other +license_name: fair-noncommercial-research-license-v1 +license_link: https://huggingface.co/datasets/Rice-RobotPI-Lab/egoinfinity/blob/main/LICENSE-Action100M +pretty_name: EgoInfinity (preview) +task_categories: + - robotics +tags: + - egocentric + - imitation-learning + - retargeting + - manipulation + - action100m +size_categories: + - 1K/retarget//`: + +- `franka` — Franka Panda (7-DoF arm + 1-DoF gripper) +- `g1` — Unitree G1 (7-DoF arm + 7-DoF hand) +- `robonaut2` — NASA Robonaut 2 (7-DoF arm + 18-DoF hand) +- `xlerobot` — XLeRobot (5-DoF arm + 1-DoF gripper) + +Each `/` folder contains: + +| File | Description | +|-------------------|---------------------------------------------------| +| `input_viz.mp4` | Ego input visualization used by the retargeter | +| `robot_sim.mp4` | Sim replay of the retargeted trajectory | +| `trajectory.npz` | Per-frame `q_left`, `q_right`, finger joints, joint names, fps, clip id | +| `torso_frames.npz`| Per-frame torso pose (`R_per_frame`, `t_per_frame`) plus anchor frame | +| `metrics.npz` | IK success rate, position/orientation error (per-frame, mean, converged-only), joint-limit margin, manipulability, roughness | + +Per-clip frame counts range from 29 to 734; per-clip fps is recorded in +`trajectory.npz` (`fps` key) and is not uniform across clips. diff --git a/samples/--oo8_XIuOM_799.5_809.8/bg_template.png b/samples/--oo8_XIuOM_799.5_809.8/bg_template.png new file mode 100644 index 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/--oo8_XIuOM_900.3_917.4/signals.json b/samples/--oo8_XIuOM_900.3_917.4/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..93b580c90b571fa121f40e201590c14a8b27916d --- /dev/null +++ b/samples/--oo8_XIuOM_900.3_917.4/signals.json @@ -0,0 +1 @@ +{"n_frames": 257, "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, 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, 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, 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, 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He then presses a grey button on the saw\u2019s digital control panel and, using both hands (and a push stick), feeds the board through the spinning blade to make a precise cut. 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-4eiU1SHpzY_319.4_323.4/signals.json b/samples/-4eiU1SHpzY_319.4_323.4/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..994c0ee01786d897195b16a465e3108149b31cac --- /dev/null +++ b/samples/-4eiU1SHpzY_319.4_323.4/signals.json @@ -0,0 +1 @@ +{"n_frames": 62, "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, 0.0, 0.0, 0.0, 0.0, 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, 0.0, 0.0, 0.0, 0.0, 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, 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-5a3oTSdP3U_168.6_173.4/signals.json b/samples/-5a3oTSdP3U_168.6_173.4/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..682092feb8a19e6dd422cc52cb8ff4e8d5c3f88d --- /dev/null +++ b/samples/-5a3oTSdP3U_168.6_173.4/signals.json @@ -0,0 +1 @@ +{"n_frames": 74, "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, 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, 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He holds a small white hand tool in each hand and pushes them together along the length of the board, moving back and forth to even\u2011out the surface. Behind him a yellow\u2011colored machine with a red component and a black knob can be seen, along with wires on the right, a greenish wall on the left, and the \u201cCrafted\u201d logo in the lower corner.", + "video_title": null, + "video_duration": null, + "segment_id": 15933418, + "level": null, + "favorited_at": null, + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 1017.6286108195782, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.012428587302565575, + -0.9760248064994812, + -0.2173040807247162 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "board", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 6160, + "scale_correction": 0.5982480464806845, + "tracker_ok": true, + "canonical_translation": [ + -0.01096653938293457, + -0.22838494181632996, + 1.857704997062683 + ], + "canonical_rotation_quat": [ + 0.1466984897851944, + 0.16367897391319275, + 0.7147250771522522, + 0.6639704704284668 + ], + "canonical_scale": 1.3881826400756836 + }, + { + "id": 1, + "prompt": "sanding block", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 29324, + "scale_correction": 0.13320835403067086, + "tracker_ok": true, + "canonical_translation": [ + 1.1957210302352905, + 0.04388636350631714, + 5.597537517547607 + ], + "canonical_rotation_quat": [ + 0.19628064334392548, + -0.5836703181266785, + -0.6284610033035278, + -0.4752259850502014 + ], + "canonical_scale": 0.7564507722854614 + }, + { + "id": 2, + "prompt": "sanding block", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 11576, + "scale_correction": 0.14009972703560838, + "tracker_ok": true, + "canonical_translation": [ + 0.30779892206192017, + -0.1795918047428131, + 1.6224448680877686 + ], + "canonical_rotation_quat": [ + 0.38354185223579407, + 0.3766095042228699, + -0.6105533838272095, + -0.5816231369972229 + ], + "canonical_scale": 0.39246734976768494 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 84, + 3, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 3, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 84, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 84, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 84, + "n_objects": 3, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.9472368058928333 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 73, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 0, + "moving": 11 + }, + "state_fractions": { + "static": 0.8690476190476191, + "grasped": 0.0, + "moving": 0.13095238095238096 + }, + "is_static_global": false, + "n_state_frames": 84, + "dominant_hand": null, + "mesh_n_pts": 6160, + "mesh_extent_cm": 59.64209298257135 + }, + "1": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 0, + "grasped_l": 2, + "grasped_r": 15, + "grasped_both": 64, + "moving": 3 + }, + "state_fractions": { + "static": 0.0, + "grasped": 0.9642857142857143, + "moving": 0.03571428571428571 + }, + "is_static_global": false, + "n_state_frames": 84, + "dominant_hand": "both", + "mesh_n_pts": 29324, + "mesh_extent_cm": 13.209878568210073 + }, + "2": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 1, + "grasped_l": 21, + "grasped_r": 0, + "grasped_both": 60, + "moving": 2 + }, + "state_fractions": { + "static": 0.011904761904761904, + "grasped": 0.9642857142857143, + "moving": 0.023809523809523808 + }, + "is_static_global": false, + "n_state_frames": 84, + "dominant_hand": "both", + "mesh_n_pts": 11576, + "mesh_extent_cm": 13.918535781838656 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-6Z315Ts-Y4_78.3_83.8/signals.json b/samples/-6Z315Ts-Y4_78.3_83.8/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..41f38daa4b1d5956bcaff70d15345884284b5a4d --- /dev/null +++ b/samples/-6Z315Ts-Y4_78.3_83.8/signals.json @@ -0,0 +1 @@ +{"n_frames": 84, "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, 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, 0.0, 0.0, 0.0], "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, 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-7m2c_EnyOM_96.6_107.6/signals.json b/samples/-7m2c_EnyOM_96.6_107.6/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..2b5c8a9b04d6fa51472bdff2d313623322b2a6f3 --- /dev/null +++ b/samples/-7m2c_EnyOM_96.6_107.6/signals.json @@ -0,0 +1 @@ +{"n_frames": 167, "scene": {"contact_l": [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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 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, 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"embed_blocked": false + }, + "action100m_metadata": { + "action_brief": "Remove bottom weight", + "action_detailed": "Using a power drill, the technician unscrews the mounting fasteners on the baseboard weight, lifts the weight upward, and pulls it out of the washing\u2011machine to expose the components beneath.", + "actor": "the technician", + "summary": "A close\u2011up shows a hand holding a power drill aimed at a black baseboard attached to the underside of a white washing\u2011machine. The drill is activated to drive into the first square recess while another hand steadies the baseboard, then moved to a second recess where a visible screw is driven in. The hand then shifts to a nearby white\u2011and\u2011blue board, reaches underneath, and pulls the baseboard weight straight out, exposing the machine\u2019s interior.", + "video_title": "Whirlpool Dishwasher Repair - Not Draining - Drain Pump", + "video_duration": 956.0, + "segment_id": 7929532, + "level": 10, + "favorited_at": "2026-05-09T19:35:52", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 1189.5956601500511, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.04597080498933792, + -0.8934674859046936, + -0.4467691481113434 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "power drill", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 13604, + "scale_correction": 0.21814343499678898, + "tracker_ok": true, + "canonical_translation": [ + 0.06322836130857468, + -0.1364631950855255, + 2.0997016429901123 + ], + "canonical_rotation_quat": [ + 0.4387436509132385, + 0.44603845477104187, + 0.7358726859092712, + 0.25893059372901917 + ], + "canonical_scale": 0.43858474493026733 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 202, + 1, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 1, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 202, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 202, + 480, + 853 + ], + "oids": [ + 0 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 202, + "n_objects": 1, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.7239279434086401 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 87, + "grasped_l": 0, + "grasped_r": 93, + "grasped_both": 21, + "moving": 1 + }, + "state_fractions": { + "static": 0.4306930693069307, + "grasped": 0.5643564356435643, + "moving": 0.0049504950495049506 + }, + "is_static_global": false, + "n_state_frames": 202, + "dominant_hand": "R", + "mesh_n_pts": 13604, + "mesh_extent_cm": 21.722717805349927 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-7uLbtVsmQs_427.8_441.2/signals.json b/samples/-7uLbtVsmQs_427.8_441.2/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..979d2195653821035dd77cd2c178be1c0962c6bd --- /dev/null +++ b/samples/-7uLbtVsmQs_427.8_441.2/signals.json @@ -0,0 +1 @@ +{"n_frames": 202, "scene": {"contact_l": [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, 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, 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, 0.0, 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, 1.0, 1.0, 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She then twists open a plastic container of red liquid, tilts it, and pours the liquid into the same pot. The counter is cluttered with bottles, jars, a vase of flowers, a book, and a window with blinds is visible behind her. No stirring or other cooking motions occur during this brief segment.", + "video_title": null, + "video_duration": null, + "segment_id": 5838230, + "level": null, + "favorited_at": null, + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 841.6554498076439, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.01180687639862299, + -0.9992893934249878, + -0.03579628840088844 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "silver pot", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 15124, + "scale_correction": 0.43883249163627625, + "tracker_ok": true, + "canonical_translation": [ + -0.13995403051376343, + -0.18610134720802307, + 1.3013901710510254 + ], + "canonical_rotation_quat": [ + 0.4786722958087921, + 0.4872051179409027, + 0.5450279712677002, + 0.48625969886779785 + ], + "canonical_scale": 0.43883249163627625 + }, + { + "id": 1, + "prompt": "tin can", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 85376, + "scale_correction": 0.09599390625953674, + "tracker_ok": true, + "canonical_translation": [ + -0.1953054517507553, + -0.08224570751190186, + 1.3773046731948853 + ], + "canonical_rotation_quat": [ + 0.19669830799102783, + 0.31202471256256104, + 0.6779575347900391, + 0.6358647346496582 + ], + "canonical_scale": 0.09599390625953674 + }, + { + "id": 2, + "prompt": "tin can", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 161260, + "scale_correction": 0.11613963544368744, + "tracker_ok": true, + "canonical_translation": [ + 0.48857244849205017, + -0.04199289157986641, + 2.5106310844421387 + ], + "canonical_rotation_quat": [ + 0.07626000046730042, + 0.10666307061910629, + -0.7133927345275879, + -0.6883881688117981 + ], + "canonical_scale": 0.11613963544368744 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 62, + 3, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 3, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 62, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 62, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 62, + "n_objects": 3, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.8946634535668728 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 62, + "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": 62, + "dominant_hand": null, + "mesh_n_pts": 15124, + "mesh_extent_cm": 43.585805806807265 + }, + "1": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 0, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 62, + "moving": 0 + }, + "state_fractions": { + "static": 0.0, + "grasped": 1.0, + "moving": 0.0 + }, + "is_static_global": false, + "n_state_frames": 62, + "dominant_hand": "both", + "mesh_n_pts": 85376, + "mesh_extent_cm": 9.543789602311392 + }, + "2": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 62, + "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": 62, + "dominant_hand": null, + "mesh_n_pts": 161260, + "mesh_extent_cm": 11.536208723770836 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-821U1ZYZOs_245.0_249.0/signals.json b/samples/-821U1ZYZOs_245.0_249.0/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..77870ef8260ad9b38fc2f700c6204f4de56e1a86 --- /dev/null +++ b/samples/-821U1ZYZOs_245.0_249.0/signals.json @@ -0,0 +1 @@ +{"n_frames": 62, "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, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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"action_detailed": "Hold the orange\u2011juice carton with both hands, raise it to eye level, turn it slightly and pull the tab to open the package.", + "actor": "The woman wearing a pink floral apron over a black shirt", + "summary": "In a bright kitchen with dark wood cabinets, tiled backsplash and a stove topped by a skillet, the woman stands at the center of the frame wearing a black shirt under a pink floral apron. She holds a rectangular orange\u2011juice carton with both hands, lifts it toward her face, turns it slightly and pulls the tab to open it while looking directly at the camera. Behind her the countertop is cluttered with a bottle of honey, several wine bottles, spice jars, glasses, a cutting board, a notebook and a vase of dried flowers; a sink with a faucet is visible to the right. 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your left hand clenched at your side.", + "actor": "a man wearing a short\u2011sleeved black shirt and jeans", + "summary": "In a close\u2011up view, a wooden cutting board sits on a red countertop with a blue\u2011cloth advertisement behind it. 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-AArifaAzPg_216.8_223.6/signals.json b/samples/-AArifaAzPg_216.8_223.6/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..ebe1d88756f786f5f56c3104096b79f86db8bf6b --- /dev/null +++ b/samples/-AArifaAzPg_216.8_223.6/signals.json @@ -0,0 +1 @@ +{"n_frames": 103, "scene": {"contact_l": [1.0, 1.0, 1.0, 0.0, 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, 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, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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He then lifts a bowl of fresh green leaves, pours the spinach into the same bowl, and uses his hands to stir or fold the leaves into the seasoned mixture.", + "video_title": "Spaghetti with spinach pine nut pecorino and chilli", + "video_duration": 187.0, + "segment_id": 15050930, + "level": 8, + "favorited_at": "2026-05-09T21:53:57", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 1001.4536464810371, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.010135624557733536, + -0.9988208413124084, + -0.04747842997312546 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "bowl", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 66828, + "scale_correction": 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He places a small metal tray with a butter mixture nearby, adds a dab of butter to the kebabs, and finally uses a white napkin and silver tongs to turn each kebab on the hot grill several times before setting the tongs down.", + "video_title": "Charbroiler -Grilled Halibut Skewers & Stuffed Portobellos", + "video_duration": 497.0, + "segment_id": 8583968, + "level": 10, + "favorited_at": "2026-05-09T19:12:09", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 968.7952739596367, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + -0.00744445389136672, + -0.9913622140884399, + -0.1309409886598587 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "food on skewers", + "color_hex": "#d97757", + 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She uses her fingertip to scoop and scatter the herbs over a red dish with a white lid that sits on a light\u2011colored wooden countertop. Nearby a food processor, an empty mixing bowl, and a blender are visible, and white\u2011flower vases line the background.", + "video_title": "Magimix by Robot Coupe 5200XL Food Processor, 16-Cup", + "video_duration": 378.0, + "segment_id": 18656379, + "level": 4, + "favorited_at": "2026-05-09T19:23:53", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 941.2139844894409, + "cx": 320.0, + "cy": 240.0, + "width": 640, + "height": 480, + "gravity_up": [ + -0.01847822405397892, + -0.9980723857879639, + -0.0592460036277771 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "red dish", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 33660, + "scale_correction": 0.341599702835083, + "tracker_ok": true, + "canonical_translation": [ + 0.27655908465385437, + -0.29523956775665283, + 1.6261613368988037 + ], + "canonical_rotation_quat": [ + 0.2593153417110443, + 0.2571600675582886, + 0.6746302247047424, + 0.641481339931488 + ], + "canonical_scale": 0.341599702835083 + }, + { + "id": 1, + "prompt": "glass bowl of herbs", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 92244, + "scale_correction": 0.15977530181407928, + "tracker_ok": true, + "canonical_translation": [ + 0.1737818419933319, + -0.15659199655056, + 1.7349246740341187 + ], + "canonical_rotation_quat": [ + 0.06934414058923721, + 0.15568828582763672, + 0.6779239773750305, + 0.7151024341583252 + ], + "canonical_scale": 0.15977530181407928 + }, + { + "id": 2, + "prompt": "glass bowl", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 75264, + "scale_correction": 0.1142410859465599, + "tracker_ok": true, + "canonical_translation": [ + -0.25378525257110596, + -0.2738990783691406, + 1.5740787982940674 + ], + "canonical_rotation_quat": [ + 0.035296790301799774, + 0.05266856774687767, + 0.7176913022994995, + 0.6934690475463867 + ], + "canonical_scale": 0.1142410859465599 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 66, + 3, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 3, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 66, + 480, + 640 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 66, + 480, + 640 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 66, + "n_objects": 3, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.950487534711165 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 66, + "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": 66, + "dominant_hand": null, + "mesh_n_pts": 33660, + "mesh_extent_cm": 33.920555282487186 + }, + "2": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 66, + "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": 66, + "dominant_hand": null, + "mesh_n_pts": 75264, + "mesh_extent_cm": 11.342200894675614 + }, + "1": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 0, + "grasped_l": 66, + "grasped_r": 0, + "grasped_both": 0, + "moving": 0 + }, + "state_fractions": { + "static": 0.0, + "grasped": 1.0, + "moving": 0.0 + }, + "is_static_global": false, + "n_state_frames": 66, + "dominant_hand": "L", + "mesh_n_pts": 92244, + "mesh_extent_cm": 15.854869432010332 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. 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He turns the drill on, tilts the attachment toward the taped area of the windshield, and glides the pad across the glass to demonstrate how the tool is used.", + "video_title": "Windshield Scratch Repair: BEST DIY scratch repair kit", + "video_duration": 1274.0, + "segment_id": 17061954, + "level": 7, + "favorited_at": "2026-05-09T19:21:32", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 820.915776014328, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + -0.014759647659957409, + -0.9900332689285278, + -0.1400584578514099 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "windshield", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 78436, + "scale_correction": 1.1808154582977295, + "tracker_ok": true, + "canonical_translation": [ + 0.34608525037765503, + -0.12385721504688263, + 1.5103899240493774 + ], + "canonical_rotation_quat": [ + 0.25918564200401306, + 0.29959186911582947, + 0.6561577320098877, + 0.6422806978225708 + ], + "canonical_scale": 1.1808154582977295 + }, + { + "id": 1, + "prompt": "drill", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 23244, + "scale_correction": 0.31485873460769653, + "tracker_ok": true, + "canonical_translation": [ + -0.16619102656841278, + 0.005291439592838287, + 1.4282989501953125 + ], + "canonical_rotation_quat": [ + 0.46131306886672974, + 0.6038134694099426, + -0.5378334522247314, + -0.3651503324508667 + ], + "canonical_scale": 0.31485873460769653 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 137, + 2, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 2, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 137, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 137, + 480, + 853 + ], + "oids": [ + 0, + 1 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 137, + "n_objects": 2, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.961338055631098 + }, + "tracking_summary": { + "1": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 0, + "grasped_l": 40, + "grasped_r": 0, + "grasped_both": 97, + "moving": 0 + }, + "state_fractions": { + "static": 0.0, + "grasped": 1.0, + "moving": 0.0 + }, + "is_static_global": false, + "n_state_frames": 137, + "dominant_hand": "both", + "mesh_n_pts": 23244, + "mesh_extent_cm": 31.118668113309056 + }, + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 137, + "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": 137, + "dominant_hand": null, + "mesh_n_pts": 78436, + "mesh_extent_cm": 117.38585058222313 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-DDDD1yrBC8_265.3_274.3/signals.json b/samples/-DDDD1yrBC8_265.3_274.3/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..6ead0f925d0c161f4ac334c1b787e4a710d72369 --- /dev/null +++ b/samples/-DDDD1yrBC8_265.3_274.3/signals.json @@ -0,0 +1 @@ +{"n_frames": 137, "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, 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, 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, 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reveal its printed interior, then picks up a pink\u2011brown candlestick with silver texture, flips and rotates it to show its bottom, and places it back on the surface while commenting on the items.", + "video_title": "DIY Dollar Tree - 2 & 3 Tier Dessert Stand | Serving Tray", + "video_duration": 454.0, + "segment_id": 17056093, + "level": 6, + "favorited_at": "2026-05-10T01:50:05", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 964.2939651012421, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.02536165341734886, + -0.9670224189758301, + -0.2534253001213074 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "pink plate", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-HIF7MKD1_k_128.3_139.7/signals.json b/samples/-HIF7MKD1_k_128.3_139.7/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..1bec6dc56ce9a517ea35806be6f556bee667fa51 --- /dev/null +++ b/samples/-HIF7MKD1_k_128.3_139.7/signals.json @@ -0,0 +1 @@ +{"n_frames": 171, "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, 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, 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, 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He stops, rests the whisk in the bowl, then repeats the motion clockwise, stops again, and finally performs one more stirring motion before the segment ends, leaving the whisk resting in the bowl.", + "video_title": "Airfryer Garlic Parmesan Chicken Wings - Air Fried Chicken Wings - Actifry Airfryer", + "video_duration": 525.0, + "segment_id": -1124421105, + "level": 7, + "favorited_at": null, + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 766.366370677948, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + -0.0010820218594744802, + -0.9992178082466125, + -0.03953082859516144 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "red bowl", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 71104, + "scale_correction": 0.20204222202301025, + "tracker_ok": true, + "canonical_translation": [ + 0.3098132908344269, + -0.3317619562149048, + 1.2702300548553467 + ], + "canonical_rotation_quat": [ + 0.006434351205825806, + 0.00402405858039856, + 0.6979415416717529, + 0.7161145210266113 + ], + "canonical_scale": 0.20204222202301025 + }, + { + "id": 1, + "prompt": "whisk", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 8288, + "scale_correction": 0.2362290620803833, + "tracker_ok": true, + "canonical_translation": [ + 0.3547010123729706, + -0.19907152652740479, + 1.3641661405563354 + ], + "canonical_rotation_quat": [ + 0.11407755315303802, + 0.3328438997268677, + 0.6169648766517639, + 0.7039570808410645 + ], + "canonical_scale": 0.2362290620803833 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 128, + 2, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 2, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 128, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 128, + 480, + 853 + ], + "oids": [ + 0, + 1 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 128, + "n_objects": 2, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.9727837297916744 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 128, + "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": 128, + "dominant_hand": null, + "mesh_n_pts": 71104, + "mesh_extent_cm": 20.058851702528813 + }, + "1": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 0, + "grasped_l": 0, + "grasped_r": 128, + "grasped_both": 0, + "moving": 0 + }, + "state_fractions": { + "static": 0.0, + "grasped": 1.0, + "moving": 0.0 + }, + "is_static_global": false, + "n_state_frames": 128, + "dominant_hand": "R", + "mesh_n_pts": 8288, + "mesh_extent_cm": 23.484633657521314 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-HJPuU5UjII_177.7_186.2/signals.json b/samples/-HJPuU5UjII_177.7_186.2/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..235ee4643119ac0ee6f0587cc00d932d5244803a --- /dev/null +++ b/samples/-HJPuU5UjII_177.7_186.2/signals.json @@ -0,0 +1 @@ +{"n_frames": 128, "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, 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, 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, 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He presses the can\u2019s nozzle, gives the can a gentle shake while turning it back and forth in front of the camera, and talks about the product. 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The background shows a brown wall, a blue roll of tape and other bathroom accessories.", + "video_title": "Bathroom Sink Plumbing Install", + "video_duration": 739.0, + "segment_id": 9139375, + "level": 7, + "favorited_at": "2026-05-10T00:57:28", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 618.0238716602325, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.03958350792527199, + -0.9386085271835327, + -0.3427058458328247 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "black faucet", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 25492, + "scale_correction": 0.2602597832078352, + "tracker_ok": true, + "canonical_translation": [ + 0.058988116681575775, + 0.165375217795372, + 1.5662592649459839 + ], + "canonical_rotation_quat": [ + 0.26539346575737, + 0.3620499074459076, + 0.7267240881919861, + 0.5199598670005798 + ], + "canonical_scale": 0.9104911684989929 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 169, + 1, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 1, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 169, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 169, + 480, + 853 + ], + "oids": [ + 0 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 169, + "n_objects": 1, + "has_grasp": false, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.9658737135443349 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 169, + "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": 169, + "dominant_hand": null, + "mesh_n_pts": 25492, + "mesh_extent_cm": 25.897706198139446 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. 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cloth. He raises a dark\u2011red spice jar with a white label and brown decorative accents, holding it up toward the camera and gently tilting or shaking it as he describes the seasoning. To his right an oil bottle sits, and directly in front of him a large piece of raw meat lies on a cutting board. The background shows a brown wall, a white shelf, and metal\u2011cross d\u00e9cor. After a brief pause he says, \u201cHang on a second.\u201d", + "video_title": "Smoked Wagyu Tri Tip on the Green Mountain Daniel Boone Grill", + "video_duration": 511.0, + "segment_id": 13371273, + "level": 6, + "favorited_at": "2026-05-09T19:46:41", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 632.093639343977, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + -0.01543688029050827, + -0.9983076453208923, + -0.05606731399893761 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "spice jar", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 62968, + "scale_correction": 0.15723884105682373, + "tracker_ok": true, + "canonical_translation": [ + 0.015513712540268898, + 0.0325014553964138, + 1.0191667079925537 + ], + "canonical_rotation_quat": [ + 0.018020883202552795, + 0.007198113016784191, + -0.6681315898895264, + -0.7437900304794312 + ], + "canonical_scale": 0.15723884105682373 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 213, + 1, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 1, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 213, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 213, + 480, + 853 + ], + "oids": [ + 0 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 213, + "n_objects": 1, + "has_grasp": false, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.9582287724391402 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 200, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 0, + "moving": 13 + }, + "state_fractions": { + "static": 0.9389671361502347, + "grasped": 0.0, + "moving": 0.06103286384976526 + }, + "is_static_global": false, + "n_state_frames": 213, + "dominant_hand": null, + "mesh_n_pts": 62968, + "mesh_extent_cm": 15.603026285710087 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-LxWGDmwOMY_324.5_331.2/signals.json b/samples/-LxWGDmwOMY_324.5_331.2/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..5aecc747847999e1471e150af7189252c457cd0e --- /dev/null +++ b/samples/-LxWGDmwOMY_324.5_331.2/signals.json @@ -0,0 +1 @@ +{"n_frames": 101, "scene": {"contact_l": [0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 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, 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, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 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": [0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 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She does not speak during this short segment.", + "video_title": "Tofu Kimchi", + "video_duration": 551.0, + "segment_id": 6589701, + "level": 9, + "favorited_at": "2026-05-10T02:09:39", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 925.5614385008812, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.013837954960763454, + -0.9949318766593933, + -0.0995946079492569 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "cutting board", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 38248, + "scale_correction": 0.4592791497707367, + "tracker_ok": true, + "canonical_translation": [ + 0.1855509728193283, + -0.33393144607543945, + 1.3675638437271118 + ], + "canonical_rotation_quat": [ + 0.5370866656303406, + 0.6205607652664185, + 0.4344351291656494, + 0.37109076976776123 + ], + "canonical_scale": 0.4592791497707367 + }, + { + "id": 1, + "prompt": "knife", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 3192, + "scale_correction": 0.18938753008842468, + "tracker_ok": true, + "canonical_translation": [ + 0.1849489063024521, + -0.24450336396694183, + 1.3588707447052002 + ], + "canonical_rotation_quat": [ + 0.35433271527290344, + 0.08497034758329391, + 0.5167836546897888, + 0.7747018933296204 + ], + "canonical_scale": 0.18938753008842468 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 64, + 2, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 2, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 64, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 64, + 480, + 853 + ], + "oids": [ + 0, + 1 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 64, + "n_objects": 2, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.9258576610381031 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 2, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 62, + "moving": 0 + }, + "state_fractions": { + "static": 0.03125, + "grasped": 0.96875, + "moving": 0.0 + }, + "is_static_global": false, + "n_state_frames": 64, + "dominant_hand": "both", + "mesh_n_pts": 38248, + "mesh_extent_cm": 45.78450193346626 + }, + "1": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 2, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 62, + "moving": 0 + }, + "state_fractions": { + "static": 0.03125, + "grasped": 0.96875, + "moving": 0.0 + }, + "is_static_global": false, + "n_state_frames": 64, + "dominant_hand": "both", + "mesh_n_pts": 3192, + "mesh_extent_cm": 18.813384864343075 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. 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While pouring, she briefly turns her head left, then looks forward again, and finally shifts her gaze slightly to the right before returning her focus to the front.", + "video_title": null, + "video_duration": null, + "segment_id": 17624917, + "level": null, + "favorited_at": null, + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 660.2400128096342, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.01610119640827179, + -0.990452766418457, + -0.13690942525863647 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "blender", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 65636, + "scale_correction": 0.45306259393692017, + "tracker_ok": true, + "canonical_translation": [ + 0.2618958055973053, + -0.10135875642299652, + 1.031820297241211 + ], + "canonical_rotation_quat": [ + 0.1633445769548416, + 0.1743934601545334, + 0.682228147983551, + 0.6909921765327454 + ], + "canonical_scale": 0.45306259393692017 + }, + { + "id": 1, + "prompt": "olive oil bottle", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 279136, + "scale_correction": 0.26380330324172974, + "tracker_ok": true, + "canonical_translation": [ + 0.0523984357714653, + 0.10014009475708008, + 1.134718656539917 + ], + "canonical_rotation_quat": [ + 0.07422517240047455, + 0.29781919717788696, + 0.6982036232948303, + 0.6467658877372742 + ], + "canonical_scale": 0.26380330324172974 + }, + { + "id": 2, + "prompt": "olive oil bottle", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 40064, + "scale_correction": 0.14712004363536835, + "tracker_ok": true, + "canonical_translation": [ + -0.06007379665970802, + -0.24641747772693634, + 0.7723514437675476 + ], + "canonical_rotation_quat": [ + 0.6228493452072144, + 0.6520009636878967, + 0.32036542892456055, + 0.2903780937194824 + ], + "canonical_scale": 0.14712004363536835 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 74, + 3, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 3, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 74, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 74, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 74, + "n_objects": 3, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.9755311749661952 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 74, + "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": 74, + "dominant_hand": null, + "mesh_n_pts": 65636, + "mesh_extent_cm": 45.09797264414814 + }, + "1": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 0, + "grasped_l": 74, + "grasped_r": 0, + "grasped_both": 0, + "moving": 0 + }, + "state_fractions": { + "static": 0.0, + "grasped": 1.0, + "moving": 0.0 + }, + "is_static_global": false, + "n_state_frames": 74, + "dominant_hand": "L", + "mesh_n_pts": 279136, + "mesh_extent_cm": 26.24952789910573 + }, + "2": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 74, + "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": 74, + "dominant_hand": null, + "mesh_n_pts": 40064, + "mesh_extent_cm": 14.577519766974145 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. 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Behind her, a ceramic vase of red flowers sits on the counter, and the backsplash shows a yellow\u2011bordered mosaic of black tiles with a white vent above it.", + "video_title": null, + "video_duration": null, + "segment_id": 504891, + "level": null, + "favorited_at": null, + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 897.5683279037476, + "cx": 427.0, + "cy": 240.0, + "width": 854, + "height": 480, + "gravity_up": [ + -0.009941314347088337, + -0.9973517060279846, + -0.07204744219779968 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "turkey", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 72288, + "scale_correction": 0.28532156348228455, + "tracker_ok": true, + "canonical_translation": [ + 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distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-QALmP1nHtM_678.2_682.2/signals.json b/samples/-QALmP1nHtM_678.2_682.2/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..d8e5ab4a3ffbc89800674de3e1275c917a1e88bd --- /dev/null +++ b/samples/-QALmP1nHtM_678.2_682.2/signals.json @@ -0,0 +1 @@ +{"n_frames": 63, "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, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-QALmP1nHtM_715.0_719.0/signals.json b/samples/-QALmP1nHtM_715.0_719.0/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..092b3a44982473406ecc1047800f0aefbda25060 --- /dev/null +++ b/samples/-QALmP1nHtM_715.0_719.0/signals.json @@ -0,0 +1 @@ +{"n_frames": 30, "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], "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], "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], "motion": [0.0, 4.123105525970459, 10.012492179870605, 9.51314926147461, 10.012492179870605, 8.558621406555176, 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-QALmP1nHtM_715.0_723.1/signals.json b/samples/-QALmP1nHtM_715.0_723.1/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..ee86b22f8894a6decdedcaa9f0080af68f2f30be --- /dev/null +++ b/samples/-QALmP1nHtM_715.0_723.1/signals.json @@ -0,0 +1 @@ +{"n_frames": 92, "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, 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, 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, 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He pushes the rubber weather\u2011seal outward, then presses a small pin at the back of the door to release a retaining clip. Using his fingers or a screwdriver he pulls the clip out, and similarly displaces two plastic clips on the door\u2019s edge. He then inserts a red\u2011plastic pry piece to lift the inner door panel, preparing it for removal.", + "video_title": "How to Replace Mirror 97-99 Toyota 4Runner", + "video_duration": 505.0, + "segment_id": 14848837, + "level": 9, + "favorited_at": "2026-05-10T02:16:55", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 718.9555521309376, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.09786585718393326, + -0.9727848172187805, + -0.21002864837646484 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "door panel", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 66884, + "scale_correction": 0.595697283744812, + "tracker_ok": true, + "canonical_translation": [ + 0.12851887941360474, + -0.0733901709318161, + 1.6256643533706665 + ], + "canonical_rotation_quat": [ + 0.6328842639923096, + 0.7739191055297852, + 0.01985834538936615, + -0.010599815286695957 + ], + "canonical_scale": 0.595697283744812 + }, + { + "id": 3, + "prompt": "screwdriver", + "color_hex": "#c89968", + "ply": "objects/obj_3.ply", + "n_points": 12032, + "scale_correction": 0.1637972742319107, + "tracker_ok": true, + "canonical_translation": [ + 0.44569551944732666, + 0.10908427834510803, + 1.4683022499084473 + ], + "canonical_rotation_quat": [ + 0.35543838143348694, + 0.7166297435760498, + 0.5828086137771606, + 0.142966628074646 + ], + "canonical_scale": 0.1637972742319107 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 131, + 2, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 2, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 131, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 131, + 480, + 853 + ], + "oids": [ + 0, + 3 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 131, + "n_objects": 2, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.8335047462737805 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 131, + "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": false, + "n_state_frames": 131, + "dominant_hand": null, + "mesh_n_pts": 66884, + "mesh_extent_cm": 58.79238130018223 + }, + "3": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 0, + "grasped_l": 0, + "grasped_r": 131, + "grasped_both": 0, + "moving": 0 + }, + "state_fractions": { + "static": 0.0, + "grasped": 1.0, + "moving": 0.0 + }, + "is_static_global": false, + "n_state_frames": 131, + "dominant_hand": "R", + "mesh_n_pts": 12032, + "mesh_extent_cm": 16.279828676633645 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-QGsBuKzP4U_117.0_125.7/signals.json b/samples/-QGsBuKzP4U_117.0_125.7/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..cdf5703b802a5c4488dd399a22b28d5fc2e5ce3c --- /dev/null +++ b/samples/-QGsBuKzP4U_117.0_125.7/signals.json @@ -0,0 +1 @@ +{"n_frames": 131, "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, 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, 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, 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The work is done in a garage with a white door visible in the background and a brown\u2011red wooden stool nearby.", + "video_title": "How to Replace Mirror 97-99 Toyota 4Runner", + "video_duration": 505.0, + "segment_id": 14848835, + "level": 9, + "favorited_at": "2026-05-10T02:19:36", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 752.6815022677183, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.08952900767326355, + -0.9654114842414856, + -0.24487797915935516 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "door panel", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 50628, + "scale_correction": 0.6839340925216675, + "tracker_ok": true, + "canonical_translation": [ + 0.017801783978939056, + -0.04145436733961105, + 1.5115787982940674 + ], + "canonical_rotation_quat": [ + 0.2103573977947235, + 0.2313794046640396, + 0.7047159671783447, + 0.6368584632873535 + ], + "canonical_scale": 0.6839340925216675 + }, + { + "id": 1, + "prompt": "door panel", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 29464, + "scale_correction": 0.709291398525238, + "tracker_ok": true, + "canonical_translation": [ + 0.43797096610069275, + 0.9400023221969604, + 5.56476354598999 + ], + "canonical_rotation_quat": [ + 0.043776094913482666, + -0.014923064038157463, + -0.5978284478187561, + 0.800288736820221 + ], + "canonical_scale": 0.709291398525238 + }, + { + "id": 2, + "prompt": "tool", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 23464, + "scale_correction": 0.24523290991783142, + "tracker_ok": true, + "canonical_translation": [ + -0.038113974034786224, + 0.028991470113396645, + 1.440632939338684 + ], + "canonical_rotation_quat": [ + 0.6157242655754089, + 0.18400463461875916, + 0.4707334637641907, + 0.6045129895210266 + ], + "canonical_scale": 0.24523290991783142 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 312, + 3, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 3, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 312, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 312, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 312, + "n_objects": 3, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.8549993858381477 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 312, + "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": 312, + "dominant_hand": null, + "mesh_n_pts": 50628, + "mesh_extent_cm": 68.0251853777456 + }, + "1": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 312, + "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": false, + "n_state_frames": 312, + "dominant_hand": null, + "mesh_n_pts": 29464, + "mesh_extent_cm": 70.57652167659344 + }, + "2": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 24, + "grasped_l": 99, + "grasped_r": 0, + "grasped_both": 188, + "moving": 1 + }, + "state_fractions": { + "static": 0.07692307692307693, + "grasped": 0.9198717948717948, + "moving": 0.003205128205128205 + }, + "is_static_global": false, + "n_state_frames": 312, + "dominant_hand": "both", + "mesh_n_pts": 23464, + "mesh_extent_cm": 24.332951074459075 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-QGsBuKzP4U_48.6_72.9/signals.json b/samples/-QGsBuKzP4U_48.6_72.9/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..9644757fe7ed7c7d5467349778f16427abd54aa9 --- /dev/null +++ b/samples/-QGsBuKzP4U_48.6_72.9/signals.json @@ -0,0 +1 @@ +{"n_frames": 312, "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, 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, 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, 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He then holds a small green bowl in his left hand, picks up an empty container on the right, and continues speaking, with a stainless\u2011steel bowl, wooden spoon, red salt shaker, chopping board, knife, bottle of sauce and other kitchen items visible on the countertop.", + "video_title": null, + "video_duration": null, + "segment_id": 18519331, + "level": null, + "favorited_at": null, + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 1029.3084290027618, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.02180287055671215, + -0.999364972114563, + -0.028183408081531525 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "container", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 96804, + "scale_correction": 0.11055704206228256, + "tracker_ok": true, + "canonical_translation": [ + -0.08127792924642563, + -0.31291788816452026, + 1.2323204278945923 + ], + "canonical_rotation_quat": [ + 0.4430849850177765, + 0.48895978927612305, + 0.5635309815406799, + 0.49701786041259766 + ], + "canonical_scale": 0.11055704206228256 + }, + { + "id": 1, + "prompt": "spoon", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 9340, + "scale_correction": 0.24639347195625305, + "tracker_ok": true, + "canonical_translation": [ + 0.1998656988143921, + -0.30679652094841003, + 1.533936619758606 + ], + "canonical_rotation_quat": [ + 0.4711431860923767, + 0.433504194021225, + -0.5512128472328186, + -0.5350351333618164 + ], + "canonical_scale": 0.24639347195625305 + }, + { + "id": 2, + "prompt": "small green bowl", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 62412, + "scale_correction": 0.12633481621742249, + "tracker_ok": true, + "canonical_translation": [ + -0.05089985579252243, + -0.207615926861763, + 1.6286484003067017 + ], + "canonical_rotation_quat": [ + 0.3595515191555023, + -0.7845333814620972, + -0.4688618779182434, + 0.1881452053785324 + ], + "canonical_scale": 0.12633481621742249 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 73, + 3, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 3, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 73, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 73, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 73, + "n_objects": 3, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.8526218123410543 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 73, + "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": 73, + "dominant_hand": null, + "mesh_n_pts": 96804, + "mesh_extent_cm": 10.939789173782577 + }, + "1": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 73, + "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": 73, + "dominant_hand": null, + "mesh_n_pts": 9340, + "mesh_extent_cm": 24.470766561891732 + }, + "2": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 38, + "grasped_l": 35, + "grasped_r": 0, + "grasped_both": 0, + "moving": 0 + }, + "state_fractions": { + "static": 0.5205479452054794, + "grasped": 0.4794520547945205, + "moving": 0.0 + }, + "is_static_global": false, + "n_state_frames": 73, + "dominant_hand": "L", + "mesh_n_pts": 62412, + "mesh_extent_cm": 12.548203894886978 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-SsQVS63Reo_371.8_375.8/signals.json b/samples/-SsQVS63Reo_371.8_375.8/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..d384e8e6227ed291a782e3e4d8c90ad6001eb0c0 --- /dev/null +++ b/samples/-SsQVS63Reo_371.8_375.8/signals.json @@ -0,0 +1 @@ +{"n_frames": 61, "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, 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, 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, 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-SvZIM1o-Z8_41.2_51.1/signals.json b/samples/-SvZIM1o-Z8_41.2_51.1/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..e6e71ae5d32771de0950849e49aad98c9b74a913 --- /dev/null +++ b/samples/-SvZIM1o-Z8_41.2_51.1/signals.json @@ -0,0 +1 @@ +{"n_frames": 149, "scene": {"contact_l": [0.0, 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, 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, 1.0, 0.0, 0.0, 0.0, 0.0, 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, 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, 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, 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She holds the can with both hands, brings it toward the camera while gesturing with her right hand and speaking. Behind her are wooden shelves, black appliances and a beige countertop, and two milk jugs sit on the counter.", + "video_title": null, + "video_duration": null, + "segment_id": 8823, + "level": null, + "favorited_at": null, + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 645.683446586132, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + -0.026225291192531586, + -0.9996494054794312, + 0.00365370512008667 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "pink condensed milk can", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 83432, + "scale_correction": 0.25820058584213257, + "tracker_ok": true, + "canonical_translation": [ + 0.1438920646905899, + -0.17157147824764252, + 0.9888096451759338 + ], + "canonical_rotation_quat": [ + 0.0695524513721466, + 0.08398324996232986, + 0.689888060092926, + 0.7156561017036438 + ], + "canonical_scale": 0.25820058584213257 + }, + { + "id": 1, + "prompt": "can", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 150880, + "scale_correction": 0.09735701978206635, + "tracker_ok": true, + "canonical_translation": [ + 0.014855066314339638, + -0.15092705190181732, + 1.0650064945220947 + ], + "canonical_rotation_quat": [ + 0.0050154016353189945, + 0.0008732457645237446, + 0.5513135194778442, + 0.8342825770378113 + ], + "canonical_scale": 0.09735701978206635 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 99, + 2, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 2, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 99, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 99, + 480, + 853 + ], + "oids": [ + 0, + 1 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 99, + "n_objects": 2, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": 0.8677179000401452 + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 99, + "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": 99, + "dominant_hand": null, + "mesh_n_pts": 83432, + "mesh_extent_cm": 25.677589161198355 + }, + "1": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 0, + "grasped_l": 21, + "grasped_r": 0, + "grasped_both": 78, + "moving": 0 + }, + "state_fractions": { + "static": 0.0, + "grasped": 1.0, + "moving": 0.0 + }, + "is_static_global": false, + "n_state_frames": 99, + "dominant_hand": "both", + "mesh_n_pts": 150880, + "mesh_extent_cm": 9.63218117840885 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-_ow-vw258c_79.8_86.4/signals.json b/samples/-_ow-vw258c_79.8_86.4/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..a690885e7a4297473ccb5a61903e8ee36b813af7 --- /dev/null +++ b/samples/-_ow-vw258c_79.8_86.4/signals.json @@ -0,0 +1 @@ +{"n_frames": 99, "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, 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, 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, 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/-s4DjOIVJZY_215.3_220.6/signals.json b/samples/-s4DjOIVJZY_215.3_220.6/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..395673789c2be9742b99e396fb916fd5a08e36b7 --- /dev/null +++ b/samples/-s4DjOIVJZY_215.3_220.6/signals.json @@ -0,0 +1 @@ +{"n_frames": 51, "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, 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, 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, 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halved grapefruit on a white cutting board set on a light\u2011brown granite countertop and uses a large kitchen knife to cut the exposed side, trimming around the white, bitter membrane and separating the juicy flesh into bite\u2011size sections that fall onto the board beside other grapefruit wedges. 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To the left of the tray are containers filled with a yellow liquid, and a food processor sits nearby. She lifts one of the bottles with her right hand, tilts it, and streams the liquid evenly over the white items on the tray.", + "video_title": "Blue Food Brunch pt1 - How to cook dasheen", + "video_duration": 1916.0, + "segment_id": 3439738, + "level": 11, + "favorited_at": "2026-05-09T17:43:37", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 796.0010833144188, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.026669977232813835, + -0.9720169305801392, + -0.233392134308815 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "tray", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 28376, + "scale_correction": 0.37597402930259705, + "tracker_ok": true, + 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See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/NJ0_jMbxv5I_754.0_759.6/signals.json b/samples/NJ0_jMbxv5I_754.0_759.6/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..c780a2e082100f8e2c87ca67ae9a42f32586e927 --- /dev/null +++ b/samples/NJ0_jMbxv5I_754.0_759.6/signals.json @@ -0,0 +1 @@ +{"n_frames": 85, "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, 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, 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, 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Four black chairs line the table, and behind her a wall\u2011mounted flat\u2011screen television, a large painting and a radiator are visible.", + "video_title": "How to Measure a Table for Wipe Easy Tablecloths & Oilcloths", + "video_duration": 159.0, + "segment_id": 15407170, + "level": 7, + "favorited_at": "2026-05-24T17:30:39", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 745.4473712146282, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + -0.04160025343298912, + -0.987876296043396, + -0.14956578612327576 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "napkin", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 42632, + "scale_correction": 0.15675398707389832, + "tracker_ok": true, + "canonical_translation": [ + -0.029367102310061455, + -0.15263305604457855, + 1.487738847732544 + ], + "canonical_rotation_quat": [ + 0.6115754246711731, + 0.7896173000335693, + -0.03494635596871376, + -0.03547901660203934 + ], + "canonical_scale": 0.15675398707389832 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 109, + 1, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 1, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 109, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 109, + 480, + 853 + ], + "oids": [ + 0 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 109, + "n_objects": 1, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": null + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 5, + "grasped_l": 0, + "grasped_r": 104, + "grasped_both": 0, + "moving": 0 + }, + "state_fractions": { + "static": 0.045871559633027525, + "grasped": 0.9541284403669725, + "moving": 0.0 + }, + "is_static_global": false, + "n_state_frames": 109, + "dominant_hand": "R", + "mesh_n_pts": 42632, + "mesh_extent_cm": 15.488089120771686 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. 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bamboo stem into the pot\u2019s soil while adjusting the surrounding soil with the hands to secure it in place.", + "actor": "the person\u2019s hands", + "summary": "In a close\u2011up view, a pair of dark\u2011skinned hands wearing a yellow\u2011brown bracelet work over a small clay pot placed on a warm\u2011colored table. The hands position a thin bamboo stem upright, press it into the soil, and gently move the surrounding soil to settle the plant. A faint \u201cGreen Plants\u201d logo appears in the top\u2011right corner of the frame.", + "video_title": "How to Grow Lucky Bamboo Your Own Style | Lucky Bamboo Growing and Care Tips(subtitle)//Green plants", + "video_duration": 563.0, + "segment_id": 1161194, + "level": 14, + "favorited_at": null, + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 817.3270584791899, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.00540414173156023, + -0.997768223285675, + -0.06655421108007431 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": null, + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "bamboo stem", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 5352, + "scale_correction": 0.15825220348896515, + "tracker_ok": true, + "canonical_translation": [ + 0.03597257286310196, + 0.14243535697460175, + 1.8963468074798584 + ], + "canonical_rotation_quat": [ + 0.09806134551763535, + 0.13301321864128113, + 0.7015751600265503, + 0.6931694149971008 + ], + "canonical_scale": 0.4122799336910248 + }, + { + "id": 1, + "prompt": "bamboo stem", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 5020, + "scale_correction": 0.1171498129084699, + "tracker_ok": true, + "canonical_translation": [ + 0.05274304002523422, + 0.06118660047650337, + 1.8955020904541016 + ], + "canonical_rotation_quat": [ + 0.22767338156700134, + 0.18213672935962677, + 0.5829734802246094, + 0.7583752274513245 + ], + "canonical_scale": 0.3246108591556549 + }, + { + "id": 2, + "prompt": "bamboo stem", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 10164, + "scale_correction": 0.08227347777133091, + "tracker_ok": true, + "canonical_translation": [ + 0.06583897769451141, + 0.03366735577583313, + 1.9120043516159058 + ], + "canonical_rotation_quat": [ + 0.011483908630907536, + -0.05468452349305153, + -0.560408890247345, + 0.8263289928436279 + ], + "canonical_scale": 0.22757838666439056 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 60, + 3, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 3, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 60, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 60, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 60, + "n_objects": 3, + "has_grasp": false, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": null + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 53, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 0, + "moving": 7 + }, + "state_fractions": { + "static": 0.8833333333333333, + "grasped": 0.0, + "moving": 0.11666666666666667 + }, + "is_static_global": false, + "n_state_frames": 60, + "dominant_hand": null, + "mesh_n_pts": 5352, + "mesh_extent_cm": 15.72259166860708 + }, + "1": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 55, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 0, + "moving": 5 + }, + "state_fractions": { + "static": 0.9166666666666666, + "grasped": 0.0, + "moving": 0.08333333333333333 + }, + "is_static_global": false, + "n_state_frames": 60, + "dominant_hand": null, + "mesh_n_pts": 5020, + "mesh_extent_cm": 11.668431650533384 + }, + "2": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 55, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 0, + "moving": 5 + }, + "state_fractions": { + "static": 0.9166666666666666, + "grasped": 0.0, + "moving": 0.08333333333333333 + }, + "is_static_global": false, + "n_state_frames": 60, + "dominant_hand": null, + "mesh_n_pts": 10164, + "mesh_extent_cm": 8.234310798357084 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. 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Inside the pot a green plant with narrow leaves is positioned, its roots exposed at the base. 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He moves the towel back\u2011and\u2011forth and in circular motions across the entire countertop, occasionally using his left hand to support the chair back, until the granite looks clean and glossy.", + "video_title": "Deep Clean & Protect Granite Countertops - Auto Detailing Style!!", + "video_duration": 370.0, + "segment_id": 10127260, + "level": 7, + "favorited_at": "2026-05-24T19:39:44", + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 792.2934260964394, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.0035653202794492245, + -0.9367898106575012, + -0.3498745560646057 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": "hand_joints_2d.bin", + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "blue towel", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 109764, + "scale_correction": 0.24125882983207703, + "tracker_ok": true, + "canonical_translation": [ + 0.08008822798728943, + -0.0771927461028099, + 1.190366506576538 + ], + "canonical_rotation_quat": [ + 0.231919527053833, + 0.2897796332836151, + 0.7496932148933411, + 0.547906219959259 + ], + "canonical_scale": 0.24125882983207703 + } + ], + "object_pose_traj": "object_pose.bin", + "object_pose_shape": [ + 299, + 1, + 4, + 4 + ], + "object_obb": "object_obb.bin", + "object_obb_shape": [ + 1, + 8, + 3 + ], + "depth_video": "depth.mp4", + "flow_video": "flow.mp4", + "mask_video": "mask.mp4", + "signals": "signals.json", + "thumb": "thumb.jpg", + "raw": { + "depth_npz": "depth.npz", + "depth_unit": "millimeter", + "depth_dtype": "uint16", + "depth_shape": [ + 299, + 480, + 853 + ], + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 299, + 480, + 853 + ], + "oids": [ + 0 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, + "bg_template": "bg_template.png", + "pose_track": "pose_track.json" + } + }, + "stats": { + "n_frames": 299, + "n_objects": 1, + "has_grasp": true, + "mean_trust": null, + "mean_iou": null, + "sam3_quality": null + }, + "tracking_summary": { + "0": { + "path": null, + "tracking_status": "ok", + "state_counts": { + "static": 0, + "grasped_l": 0, + "grasped_r": 216, + "grasped_both": 83, + "moving": 0 + }, + "state_fractions": { + "static": 0.0, + "grasped": 1.0, + "moving": 0.0 + }, + "is_static_global": false, + "n_state_frames": 299, + "dominant_hand": "R", + "mesh_n_pts": 109764, + "mesh_extent_cm": 23.831383327756583 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/qS0o53IiVQY_273.3_295.2/signals.json b/samples/qS0o53IiVQY_273.3_295.2/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..370110851d413db8340e16d82d04f0d0291150bb --- /dev/null +++ b/samples/qS0o53IiVQY_273.3_295.2/signals.json @@ -0,0 +1 @@ +{"n_frames": 299, "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, 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, 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, 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"action_detailed": "Crouch on the roof, align the dark gray tile over the dark gray material, and tap it into position with the hammer while the paper rests nearby.", + "actor": "The man wearing white shorts, a white tank\u2011top and white sneakers", + "summary": "The man wearing white shorts, a white tank\u2011top and white sneakers crouches on a red\u2011brown shingle roof. A hammer, a small piece of paper and other tools lie nearby. He holds a dark gray roofing tile, lines it up with the dark gray material underneath, and taps the tile into place with the hammer. In the background an apartment building with a yellow fa\u00e7ade, plants, trees and other houses with red and white windows can be seen.", + "video_title": "How to Install a pipe flashing on Asphalt Shingle Roof Hermosa Beach Roofer", + "video_duration": 899.0, + "segment_id": 1139546, + "level": 13, + "favorited_at": null, + "source_dataset": "Action100M", + "license": "fair-noncommercial-research-license-v1" + }, + "camera": { + "focal": 634.5238339751959, + "cx": 426.5, + "cy": 240.0, + "width": 853, + "height": 480, + "gravity_up": [ + 0.023492636159062386, + -0.9322643280029297, + -0.3610144257545471 + ] + }, + "reconstruction": { + "hand_joints": "hand_joints.bin", + "hand_joints_2d": null, + "hand_verts": "hand_verts.bin", + "hand_faces": "hand_faces.bin", + "hand_meta": "hand_meta.json", + "objects": [ + { + "id": 0, + "prompt": "hammer", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 10320, + "scale_correction": 0.15137189626693726, + "tracker_ok": 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7.382331701311218 + } + }, + "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." +} \ No newline at end of file diff --git a/samples/xWBZ-yu6_CE_690.4_694.4/signals.json b/samples/xWBZ-yu6_CE_690.4_694.4/signals.json new file mode 100644 index 0000000000000000000000000000000000000000..bf30cf09cfb1cf886e8f5805a93a078b9978eaf8 --- /dev/null +++ b/samples/xWBZ-yu6_CE_690.4_694.4/signals.json @@ -0,0 +1 @@ +{"n_frames": 122, "scene": {"contact_l": [1.0, 1.0, 1.0, 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, 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, 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, 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, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 0.0, 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