Franklin0/YOCO
Updated
Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: ArrowInvalid
Message: Mismatching child array lengths
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 483, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2951, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2461, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2486, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 547, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 430, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 83, in _generate_tables
pa_table = _recursive_load_arrays(h5, self.info.features, start, end)
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 267, in _recursive_load_arrays
arr = _recursive_load_arrays(obj, features[path], start, end)
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 288, in _recursive_load_arrays
sarr = pa.StructArray.from_arrays(values, names=keys)
File "pyarrow/array.pxi", line 4385, in pyarrow.lib.StructArray.from_arrays
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: Mismatching child array lengthsNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
YOCO Prepared Evaluation Data
Prepared offline evaluation assets for YOCO: You Only Calibrate Once! Fast Mocap Calibration for Dexterous Teleoperation, CoRL 2026.
Paper | Code | Models | Collection
This repository and the companion models are publicly downloadable. The collection remains private for now. The bundle contains evaluation data, not the full training corpus or MANO model files.
Files
| File | Purpose |
|---|---|
interhand/InterHand_retargeted_30fps_biased_super_mano_fk20cm_bad_joint_marked.hdf5 |
Table 1 prepared validation set: two hand groups with 20 synthetic bias variants each. Evaluate all 20 right-hand variants with the supplied masks. |
avp/aligned_avp_glove_val.hdf5 |
Table 2 paired AVP/glove validation; right-hand groups 1, 2, 3. |
avp/aligned_avp_glove_train_new.hdf5 |
Group 0 supplies the fourth recording for historical Table 2 no-calibration/LoRA baselines. It is not used to train a model in this evaluation. |
The HDF5 files contain numeric hand/glove poses and annotations, not raw
photographs or video. Preserve group names, frame order, the 21-joint ordering,
group MANO betas, and gt_joint_mask/bad_frame annotations.
Raw InterHand downloads are not a replacement for the prepared masked HDF5.
Get Started
Follow the source repository's uv setup
and download the models and evaluation data with
scripts/download_reproduction_assets.py.
The downloader pins immutable Hub commits and verifies each file's size and
SHA256. Omit --models-only to include these datasets.
The normal inference example
uses one AVP group. For complete table evaluation, use
scripts/reproduce_paper.py
and the reproduction guide.
The runner handles export, legacy cohort preparation, and verification.
Evaluation Contract
K=4 calibration frames are sampled from [0,200); evaluation uses eligible
frames in [200,T) with seeds 0, 1, and 2. Table 1 covers all 20 right-hand bias
variants. Table 2 YOCO, Ridge, last-layer, and full fine-tuning use three validation
recordings. Historical no-calibration and LoRA baselines use four recordings with
different group names; the runner prepares this cohort without modifying inputs.
The same released YOCO model is used for both tables and checked against
measured release references. These checks cover pose accuracy, not every
published value or hardware timing. In the paper, "Tip-PA" is a typo for
tip_mpjpe_mm, the unaligned fingertip error.
Source And Terms
The InterHand file is derived from InterHand2.6M by Gyeongsik Moon, Shoou-I Yu, He Wen, Takaaki Shiratori, and Kyoung Mu Lee, ECCV 2020. It retains the upstream CC-BY-NC 4.0 license. YOCO preparation adds retargeting, synthetic bias variants, MANO forward-kinematics targets, and invalid-joint/frame annotations. Use is noncommercial and attribution is required.
The AVP/glove recordings are YOCO research assets. No public redistribution license is granted for these recordings at this time. Repository access does not override source licenses.
MANO_LEFT.pkl and MANO_RIGHT.pkl are excluded. Obtain them directly under
the MANO license.
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Models trained or fine-tuned on Franklin0/YOCO-Reproduction