Franka dynamic-object hover tracking
DOM-compatible tracking extension, not an official addition to hzxie/DOM. Three RGB views, one target, and velocity-conditioned orientation modes.
100 episodes, 25000 frames, 25 FPS. Smoke-only: False.
The action field is a future measured observation-tool pose plus gripper +1 (open), 5 frames ahead. It is not the raw command; controls and tool-offset conventions are in diagnostics. The source DOM pipeline uses future-pose replay; this extension labels its own recorded trajectory directly.
Use meta/split_assignments.json to select disjoint episode splits; meta/info.json lists all episodes as train for DOM loader compatibility. Split assets and motion support are shared. No official benchmark-referenced assets were selected. Camera visibility checks measure frustum inclusion, not segmentation-based occlusion.
Provenance and configuration: meta/collection.json. Retain DOM and underlying asset attribution; this exporter does not assign a new license to third-party assets.
Sources: DOM, DynamicVLA.
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