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frame int32 0 350 | timestamp float64 0 11.7 | joints listlengths 63 63 ⌀ |
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End of preview. Expand in Data Studio
Hand-object 3D reconstruction demo (TACO top-5)
Five egocentric hand-object manipulation clips with full 3D reconstructions,
exported from the public DreamLake staging annotation
yancy/hand-object-recon3d-top5.
Source recordings are from the TACO dataset
(research use). Video, 2D hand keypoints, MANO hand meshes and object poses
all come from the same clip, so the 3D always matches the pixels.
| episode | task | duration |
|---|---|---|
measure-ruler-toy__20231102_058 |
measure a toy with a ruler | 5.033333s |
pour-in-some-kettle-bowl__20230917_034 |
pour some liquid from a kettle into a bowl | 7s |
put-in-bowl-pan__20230927_013 |
put contents from a bowl into a pan | 8.733333s |
put-out-spatula-bowl__20231005_065 |
take food out of a bowl with a spatula | 7.5s |
stir-spoon-pan__20230923_020 |
stir a pan with a spoon | 11.7s |
Per episode: cam_ego.mp4 (H.264), and in annotations/: scene.glb
(objects + MANO hand topology + camera + gravity), one <object>_pose.parquet
per object (6-DoF, wxyz quaternions), hand_verts_*.parquet (778x3 MANO
vertices per frame), hand_joints_*.parquet (21x3 joints),
hand_keypoints.json (COCO 2D), subtasks.vtt (WebVTT). All coordinates
are in the egocentric camera frame (x right, y down, z forward) at 30 fps.
Renderable with @dreamlake/viz dataset-viz
via the .dreamrc at the root. Provenance:
packages/viz/scripts/build-taco-recon-demo.mts in the viz-workspace repo.
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