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README.md

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+---
+license: other
+task_categories:
+- robotics
+tags:
+- hand-pose
+- mano
+- egocentric
+- vitra
+- gigahands
+- quality-audit
+size_categories:
+- 1M<n<10M
+pretty_name: GigaHands VITRA official-MANO strict-v1
+---
+
+# GigaHands → VITRA official-MANO strict-v1
+
+VITRA Stage-1 annotations derived from GigaHands' official MANO fit, regenerated with strict
+video/annotation binding and accompanied by an exhaustive numerical audit plus an every-episode RGB
+audit. This repository contains **annotations only**: it does not redistribute GigaHands videos or
+the licensed MANO model.
+
+| item | value |
+|---|---:|
+| source manifest entries | 13,249 |
+| converted episodes | **12,783** |
+| train / test episodes | 11,461 / 1,322 |
+| converted frames | **3,227,699** |
+| train / test frames | 2,963,261 / 264,438 |
+| camera | `brics-odroid-001_cam0` |
+| action interface | VITRA `keypoints` mode (`16 × 192` future action chunks at training time) |
+
+Although the source is the official MANO fit, this is not a MANO-angle-only target dataset. Each
+episode contains MANO-derived 3-D joints, wrist transforms, MANO shape, global orientation, and
+finger rotation matrices. Current VITRA training uses the 3-D joint/keypoint action interface.
+
+## What changed from `yuzhench/gigahands-vitra-mano`
+
+The older release retained 453 known video-length mismatch candidates. Strict-v1 applies the
+following deterministic gates before writing an episode:
+
+1. bind `(scene, sequence, camera)` to the exact video in GigaHands'
+   `multiview_camera_video_map.csv`, never to a sorted file-list position;
+2. require exact temporal agreement among left/right MANO parameters and
+   `keypoints_3d_mano`;
+3. reject video/annotation length differences above 12 frames and trim only a short video tail
+   within that tolerance;
+4. require at least 0.9 raw-triangulation validity using `chosen_frames_{left,right}.json`, rather
+   than treating the always-finite MANO-filled output as 100% valid.
+
+Conversion removed 464 entries: 381 for video/annotation length disagreement and 83 for missing
+official video mapping. One entry lacked MANO keypoints and one was shorter than 32 frames. None of
+the older release's 453 known length-misaligned episode IDs remains in strict-v1.
+
+Reproduction code is in
+[`kaichen-z/VLA-HAND@4458502`](https://github.com/kaichen-z/VLA-HAND/tree/4458502), including:
+
+- `scripts/build_gigahands_official_mano_strict_v1.sh`
+- `scripts/run_gigahands_full_quality_audit.sh`
+- `data/preprocessing/convert_gigahands_to_vitra_stage1.py`
+- `tools/audit_gigahands_full.py`
+
+## Contents
+
+```text
+Annotation/
+├── gigahands_real_train/
+│   ├── episodic_annotations.tar.zst       # 11,461 .npy episodes
+│   ├── episode_frame_index.npz            # 2,963,261 frame/window-start entries
+│   └── conversion_report.json
+├── gigahands_real_test/
+│   ├── episodic_annotations.tar.zst       # 1,322 .npy episodes
+│   ├── episode_frame_index.npz            # 264,438 entries
+│   └── conversion_report.json
+└── statistics/
+    ├── gigahands_real_train_keypoints_statistics.json
+    └── gigahands_real_test_keypoints_statistics.json
+subset_manifest.json                        # original 13,249-entry source manifest
+conversion_report.json
+quality_rejections.json
+quality_comparison.{json,md}
+baseline_residual_misaligned_episodes.json
+artifact_manifest.json                       # byte size and SHA-256 for every uploaded artifact
+quality/full_quality_audit/
+├── full_audit_report.{json,md}
+├── recommended_exclude_episode_ids.json
+├── audit_categories.json
+├── labels_summary.json
+├── labels_per_episode.jsonl
+├── video_summary.json
+├── video_per_episode.jsonl
+├── video_samples.jsonl
+├── rgb_alignment_manual_review.json
+└── *_review_*.jpg
+```
+
+The `.tar.zst` files contain an `episodic_annotations/` directory. Extract them in place:
+
+```bash
+huggingface-cli download \
+  --repo-type dataset \
+  LeoJiangOR/gigahands-vitra-mano-strict-v1 \
+  --local-dir datasets/vitra_gigahands_official_mano_strict_v1
+
+for split in train test; do
+  tar --zstd -xf \
+    datasets/vitra_gigahands_official_mano_strict_v1/Annotation/gigahands_real_${split}/episodic_annotations.tar.zst \
+    -C datasets/vitra_gigahands_official_mano_strict_v1/Annotation/gigahands_real_${split}
+done
+
+mkdir -p datasets/vitra_gigahands_official_mano_strict_v1/Video
+ln -s /path/to/GigaHands/multiview_rgb_vids \
+  datasets/vitra_gigahands_official_mano_strict_v1/Video/GigaHands_root
+```
+
+## Episode schema
+
+Each `.npy` loads as a Python dictionary. `left` and `right` contain:
+
+| field | shape | meaning |
+|---|---:|---|
+| `beta` | `(10,)` | official MANO shape |
+| `global_orient_worldspace` | `(T,3,3)` | wrist/global orientation in the GigaHands world frame |
+| `global_orient_camspace` | `(T,3,3)` | orientation in the selected camera frame |
+| `hand_pose` | `(T,15,3,3)` | MANO finger rotations with the MANO mean pose restored |
+| `transl_worldspace` | `(T,3)` | wrist position, equal to `joints_worldspace[:,0]` |
+| `transl_camspace` | `(T,3)` | wrist position in camera coordinates |
+| `joints_worldspace` | `(T,21,3)` | official-MANO joints with global translation restored |
+| `joints_camspace` | `(T,21,3)` | joints in camera coordinates |
+| `kept_frames` | `(T,)` | validity mask |
+
+Episodes also contain `video_name`, `video_decode_frame`, language instruction, intrinsics,
+extrinsics, and camera metadata. Sixteen-frame action windows are created by the VITRA loader; each
+stored `.npy` is a complete episode rather than one training window.
+
+## Full quality audit
+
+Coverage:
+
+- 12,783 / 12,783 episodes;
+- 3,227,699 / 3,227,699 label frames for schema, finite values, rotations, world/camera transforms,
+  temporal continuity, distortion-aware camera projection, and comparison with independent raw
+  triangulated keypoints;
+- 63,915 / 63,915 RGB checks: five evenly spaced frames in every episode, using a hand-pose detector
+  and manual review of every automatic mismatch candidate.
+
+Main results:
+
+| category | episodes | rate |
+|---|---:|---:|
+| structural fatal error | 0 | 0.000% |
+| likely left/right identity swap | 0 | 0.000% |
+| neither hand visible in cam0 for more than half the episode | 1,353 | 10.584% |
+| neither hand visible in cam0 for the entire episode | 399 | 3.121% |
+| persistent MANO/triangulation disagreement above 5 cm median | 6 | 0.047% |
+| converted-output wrist jump above 25 cm/frame | 2 | 0.016% |
+| automatic RGB alignment suspects | 18 | 0.141% |
+| manually confirmed RGB mismatch among those suspects | 0 | 0.000% |
+
+The typical per-episode MANO-versus-independent-triangulation median MPJPE is approximately 7 mm.
+Of 213 tail-disagreement candidates, 185 are more consistent with a discontinuous triangulation
+reference; the remaining 28 are retained in the conservative exclusion/review category.
+
+`quality/full_quality_audit/recommended_exclude_episode_ids.json` contains a conservative
+episode-level training policy: 1,384 episodes (10.827%). Applying it leaves 11,399 episodes and
+2,863,827 frames (train: 10,296 episodes / 2,637,406 frames; test: 1,103 episodes / 226,421 frames).
+Most exclusions are **not proven source corruption**: they are cam0 visibility failures. If another
+official camera is available, selecting the camera with the best projected-hand visibility is better
+than discarding the underlying multiview motion. If training must remain cam0-only, use this list or,
+preferably, filter individual 16-frame windows by hand visibility.
+
+The 18 automatic RGB suspects were all manually cleared. Typical detector failures were firing on a
+monitor, an object, or a toy dog while the projected MANO joints still followed the real, partially
+cropped hand. Review images and the decisions are included instead of silently converting detector
+output into deletion labels.
+
+## Video mapping
+
+Videos are not included. Obtain them under the original GigaHands terms and place or link
+`multiview_rgb_vids` at `Video/GigaHands_root`. `video_name` in every episode and
+`video_path`/`start_frame`/`end_frame` in `subset_manifest.json` give the exact source mapping.
+
+Do not infer a sequence's video by list index: sequence IDs contain gaps. Strict-v1 verifies the
+official CSV mapping during conversion.
+
+## Licence and citation
+
+These are derived GigaHands annotations. The original images, videos, MANO fits, and their usage
+terms remain with the GigaHands authors. Follow the original GigaHands licence and citation
+requirements. The MANO model is not redistributed and must be obtained separately under its own
+licence. The annotation format follows Microsoft VITRA Stage-1.