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Office Explore Wrist View

Sampled RGB frames from s3://rena-recording/01KSMZ6GX7YB9T9TBA54R7GD2C/office-explore-wrist-view/recording_20260616_120314/.

Columns:

  • image: RGB camera frame stored as a Hugging Face Image feature.
  • type: wrist or base.

Sampling: one frame per second from /arm/wrist/image_raw/compressed and /base/front/rgb/image_raw/compressed, exported as PNG without resizing before upload.

Cleanup:

  • Removed 28 near-duplicate frames within each camera stream using 64x64 RGB cosine similarity >= 0.995 and 16x16 dHash Hamming distance <= 8 against earlier kept frames.
  • Removed 125 high-confidence empty frames with open floor/doorway/threshold and no visible ground object.

Counts after cleanup:

  • wrist: 215 rows, 1280x800
  • base: 266 rows, 640x400
  • total: 481 rows
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