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EgoTouch clean atomic visual feature cache v1
Frozen RGB feature cache for the P4 VT2P, VP2T and TP2V experiments in
kaichen-z/VLA-HAND@8acafb5.
It must be paired with
egotouch-clean-atomic-cache-v3.
Features were extracted from the published chest.mp4 streams by each atomic
frame's video_decode_frame. The source RGB is available from
zhouzhoujy/EgoTouch
and is not duplicated here.
Feature contract
- Backbone: OpenTouch ViT-B/16 visual encoder.
- Source checkpoint:
opentouch-vp2t-encoder-best/epoch_280.pt. - Checkpoint SHA-256:
5b8d3ce311bad8f50515e2c4b72a054283dc1cce67ef82696bb74c26f9b062d8. - Image size:
224 x 224; ImageNet mean/std normalization. - Stored feature: 768D CLS token before the learned 64D projection.
- Temporal aggregation: mean over the eight history frames during training.
- Coverage: 1,534 recordings, 1,899,635 unique decoded RGB frames and 3,492,441 atomic-frame placements.
Each split contains:
visual_cls.npy float16 [atomic_frames, 768]
visual_valid.npy bool [atomic_frames]
video_frame.npy source decoded frame index
cache_manifest.json pins the paired cache-v3 episode/frame ordering, while
visual_manifest.json records extraction provenance. Copy or link these three
arrays into the corresponding split of the tactile cache before using the
current egotouch_vt2p dataloader.
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