---
title: ego-handpose
canonical_url: "https://www.modelscope.cn/datasets/Mikuz12/ego-handpose"
md_url: "https://www.modelscope.cn/datasets/Mikuz12/ego-handpose.md"
repository: Mikuz12/ego-handpose
last_updated: 2026-09-01
license: "Apache License 2.0"
downloads: 325
stars: 0
---

# ego-handpose

> ego-handpose - Mikuz12 在 ModelScope 开源的数据集。EgoDex/EgoVerse EEF14 Action Cache

Mikuz12/ego-handpose 是 ModelScope 魔搭社区上的数据集，采用 Apache License 2.0 许可。

- **Repository**: Mikuz12/ego-handpose
- **License**: Apache License 2.0
- **Downloads**: 325
- **Stars**: 0
- **Last updated**: 2026-09-01

Source: https://www.modelscope.cn/datasets/Mikuz12/ego-handpose

---

# EgoDex/EgoVerse EEF14 Action Cache

This repository contains Ego2Robot-style 14D end-effector action targets for
the EgoDex and EgoVerse samples in `ego-200h-release-v1`. It intentionally does
not duplicate RGB videos or Wan VAE latents.

The referenced VAE cache is:

```text
ego-200h-release-v1/vae_cache
dataset_signature: f95c52586266dbc6eb7cca152376b9a48111e538a76561f8b366e1a0c244f219
```

## Alignment

`eef_action_cache/logical_identity.pt` contains `vae_indices`. For EEF sample
`j`, load the original VAE sample at `vae_indices[j]` and the EEF target at
sample `j` in this action cache. The action-cache shards contain 4,096 samples
each.

```python
import json
from pathlib import Path
import torch

eef_root = Path("eef_action_cache")
manifest = json.loads((eef_root / "manifest.json").read_text())
identity = torch.load(eef_root / "logical_identity.pt", weights_only=True)

j = 0
vae_index = int(identity["vae_indices"][j])
shard_size = int(manifest["shard_size"])
payload = torch.load(
    eef_root / f"shard_{j // shard_size:06d}.pt",
    weights_only=True,
)
action = payload["action"][j % shard_size]          # [32, 14], float32
action_mask = payload["action_mask"][j % shard_size]  # [32, 14], bool
```

Each 14D row is:

```text
left  [delta xyz (m), delta rotation-vector (rad), delta gripper width (m)]
right [delta xyz (m), delta rotation-vector (rad), delta gripper width (m)]
```

Actions cover frames `anchor..anchor+31`. The paired VAE sample covers video
endpoints from `anchor..anchor+48`. Invalid or unavailable hand dimensions are
marked by `action_mask`; ego samples contain no robot proprioception.

The cache contains 748,123 samples: 330,158 EgoDex and 417,965 EgoVerse.
Normalization statistics are provided under `normalization/`.