Head-mounted recordings of household manipulation in real homes: metric LiDAR depth, 100 Hz inertial measurement, dual-hand keypoints, and human-verified action segmentation, aligned on a common clock and verified episode by episode. 真实家庭环境中的头戴式操作任务记录：毫米级 LiDAR 深度、100Hz 惯性测量、双手关键点、人工核验的动作分段，统一时钟对齐，逐条完成核验。
Seven streams on a common clock, per episode.每条数据：七路数据流，统一时钟。
| Stream数据流 | Specification规格 |
|---|---|
| RGB videoRGB 视频 | 1920×1080 @ 60 fps, H.265, ultra-wide lens; rolling-shutter readout time provided1920×1080 @ 60fps，H.265，超广角镜头；提供卷帘快门读出时间 |
| LiDAR depthLiDAR 深度 | 320×180 @ ~29 Hz, 16-bit metric millimeters, per-pixel confidence320×180 @ 约29Hz，16 位毫米绝对深度，逐像素置信度 |
| Head IMU头部 IMU | 100 Hz attitude quaternion, gravity, user acceleration, rotation rate100Hz 姿态四元数、重力、用户加速度、角速度 |
| Hand keypoints双手关键点 | Dual-hand 21-point 2D landmarks with per-point confidence, ~29 Hz双手各 21 点 2D 关键点，逐点置信度，约 29Hz |
| Camera metadata相机元数据 | Per-frame exposure, ISO, white balance, lens position, intrinsic matrix逐帧曝光、ISO、白平衡、镜头位置、内参矩阵 |
| Clock synchronization时钟对齐 | Dual-clock alignment anchors across all streams双时钟对齐锚点，贯通全部数据流 |
| Action segments动作分段 | Verified on-site by a trained annotator; 151-code vocabulary, handedness labels, bilingual task instructions受训标注员现场核验；151 码动作词表、左右手标记、中英双语任务指令 |
Each released episode carries a machine-generated, human-reviewed health report.每条发布数据附带一份管线生成、人工复核的体检报告。
Automated checks on duration, hand visibility, stream integrity and compliance, followed by human review prior to release.时长、手部可见性、数据流完整性与合规的自动化检查，发布前再经人工复核。
Cross-episode verification of the open sample found one dropped frame in 46,834. It is documented in the dataset card.公开样本跨条核验共查出 46,834 帧中 1 帧丢失，已写入数据集卡片。
The gravity vector, rotated by the attitude quaternion, reproduces world gravity to numerical precision on every sample.重力向量经姿态四元数旋转后，与世界重力逐样本吻合到数值精度。
Four synchronized views of one episode: RGB with hand skeletons · LiDAR depth · IMU traces · action-segment timeline.同一条数据的四格同步画面：RGB+手部骨架 · LiDAR 深度 · IMU 曲线 · 动作分段时间轴。
CC BY-NC 4.03.4 GBLeRobot converter included
Eleven verified episodes across ten household tasks, released for research use. Commercial licensing by arrangement.11 条完整核验数据，覆盖 10 项家务任务，供科研使用。商业授权另行安排。
The open sample reflects the standard deliverable format for commissioned work.公开样本即委托采集的标准交付格式。
Task lists, object and environment constraints, and volumes defined by the client; recorded in real Chinese homes and delivered in the same seven-stream format with per-episode health reports.任务清单、物品与环境约束、数量由客户定义；在真实中国家庭中采集，按同样的七流格式交付，附逐条体检报告。
Signed collection agreements covering copyright assignment and cross-border transfer consent, reviewed by counsel. Faces blocked at capture; speech muted at source.经法律审阅的采集协议，涵盖著作权转让与跨境传输同意。人脸录制时即拦截，人声源头静音。
Engagements typically begin with a scoped pilot batch. Capacity scales with order size.合作通常从一个界定范围的试点批次开始。产能随订单规模扩展。
Inquiries: contact@acttrace.cn 垂询：contact@acttrace.cn