Phase 1 · Track 2 — Pile / Scatter Scenes

Physics-simulated piles · Blender rigid-body · Per-part YOLO annotations with occlusion filtering

Reference Frame

Small Piles (8 parts)

3 scenes | 24 total parts | 15 visible annotations | 9 occluded/off-screen

Scene	Total parts	Visible	elev/azim
pile_000	8	6	74° / 164°
pile_001	8	4	65° / 54°
pile_002	8	5	78° / 173°

6 visible 8 total
3005 bbox 6.9% vis 100% 3023 bbox 7.4% vis 53% 3070b bbox 2.2% vis 60% 3749 bbox 3.6% vis 44% 3070b bbox 2.6% vis 34% 3070b bbox 2.0% vis 9%

4 visible 8 total
3023 bbox 11.2% vis 100% 3023 bbox 10.8% vis 56% 3004 bbox 15.7% vis 82% 3023 bbox 8.9% vis 63%

5 visible 8 total
3005 bbox 6.5% vis 100% 3005 bbox 6.1% vis 88% 3070b bbox 1.7% vis 31% 3004 bbox 7.7% vis 26% 3023 bbox 6.5% vis 18%

Dense Pile (35 parts)

1 scenes | 35 total parts | 25 visible annotations | 10 occluded/off-screen

Scene	Total parts	Visible	elev/azim
pile_000	35	25	71° / 113°

25 visible 35 total
3004 bbox 1.9% vis 100% 3005 bbox 1.3% vis 100% 3023 bbox 2.3% vis 82% 3749 bbox 1.8% vis 100% 3749 bbox 1.3% vis 61% 3004 bbox 1.7% vis 100% 3005 bbox 1.0% vis 30% 3005 bbox 1.0% vis 13% 3749 bbox 1.2% vis 44% 3005 bbox 1.4% vis 100% 3005 bbox 0.8% vis 71% 3749 bbox 0.8% vis 28% 3004 bbox 2.6% vis 88% 3005 bbox 0.9% vis 46% 3070b bbox 0.6% vis 6% 3005 bbox 1.1% vis 81% 3023 bbox 0.7% vis 98% 3004 bbox 2.4% vis 99% 3749 bbox 0.8% vis 59% 3023 bbox 1.5% vis 65% 3023 bbox 1.2% vis 81% 3749 bbox 0.7% vis 12% 3005 bbox 1.2% vis 34% 3023 bbox 1.4% vis 47% 3005 bbox 0.8% vis 26%