Concepts

Everything in Rayform belongs to your organisation and is visible only to it. Five objects carry your data from upload to training.

site ──┐
       └── session (your upload) ──► segments ──┐
                                                ├──► slice (frozen) ──► export (files in your format)
       search across all segments ──────────────┘

Sites

A site is a physical place you record in, such as lab-2 or warehouse-berlin. Every recording made at a site is registered into the site's world frame, so repeat visits line up and change over time can be compared. Sites are created the first time you use a new name.

Sessions

A session is one uploaded recording, stored exactly as you sent it. Processing a session produces segments. Sessions move through these states:

Segments

A segment is a piece of a session bounded by interactions: a grasp, a placement, a door opening, with a short margin before and after. Each segment carries:

• the scene: Gaussian splats, meshes and collision geometry for its time window,
• entities (people, objects, robots) and their trajectories,
• ordered interaction events,
• robot state and the raw sensor channels,
• context (lighting, clutter, surface, weather) and quality scores.

Segments are versioned. When processing improves and a session is reprocessed, new segment versions appear next to the old ones.

Slices

A slice is a frozen, hashed selection of exact segment versions. It is the unit you train on: the same slice always returns the same bytes, so an experiment can be reproduced months later. Slices are never edited; changing a selection creates a new slice.

Exports and assets

An export writes a slice to files in a training format, either to your own bucket or to Rayform storage behind signed URLs. Assets are the individual stored files behind a segment, such as an encoded splat or a collision mesh, each addressed by the hash of its content.

Identifiers