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diff --git a/RHD/shared-v1.1/data/training_00038912/camera/metainfo.json b/RHD/shared-v1.1/data/training_00038912/camera/metainfo.json
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index 0000000000000000000000000000000000000000..92b87162e6a6ccc20b3e39ff4a2287819f5c2f80
--- /dev/null
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+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "RHD",
+  "release_id": "shared-v1.1",
+  "sequence_id": "training_00038912",
+  "camera_id": "camera",
+  "sample_type": "image",
+  "num_frames": 512,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "independent",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": "all source independent images sorted by source ID",
+    "shard_max_images": 512
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      320,
+      320
+    ]
+  },
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+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "storage": {
+        "profile": "mkv/ffv1_rgb/v1",
+        "codec": "ffv1",
+        "pixel_format": "bgr0",
+        "encoded_size": [
+          320,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only"
+    },
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+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
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+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
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+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
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+        "intrinsic",
+        "data"
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+        "valid"
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+        "profile": "pt/tensor_bundle/v1"
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+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
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+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/keypoints.pt",
+      "axes": [
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+        "coordinate"
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+        "method": "Keep both supplied hands including invisible points; reorder tip-to-palm to registered proximal-to-tip order"
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+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "unit": "m",
+      "keypoint_schema": "rhd21/v1",
+      "coordinate_frame": "camera",
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+        0,
+        4,
+        3,
+        2,
+        1,
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+        7,
+        6,
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+            "joint"
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+          "dtype": "bool",
+          "visibility_type": "bool",
+          "meaning": "source per-keypoint visibility",
+          "provenance": {
+            "kind": "format_conversion",
+            "method": "native uv_vis visibility reordered with coordinates"
+          },
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+            "archive": "raw/data/RHD_v1-1.zip",
+            "annotation": "RHD_published_v2/training/anno_training.pickle"
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+            "profile": "pt/tensor_bundle/v1"
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+            "T",
+            "hand",
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+        "xyz",
+        "data"
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+      "valid_key": [
+        "xyz",
+        "valid"
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+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
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+      "schema_id": "keypoints/uv/v1",
+      "data_ref": "annotation/keypoints/keypoints.pt",
+      "axes": [
+        "T",
+        "hand",
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+        "coordinate"
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+        "T",
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+        "joint"
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+        "kind": "format_conversion",
+        "method": "Keep both supplied hands including invisible points; reorder tip-to-palm to registered proximal-to-tip order"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "unit": "pixel",
+      "keypoint_schema": "rhd21/v1",
+      "coordinate_frame": "rgb_image",
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+        18,
+        17
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+          "data_ref": "annotation/keypoints/keypoints.pt",
+          "axes": [
+            "T",
+            "hand",
+            "joint"
+          ],
+          "dtype": "bool",
+          "visibility_type": "bool",
+          "meaning": "source per-keypoint visibility",
+          "provenance": {
+            "kind": "format_conversion",
+            "method": "native uv_vis visibility reordered with coordinates"
+          },
+          "source_locator": {
+            "archive": "raw/data/RHD_v1-1.zip",
+            "annotation": "RHD_published_v2/training/anno_training.pickle"
+          },
+          "data_key": [
+            "visibility",
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+        "valid"
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+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
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+    "depth": {
+      "available": true,
+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          640,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          320,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "rendered",
+      "coordinate_frame": "current_rgb_camera",
+      "pixel_grid": "current_rgb",
+      "storage_fps": 1,
+      "timebase_role": "index_only",
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Official code (R*256+G)/65535*5 m; preserve complete float32 bits; source supplies every pixel, no additional invalid-pixel convention inferred"
+      },
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+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle",
+        "member_pattern": "RHD_published_v2/training/depth/{source_frame_id:05d}.png"
+      }
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+      "schema_id": "segment/uint16_labels/v1",
+      "data_ref": "annotation/segment/mask.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "valid_ref": "annotation/segment/mask_valid.pt",
+      "valid_axes": [
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+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Native codes preserved; source 0 background mapped to 65534; native fine-region codes retained without merging"
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+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
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+        "profile": "mkv/uint16_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          320,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only",
+      "segmentation_type": "semantic",
+      "mapping_ref": "annotation/segment/instances.jsonl",
+      "coverage": {
+        "kind": "full",
+        "scope": "official rendered background, person and both hand regions"
+      }
+    }
+  },
+  "split": "train",
+  "storage_revision": "lossless-video-2026-09-18",
+  "split_scheme": "RHD_official_training_evaluation",
+  "split_source_locator": {
+    "archive": "raw/data/RHD_v1-1.zip",
+    "member_prefix": "RHD_published_v2/training"
+  },
+  "view_type": "exo"
+}
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diff --git a/RHD/shared-v1.1/data/training_00039424/camera/metainfo.json b/RHD/shared-v1.1/data/training_00039424/camera/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f9f4f31ed1b280d0402a148265464c32bc32f12
--- /dev/null
+++ b/RHD/shared-v1.1/data/training_00039424/camera/metainfo.json
@@ -0,0 +1,433 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "RHD",
+  "release_id": "shared-v1.1",
+  "sequence_id": "training_00039424",
+  "camera_id": "camera",
+  "sample_type": "image",
+  "num_frames": 512,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
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+        "encoder_parameters": [
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+      "timebase_role": "index_only",
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diff --git a/RHD/shared-v1.1/data/training_00039936/camera/metainfo.json b/RHD/shared-v1.1/data/training_00039936/camera/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..844fcbc18f5c03e04c6ea3ba504d7c14b74513c8
--- /dev/null
+++ b/RHD/shared-v1.1/data/training_00039936/camera/metainfo.json
@@ -0,0 +1,433 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "RHD",
+  "release_id": "shared-v1.1",
+  "sequence_id": "training_00039936",
+  "camera_id": "camera",
+  "sample_type": "image",
+  "num_frames": 512,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "independent",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": "all source independent images sorted by source ID",
+    "shard_max_images": 512
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      320,
+      320
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "storage": {
+        "profile": "mkv/ffv1_rgb/v1",
+        "codec": "ffv1",
+        "pixel_format": "bgr0",
+        "encoded_size": [
+          320,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only"
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "data_key": [
+        "intrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "intrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "keypoints_xyz": {
+      "available": true,
+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/keypoints.pt",
+      "axes": [
+        "T",
+        "hand",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/keypoints/keypoints.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Keep both supplied hands including invisible points; reorder tip-to-palm to registered proximal-to-tip order"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "unit": "m",
+      "keypoint_schema": "rhd21/v1",
+      "coordinate_frame": "camera",
+      "source_index_map": [
+        0,
+        4,
+        3,
+        2,
+        1,
+        8,
+        7,
+        6,
+        5,
+        12,
+        11,
+        10,
+        9,
+        16,
+        15,
+        14,
+        13,
+        20,
+        19,
+        18,
+        17
+      ],
+      "attributes": {
+        "visibility": {
+          "data_ref": "annotation/keypoints/keypoints.pt",
+          "axes": [
+            "T",
+            "hand",
+            "joint"
+          ],
+          "dtype": "bool",
+          "visibility_type": "bool",
+          "meaning": "source per-keypoint visibility",
+          "provenance": {
+            "kind": "format_conversion",
+            "method": "native uv_vis visibility reordered with coordinates"
+          },
+          "source_locator": {
+            "archive": "raw/data/RHD_v1-1.zip",
+            "annotation": "RHD_published_v2/training/anno_training.pickle"
+          },
+          "data_key": [
+            "visibility",
+            "data"
+          ],
+          "valid_ref": "annotation/keypoints/keypoints.pt",
+          "valid_key": [
+            "visibility",
+            "valid"
+          ],
+          "storage": {
+            "profile": "pt/tensor_bundle/v1"
+          },
+          "valid_storage": {
+            "profile": "pt/tensor_bundle/v1"
+          },
+          "valid_axes": [
+            "T",
+            "hand",
+            "joint"
+          ]
+        }
+      },
+      "data_key": [
+        "xyz",
+        "data"
+      ],
+      "valid_key": [
+        "xyz",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "keypoints_uv": {
+      "available": true,
+      "schema_id": "keypoints/uv/v1",
+      "data_ref": "annotation/keypoints/keypoints.pt",
+      "axes": [
+        "T",
+        "hand",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/keypoints/keypoints.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Keep both supplied hands including invisible points; reorder tip-to-palm to registered proximal-to-tip order"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "unit": "pixel",
+      "keypoint_schema": "rhd21/v1",
+      "coordinate_frame": "rgb_image",
+      "source_index_map": [
+        0,
+        4,
+        3,
+        2,
+        1,
+        8,
+        7,
+        6,
+        5,
+        12,
+        11,
+        10,
+        9,
+        16,
+        15,
+        14,
+        13,
+        20,
+        19,
+        18,
+        17
+      ],
+      "attributes": {
+        "visibility": {
+          "data_ref": "annotation/keypoints/keypoints.pt",
+          "axes": [
+            "T",
+            "hand",
+            "joint"
+          ],
+          "dtype": "bool",
+          "visibility_type": "bool",
+          "meaning": "source per-keypoint visibility",
+          "provenance": {
+            "kind": "format_conversion",
+            "method": "native uv_vis visibility reordered with coordinates"
+          },
+          "source_locator": {
+            "archive": "raw/data/RHD_v1-1.zip",
+            "annotation": "RHD_published_v2/training/anno_training.pickle"
+          },
+          "data_key": [
+            "visibility",
+            "data"
+          ],
+          "valid_ref": "annotation/keypoints/keypoints.pt",
+          "valid_key": [
+            "visibility",
+            "valid"
+          ],
+          "storage": {
+            "profile": "pt/tensor_bundle/v1"
+          },
+          "valid_storage": {
+            "profile": "pt/tensor_bundle/v1"
+          },
+          "valid_axes": [
+            "T",
+            "hand",
+            "joint"
+          ]
+        }
+      },
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+      "timebase_role": "index_only",
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diff --git a/RHD/shared-v1.1/data/training_00040448/camera/metainfo.json b/RHD/shared-v1.1/data/training_00040448/camera/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3b26b959808ea73cdf49570502f9b461d72bd50
--- /dev/null
+++ b/RHD/shared-v1.1/data/training_00040448/camera/metainfo.json
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+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "RHD",
+  "release_id": "shared-v1.1",
+  "sequence_id": "training_00040448",
+  "camera_id": "camera",
+  "sample_type": "image",
+  "num_frames": 512,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "independent",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": "all source independent images sorted by source ID",
+    "shard_max_images": 512
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      320,
+      320
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "storage": {
+        "profile": "mkv/ffv1_rgb/v1",
+        "codec": "ffv1",
+        "pixel_format": "bgr0",
+        "encoded_size": [
+          320,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only"
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "data_key": [
+        "intrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "intrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "keypoints_xyz": {
+      "available": true,
+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/keypoints.pt",
+      "axes": [
+        "T",
+        "hand",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/keypoints/keypoints.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Keep both supplied hands including invisible points; reorder tip-to-palm to registered proximal-to-tip order"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "unit": "m",
+      "keypoint_schema": "rhd21/v1",
+      "coordinate_frame": "camera",
+      "source_index_map": [
+        0,
+        4,
+        3,
+        2,
+        1,
+        8,
+        7,
+        6,
+        5,
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+        18,
+        17
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+          "data_ref": "annotation/keypoints/keypoints.pt",
+          "axes": [
+            "T",
+            "hand",
+            "joint"
+          ],
+          "dtype": "bool",
+          "visibility_type": "bool",
+          "meaning": "source per-keypoint visibility",
+          "provenance": {
+            "kind": "format_conversion",
+            "method": "native uv_vis visibility reordered with coordinates"
+          },
+          "source_locator": {
+            "archive": "raw/data/RHD_v1-1.zip",
+            "annotation": "RHD_published_v2/training/anno_training.pickle"
+          },
+          "data_key": [
+            "visibility",
+            "data"
+          ],
+          "valid_ref": "annotation/keypoints/keypoints.pt",
+          "valid_key": [
+            "visibility",
+            "valid"
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+          "storage": {
+            "profile": "pt/tensor_bundle/v1"
+          },
+          "valid_storage": {
+            "profile": "pt/tensor_bundle/v1"
+          },
+          "valid_axes": [
+            "T",
+            "hand",
+            "joint"
+          ]
+        }
+      },
+      "data_key": [
+        "xyz",
+        "data"
+      ],
+      "valid_key": [
+        "xyz",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "keypoints_uv": {
+      "available": true,
+      "schema_id": "keypoints/uv/v1",
+      "data_ref": "annotation/keypoints/keypoints.pt",
+      "axes": [
+        "T",
+        "hand",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/keypoints/keypoints.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Keep both supplied hands including invisible points; reorder tip-to-palm to registered proximal-to-tip order"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "unit": "pixel",
+      "keypoint_schema": "rhd21/v1",
+      "coordinate_frame": "rgb_image",
+      "source_index_map": [
+        0,
+        4,
+        3,
+        2,
+        1,
+        8,
+        7,
+        6,
+        5,
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+        15,
+        14,
+        13,
+        20,
+        19,
+        18,
+        17
+      ],
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+        "visibility": {
+          "data_ref": "annotation/keypoints/keypoints.pt",
+          "axes": [
+            "T",
+            "hand",
+            "joint"
+          ],
+          "dtype": "bool",
+          "visibility_type": "bool",
+          "meaning": "source per-keypoint visibility",
+          "provenance": {
+            "kind": "format_conversion",
+            "method": "native uv_vis visibility reordered with coordinates"
+          },
+          "source_locator": {
+            "archive": "raw/data/RHD_v1-1.zip",
+            "annotation": "RHD_published_v2/training/anno_training.pickle"
+          },
+          "data_key": [
+            "visibility",
+            "data"
+          ],
+          "valid_ref": "annotation/keypoints/keypoints.pt",
+          "valid_key": [
+            "visibility",
+            "valid"
+          ],
+          "storage": {
+            "profile": "pt/tensor_bundle/v1"
+          },
+          "valid_storage": {
+            "profile": "pt/tensor_bundle/v1"
+          },
+          "valid_axes": [
+            "T",
+            "hand",
+            "joint"
+          ]
+        }
+      },
+      "data_key": [
+        "uv",
+        "data"
+      ],
+      "valid_key": [
+        "uv",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "depth": {
+      "available": true,
+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          640,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          320,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "rendered",
+      "coordinate_frame": "current_rgb_camera",
+      "pixel_grid": "current_rgb",
+      "storage_fps": 1,
+      "timebase_role": "index_only",
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Official code (R*256+G)/65535*5 m; preserve complete float32 bits; source supplies every pixel, no additional invalid-pixel convention inferred"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle",
+        "member_pattern": "RHD_published_v2/training/depth/{source_frame_id:05d}.png"
+      }
+    },
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+      "available": true,
+      "schema_id": "segment/uint16_labels/v1",
+      "data_ref": "annotation/segment/mask.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "valid_ref": "annotation/segment/mask_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Native codes preserved; source 0 background mapped to 65534; native fine-region codes retained without merging"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "storage": {
+        "profile": "mkv/uint16_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          320,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only",
+      "segmentation_type": "semantic",
+      "mapping_ref": "annotation/segment/instances.jsonl",
+      "coverage": {
+        "kind": "full",
+        "scope": "official rendered background, person and both hand regions"
+      }
+    }
+  },
+  "split": "train",
+  "storage_revision": "lossless-video-2026-09-18",
+  "split_scheme": "RHD_official_training_evaluation",
+  "split_source_locator": {
+    "archive": "raw/data/RHD_v1-1.zip",
+    "member_prefix": "RHD_published_v2/training"
+  },
+  "view_type": "exo"
+}
diff --git a/RHD/shared-v1.1/data/training_00040448/camera/observation/depth.mkv b/RHD/shared-v1.1/data/training_00040448/camera/observation/depth.mkv
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diff --git a/RHD/shared-v1.1/data/training_00040448/camera/observation/depth_valid.mkv b/RHD/shared-v1.1/data/training_00040448/camera/observation/depth_valid.mkv
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diff --git a/RHD/shared-v1.1/data/training_00040448/camera/observation/rgb.mkv b/RHD/shared-v1.1/data/training_00040448/camera/observation/rgb.mkv
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diff --git a/RHD/shared-v1.1/data/training_00040960/camera/metainfo.json b/RHD/shared-v1.1/data/training_00040960/camera/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..c24ffbc2eb8ca7b90de9117543cd91133ed02bbe
--- /dev/null
+++ b/RHD/shared-v1.1/data/training_00040960/camera/metainfo.json
@@ -0,0 +1,433 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "RHD",
+  "release_id": "shared-v1.1",
+  "sequence_id": "training_00040960",
+  "camera_id": "camera",
+  "sample_type": "image",
+  "num_frames": 298,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "independent",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": "all source independent images sorted by source ID",
+    "shard_max_images": 512
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      320,
+      320
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "storage": {
+        "profile": "mkv/ffv1_rgb/v1",
+        "codec": "ffv1",
+        "pixel_format": "bgr0",
+        "encoded_size": [
+          320,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only"
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "data_key": [
+        "intrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "intrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "keypoints_xyz": {
+      "available": true,
+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/keypoints.pt",
+      "axes": [
+        "T",
+        "hand",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/keypoints/keypoints.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Keep both supplied hands including invisible points; reorder tip-to-palm to registered proximal-to-tip order"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "unit": "m",
+      "keypoint_schema": "rhd21/v1",
+      "coordinate_frame": "camera",
+      "source_index_map": [
+        0,
+        4,
+        3,
+        2,
+        1,
+        8,
+        7,
+        6,
+        5,
+        12,
+        11,
+        10,
+        9,
+        16,
+        15,
+        14,
+        13,
+        20,
+        19,
+        18,
+        17
+      ],
+      "attributes": {
+        "visibility": {
+          "data_ref": "annotation/keypoints/keypoints.pt",
+          "axes": [
+            "T",
+            "hand",
+            "joint"
+          ],
+          "dtype": "bool",
+          "visibility_type": "bool",
+          "meaning": "source per-keypoint visibility",
+          "provenance": {
+            "kind": "format_conversion",
+            "method": "native uv_vis visibility reordered with coordinates"
+          },
+          "source_locator": {
+            "archive": "raw/data/RHD_v1-1.zip",
+            "annotation": "RHD_published_v2/training/anno_training.pickle"
+          },
+          "data_key": [
+            "visibility",
+            "data"
+          ],
+          "valid_ref": "annotation/keypoints/keypoints.pt",
+          "valid_key": [
+            "visibility",
+            "valid"
+          ],
+          "storage": {
+            "profile": "pt/tensor_bundle/v1"
+          },
+          "valid_storage": {
+            "profile": "pt/tensor_bundle/v1"
+          },
+          "valid_axes": [
+            "T",
+            "hand",
+            "joint"
+          ]
+        }
+      },
+      "data_key": [
+        "xyz",
+        "data"
+      ],
+      "valid_key": [
+        "xyz",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "keypoints_uv": {
+      "available": true,
+      "schema_id": "keypoints/uv/v1",
+      "data_ref": "annotation/keypoints/keypoints.pt",
+      "axes": [
+        "T",
+        "hand",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/keypoints/keypoints.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Keep both supplied hands including invisible points; reorder tip-to-palm to registered proximal-to-tip order"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "unit": "pixel",
+      "keypoint_schema": "rhd21/v1",
+      "coordinate_frame": "rgb_image",
+      "source_index_map": [
+        0,
+        4,
+        3,
+        2,
+        1,
+        8,
+        7,
+        6,
+        5,
+        12,
+        11,
+        10,
+        9,
+        16,
+        15,
+        14,
+        13,
+        20,
+        19,
+        18,
+        17
+      ],
+      "attributes": {
+        "visibility": {
+          "data_ref": "annotation/keypoints/keypoints.pt",
+          "axes": [
+            "T",
+            "hand",
+            "joint"
+          ],
+          "dtype": "bool",
+          "visibility_type": "bool",
+          "meaning": "source per-keypoint visibility",
+          "provenance": {
+            "kind": "format_conversion",
+            "method": "native uv_vis visibility reordered with coordinates"
+          },
+          "source_locator": {
+            "archive": "raw/data/RHD_v1-1.zip",
+            "annotation": "RHD_published_v2/training/anno_training.pickle"
+          },
+          "data_key": [
+            "visibility",
+            "data"
+          ],
+          "valid_ref": "annotation/keypoints/keypoints.pt",
+          "valid_key": [
+            "visibility",
+            "valid"
+          ],
+          "storage": {
+            "profile": "pt/tensor_bundle/v1"
+          },
+          "valid_storage": {
+            "profile": "pt/tensor_bundle/v1"
+          },
+          "valid_axes": [
+            "T",
+            "hand",
+            "joint"
+          ]
+        }
+      },
+      "data_key": [
+        "uv",
+        "data"
+      ],
+      "valid_key": [
+        "uv",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "depth": {
+      "available": true,
+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          640,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          320,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "rendered",
+      "coordinate_frame": "current_rgb_camera",
+      "pixel_grid": "current_rgb",
+      "storage_fps": 1,
+      "timebase_role": "index_only",
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Official code (R*256+G)/65535*5 m; preserve complete float32 bits; source supplies every pixel, no additional invalid-pixel convention inferred"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle",
+        "member_pattern": "RHD_published_v2/training/depth/{source_frame_id:05d}.png"
+      }
+    },
+    "segment": {
+      "available": true,
+      "schema_id": "segment/uint16_labels/v1",
+      "data_ref": "annotation/segment/mask.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "valid_ref": "annotation/segment/mask_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Native codes preserved; source 0 background mapped to 65534; native fine-region codes retained without merging"
+      },
+      "source_locator": {
+        "archive": "raw/data/RHD_v1-1.zip",
+        "annotation": "RHD_published_v2/training/anno_training.pickle"
+      },
+      "storage": {
+        "profile": "mkv/uint16_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          320,
+          320
+        ],
+        "source_lossy": false,
+        "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+        "encoder_parameters": [
+          "-level",
+          "3"
+        ]
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only",
+      "segmentation_type": "semantic",
+      "mapping_ref": "annotation/segment/instances.jsonl",
+      "coverage": {
+        "kind": "full",
+        "scope": "official rendered background, person and both hand regions"
+      }
+    }
+  },
+  "split": "train",
+  "storage_revision": "lossless-video-2026-09-18",
+  "split_scheme": "RHD_official_training_evaluation",
+  "split_source_locator": {
+    "archive": "raw/data/RHD_v1-1.zip",
+    "member_prefix": "RHD_published_v2/training"
+  },
+  "view_type": "exo"
+}
diff --git a/RHD/shared-v1.1/data/training_00040960/camera/observation/depth.mkv b/RHD/shared-v1.1/data/training_00040960/camera/observation/depth.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..cf177971e0daa22c58c9eea3cc4edfbb94224328
--- /dev/null
+++ b/RHD/shared-v1.1/data/training_00040960/camera/observation/depth.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:412bfe0a8c21d6392f907143e3999e31d4718812f585b864d5a5d96c527880cf
+size 22178231
diff --git a/RHD/shared-v1.1/data/training_00040960/camera/observation/depth_valid.mkv b/RHD/shared-v1.1/data/training_00040960/camera/observation/depth_valid.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..36a23a1203bd8a0e779ba593132a9f0f79069931
--- /dev/null
+++ b/RHD/shared-v1.1/data/training_00040960/camera/observation/depth_valid.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b314f243b0ee347435154ee2a740267f1c2304ba20731361574874f6b0864f1
+size 68795
diff --git a/RHD/shared-v1.1/data/training_00040960/camera/observation/rgb.mkv b/RHD/shared-v1.1/data/training_00040960/camera/observation/rgb.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..a5d5ba1968426016579d91c6b51efca4596e63f4
--- /dev/null
+++ b/RHD/shared-v1.1/data/training_00040960/camera/observation/rgb.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7bea0505f709b56b71622b2e252b0ab391bd86b2e30fd3ccd7aac34c61e1c09
+size 21557993
diff --git a/RHD/shared-v1.1/data/training_00040960/camera/observation/rgb_valid.pt b/RHD/shared-v1.1/data/training_00040960/camera/observation/rgb_valid.pt
new file mode 100644
index 0000000000000000000000000000000000000000..4bd94789405476f1142ff1fd26a4b88c5cc255ff
--- /dev/null
+++ b/RHD/shared-v1.1/data/training_00040960/camera/observation/rgb_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbe311c6387aca93404078a2bb781614c6e77093b8afe795b64b0569fabbe2b8
+size 1446
diff --git a/RHD/shared-v1.1/doc/CONTRACT.md b/RHD/shared-v1.1/doc/CONTRACT.md
new file mode 100644
index 0000000000000000000000000000000000000000..f1845f6fff47881cb84032a53edb9e75a7bb63e3
--- /dev/null
+++ b/RHD/shared-v1.1/doc/CONTRACT.md
@@ -0,0 +1,163 @@
+> RHD shared-v1.1 已完成本地全量迁移与自动验收（逐字段字节级比对）；人工复查与 HF 发布尚未完成。
+
+# 手物数据仓库统一约定 v1.1：张量合并存储
+
+格式版本：`hand-warehouse/1.1`。张量存储约定：`pt/tensor_bundle/v1`。
+
+状态：RHD shared-v1.1 配套注册表与读写工具已适配；本地全量数值一致性及结构检查通过，发布清单已在发布树外重建（`tmp/rhd-tools/PUBLISH_MANIFEST.json`，树内不含清单）。人工复查不属于自动验收，尚未完成；HF 发布尚未进行。
+
+本版以 [v1.0 合同](V1_0_SEMANTICS.md) 为语义基础：任务范围、两层序列/相机组织、数据类型、单位、坐标系、时间对齐、左右手顺序、官方划分、view_type、来源、可用监督规则、媒体无损编码和验收要求均保留。下文仅替代数值张量组件的独立 Tensor 文件、对应 `*_valid.pt` 及文件引用规定；这些旧文件名仅用于识别对应逻辑字段。媒体和 JSONL 组件的有效性文件及引用保持 v1.0，不纳入合并。未明确改变的语义继续执行 v1.0。
+
+本版按用户约定作为 v1.0 的小版本存储修订，后续所有数据集逐步迁移到 v1.1。数值字段与 valid 语义不变，但 `.pt` 物理结构和引用方式改变，旧读取器不能未经适配直接读取新字典。各数据集在原 `shared-v1.0` 目录内逐步升级，完整验收后将目录更名为 `shared-v1.1`，不长期保留两套发布树。最终 `metainfo.schema_version=hand-warehouse/1.1`、`release_id=shared-v1.1`；尚未迁移的数据集仍使用原目录和版本。升级与发布流程见 [MIGRATION.md](MIGRATION.md)。实施前须按配套 v1.1 注册表完成读写/校验工具；不得将 v1.0 的 schema.json 改个版本号作为已完成适配的证明。正式发布时须提供完整合同与匹配注册表，不依赖本地草案目录中的相对链接。
+
+## 1. 合并边界
+
+1. 数值张量与对应有效性必须在同一个 `.pt` 文件、同一个字段字典内保存：`{"data": Tensor, "valid": BoolTensor}`。这些数值张量组件不再生成独立的 `*_valid.pt`；媒体和 JSONL 的有效性文件不受此规则影响。
+2. 按组件合并经常一起读取的小张量：相机内参、外参、畸变放在一个 `camera.pt`；MANO 参数与整手可见性放在一个 `mano.pt`；手关键点的二维、三维与可见性放在一个 `keypoints.pt`。
+3. 每个物体的数值字段及全部部件数值字段合并为一个 `object.pt`。不同物体、不同相机、不同序列不合成一个全局大文件，以保留按需下载和读取能力。
+4. RGB、深度、栅格 mask 继续使用原无损媒体格式，不把解码后的大数组或媒体字节塞进 `.pt`。它们的有效性文件保持原文件名、Tensor/媒体格式、形状和引用方式，不包装为字典。
+5. `metainfo.json`、`camera/frames.jsonl`、实例映射、物体身份/运动学定义与网格资产保留原格式。此次不把 JSON、JSONL、OBJ、纹理全部打进一个字典。
+
+合并只改变存储方式，不改变采样、帧数、张量内容或有效性判定。不为减少字段数而将多个组件的 valid 合成一个公共 valid。
+
+## 2. 目录
+
+```text
+<dataset>/shared-v1.1/
+  doc/                              # 完整合同、匹配 schema、字段映射、验收报告
+  script/                           # 转换、读取和校验代码
+  data/<sequence_id>/<camera_id>/
+    metainfo.json
+    observation/
+      rgb.mkv
+      rgb_valid.pt                  # 原独立 bool Tensor，保持不变
+      depth.mkv
+      depth_valid.mkv               # 逐像素有效性，保留压缩媒体格式
+    camera/
+      frames.jsonl
+      camera.pt                     # intrinsic、extrinsic、distortion
+    annotation/
+      mano/mano.pt                  # motion、visibility
+      keypoints/keypoints.pt        # uv、xyz、visibility、whole_hand_visibility
+      object/<object_id>/
+        metainfo.json
+        articulation.json           # 仅关节/部件结构实际存在时
+        object.pt                   # 位姿、可见性、几何点、关节、部件数值
+        assets/                     # 原网格、材质、纹理及依赖
+      segment/
+        mask.mkv                    # 或 polygons.jsonl，按所选表示
+        instances.jsonl             # 仅需要实例/区域编码映射时
+        mask_valid.pt               # 原帧级 bool Tensor，保持不变
+      contact/
+        relations.jsonl
+        relations_valid.pt          # 原帧级 bool Tensor，保持不变
+        <subject_id>__<object_id>/
+          contact.pt                # vertex_region、vertex_distance
+```
+
+只创建实际提供的组件和字段。以上不是每个数据集必须填满的模板；缺失内参、MANO、深度等不能通过占位文件伪装为已提供。序列/相机的两层结构不变，物体与模态目录属于相机内部组件。
+
+## 3. 字典结构与有效性
+
+本次合并的数值组件 `.pt` 根对象为字符串键的 Python `dict`，内部仅允许嵌套字符串键字典和 CPU `torch.Tensor`，不保存自定义类、模型、NumPy 对象或任意可执行对象。元信息、schema、单位和来源放在 metainfo，不在每个张量条目中重复保存。读取使用 `torch.load(path, map_location="cpu", weights_only=True)`。第 4 节保留的独立有效性 `.pt` 根对象仍为 CPU bool Tensor，不适用字典结构要求。
+
+例如，`camera/camera.pt` 的逻辑结构为：
+
+```python
+{
+    "intrinsic": {"data": K, "valid": K_valid},
+    "extrinsic": {"data": T_camera_from_world, "valid": extrinsic_valid},
+    "distortion": {"data": distortion, "valid": distortion_valid},
+}
+```
+
+以上变量均为 Tensor。未提供的字段整个省略；例如无世界系外参时不保存 `extrinsic`，不填单位矩阵。没有单独畸变向量的模型不创建 `distortion`：Fisheye624 仍使用既定 `[T,15]` 内参参数布局。
+
+数值字段统一为 `data` 与 `valid` 两个叶子。源属性原先显式声明全已知 `valid=true` 时，迁移可按该属性的有效性形状展开为全 true 的 bool Tensor；这是已有有效性声明的等价表示，不是根据数值或姿态推测有效性。有效性必须为 bool Tensor，不能用 Python `True` 代替字段内的 Tensor。静态数值字段同样配套 valid，形状采用其语义定义的标量或逐元素有效性；静态网格等外部资产仍可在 metainfo 中声明标量 valid。
+
+valid 的形状不要求与 data 完全相同，但必须与该字段定义一致。例如 MANO 为 `[T,2,61]` / `[T,2]`，内参为 `[T,3,3]` / `[T]`，关键点为 `[T,2,K,3]` / `[T,2,K]`。按 schema 将 valid 扩展到相应数值维度，不允许依靠碰巧可广播推断语义。
+
+浮点默认 float32，无效浮点位置仍为 NaN；bool 和整数沿用该组件的占位/保留值规则，不因没有 NaN 而视为有效。valid 表达可用监督，不只是“值有限”或“记录存在”；适用官方 QA 与已经确认的排除规则继续保留。不能用 `isfinite(data)` 重建 valid，不能因为迁移而把 false 改成 true。
+
+不同字段的 valid 独立保存和解释。visibility 的 valid 不复用姿态 valid；内参 valid 不代替外参 valid。既有相机模型要求内参与单独畸变向量共用有效性时，在两个字段内保存相同 bool 值并校验一致，而不改变该模型的联合标定规则。
+
+## 4. 固定分组与字段名
+
+下表中的键路径用 `/` 展示字典层级；它不是文件系统路径。数值字段均在列出的键下继续存储 `data`、`valid`。
+
+| 文件 | 数值字段键 | 内容 |
+|---|---|---|
+| `camera/camera.pt` | `intrinsic`、`extrinsic`、`distortion` | 逐帧标定；形状、参数顺序与相机模型定义不变 |
+| `annotation/mano/mano.pt` | `motion`、`visibility` | MANO `[T,2,61]` 与源整手可见性；各有独立有效性 |
+| `annotation/keypoints/keypoints.pt` | `uv`、`xyz`、`visibility`、`whole_hand_visibility` | 手关键点及源可见性；整手与逐点可见性不混用 |
+| `annotation/object/<id>/object.pt` | `pose`、`visibility`、`dimensions`、`joint_state` | 该物体的数值标注 |
+| 同上 | `keypoints/xyz`、`keypoints/template_xyz` | 相机系逐帧点或物体系静态模板点 |
+| 同上 | `parts/<part_id>/pose`、`parts/<part_id>/dimensions`、`parts/<part_id>/keypoints/xyz`、`parts/<part_id>/keypoints/template_xyz` | 部件数值字段，部件身份仍由 articulation 登记 |
+| 同上 | `meshes/<mesh_id>/vertex_part_ids` | `[V] int64` 顶点部件标签，valid 为 `[V]`，未知 -1 对应 false；每个 mesh 单独绑定拓扑 |
+| `annotation/contact/<subject_id>__<object_id>/contact.pt` | `vertex_region`、`vertex_distance` | 已登记拓扑上的接触区域/距离与同形有效性 |
+
+顶点部件标签使用注册类型 `object/vertex_part_ids/v1`。物体的 mesh_id、part_id 必须在 metainfo/运动学定义中可解析；不同拓扑不能误用同一顶点数组。未提供的可见性、关节值或模板点不生成空字段。
+
+**媒体和 JSONL 的有效性保持原样，不参与字典合并：**
+
+| 数据本体 | 有效性文件 | 存储形式 |
+|---|---|---|
+| `observation/rgb.mkv` | `observation/rgb_valid.pt` | 独立 CPU bool Tensor `[T]` |
+| `annotation/segment/mask.mkv` 或 `polygons.jsonl` | 原 `valid_ref` 指定的文件，通常为 `annotation/segment/mask_valid.pt` | 独立 CPU bool Tensor `[T]`；沿用原路径 |
+| `annotation/contact/relations.jsonl` | `annotation/contact/relations_valid.pt` | 独立 CPU bool Tensor `[T]` |
+| `observation/depth.mkv` | `observation/depth_valid.mkv` | 原逐像素 bool 无损视频 `[T,H,W]` |
+
+不新建仅包装上述 valid 的 observation.pt、segment.pt 或关系级 contact.pt。现有媒体/JSONL 的 `valid_ref`、`valid_axes` 及适用的 `valid_storage` 保持原定义；深度编码、NaN 位串还原与像素有效性规则不变。实体对的接触区域/距离是数值张量，仍按上表合并到各实体对的 contact.pt。
+
+## 5. metainfo 的文件与字典键引用
+
+文件定位与字典内部定位分开登记，不在文件名中拼接自定义分隔符：
+
+| 字段 | 定义 |
+|---|---|
+| `data_ref` | 相对当前相机视图根目录的 POSIX 文件路径 |
+| `data_key` | 非空字符串列表，按顺序访问 `.pt` 嵌套字典，最终必须得到 data Tensor |
+| `valid_ref` | 有效性所在文件；合并的数值字段必须与 data_ref 相同，媒体/JSONL 保留独立有效性文件 |
+| `valid_key` | 非空字符串列表，最终必须得到 bool Tensor |
+| `storage.profile` / `valid_storage.profile` | 合并字典采用 `pt/tensor_bundle/v1`；媒体及其独立有效性保持原配置，不将独立 bool Tensor 声明为 bundle |
+
+数值字段必须显式登记 data_key 与 valid_key。例如内参登记：
+
+```json
+{
+  "available": true,
+  "schema_id": "camera/pinhole/v1",
+  "data_ref": "camera/camera.pt",
+  "data_key": ["intrinsic", "data"],
+  "axes": ["T", "row", "column"],
+  "valid_ref": "camera/camera.pt",
+  "valid_key": ["intrinsic", "valid"],
+  "valid_axes": ["T"],
+  "storage": {"profile": "pt/tensor_bundle/v1"},
+  "valid_storage": {"profile": "pt/tensor_bundle/v1"}
+}
+```
+
+这是引用结构片段，实际组件仍须补齐 provenance、source_locator 等必填内容。MANO 的 schema_id 仍可为 `mano/axis_angle61/v1`：它描述解码后的数值语义，不因为物理文件合并而改动。顶层 schema_version 与 storage.profile 标识新的存储方式。
+
+媒体和 JSONL 的 data_ref 不设置 data_key；RGB 的 valid_ref 仍为 `observation/rgb_valid.pt`，不设置 valid_key。分割、关系和深度的有效性同样保持原引用方式，不新增任何字典键字段。只有引用合并字典时才使用 data_key/valid_key。
+
+同样规则适用于 attributes 中的可见性等数值字段。相机模型已有的 `distortion_ref` 改为指向 `camera/camera.pt`，新增 `distortion_key=["distortion", "data"]`；对应有效性由同组件的 `distortion_valid_ref` 与 `distortion_valid_key=["distortion", "valid"]` 登记。带 `_key` 的引用必须指向匹配的 bundle 文件，不能指向目录或媒体。
+
+读取器按文件路径缓存已加载字典，再按 key 取字段。同一 camera.pt 的三个字段不应触发三次反序列化。按组件下载时取所需 bundle 的整个文件；本约定不承诺 `.pt` 内单个键的远端局部下载。组件合并会增加最小下载粒度，这是减少文件数的明确取舍。
+
+## 6. 迁移与验收
+
+各数据集分别迁移：先适配工具并做代表性完整序列验证，再迁移全量并核对结果，最后按授权更新远端发布；一个数据集完成不代表其他数据集已完成。迁移状态和输入/输出固定版本逐数据集登记。
+
+本地先在既有 `shared-v1.0` 内完成受控升级，校验完成后更名为 `shared-v1.1`。暂存、回滚、锁、旧文件清理、版本更新及 HF 路径切换遵循 [MIGRATION.md](MIGRATION.md)；不复制完整媒体、不改 raw、不重新编码。多文件原地更新期间须保持维护状态，不能让读取任务使用半迁移视图。
+
+每次迁移必须检查：
+
+1. 所有组件、属性及其字典键可解析；无越界文件引用、缺失键或未登记字段；已合并的数值组件不得遗留旧独立 `*_valid.pt`。媒体/JSONL 的原独立有效性文件必须保留，不得误删或重打包。
+2. 每个迁移前后的数值字段 dtype、shape、逐元素值、NaN 位置以及 bool valid 完全一致。数值张量还应按统一连续字节视图比较，确认没有更改 NaN 位串等内容；不能用近似容差代替单纯重打包的一致性。
+3. T、帧映射、相机方向、手槽、split、来源和 valid_policy 不变。固定标定仍按既有 `[T,...]` 规则保存；本次不额外改成单份静态标定加广播。
+4. 媒体与其他未修改文件按原可信摘要核对。新 `.pt` 的文件 SHA256 通常改变，必须重新生成发布清单；新文件指纹不等于转换语义正确性的证明。
+5. 用新读取器运行代表性完整序列及所有相机，检查 RGB、相机与实际存在的标注是否正确关联；报告明确“重打包数值一致”与“人工视觉验收”的不同范围。
+
+只有完成匹配注册表、读写工具及上述验收后才能生产/发布 v1.1。上传仍须单独得到授权；本文档更新本身不启动数据迁移或上传；被替代旧文件的清理属于后续迁移发布步骤，必须遵守MIGRATION.md 中先验收、安全切换和固定提交核验要求。
\ No newline at end of file
diff --git a/RHD/shared-v1.1/doc/FULL_MIGRATION_SUMMARY.json b/RHD/shared-v1.1/doc/FULL_MIGRATION_SUMMARY.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcc2e69d2d9302c9a4b16ab2a3273c63ca394c31
--- /dev/null
+++ b/RHD/shared-v1.1/doc/FULL_MIGRATION_SUMMARY.json
@@ -0,0 +1,281 @@
+{
+  "phase": "local_finalized_not_uploaded",
+  "completed_views": 87,
+  "created_utc": "2026-10-14T16:04:01.911588+00:00",
+  "dataset_id": "RHD",
+  "final_root": "/data0/yanghonglei/Datasets/hand-warehouse/RHD/shared-v1.1",
+  "source_revision": "d4e2bb40cd30071e4f6483877889c1857b41b707",
+  "source_release": {
+    "release": "shared-v1.0",
+    "schema_version": "hand-warehouse/1.0",
+    "schema_sha256": "9a34b349ed9315fb0f6ccbe3425e852c971b5a4aaf26a094f4f4df15bfccc091",
+    "revision_created_at": "2026-09-21T03:46:35.000Z",
+    "revision_last_modified": "2026-10-13T09:13:24.000Z",
+    "pinned_commit_record": "tmp/rhd-tools/source_registration.json",
+    "verified_against_hub": {
+      "files": 1455,
+      "missing": 0,
+      "bad": 0,
+      "bytes": 6792021123,
+      "by_digest_kind": {
+        "lfs_sha256": 1177,
+        "git_blob_sha1": 278
+      }
+    }
+  },
+  "source_manifest": {
+    "path": "/data0/yanghonglei/Datasets/hand-warehouse/RHD/tmp/rhd-tools/source_manifest.json",
+    "sha256": "48f1708e4563f47339b0cb64ff36055b4dd40b3661267155aa6ea73ddddfa5fb",
+    "files": 1455,
+    "bytes": 6792021123,
+    "covers": "RHD/shared-v1.0, the whole source release -- data/, doc/ and script/ included, unlike ARCTIC's data-only manifest"
+  },
+  "tool_digest": {
+    "tool": "hw11-migrate/1",
+    "migrate_sha256": "b58774ea29f7e0910fa5181f20b547a86c681ce870c3d8bde6075ea2be4a9a67",
+    "layout_sha256": "fe62f79f9228475e23764d57c923e781422951ad5ed6680337bf67e120a63db2",
+    "schema_sha256": "9f3769f950b36f75f3d571c77b5a661ca8e72afae20c9f1ddd1deef140e6cca8",
+    "python": "3.12.3",
+    "torch": "2.13.0+cu130"
+  },
+  "num_frames": 43986,
+  "counts_by_split": {
+    "test": 2728,
+    "train": 41258
+  },
+  "structural_validation": {
+    "report": "doc/validation/validate_report.json",
+    "passed": true,
+    "views": 87,
+    "frames": 43986,
+    "files_per_view": 11,
+    "bundles_per_view": 2,
+    "rewrite_check": [
+      {
+        "sequence_id": "evaluation_00000000",
+        "camera_id": "camera",
+        "bundles": [
+          "annotation/keypoints/keypoints.pt",
+          "camera/camera.pt"
+        ],
+        "tensors_compared": 8
+      },
+      {
+        "sequence_id": "evaluation_00000512",
+        "camera_id": "camera",
+        "bundles": [
+          "annotation/keypoints/keypoints.pt",
+          "camera/camera.pt"
+        ],
+        "tensors_compared": 8
+      }
+    ],
+    "scope": "released content and layout; does not independently prove official source correctness or visual quality"
+  },
+  "source_files": 1455,
+  "source_bytes": 6792021123,
+  "target_files": 1070,
+  "target_bytes": 6841584418,
+  "tree_totals_scope": "target_files counts every release file except this one, and target_bytes their bytes, with bytecode caches (__pycache__/) excluded exactly as the release manifest excludes them -- so the manifest lists one more entry than target_files, and its byte total exceeds target_bytes by this file plus the size deltas of the two files rewritten after it (doc/*.md when the banner is flipped in step 7, doc/validation/validate_report.json in step 8, both before the manifest, which is built last so that it covers them). The review pages are rendered in step 5 and doc/history-v1.0/ is synced in step 7's first pass, both before this file, so they are on both sides of that comparison. The manifest itself is outside the release tree (tmp/rhd-tools/PUBLISH_MANIFEST.json), so it appears on neither side of this comparison: the tree's own totals are what that manifest records. source_* describe v1.0, which nothing writes after the pull",
+  "elapsed_seconds": 9.0,
+  "elapsed_scope": "the single migrate run's own wall time, from the registry's started/finished. RHD's migration is a copy-out pass over a local source tree -- unmerged media and JSONL land as hardlinks to the source inodes -- so there is one run, no pull loop, and no inter-run time to exclude",
+  "all_numeric_bytes_exact": true,
+  "all_numeric_bytes_exact_evidence": "verify.py: every migrated view compared against its own v1.0 source field by field, numeric tensors as a unified contiguous byte view, no tolerance",
+  "all_source_data_files_match_fixed_hf": true,
+  "all_source_data_files_match_fixed_hf_evidence": "source_registration.py: 1455/1455 files under RHD/shared-v1.0 at the pinned commit d4e2bb40cd30071e4f6483877889c1857b41b707 digest-verified against the local source tree this migration consumed (1177 by sha256 of LFS content, 278 by git blob sha1)",
+  "all_current_file_hashes_verified": true,
+  "all_current_file_hashes_verified_evidence": {
+    "manifest": "tmp/rhd-tools/PUBLISH_MANIFEST.json",
+    "built": "last, by validate.py, after this file and the flipped banner exist",
+    "note": "outside the release tree, as in the published H2O and dex-ycb sets -- a manifest kept inside the tree could never hash its own final bytes. No counts are quoted here on purpose, for the reason above; the ordering is recorded in script/rhd_v1_1/README.md under 收尾验收顺序"
+  },
+  "carryover_v1_0_material": {
+    "doc_history_v1_0": {
+      "files": 58,
+      "bytes": 7552305,
+      "byte_identical_to_pinned_source": true
+    },
+    "script_v1_0_snapshot_script": {
+      "files": 5,
+      "bytes": 28223,
+      "byte_identical_to_pinned_source": true
+    },
+    "script_v1_0_snapshot_doc": {
+      "files": 2,
+      "bytes": 65107,
+      "byte_identical_to_pinned_source": true
+    },
+    "why_separate_manifests": "tmp/rhd-tools/source_manifest.json covers all of RHD/shared-v1.0 -- doc/ and script/ included, unlike ARCTIC's, which covered data/ only -- so the source side of these copies is already digest-verified against the pinned Hub revision. What that manifest cannot say is whether the copy inside the release is byte-identical to it, which is what this check compares.",
+    "record": "tmp/rhd-tools/v10-doc-script-verification.json",
+    "passed": true
+  },
+  "reader_acceptance": {
+    "sequences": 87,
+    "views": 87,
+    "fields_read": 435,
+    "failed": [],
+    "passed": true,
+    "tool": "script/rhd_v1_1/read_sequence.py",
+    "scope": "repackaging equivalent by reading the release; not visual acceptance. RHD names one camera per shard, so its sequence and view counts coincide"
+  },
+  "hf_writes": false,
+  "retained_local_v1_0": {
+    "path": "/data0/yanghonglei/Datasets/hand-warehouse/RHD/shared-v1.0",
+    "reason": "user instructed 先暂时保留着 (keep for now) rather than delete after the rename; recorded as a deviation from release_layout",
+    "upload_must_exclude": "shared-v1.0",
+    "documented_in": "doc/PUBLICATION_PLAN.md"
+  },
+  "local_rename_authorization": {
+    "action": "the release tree stands at its final name shared-v1.1, which MIGRATION 5 sets after the full local acceptance passed (see acceptance.json and structural_validation above); the rename is local only",
+    "visual_review_scope": "per-view HTML review pages were rendered from the v1.1 bundles into doc/validation/: 12 views over 12 shards, every evaluation shard plus 6 training shards drawn with seed 20261014 over the release's own splits, one page per shard (RHD has one camera per shard). They are the evidence CONTRACT 6.5 keeps separate from the byte-level record (see the visual_review block); producing them is not a human review. do not claim manual review"
+  },
+  "visual_review": {
+    "kind": "全量后抽样",
+    "views": 12,
+    "sequences": 12,
+    "sampling": {
+      "seed": 20261014,
+      "rule": "the whole evaluation split (all of its shards) plus training shards drawn uniformly inside the split with the seed, with the training split's partial tail shard forced into the sample; one page per shard (RHD has one camera per shard)",
+      "evaluation_shards_rendered": 6,
+      "training_slots": 6,
+      "forced_training_shard": [
+        "training_00040960"
+      ],
+      "shard_size": 512,
+      "selections": [
+        {
+          "sequence": "evaluation_00000000",
+          "split": "test",
+          "num_frames": 512,
+          "member_prefix": "RHD_published_v2/evaluation",
+          "camera": "camera"
+        },
+        {
+          "sequence": "evaluation_00000512",
+          "split": "test",
+          "num_frames": 512,
+          "member_prefix": "RHD_published_v2/evaluation",
+          "camera": "camera"
+        },
+        {
+          "sequence": "evaluation_00001024",
+          "split": "test",
+          "num_frames": 512,
+          "member_prefix": "RHD_published_v2/evaluation",
+          "camera": "camera"
+        },
+        {
+          "sequence": "evaluation_00001536",
+          "split": "test",
+          "num_frames": 512,
+          "member_prefix": "RHD_published_v2/evaluation",
+          "camera": "camera"
+        },
+        {
+          "sequence": "evaluation_00002048",
+          "split": "test",
+          "num_frames": 512,
+          "member_prefix": "RHD_published_v2/evaluation",
+          "camera": "camera"
+        },
+        {
+          "sequence": "evaluation_00002560",
+          "split": "test",
+          "num_frames": 168,
+          "member_prefix": "RHD_published_v2/evaluation",
+          "camera": "camera"
+        },
+        {
+          "sequence": "training_00009728",
+          "split": "train",
+          "num_frames": 512,
+          "member_prefix": "RHD_published_v2/training",
+          "camera": "camera"
+        },
+        {
+          "sequence": "training_00011264",
+          "split": "train",
+          "num_frames": 512,
+          "member_prefix": "RHD_published_v2/training",
+          "camera": "camera"
+        },
+        {
+          "sequence": "training_00031232",
+          "split": "train",
+          "num_frames": 512,
+          "member_prefix": "RHD_published_v2/training",
+          "camera": "camera"
+        },
+        {
+          "sequence": "training_00035328",
+          "split": "train",
+          "num_frames": 512,
+          "member_prefix": "RHD_published_v2/training",
+          "camera": "camera"
+        },
+        {
+          "sequence": "training_00038400",
+          "split": "train",
+          "num_frames": 512,
+          "member_prefix": "RHD_published_v2/training",
+          "camera": "camera"
+        },
+        {
+          "sequence": "training_00040960",
+          "split": "train",
+          "num_frames": 298,
+          "member_prefix": "RHD_published_v2/training",
+          "camera": "camera"
+        }
+      ],
+      "pools": {
+        "train": 81,
+        "test": 6
+      },
+      "sequences_in_release": 87
+    },
+    "wall_seconds": 40.329,
+    "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against its expected byte count",
+    "index": "doc/validation/index.html",
+    "report": "doc/validation/V1_1_VALIDATION.json",
+    "scope": "post-full sampled shards, read directly from v1.1 bundles; evidence for human acceptance, not training input; manual review pending",
+    "projection_qc": {
+      "views_scanned": 12,
+      "frames_scanned": 5586,
+      "points_scanned": 234612,
+      "behind_plane_points": 4442,
+      "near_plane_points": 27,
+      "comparable_points": 230143,
+      "in_frame_points": 169956,
+      "outside_frame_points": 60187,
+      "median_px": 0.039,
+      "in_frame_max_px": 0.1498,
+      "frames_with_in_frame_points": 5586,
+      "frames_all_in_frame_points_within_1px": 5586,
+      "outside_frame_within_1px": 59288,
+      "outside_frame_max_px": 71.0867,
+      "outside_frame_max_relative": 0.0216,
+      "visible_outside_frame": 11,
+      "invisible_in_frame": 4789,
+      "plane_threshold_m": 0.001,
+      "tolerance_px": 1.0,
+      "sampled_frames": {
+        "compared_points": 2230,
+        "within_1px": 2230,
+        "within_tolerance": 2230
+      },
+      "scope": "saved camera-frame xyz (metres) through the view's own pinhole intrinsic, compared against the saved native uv; not a media pixel comparison",
+      "note": "saved xyz projected through each view's own K, compared with the saved uv; RHD is the only release holding both series. The whole-view scan covers every frame of every rendered view; sampled_frames covers only the frames whose pixels were decoded. Points at or within a millimetre of the camera plane are counted separately rather than compared in pixels, and in-frame points are separated from out-of-frame ones by where the published uv itself lands, so a far out-of-frame joint cannot inflate the in-frame maximum.",
+      "rule": "发布的 uv 是原始投影值，画外关节的坐标可以任意大；本页按发布的 uv 是否落在画内分两组核验——画内点按像素偏差、画外点按相对自身量级的偏差，另单列\"源标为可见却落在画外\"的点数（该方向才可能是标注与标定不一致）",
+      "recorded_in": "doc/validation/<view>.report.json, projection.view_scan for the whole view and projection.frames for the frames whose pixels were decoded"
+    },
+    "manual_review": "pending",
+    "note": "each page is one self-contained file: the released rgb frames decoded from the preserved MKV, the released camera and joint values read straight out of the v1.1 bundles, and the per-frame numbers with their validity. RHD publishes both the native uv and the camera-frame xyz with one pinhole intrinsic, so the saved xyz is re-projected through the view's own K and compared with the saved uv -- a check the other releases cannot make. No pixel is compared against raw, and no human has approved a page yet"
+  },
+  "human_full_review": {
+    "state": "pending",
+    "note": "CONTRACT 6.5 keeps human visual acceptance separate from this record; every check above is mechanical. RHD's view metainfo carries no human-review flag to leave pending -- upload_authorized and full_output_human_review do not exist in this release's schema -- so nothing inside the release asserts a review has happened: this record's publication_authorized, and visual_review.manual_review, are the only places that state it, and both are still negative."
+  },
+  "publication_authorized": false,
+  "scope": "87 sequences, 87 cameras, 43986 frames; human post-full review and HF publication pending"
+}
diff --git a/RHD/shared-v1.1/doc/MIGRATION.md b/RHD/shared-v1.1/doc/MIGRATION.md
new file mode 100644
index 0000000000000000000000000000000000000000..b867163fccbc578f22eb6be8181f866bfecb6813
--- /dev/null
+++ b/RHD/shared-v1.1/doc/MIGRATION.md
@@ -0,0 +1,68 @@
+# 数据集 v1.0 → v1.1 升级规范
+
+日期：2026-10-09。目标格式：`hand-warehouse/1.1`。字段与字典布局见 [CONTRACT.md](CONTRACT.md)。
+
+## 1. 升级单位与最终布局
+
+以一个完整数据集为单位逐步升级。每个数据集在既有目录内完成数值文件重组、工具适配与验证，完成后将目录由 `shared-v1.0` 更名为 `shared-v1.1`。最终使用：
+
+```text
+<dataset>/
+  raw/                  # 保持原样
+  shared-v1.1/
+    data/
+    doc/
+    script/
+```
+
+这是对“发布目录永久保持 shared-v1.0”安排的修订：不长期保留两套发布树，也不复制一整套媒体再制作新版本。尚未升级的数据集继续使用自己的 `shared-v1.0`；不同数据集处于不同版本是正常的。
+
+完成后视图元数据统一为 `schema_version=hand-warehouse/1.1`、`release_id=shared-v1.1`。目录名与元数据版本均须正确，不能只更名而不改变内容。发布记录保留旧版本的固定提交以便追溯。
+
+## 2. 变更范围
+
+- 合并相机、MANO、关键点、物体、实体对接触等数值张量及各自 valid；具体分组遵循合同。
+- 保持媒体及其独立有效性文件不变，包括 RGB、深度、mask 和相应 valid。JSONL、资产按合同保留；不重新编码媒体，不改 raw。
+- 不改变张量 dtype、shape、数值、NaN 位串、valid、帧映射、T、单位、坐标系、左右手、划分及监督策略。
+- 更新匹配的 schema、读取/转换/校验脚本、metainfo 引用、发布清单和正式文档。不得仅替换版本字符串冒充工具适配。
+- 删除已经完整合并且验收通过的旧数值文件与对应独立 valid；不得按 `*_valid.pt` 通配删除，媒体/JSONL 有效性不在清理范围。
+
+## 3. 启动与登记
+
+启动前核对项目并行上限、实际进程、锁和空间。取得数据集迁移锁并暂停该目录的转换、发布和读取任务；多文件原地更新不是整体原子操作，不得让消费者读取半迁移视图。
+
+在发布树外的 `tmp/` 为每个数据集登记：源 schema/release、源 HF 固定提交、源文件清单及摘要、目标版本、工具摘要、变更/删除的精确路径清单、checkpoint、阶段、错误和验收结果。原始数据长期保留。
+
+准备可恢复的基线：保存即将被替换的小型元数据和脚本，以及旧数值文件的临时备份或已核验可恢复的远端固定版本。不复制未变化的大型媒体。空间预算包含临时新文件和回滚所需文件；空间不足时停止新增工作，不删 raw 腾空间。
+
+## 4. 原地升级
+
+1. 先选代表性完整序列及全部相机，在 `tmp/` 验证新写入器、读取器和引用；覆盖实际存在的组件与有效性组合。遵循项目人工验收要求后再全量。
+2. 全量按完整视图处理。读取旧数值及 valid，写临时字典，重新读取并逐字段精确比较；不得用近似误差判断纯重打包的一致性。
+3. 验证通过后在同一文件系统原子替换单个文件，再更新该视图 metainfo。只有新字段与引用完整可读、且回滚依据可用，才能移除该视图被替代的旧文件。
+4. 每个视图保存完成 checkpoint；续跑必须核对输入和工具版本、产物摘要及当前引用，不能只依据文件存在而跳过。整个数据集完成前保持维护状态。
+5. 完成全部视图后校验完整路径集合、无重复/缺失、所有键引用、全部数值一致性和未变文件摘要，并更新正式文档及脚本。生成直接读取新格式的随机完整序列报告，按项目流程人工确认。
+
+失败时停止该数据集迁移，保留 checkpoint 和回滚材料，不伪装完成，不自动删除整棵目录或从 raw 重做转换。
+
+## 5. 本地最终更名
+
+全量验收通过后，在维护状态下统一设置最终 `release_id=shared-v1.1`，更新当前使用的配置、入口、清单和链接，然后将原目录重命名为 `shared-v1.1`。
+
+重命名前核对源/目标绝对路径均位于该数据集根目录；目标目录必须不存在，不合并、不覆盖已有同名目录。同一文件系统内执行目录重命名，避免复制全部媒体。更名后再次解析相对引用并检查脚本默认路径，最后解除本地维护状态。
+
+历史报告中说明当时版本的文字与固定摘要作为历史证据保留，不批量篡改；当前入口须明确报告所属版本，并链接本次迁移验收结果。
+
+## 6. HF 发布与路径更换
+
+本地目录重命名不等于 HF 路径已经更换。远端须在得到发布授权后，基于旧的固定提交执行受控更新；发布前再次核对源 HEAD 和相关文件内容，冲突时停止调查。
+
+优先复用仓库已有内容，以平台实际支持且经过验证的服务端复制/提交操作，将未变化媒体映射到 `shared-v1.1`；仅新的字典、元数据、文档和脚本需要提供新内容。不承诺路径更换必然零网络传输或零耗时；先验证实际行为，不盲目重新上传全套媒体。
+
+理想情况下，在一个提交中添加目标路径并删除旧路径，使默认分支完整切换。若文件数或 API 限制不允许，使用经过验证的临时分支准备与核验，完成后受控切换；若只能分批更新默认分支，必须明确维护状态，旧版本保留到目标完整核验通过，不提前删除唯一完整的旧树。短暂的核验用路径并存不代表长期发布两套版本。
+
+最终必须在同一固定提交上验证：目标 `shared-v1.1` 的文件集合、大小与内容摘要全部匹配清单，所有引用有效；旧 `shared-v1.0` 路径已移除；raw 未变化。服务端更换路径仍须执行这些核验，不能用“文件名已改”替代。
+
+完成后更新数据集登记与下载示例，记录最终提交，清理本次临时文件并通知一次，再安排下一个数据集。旧提交历史保留历史版本；本流程减少当前发布树的重复文件，不承诺清除 HF 历史存储。
+
+本文仅规定后续实施流程，编写本文不等于已经启动迁移、修改数据或获得新的发布授权。
diff --git a/RHD/shared-v1.1/doc/PUBLICATION_PLAN.md b/RHD/shared-v1.1/doc/PUBLICATION_PLAN.md
new file mode 100644
index 0000000000000000000000000000000000000000..18b95cc23e51f2155544d50de088228d7624217a
--- /dev/null
+++ b/RHD/shared-v1.1/doc/PUBLICATION_PLAN.md
@@ -0,0 +1,42 @@
+# RHD shared-v1.1 发布计划
+
+本文件记录发布**前**的计划，不伪称已上传完成。本地 `shared-v1.1` 已做全量迁移与自动验收；人工复查与上传都还没有进行。本 release 的 metainfo 里没有 `upload_authorized` 这类状态位（不在 v1.1 的 schema 里），所以授权状态只由汇总 `doc/FULL_MIGRATION_SUMMARY.json` 的 `publication_authorized: false` 表示。
+
+- 固定源提交：`d4e2bb40cd30071e4f6483877889c1857b41b707`，路径 `RHD/shared-v1.0`；该提交下 1455 个文件逐一按内容校验通过（LFS 比对 sha256、普通文件比对 git blob sha1），记录在发布树外的 `tmp/rhd-tools/source_registration.json`（`migrate.py` 不带 `--source-revision`，故这一环在树外单独登记）。
+- 上传内容：新的数值 bundle、改过的 `metainfo.json` 与新文档。发布清单**不是**发布内容——它按 H2O、dex-ycb 的约定保存在发布树外的 `tmp/rhd-tools/PUBLISH_MANIFEST.json`（树内的副本无法描述自己的最终字节，见 `script/rhd_v1_1/README.md` 的「收尾验收顺序」）。未变化的媒体与 JSONL 与源**同 inode**（迁移是 copy-out + 硬链接），逐字节相同，因此 LFS 侧应复用服务端已有 blob，不重新编码、不重复占用配额。
+- 只调整 `RHD/shared-v1.1` 下的路径及对应的 LFS 跟踪行；仓库里 RHD 的其他内容与其他数据集不变。
+
+## 人工复核页（验收证据，不是训练输入）
+
+`doc/validation/` 里有 12 个视图的逐视图目视页（入口 `doc/validation/index.html`），与 H2O、dex-ycb、ARCTIC 各套 v1.1 的做法一致，由 `script/rhd_v1_1/render.py` 生成（`script/rhd_v1_1/README.md` 的「收尾验收顺序」第 5 步）。它们**只读** v1.1 的 bundle，不引入 v1.0 时代的渲染栈或外部模型资产。
+
+- **抽样可复现**：种子 `20261014`；整个评估 split 的 6 个分片全部入选，再加训练 split 内均匀抽出的 6 个分片（尾部不满片 `training_00040960` 强制入选）；RHD 每个分片只有一路相机，故一页一分片，共 12 个视图、5,586 帧。规则、种子、入选分片与逐视图帧数都写进随发布保留的 `doc/validation/V1_1_VALIDATION.json`。
+- **用途**：这是 CONTRACT §6.5 里「人工目视验收」要看的东西，**不是训练输入**，也不是自动判据。渲出页面不等于有人看过：汇总里的 `human_full_review` 与 `visual_review.manual_review` 都仍为 `"pending"`，本文件第 3 行说的「人工复查还没有进行」照旧成立。
+- **页面画什么、不画什么**：抽样帧每帧五联面板——原生 RGB（MKV 解出、未重编码）｜分割区域叠加（左手红、右手蓝，含像素计数与区域号）｜原生 UV 关键点（实心＝源标为可见）｜XYZ 投影关键点（把发布的 `xyz` 经该视图自己的 `K` 投影后画在 RGB 上）｜z 深度（float32 位串解包后逐图拉伸）。**不画**手部骨架或手部网格（发布里没有手关节标注，21 个点只统一其原生体系顺序，不宣称与 MANO 关节位置等价），也不画物体与接触（release 里没有这些组件）。源缺的字段一律不补造；本页没有画的东西逐条记进该视图报告的 `not_drawn` 并写在页面上，`script/rhd_v1_1/README.md` 里也有同样的说明。
+- **投影自检（本 release 独有）**：RHD 是唯一同时发布原生 2D 关节 `uv` 与相机系 3D `xyz`（外加同一套针孔 `K`）的 release，所以页面能把 `xyz` 经该视图自己的 `K` 投影后与发布的 `uv` 逐点比对——H2O、dex-ycb、ARCTIC 都做不了这个对照。全量扫描覆盖入选视图的**每一帧**（12 视图、5,586 帧、234,612 个已标注关节）：画内点 169,956 个，中位偏差 ≤0.039 px、单点最大 0.1498 px，5,586/5,586 帧的画内点全部 ≤1 px；画外点 60,187 个（`uv` 是原始投影值，可任意大），其中 59,288 个绝对偏差仍 ≤1 px；深度 ≤0 的 4,442 个与 0<深度<1 mm 的 27 个只计数不成对比较。**源标为可见、而发布的 uv 落在画外**的点全 release 只有 11 个，且偏差 ≤0.1 px（uv 恰为边界值），即标注与标定并无冲突。「画外占多数」是本品「每图标注双手、画面里通常只有一只」的正常形态，不是标定缺陷。判定规则与每个抽样帧、每个视图的计数都写进该视图报告的 `projection`，全量聚合写进 `V1_1_VALIDATION.json` 的 `projection_qc`。**偏差只被记录，不用来「修正」发布值，也不丢任何帧。**
+- 这些是 v1.0 没有的新文件（HTML 与 JSON，不是 LFS 媒体），上传时随 `shared-v1.1` 一起新增。
+
+## 本树当前保留了一份 `shared-v1.0`（与 release_layout 的规定不一致）
+
+注册表 `release_layout` 要求「在 `shared-v1.0` 下原地升级、完整校验后再改名为 `shared-v1.1`，**不得保留重复的发布树**」。本数据集当前**同时**存在 `RHD/shared-v1.0` 与 `RHD/shared-v1.1`，这是明确记录的偏离，原因是用户要求暂缓删除（`先暂时保留着`），以便在两棵树并存的情况下先完成核对。
+
+因此：
+
+- 这份 `shared-v1.0` 是本次迁移的**输入与逐字节比对基准**，不是要发布的第二份数据；`verify.py` 的验收正是对着它做的。
+- 上传时必须**只**新增 `shared-v1.1`。不得把两份树一起传上去——那正是 `release_layout` 要避免的重复发布树，也会让下游无法判断哪份是当前版本。
+- 旧 `shared-v1.0` 的移除属于后续独立步骤：应在发布清单与全部路径、大小、内容摘要核验通过之后，单独一次改动完成，不在本次迁移里顺手删除。
+
+## 文档命名：保留 RHD v1.0 的两个历史名字（与 H2O 的 doc 命名约定不同）
+
+H2O、dex-ycb、ARCTIC 的 `doc/` 用 `RAW_TO_SHARED.md`。RHD v1.0 当年的对应文件叫 `RAW_MAPPING.md`，另有一份 `REPORT.md`。按用户指示「RHD v1.0 的历史名字不用改」，本 release 保留这两个名字，其余（`CONTRACT.md`、`MIGRATION.md`、`schema.json`、`V1_0_SEMANTICS.md`、`history-v1.0/`、`validation/`）与其余各套对齐。v1.0 时期的这两个文件本身逐字节保留在 `doc/history-v1.0/`。
+
+## 上传与核验（由师兄执行，本工具链不做上传）
+
+- 最终 HF 提交号、树摘要与发布核验结果保存在**发布树之外**的 `HF_PUBLICATION.json`，避免文件自引用自己的提交号或清单摘要。
+- 在独立 PR 内移除旧 `RHD/shared-v1.0` 路径并准备新版本；`main` 保持旧版本完整可用，直到新版本按全部路径、大小和内容摘要核验通过才合并。
+- 不自动 squash、不删除仓库历史：文件数限制类错误需要按实际错误调查，而全仓库历史清除会同时影响其他数据集与固定提交的可回溯性。
+- 上传及核验成功后，再清理本次的私有暂存、试点产物与数值备份；正式 `shared-v1.1`、`raw` 与其他任务产物保留。
+
+## 工具链不做的事
+
+本目录不含上传脚本。`script/rhd_v1_1/` 只负责迁移、验收与结构校验，`script/provenance/operations/build_rhd_docs.py` 只负责生成本目录的文档；发布树外的 `tmp/rhd-tools/` 负责源提交登记、v1.0 携带物比对与汇总生成。上传需要单独的书面授权，授权与执行都不在这里。
\ No newline at end of file
diff --git a/RHD/shared-v1.1/doc/RAW_MAPPING.md b/RHD/shared-v1.1/doc/RAW_MAPPING.md
new file mode 100644
index 0000000000000000000000000000000000000000..caa744b074ae92bc0533b43307da51cab6f70079
--- /dev/null
+++ b/RHD/shared-v1.1/doc/RAW_MAPPING.md
@@ -0,0 +1,41 @@
+# RHD raw → share 映射
+
+| raw | v1.1 位置（文件 → 字典键） | 规则 |
+|---|---|---|
+| color/*.png | `observation/rgb.mkv`（保留） | 比较通过逐像素无损验证的 FFV1 / RGB H.264，选择较小文件 |
+| depth/*.png | `observation/depth.mkv`（保留） | (R×256+G)/65535×5 米；float32 z 深度位串拆成两幅 uint16 半字横向拼接，用 FFV1 保存 |
+| 深度是否提供 | `observation/depth_valid.mkv`（保留） | 当前源每像素有编码，保留为 true；不猜测额外无效值 |
+| anno_*['K'] | `camera/camera.pt` → `intrinsic/data` | 每帧针孔 K |
+| anno_*['xyz'] | `annotation/keypoints/keypoints.pt` → `xyz/data` | 左右手槽，米制；rhd21/v1；原始 tip→palm 重排为近端→远端 |
+| anno_*['uv_vis'][:, :2] | `annotation/keypoints/keypoints.pt` → `uv/data` | 原生二维像素坐标，同样重排 |
+| anno_*['uv_vis'][:, 2] | `annotation/keypoints/keypoints.pt` → `visibility/data` | 原生逐点 bool 可见性，与标注是否存在分开 |
+| mask/*.png | `annotation/segment/mask.mkv` + `instances.jsonl`（保留） | 源 0 背景改为 65534；1 为 person，2–17 左手、18–33 右手；保留原生区域编号映射，不丢弃细分类 |
+| 原图编号 | `camera/frames.jsonl`（保留） | 稳定 sample_id、原 ZIP 成员和标注索引；image 类型，无真实时间序列 |
+
+没有源 MANO、物体、接触或相机外参就缺省，不补造。RHD 21 点只统一其原生体系顺序，不宣称与 MANO 关节位置等价。完整 ZIP 原样保留并随发布上传；运行日志只存 tmp。24 张试点已通过人工核验；全量按每片最多 512 张，训练/评估分开、尾片不补帧。87 个分片；完成后另做全量随机抽查。
+
+## v1.0 → v1.1 数值布局
+
+v1.1 相对 v1.0 只改物理布局，不改语义（`DOC/CONTRACT.md` §1）。每个数值张量与其 `valid` 合入同一组文件的一个 `{"data": Tensor, "valid": BoolTensor}` 叶：
+
+| v1.0 文件 | v1.1 文件 | 字典键 |
+|---|---|---|
+| `camera/intrinsic.pt` + `camera/intrinsic_valid.pt` | `camera/camera.pt` | `intrinsic` |
+| `annotation/keypoints/xyz.pt` + `_valid.pt` | `annotation/keypoints/keypoints.pt` | `xyz` |
+| `annotation/keypoints/uv.pt` + `_valid.pt` | `annotation/keypoints/keypoints.pt` | `uv` |
+| `annotation/keypoints/visibility.pt`（无独立 valid） | `annotation/keypoints/keypoints.pt` | `visibility` |
+
+键名由 v1.0 的 `data_ref` 决定：去掉该 bundle 声明的目录前缀、去掉末段的 `.pt`，其余段按 `/` 作为嵌套键。因此每视图文件数由 16 降为 11。
+
+`visibility` 在 v1.0 中用标量 `"valid": true` 声明全已知；v1.1 依 `tensor_attributes.visibility` 展开为显式全真 bool 张量（形状 `["T", 2, "K"]`，K 取自 `schema.keypoints["rhd21/v1"].count = 21`），**不从 pose 的 valid 推断**，且该标量键被 `valid_ref`/`valid_key` 取代。`xyz` 与 `uv` 两个组件共享同一个 `visibility` 叶（registry 只固定一个条目），迁移时按同一字节写入一次。
+
+媒体与 JSONL（`rgb.mkv`、`depth.mkv`、`depth_valid.mkv`、`mask.mkv`、`instances.jsonl`、`frames.jsonl`）不并入 bundle：其有效性仍是独立 bool 张量文件（`rgb_valid.pt`、`mask_valid.pt`）或 mkv，不携带 `data_key`/`valid_key`。
+
+采样、帧数、dtype、数值、NaN 位置、有效性判据、单位、坐标系、手槽、split 与 `valid_policy` 一律不变（`DOC/CONTRACT.md` §6.3）。逐视图逐字段的字节级对照见发布树外的 `tmp/rhd-tools/acceptance.json`（由 `script/rhd_v1_1/verify.py` 产出；清单与验收报告按 `MIGRATION.md` §3 存放于发布树之外）；摘要见 [FULL_MIGRATION_SUMMARY.json](FULL_MIGRATION_SUMMARY.json)。
+
+正式入口为 `script/rhd_v1_1/convert.py`、`script/rhd_v1_1/migrate.py`、`script/rhd_v1_1/verify.py`、`script/rhd_v1_1/validate.py`、`script/rhd_v1_1/read_sequence.py` 和 `script/rhd_v1_1/render.py`。它们均无必填命令行参数，并从自身位置定位本数据集的 `raw/`、`shared-v1.1/` 与 `tmp/`；公共实现位于 `script/rhd_v1_1/rhd_common.py`，registry 驱动的读写器位于 `script/rhd_v1_1/warehouse.py`（与其余 v1.1 发布所用的同一份实现逐字节相同，sha256 `fe62f79f9228475e23764d57c923e781422951ad5ed6680337bf67e120a63db2`）。v1.0 的 `script/` 原样保存在 `script/v1_0_snapshot/script/`，v1.0 的合同与 schema 保存在 `script/v1_0_snapshot/doc/`。完整运行方式和依赖见 `script/rhd_v1_1/README.md`。脚本不会删除或改写 raw，也不会自动上传或把自动检查写成人工通过。
+
+<!-- view-type-classification-v1 -->
+## View type
+
+Every published view has `view_type: exo`. This is the release-level classification selected for RHD's synthetic rendered cameras; the upstream annotations do not contain a per-image `view_type` field. The value therefore records this release's camera-role classification rather than an independently copied upstream label.
\ No newline at end of file
diff --git a/RHD/shared-v1.1/doc/REPORT.md b/RHD/shared-v1.1/doc/REPORT.md
new file mode 100644
index 0000000000000000000000000000000000000000..e280f207995bfca909548f24e39cd08baeda4ad9
--- /dev/null
+++ b/RHD/shared-v1.1/doc/REPORT.md
@@ -0,0 +1,98 @@
+# RHD shared-v1.0 → shared-v1.1 迁移报告
+
+## 结论
+
+本次只做**重新打包**：`shared-v1.0` 的全部数值张量与其 `valid` 合入分组 bundle，元数据引用改为带字典键的形式，两个版本字段升位。采样、帧数、dtype、逐元素数值、NaN 位置、有效性判据、单位、坐标系、手槽、split 与 `valid_policy` 均未改动（`CONTRACT.md` §6.3）。
+
+- 迁移范围：**87/87 视图**，合并字段 **435** 个，失败 **0**（`tmp/migration-v11/registration.json`，`stage: complete`，`done=87 skipped=0 failed=0`）。
+- 逐视图逐字段字节级对照：**0 失败**（`tmp/rhd-tools/acceptance.json`，由 `script/rhd_v1_1/verify.py` 产出；87 视图、435 个合并字段、261 个保留文件）。
+- v1.1 校验器（含对 2 个视图用适配后的写入器重序列化再逐字段比字节的重写检查）：**通过**（`validation/validate_report.json`）。
+- 新读取器全量 sweep：**87/87 分片通过**（`validation/read_sequence_sweep.json`）。
+- 每视图文件数 **16 → 11**，`shared-v1.0` 的 1392 个数据文件合并为 957 个（**少 435 个，−31.3%**）。
+
+**本报告只证明"重新打包在数值上等价"，不等于人工视觉验收**（`CONTRACT.md` §6.5）。人工视觉结论沿用 v1.0 的记录，见 [`history-v1.0/validation/`](history-v1.0/validation/)，本次另做了 v1.1 的抽样复核页（见 [`validation/index.html`](validation/index.html)），**人工确认仍待完成**。
+
+## 来源与可复现性
+
+| | |
+|---|---|
+| 源 release | HuggingFace `ParityLab/Hand-Datasets-Raw`，pinned commit `d4e2bb40cd30071e4f6483877889c1857b41b707`，路径 `RHD/shared-v1.0` |
+| 源完整性 | 1455 个文件逐一按内容校验通过（LFS 文件比对 sha256，普通文件比对 git blob sha1）：`ok=1455 missing=0 bad=0`，6,792,021,123 字节 |
+| 源 schema | `hand-warehouse/1.0`，sha256 `9a34b349ed9315fb0f6ccbe3425e852c971b5a4aaf26a094f4f4df15bfccc091` |
+| 目标 schema | `hand-warehouse/1.1`，sha256 `9f3769f950b36f75f3d571c77b5a661ca8e72afae20c9f1ddd1deef140e6cca8` |
+| 迁移工具 | `script/rhd_v1_1/migrate.py`（`hw11-migrate/1`，sha256 `b58774ea29f7e0910fa5181f20b547a86c681ce870c3d8bde6075ea2be4a9a67`）+ `script/rhd_v1_1/warehouse.py`（sha256 `fe62f79f9228475e23764d57c923e781422951ad5ed6680337bf67e120a63db2`） |
+| 运行环境 | Python 3.12.3，PyTorch 2.13.0+cu130 |
+
+源树始终只读：迁移是 copy-out，未消费的媒体与 JSONL 以**硬链接**落盘（同 inode），既未重编码也未复制字节。因此新增磁盘占用仅约 48 MB 的 bundle 字节，其余与源共享。
+
+迁移在工具搬入 `script/rhd_v1_1/` 之后**端到端重跑过一次**（无 `--resume`，故每个视图都重做而不是沿用 checkpoint），使 `registration.json` 记录的工具摘要就是树里这一份。重跑后 957 个数据文件逐一按内容比对，与重跑前**逐字节相同**（无新增、无缺失、无改动），因此重跑不改变任何已验收的结论。
+
+## 改了什么
+
+逐视图的元数据差异**恰好**是允许集合：两个版本字段升位，加上数值字段新增 `data_key`/`valid_key`/`storage`/`valid_storage` 且 `data_ref`/`valid_ref` 指向同一 bundle；`provenance`、`source_locator`、`valid_policy`、`axes`、`valid_axes`、`schema_id`、`available`、组件集合一律未动（`script/rhd_v1_1/verify.py` 的 `compare_metainfo` 逐项断言）。没有顺带修改。
+
+数值字段的合并与键名见 [`RAW_MAPPING.md`](RAW_MAPPING.md) 的「v1.0 → v1.1 数值布局」。要点：
+
+- `xyz` 与 `uv` 两个组件在 v1.0 中共享同一个 `annotation/keypoints/visibility.pt`，v1.1 的 registry 只固定一个 `visibility` 条目，因此该叶按同一字节写入一次并由两个组件共同引用；若第二个组件的字节不同则迁移直接报错，不静默取其一。
+- `visibility` 在 v1.0 里是标量 `"valid": true`（无 `*_valid.pt`），v1.1 依 `tensor_attributes.visibility` 展开为显式全真 bool 张量，形状 `["T", 2, "K"]`，K 取自 `schema.keypoints["rhd21/v1"].count = 21`。**不从 pose 的 valid 推断**，标量键被 `valid_ref`/`valid_key` 取代，并补上 `valid_axes`（= `axes[:valid.ndim]`）。
+- 媒体与 JSONL（`rgb.mkv`、`depth.mkv`、`depth_valid.mkv`、`mask.mkv`、`instances.jsonl`、`frames.jsonl`）不并入 bundle，其独立 bool 有效性文件（`rgb_valid.pt`、`mask_valid.pt`）保持原样、不携带 `data_key`/`valid_key`。
+- 合并后的数值字段不再留下独立 `*_valid.pt`；校验器用「把 `*_valid.pt` 映射回同名数据路径再查 registry」的方式检查残留，而不是仅按文件名通配（`MIGRATION.md` §4.3 禁止按通配删除，此处亦禁止按通配判定）。
+
+## 验证了什么
+
+| 检查 | 依据 | 结果 |
+|---|---|---|
+| 每个组件/属性及其字典键可解析，无游离文件、无未登记字段 | `CONTRACT.md` §6.1 | 通过（87 视图） |
+| 合并的数值组件未留下独立 `*_valid.pt`；媒体/JSONL 有效性文件原样保留 | §6.1 | 通过 |
+| dtype、shape、逐元素数值、NaN 位置、bool 有效性一致——按**连续字节视图**比较，**不做容差** | §6.2 | 435 个字段全部字节相同 |
+| `num_frames`、帧映射、相机方向、手槽、split、provenance、`valid_policy` 不变 | §6.3 | 通过 |
+| 保留文件与源摘要一致；重新生成发布清单（合并后的 `.pt` 摘要必然变化） | §6.4 | 发布清单已按最终树重算，存放在发布树外的 `tmp/rhd-tools/PUBLISH_MANIFEST.json`（树内不含清单） |
+| 新读取器在代表性完整序列与全部相机上可读出 | §6.5 | 通过（`read_sequence.py --all`：87/87 分片，全部 join 通过） |
+| 用适配后的写入器重序列化再逐字段比字节 | `MIGRATION.md` §2 | 2 个视图通过，每视图 8 个张量 |
+| 全量帧数与划分 | 与源一致 | 训练 41,258 / 评估 2,728，合计 43,986 |
+
+## 未能重跑的部分（务必知悉）
+
+- **raw → release 的重新转换无法在本机重跑**：`RHD/raw/` 与官方 `RHD_v1-1.zip` 不在本地，只有已发布的 `shared-v1.0`。因此 `script/rhd_v1_1/convert.py` 是**按 v1.1 适配**（改用 bundle 写入、经 registry 读回做投影检查、完整性清单改列 bundle），其端到端正确性**未在本次运行中验证**，v1.0 的转换证据仍然成立并已保留在 `history-v1.0/validation/`。
+- **人工视觉验收未重做**。本次改的是物理布局，像素内容与 v1.0 逐字节相同（媒体硬链接、数值字节相等），故 v1.0 的人工结论不受影响；但这是**推理**，不是本次的实测。本次另做了 v1.1 的抽样复核页（12 个视图，见 [`validation/index.html`](validation/index.html)），供人工确认——**确认本身仍待完成**。
+
+## v1.1 抽样复核页与投影自检
+
+`script/rhd_v1_1/render.py` **只读 v1.1 bundle**（经发布的 `warehouse.py` 读回，不碰 v1.0 渲染栈、不需要 raw、不引外部模型），已完整跑过：整个评估 split 的 6 片 + 用种子 `20261014` 在训练 split 里均匀抽 6 片 = **12 个视图**，落在 `doc/validation/`（12 页 HTML + 12 份 `.report.json` + `index.html` + `V1_1_VALIDATION.json`，46 MB）。
+
+RHD 是唯一同时发布原生 2D 关键点 `uv` 与相机系 3D `xyz`（外加同一套针孔 `K`）的 release，因此复核页能把 `xyz` 经该视图自己的 `K` 投影后与发布的 `uv` 逐点比对——这是 H2O / dex-ycb / ARCTIC 都做不了的对照。**比对覆盖每个入选视图的全部帧（12 个视图共 5,586 帧）、234,612 个已标注关节**，结果：
+
+| 分类 | 点数 | 结论 |
+|---|---|---|
+| 画内（发布的 uv 落在 320×320 内） | 169,956 | 中位偏离 ≤0.039 px、单点最大 **0.1498 px**；**5,586/5,586 帧**的画内点全部在 1 px 以内 |
+| 画外（uv 是原始投影，可任意大） | 60,187 | 按自身量级核验：59,288 个点绝对偏差仍 ≤1 px；最坏绝对偏差 71.09 px（该点坐标量级 1.34e5 px，相对 5.3e-4）；最坏相对偏差 2.2e-2（该点离原点仅 2.6 px、绝对偏差 0.057 px） |
+| 深度 ≤0（相机平面上或之后） | 4,442 | 不可投影，只计数 |
+| 深度 >0 但 <1 mm | 27 | 其 uv 本身就在 1e5 px 量级，不成对比较，只计数 |
+
+「画外」占多数是本数据集「每图标注双手、通常只有一只手落在画内」的正常形态，不是标定缺陷；`visibility` 与「uv 是否落在画内」在绝大多点上一致。源标为可见、而发布的 uv 落在画外的点全 release 只有 11 个，且偏差 ≤0.1 px（uv 恰好等于边界值 320.0 / 0.0），即标注与标定并无冲突。**偏差只被记录，不用来「修正」发布值。**
+
+## 顺带发现的 v1.0 缺陷
+
+`shared-v1.0` 的 `script/convert_rhd.py` 与 `script/render_full_random_review.py` 在首次媒体调用处会 `NameError`：`rhd_common.py` 从未绑定它们调用的 `ff`（AST 检查确认三个脚本内 `ff` 均未定义）。只有 `validate_rhd.py`（不调用 `ff`）可以运行——这也解释了为何 v1.0 只留下了校验类证据。v1.1 的 `rhd_common.py` 补上了 `ff = ffmpeg` 别名，并在注释中记明原因。
+
+## 复现命令
+
+路径以**数据集根** `<dataset>/` 为基准（工具从自身位置定位 `shared-v1.1/`、`raw/` 与 `tmp/`，无需 `cd`）：
+
+```bash
+export PYTHONDONTWRITEBYTECODE=1        # 发布树里不允许出现 __pycache__
+cd <dataset>
+python shared-v1.1/script/rhd_v1_1/migrate.py --resume            # v1.0 -> v1.1；checkpoint 重核输入、工具版本与产物摘要
+python shared-v1.1/script/rhd_v1_1/verify.py --complete --no-manifest \
+    --report tmp/rhd-tools/acceptance.json                        # 逐字段字节级验收（CONTRACT §6）
+python shared-v1.1/script/rhd_v1_1/read_sequence.py --all --quiet \
+    --report shared-v1.1/doc/validation/read_sequence_sweep.json   # 读取器路径验收（§6.5），报告随发布保留
+python shared-v1.1/script/rhd_v1_1/validate.py --expect-views 87 --rewrite-check 2 --no-manifest
+python shared-v1.1/script/rhd_v1_1/render.py --workers 4          # 抽样复核页 -> doc/validation/
+python shared-v1.1/script/rhd_v1_1/validate.py --expect-views 87 --rewrite-check 2  # 最后一步：重建树外发布清单
+python shared-v1.1/script/rhd_v1_1/convert.py                     # 需要 raw/RHD_v1-1.zip，本机没有
+```
+
+收尾顺序不可换：复核页是发布树里的文件，所以汇总（要数到它们）与发布清单（要哈希它们的最终字节）都必须在渲染之后；清单必须是最后一步，否则它描述的不是最终字节。完整的八步顺序与每一步的理由见 `script/rhd_v1_1/README.md`。
+
+迁移的逐视图 checkpoint 位于 `<dataset>/tmp/migration-v11/checkpoints/`，注册表位于同目录 `registration.json`；按 `MIGRATION.md` §3 存放于发布树之外。验收报告、读取器 sweep、复核页报告与发布清单位于 `<dataset>/tmp/rhd-tools/`。
\ No newline at end of file
diff --git a/RHD/shared-v1.1/doc/V1_0_SEMANTICS.md b/RHD/shared-v1.1/doc/V1_0_SEMANTICS.md
new file mode 100644
index 0000000000000000000000000000000000000000..e80d21a1c4af1bfaa2f429b3395a4304e6af6eb0
--- /dev/null
+++ b/RHD/shared-v1.1/doc/V1_0_SEMANTICS.md
@@ -0,0 +1,459 @@
+# 手物数据仓库统一约定 v1.0
+
+格式版本：`hand-warehouse/1.0`。存储约定：`lossless-video-2026-09-18`。
+
+范围限于手物交互重建。按本任务纳入的源模态转换，不要求每个数据集填满所有组件。缺失模态、尚未下载、语义未核实分别报告，不能互相替代。
+
+shared 层不是 raw 的完整镜像。处理者只需提取本次任务范围明确要求、语义已经核实且能够按本规范可靠转换的字段和模态。raw 中其余字段可以不纳入 shared，但必须在 `RAW_TO_SHARED.md` 中列出主要未纳入内容及原因。不得为了覆盖全部 raw 字段而猜测语义、虚构模态或保存未经定义的字段。未纳入 shared 不等于源数据不存在，原始信息仍以 raw 为准。
+
+本文定义各字段的含义与使用规则，机器可读注册表见 [schema.json](schema.json)。两者互相补充；如有冲突，应先核实并统一定义。
+
+## 1. 目录
+
+```text
+hand-datasets/
+  <dataset_name>/
+    raw/
+      doc/                         # 官方说明、来源与校验记录
+      script/                      # 官方下载脚本、必要包装脚本
+      data/                        # 保留原始包，不原地解压或改写
+    <dataset_version>/
+      doc/                         # 发布说明、schema、来源清单
+      script/                      # 转换、校验脚本及运行配置
+      data/
+        <sequence_id>/
+          <camera_id>/
+            metainfo.json
+            observation/
+              rgb.mkv
+              rgb_valid.pt
+              depth.mkv           # float32 深度的可逆视频编码
+              depth_valid.mkv     # 逐像素 bool 的无损视频编码
+            camera/
+              frames.jsonl
+              intrinsic.pt
+              intrinsic_valid.pt
+              extrinsic.pt
+              extrinsic_valid.pt
+            annotation/
+              mano/
+                motion.pt
+                motion_valid.pt
+                visibility.pt
+              keypoints/
+                uv.pt
+                uv_valid.pt
+                xyz.pt
+                xyz_valid.pt
+                visibility.pt    # 源数据有时提供
+              object/
+                <object_id>/
+                  assets/          # 该物体的网格、材质、纹理及部件资产
+                    <mesh_id>.obj
+                  pose.pt
+                  pose_valid.pt
+                  visibility.pt
+                  metainfo.json    # 物体身份、类别、mesh、尺寸与部件引用
+                  articulation.json
+                  keypoints/
+                  vertex_part_ids.pt
+                  joint_state.pt
+                  joint_state_valid.pt
+                  parts/<part_id>/pose.pt
+                  parts/<part_id>/pose_valid.pt
+              segment/
+                mask.mkv
+                mask_valid.pt
+                instances.jsonl
+              contact/
+                relations.jsonl
+                <subject_id>__<object_id>/  # 对应实体间的距离/接触区域
+```
+
+目录展示可能存在的组件，不要求填满。具体文件、字段和缺省规则分别见后续对应小节。原始包的解压发生在临时工作区，raw 内原始包保持不变。
+
+## 2. 相机视图的 metainfo.json
+
+### 2.1 顶层字段与发布信息
+
+每个相机视图必须有 `metainfo.json`。以下字段除另行说明外均为必填：
+
+| 字段 | 填写内容 |
+|---|---|
+| schema_version | 结构版本，本版为 `hand-warehouse/1.0` |
+| dataset_id | 数据集的逻辑标识 |
+| release_id | 本次数据发布版本，对应目录中的 dataset_version |
+| sequence_id | 所属序列或独立图片样本的标识 |
+| camera_id | 当前相机视图标识 |
+| sample_type | `image` 或 `video`，规则见 2.2 |
+| num_frames | 当前视图帧数 T，所有随帧组件按同一时间轴组织 |
+| hand_slots | 固定为 `["left", "right"]`；解剖学左右的使用规则见 5.1 |
+| sampling | 采样类型、源 FPS、帧索引引用及选择策略，见 2.2 |
+| camera | 当前相机模型与图像尺寸，见 2.3 |
+| components | 实际提供的组件及其文件、schema、有效性和来源，见 2.5 |
+| split | `train/val/test/unknown`，划分协议见 2.4 |
+| view_type | 必填，固定为 `ego/exo/unknown`。源数据或采集设置明确相机视角时必须填写 `ego` 或 `exo`；只有无法从可信来源确定时才填写 `unknown`，不得省略或主观猜测。多相机序列须逐视图分别填写。 |
+
+`dataset_version` 是数据发布版本；`schema_version` 是结构版本，两者独立。原始包校验摘要、官方来源和转换配置应记录在发布清单中。解压发生在临时工作区，原始包保持不变。
+
+### 2.2 图片、视频与 sampling
+
+`sample_type=image`：允许单图 T=1、`sampling.type=single`，也允许将独立图片批量装入一个视频容器，T>1 时 `sampling.type=independent`、`source_fps=null`。分片大小按数据集选择；FreiHAND 默认每片最多 4096 张，训练与评估分开，尾片不补帧。该数量不是其他数据集的强制要求；同批分辨率、相机模型类型及划分协议一致。每行 frames 必须有稳定且唯一的 `sample_id`、原始文件定位；内参、手形状等仍逐帧保留，不能因打包而共享错误的标定或身份。`sequence_id` 在这里仅是批次标识，不代表真实序列；不得按相邻帧推断跟踪、同步或接触延续。源 camera_id、image_variant、split 等随样本变化时放在 frames 的对应字段中。真实采集时间未知则 timestamp_ns=null。合成背景变体不视为真实多相机。
+
+`sample_type=video`：`sampling.type=dense/sparse`；`source_fps` 是真实采集 FPS，未知为 null。非连续取样必须保留源帧号和已知源时间，不可用采样后索引除以 FPS 冒充源时间。可另记采样策略与步长。
+
+shared 可以仅存所选 RGB 帧对应的数据。OakInk2 图像/动捕不同采样率时用 annotation_matches 明确映射；不要求将未采样动捕点硬塞进 T。多视角身份和源同步关系要保留；选择了哪些帧/相机及原因写在 sampling 中。
+
+`sampling.frames_ref` 指向 `camera/frames.jsonl`。帧号、逐帧时间、同步与标注匹配记录的结构见 4.1；MKV 封装时间的约定见 3.1。
+
+### 2.3 camera 模型声明
+
+`camera` 至少包含 `model`、`schema_id`、`image_size:[W,H]`。模型未知使用 `unknown` 和 `null`，不猜成针孔。实际内参、畸变及外参数组放在 `camera/`，各模型的固定结构见第 4 节。
+
+### 2.4 split 与划分协议
+
+保留上游划分，不将同一采集序列的相邻帧随意拆到不同集合。
+
+有官方划分时必填 split_scheme 和 split_source_locator，split_scheme 区分如 Dex-YCB s0/s1、ARCTIC P1/P2 等选定协议；不知道时 split=unknown 并给理由，不凭空分配。每发布可选择一种协议；存在逐帧差异时 frames 中的 split 覆盖视图默认值，并登记其来源。
+
+### 2.5 components 组件登记
+
+组件表的键是本发布内唯一名称，例如 `rgb`、`depth`、`mano`、`keypoints_uv`。每个已提供组件声明以下信息；模态特有参数在第 3–5 节对应小节中定义。
+
+| 字段 | 约定 |
+|---|---|
+| available | 本发布是否提供该组件；缺省也表示未提供 |
+| schema_id | 已登记的具体存储与语义类型，不得临时创造未登记名称 |
+| data_ref | 数据文件路径，相对当前相机视图根目录，使用 POSIX 路径 |
+| axes | 数组各维度的含义 |
+| valid_ref / valid_axes | 有效性文件及其维度；语义由所属组件规定 |
+| storage / valid_storage | 视频数据／视频有效性的存储配置；包含已登记 profile、实际 codec、pixel_format、encoded_size，见 3.1；非视频组件按原数组规则 |
+| provenance | source / format_conversion / derived，以及转换或生成方法 |
+| source_locator | 原文件、压缩包成员和记录／帧的定位信息 |
+
+不存在的组件允许缺省或写作 `{ "available": false, "reason": "..." }`，不用引用不存在的文件。静态网格可声明标量有效性；具体见 5.4。观测的 valid 见第 3 节，标注的 valid 与 visibility 区分见 5.1。
+
+`provenance.kind` 使用 source/format_conversion/derived，`method` 说明转换或生成方法；发布清单补充脚本版本、参数、输入摘要。`source_locator` 定位到原始文件/压缩包成员和记录、帧号；允许引用有完整溯源清单的前一发布，但链条最终应能回到 raw。不得仅写一个无法定位记录的数据集名字。
+
+`.pt` 仅保存 CPU Tensor，不保存 Python 自定义对象；浮点默认 float32，有效性为 bool，浮点无效位置填 NaN。所有随帧数组保留首维 T，单帧也不 squeeze；静态资产按其 schema 单独声明。单位、坐标及固定形状见各组件小节。
+
+机器注册表 `schema.json` 中，`components` 固定解码后的数据类型、形状、单位和语义；`storage_profiles` 固定视频内的编码／还原方式。不得临时创造未登记的 schema_id 或 storage.profile。同一语义允许选择其登记的不同无损存储 profile。
+
+## 3. observation 观测数据
+
+### 3.1 rgb.mkv 与 rgb_valid.pt
+
+RGB、深度和栅格 mask 在 shared 中统一使用 MKV 视频容器，不展开为逐帧图片或图像 tar。MANO、关键点、位姿等数值标注仍用数组；分割的重叠多边形仍用 JSONL，不为了视频化而有损栅格化。单图可为一帧视频，独立图批量封装规则见 2.2。
+
+**无损指共享层不增加信息损失。** 源 JPEG／H.264 等本身可能已是有损编码，原样保留并不恢复已丢失信息；不得重新以有损 JPEG、H.264、H.265、AV1 参数编码。源视频／图片的色彩、位深、分辨率和几何关系不得被静默改变。RGB schema `rgb/uint8/v1` 的统一读取结果是 `[T,H,W,3] uint8`、RGB 通道，有效性仍为 `rgb_valid.pt [T] bool`。超出该 schema 的高位深或 HDR 源必须报告并扩展定义，不能降到 8 位冒充无损。
+
+#### 3.1.1 允许的 RGB 存储 profile
+
+| storage.profile | 编码方式 | 适用规则 |
+|---|---|---|
+| mkv/mjpeg_copy/v1 | 源 JPEG 压缩帧直接封装成 MJPEG/MKV | 不解码重编码；保持每张 JPEG 码流字节；普通 8 位 JPEG 且 MKV/解码器支持时使用 |
+| mkv/source_copy/v1 | 已有视频的 RGB 对应码流直接封装为 MKV | 仅源编码能被 MKV 和选定解码器支持时使用，不伪造帧；需维持正确的呈现顺序与依赖帧 |
+| mkv/h264_rgb_lossless/v1 | libx264rgb 的真正无损模式 | 必须 RGB 路径、CRF=0，并通过全帧 RGB 字节比较；不能替换成默认 libx264 YUV420 路径 |
+| mkv/ffv1_rgb/v1 | FFV1 的 RGB 可逆编码路径 | 作为通用候选；解码回 RGB 后必须逐字节相同，不做色度降采样 |
+
+优先尝试源码流直接封装；不能封装或需要选择稀疏帧时，比较 FFV1 与无损 RGB H.264。对完整待发布片段，只在通过无损验收的候选中选择文件较小者，不假设某个编码器总最小；编码时间和随机读取代价记入构建记录。中间候选不作为 shared 多份常驻。H.264 跨帧压缩允许较长 GOP，必须记录 GOP／关键帧间隔，随机取帧需从前一关键帧正确解码，不能把 seek 返回的近似帧当目标帧。
+
+普通源视频可以保留它已有的有损码流，但不允许新增有损重编码。源是 VRS 等记录容器时，先查明图像流实际编码：已有兼容 JPEG／视频包可直接提取封装，否则解码后使用真正无损编码；不把整个 VRS 改后缀当 MKV。PNG 不要求直接塞进 MKV，可选上表两种无损重编码方式。
+
+#### 3.1.2 视频配置与校验
+
+每个视频组件在 metainfo 中登记 `storage`，至少包含：
+
+| 字段 | 内容 |
+|---|---|
+| profile | 上述登记的存储 profile；语义仍由组件 schema_id 指定 |
+| codec | 文件中实际 codec，例如 mjpeg、h264、ffv1；source_copy 必须写实际 codec |
+| pixel_format | 实际编码像素格式；不得仅凭编码器参数猜测 |
+| encoded_size | 视频物理像素尺寸 `[width,height]`；深度可能不同于逻辑尺寸，见 3.2 |
+| decoder | 解码器名称、版本，以及颜色矩阵／范围／旋转处理等实际像素解释配置；未知的源色彩声明 unknown，不擅自称为 sRGB |
+| encoder_parameters | 重编码时的编码器、版本、无损模式和 GOP 等参数；直接封装时记录 stream_copy |
+| source_lossy | 源是否已有损：true / false / unknown；不是共享层再有损编码的许可 |
+
+无损重新编码的 RGB 必须使用同一固定解码配置，比较**全部帧**的统一 RGB 字节、数量及顺序。MJPEG-copy 不重新编码，生产校验采用 `jpeg-packets-all-rgb-sample16/v1`：从 MKV 逐包取回，对全部源 JPEG 的 SHA256、数量、顺序和图像尺寸进行精确核对；每视图另用同一固定解码配置比较最多 16 帧的源与目标 RGB 字节（含首尾与四分位位置，其余由固定种子抽取）。记录策略、实际索引、种子与结果；不足 16 帧时全查。试点与最终完整序列随机抽查，对选中视图的全部帧复核解码 RGB。历史已做全帧像素检查的证明继续保留。
+
+逐包一致与像素抽查的范围必须分别声明，不能将抽查写成全量像素检查。不能用 PSNR 高、视觉相似、编码器参数称为 lossless 等替代精确检查。同时保留源编码的色彩标记和必要元数据；原图有 EXIF/色彩/方向等元数据时保留 raw 和必要来源信息；不能静默自动旋转图像而不更新像素对应与标定。以上加速策略仅适用于原 JPEG 码流直接封装，不适用于深度、标签或重新编码的 RGB。
+
+所有共享视频的呈现帧顺序与统一 frame_index 一一对应，每个栅格组件恰好 T 帧。MKV 的 `storage_fps` 只服务封装，声明 `timebase_role=index_only`；source_copy 可以保留源 PTS 以避免改坏码流，但真实时间与标注对齐仍以 frames 为准。未知真实时间保留 null。缺失某帧组件时保留索引位置并使用该组件的无效占位／valid 标识，不删帧；不能以重复相邻图像冒充已知观测。
+
+### 3.2 depth.mkv 与 depth_valid.mkv
+
+深度语义仍是 `depth/z_float32/v1`：统一读取结果 `[T,H,W] float32`，米制相机 Z 分量，`depth_type=z`。有效深度有限且大于 0，无效位置为 NaN。`depth_origin=measured/rendered/unknown` 必填，来源不明时 unknown。默认与 RGB 共用像素网格及相机参考系，不处理未注册 RGB-D。射线距离必须依据源定义转换成 z，不能只改声明。
+
+#### 3.2.1 float32 的可逆视频编码
+
+采用 `mkv/depth_float32_bits/v1`：**不是把深度量化成 uint16**，而是将规范化后每个 IEEE-754 float32 的完整 32 位拆成两个 uint16，使用 FFV1 gray16le 保存。视频物理尺寸为 `[2W,H]`：每行前 W 列存原 float32 位串的低 16 位，后 W 列存高 16 位。读取时先合并为 uint32 位串，再按 float32 重新解释，不能数值 cast 成 float32。
+
+```text
+u = reinterpret_uint32(depth_float32)
+encoded[:, :, :W] = uint16(u & 65535)
+encoded[:, :, W:] = uint16(u >> 16)
+u_restored = uint32(low) | (uint32(high) << 16)
+depth_float32 = reinterpret_float32(u_restored)
+```
+
+统一采用 little-endian 原始字节接口。`camera.image_size` 始终是逻辑 RGB 尺寸 `[W,H]`，不能改成编码视频的 2W；`storage.encoded_size=[2W,H]`。包括 NaN 在内的 float32 位串必须全帧完全恢复，不允许改成 float16、整数毫米、归一化灰度或 RGB 伪彩色。这里的无损验收基准是完成既定米制／坐标转换后的标准 float32 数组，不声称消除 float64→float32 等原约定转换本身的舍入。
+
+#### 3.2.2 逐像素有效性
+
+`depth_valid.mkv` 使用 `mkv/bool_ffv1/v1`，FFV1 gray8（FFmpeg pixel_format=`gray`），物理尺寸 `[W,H]`。像素只能为 0 或 1，统一解码为 `[T,H,W] bool`，逐像素含义不变。这样不再把庞大的 bool 数组保存为未压缩 `.pt`；标注的帧级／手级 valid 仍保留原有小数组。
+
+登记示例（W、H 以下取 640、480；decoder/encoder_parameters 的实际版本由转换器填写）：
+
+```json
+{
+  "available": true,
+  "schema_id": "depth/z_float32/v1",
+  "data_ref": "observation/depth.mkv",
+  "axes": ["T", "height", "width"],
+  "valid_ref": "observation/depth_valid.mkv",
+  "valid_axes": ["T", "height", "width"],
+  "unit": "m",
+  "depth_type": "z",
+  "depth_origin": "measured",
+  "invalid_value": "NaN",
+  "storage": {
+    "profile": "mkv/depth_float32_bits/v1",
+    "codec": "ffv1",
+    "pixel_format": "gray16le",
+    "encoded_size": [1280, 480],
+    "source_lossy": false,
+    "decoder": {"name": "ffmpeg", "version": "填写实际版本"},
+    "encoder_parameters": {"name": "ffv1", "level": 3, "version": "填写实际版本"}
+  },
+  "valid_storage": {
+    "profile": "mkv/bool_ffv1/v1",
+    "codec": "ffv1",
+    "pixel_format": "gray",
+    "encoded_size": [640, 480],
+    "source_lossy": false,
+    "decoder": {"name": "ffmpeg", "version": "填写实际版本"},
+    "encoder_parameters": {"name": "ffv1", "version": "填写实际版本"}
+  },
+  "provenance": {"kind": "format_conversion", "method": "源深度转米制 z float32；逐位打包为 FFV1"},
+  "source_locator": {"file": "raw/data/depth.zip", "member": "depth/0001.png"}
+}
+```
+
+深度和有效性视频都必须逐帧解码验收：float32 位串相同、bool 相同、T 相同，并检查 valid=true 的正有限值和 valid=false 的 NaN。读取器必须按 profile 还原，不能把 depth.mkv 的编码像素直接当深度值。
+
+## 4. camera 相机、帧索引与标定
+
+### 4.1 frames.jsonl：索引、时间与对应关系
+
+`camera/frames.jsonl` 每行对应统一帧号 `frame_index=0..T-1`，是所有组件的唯一行索引。至少包含 `frame_index`、`timestamp_ns`、`clock_domain`、`source_locator`；原始帧号/文件名保存在 `source_frame_id`，不能被新帧号替代。每行还可有 `annotation_matches`，按组件键保存 `source_frame_id`、`source_timestamp_ns`、`clock_domain`、`match_method` 和 `delta_ns`；方法为 exact/index_map/nearest/interpolated，索引映射无时间依据时 delta_ns=null。nearest 必须记录允许误差；interpolated 必须记录两端源标识和权重。delta_ns 仅在同一时间域中计算为源标注时间减图像时间。多相机共享 `sequence_id`；已知同步关系必须用 `sync_id` 或明确的源帧/时间映射表达，不能仅凭相同数组索引认定同步。
+
+每个视图必须提供此文件。源时间使用整数纳秒及 `clock_domain`，未知写 JSON `null`；不同时间域不能直接比较。逐帧 split 可以覆盖 metainfo 的视图默认划分，并保留来源，见 2.4。
+
+### 4.2 坐标系与标定通则
+
+| 项目 | 统一约定 |
+|---|---|
+| 相机坐标 | 右手系，X 向右、Y 向下、Z 向前，长度单位米 |
+| 齐次变换 | 列向量，`p_target = T_target_from_source @ p_source` |
+| 图像坐标 | `(u,v)`；左上像素中心为 `(0,0)`，u 向右、v 向下，单位 pixel |
+| 固定标定 | 本版展开为 T 份，同一 schema 不混用静态与动态形状 |
+| 分辨率或模型变化 | 分开存储为视图／片段，不在同一组件中混装 |
+| 未知标定 | 相机内外参允许缺省，不填单位阵冒充已知标定 |
+
+### 4.3 intrinsic.pt 与畸变参数
+
+| model / schema_id | intrinsic.pt 的固定结构 |
+|---|---|
+| pinhole / camera/pinhole/v1 | `[T,3,3]`，标准 K，最后一行为 `[0,0,1]`；限无畸变或已校正图像 |
+| fisheye624 / camera/fisheye624/v1 | `[T,15]`，`[f,cx,cy,k0,k1,k2,k3,k4,k5,p0,p1,s0,s1,s2,s3]`，采用 Project Aria Fisheye624 投影定义 |
+| opencv_fisheye4 / camera/opencv_fisheye4/v1 | `intrinsic.pt [T,3,3]` 保存 K；同组件 `distortion_ref` 指向 `[T,4]`，顺序 `[k1,k2,k3,k4]`，使用 OpenCV fisheye 等距角度多项式；已由 ReInterHand 实际原始相机参数验证 |
+| rational8 / camera/rational8/v1 | `intrinsic.pt [T,3,3]` 保存 K；同组件必需 `distortion_ref` 指向 `[T,8]`，顺序 `[k1,k2,p1,p2,k3,k4,k5,k6]` |
+| unknown / null | 不提供可用 intrinsic，不声称可以投影 |
+
+有畸变的其他模型必须注册新 schema，固定参数名、顺序和投影公式；不能塞进针孔 K 后遗失畸变项。`metainfo.camera.schema_id` 必须与 intrinsic 组件一致。同一模型的别名不可隐式改变参数布局。
+
+`opencv_fisheye4`：对前方点令 `x=X/Z, y=Y/Z, r=sqrt(x²+y²), theta=atan(r)`，`theta_d=theta*(1+k1*theta²+k2*theta⁴+k3*theta⁶+k4*theta⁸)`；`u=fx*x*theta_d/r+cx, v=fy*y*theta_d/r+cy`。光轴 r=0 时使用连续极限 `theta_d/r=1`。四系数不能按普通径向畸变解释，也不能补零冒充 Fisheye624。
+
+rational8 对归一化坐标 x=X/Z、y=Y/Z，令 r²=x²+y²，径向项为 `(1+k1*r²+k2*r⁴+k3*r⁶)/(1+k4*r²+k5*r⁴+k6*r⁶)`；再加 p1/p2 切向项并经 K 得到像素。`distortion_ref` 与 intrinsic 共用 `[T]` valid，保存到 camera/distortion.pt。不得把这种畸变三维坐标当作真实相机系 xyz 保存。
+
+内参有效性为 `intrinsic_valid.pt [T] bool`；有畸变时使用对应 `distortion_ref`。同一模型的参数名和顺序固定。
+
+### 4.4 extrinsic.pt 与 extrinsic_valid.pt
+
+`extrinsic.pt` 为 `[T,4,4]`，schema `transform/se3/v1`，方向固定 `T_camera_from_world`，有效性 `[T]`。世界坐标含义及源坐标转换记录在 provenance 中；只有相机坐标标注不要求虚构世界坐标。旋转块须正交且 determinant≈1。
+
+## 5. annotation 标注数据
+
+### 5.1 标注通则：手槽、valid 与 visibility
+
+手槽固定为 0=left、1=right，指解剖学左右，不按画面位置或可见性重排。本阶段只处理左右手两槽，不处理更多手。实体引用使用 `hand_left`、`hand_right`；手槽不证明跨采集片段的个人身份。
+
+#### 5.1.1 valid：标注是否可用于监督
+
+标注的 `valid=true` 表示：有对应实际标注、通过本 schema 数值检查，且通过来源明确提供并适用于该组件的有效性/QA 条件。`valid=false` 可由缺标注、无法建立帧对应、源无效占位或官方 QA 不通过导致；不等于画面没有手或手不可见。各组件独立判断，MANO 按 `[T,2]` 标记左右手，关键点按 `[T,2,K]` 标记。
+
+**2026-09-20 将标注 valid 从“仅表示存在”修订为“可用于监督”，字段形状不变。** 公式为 `source_annotation_present AND numerical_checks_pass AND applicable_official_QA_pass`。没有官方 QA 时省略最后一项，不伪造 QA；不能把未知当成已通过已存在的 QA。适配器在组件 `valid_policy` 中记录具体规则、来源、聚合/广播作用域。缺失官方必需 QA 的记录须明确处理为未知或暂停验收，不能静默通过。无效浮点项仍填 NaN，原始数据保留在 raw；被排除原值可用于 doc 中明确标识的诊断渲染，不能冒充 shared 有效监督。
+
+本地筛选须依据明确的规则，并在 `valid_policy.local_excluded_frame_indices`、排除原因和正式报告中记录。单个可疑投影作为问题记录，不直接硬编码排除该帧。已确认的曝光异常须明确作用范围，不能把一个序列的“前两帧有问题”套到所有序列。RGB 编码完好与几何监督可用是两件事，允许保留原图及帧索引而屏蔽对应标注；未发现问题不等于完成全部人工审核，试点待确认时不能作为已验收发布使用。
+
+源字段必须按官方语义映射，不能直接按名字复制：
+
+| 来源 | 官方含义 | 映射原则 |
+|---|---|---|
+| [H2O](https://github.com/taeinkwon/h2odataset) 的手标注首位 | 0 未标注、1 已标注 | 可作为对应手标注存在性的依据，不推断未标注原因 |
+| [HOT3D](https://github.com/facebookresearch/hot3d#using-mask-files) 的 pose_available、visible、mask_qa_pass | 分别表达姿态存在、可见性、对画面中可见手物位姿的人工 QA | 逐手/物体记录决定存在性，再 AND 当前相机当前帧 QA；QA 是整帧聚合判定，保守排除该帧全部手物几何监督，不声称每个实体均有错误；源可见性基于位姿推导时，其自身 valid 同样受 QA 约束 |
+| [Dex-YCB](https://github.com/NVlabs/dex-ycb-toolkit#loading-dataset-and-visualizing-samples) 的全零 pose_m、全 -1 joints | 不可见的手或缺标注共用占位表示 | 对应组件 valid=false；不能从该值判定 visibility=false，也不能声称原因是动捕缺失 |
+| [ARCTIC](https://github.com/zc-alexfan/arctic/blob/master/docs/data/data_doc.md) 的 is_valid/left_valid/right_valid | 是否有效用于官方评估 | 核实每项筛选依据；不把可见性/评估选择直接等同 QA。本次原始 mano.npy 不含这些派生评估标记，按原记录与数值检查生成 valid，并声明没有额外官方 QA 输入 |
+
+源 valid=false 若代表评估筛选或其他条件，应检查实际标注和源约定后映射；不能一律清空坐标。反之，占位零或 -1 只有在源官方明确规定时才判为缺失，不泛化成所有数据的判断规则。
+
+`valid=true` 的标注应通过其 schema 的数值与形状检查；检查失败必须报告或修复，不能静默隐藏。QA 不通过应报告排除数量与原因，并保留可追溯信息；不能把这类无效称为缺标注。RGB、深度等观测有效性仍按各自 schema；手物 QA 不自动否定 RGB、静态相机内参或物体资产。相机外参是否过滤须依据其自身来源规则；HOT3D 本次保留源外参用于溯源和诊断，不能用其存在性证明 QA 失败帧的几何监督正确。
+
+#### 5.1.2 visibility：可见性属性
+
+附加质量属性只保留 `visibility`，存放在对应模态或标注集内，不设 quality 目录。同一份可见性仅存一次；uv 与 xyz 共用时引用同一个文件。
+
+visibility 通过所属组件 attributes 登记 data_ref、axes、dtype、visibility_type、meaning、provenance、source_locator；未知值通过属性 valid_ref 标识，全已知可声明 valid=true。比例与布尔值不相互强转，也不按任意阈值二值化。没有 MANO 时，整手可见性挂在 keypoints 组件，使用独立的 whole_hand_visibility.pt，明确 meaning=whole_hand，不与逐关键点可见性混用。
+
+`valid` 回答“这项标注能否用于监督”，`visibility` 回答“在当前图像中是否可见（或可见多少）”。不可见的手或关键点仍可有有效标注；不能因 visibility=0 就清空坐标。源没有 visibility 时缺省或标为未知，不由 valid 推断。
+
+| 情况 | 手标注 valid | visibility |
+|---|---|---|
+| RGB 已开始录制，动捕尚未开始，没有其他对应手标注 | false | 以独立源可见性标注为准；没有则未知 |
+| 手被遮挡，但源有标注且通过适用有效性检查 | true | 若源声明不可见，则 false 或源可见比例 |
+| 手可见且有对应标注，通过适用 QA | true | 若源有此信息，则 true 或源可见比例 |
+| 手可见，但该帧漏标或动捕中断 | false | 可以为 true，但必须有独立来源依据 |
+| 有手部参数，但官方 QA 明确不通过 | false | 不据此断言不可见；源可见比例若基于不可靠位姿，其属性 valid 也为 false |
+
+visibility 自己的 valid_ref 表示该可见性标注是否可用，不复用 MANO 或关键点坐标的 valid_ref；明确记录源存在性及适用的 QA 条件。上述例子不要求凭图像自动生成可见性。
+
+不设 quality 组件或目录，不另存拟合误差、曝光、截断比例等通用质量数组。适用的官方 QA 合并进对应 valid，在 `valid_policy` 记录来源与规则；正式校验报告保留原始 QA 时间区间及排除统计。原始 QA 文件仍在 raw，官方 split 保留。
+
+### 5.2 mano：参数与整手可见性
+
+MANO schema `mano/axis_angle61/v1`：`motion.pt [T,2,61]`，顺序为完整 16 关节 axis-angle 48、shape betas 10、全局平移 3。姿态使用弧度，平移米，位于当前相机系。有效性 `[T,2]`；缺少一侧整槽 NaN。PCA 必须先按对应模型展开，不能将 PCA 系数直接填入 axis-angle。
+
+`model_profile` 必须固定 MANO 版本、`flat_hand_mean=true`、左手 shapedirs 修正状态。平移表示模型输出顶点所加的全局平移，不是某个腕关节的坐标；源语义不同须转换。shape 无量纲。模型权重不作为共享数据附带上传。
+
+`mano/visibility.pt [T,2]` 保存源整手可见比例时使用 float32 [0,1]，`visibility_type=ratio`；只有实际采用 0–100 的百分比才除以100，不能只凭表头判断。HOT3D 的 `visibility_ratio[%]` 实值已经是0–1，官方读取器原样读取，必须保留原值。通过 MANO 组件 attributes 登记，使用独立有效性，不复用 motion_valid。
+
+手部共享表示仅保留 MANO 参数与选定关键点，不发布独立手表面几何。需要渲染或接触计算时由 MANO 参数生成，几何引用使用固定 MANO 模型配置与顶点顺序；不影响 object 下的物体模型和材质资产。
+
+### 5.3 keypoints：二维点、三维点与逐点可见性
+
+关键点独立于 MANO 参数存在；没有 motion 也可有关键点。`uv.pt [T,2,K,2]` 与 `xyz.pt [T,2,K,3]`，有效性 `[T,2,K]`，分别采用 `keypoints/uv/v1` 和 `keypoints/xyz/v1`。K 由 `keypoint_schema` 固定，不能在同一数组中逐帧变化；同体系统一顺序。数值使用像素坐标或米制相机系。
+
+| keypoint_schema | K 与固定索引 |
+|---|---|
+| mano21/v1 | 21；wrist 后依次 thumb/index/middle/ring/little，每指由近端至指尖 |
+| rhd21/v1 | 21；保持 wrist，然后五指由近端至指尖；原始每指 tip→palm 反序。只统一顺序，不宣称解剖学位置等价于 MANO |
+
+具体名称与源索引映射见 `schema.json`。当前只登记 MANO21 与 RHD21；不登记 MediaPipe、ReInterHand capture21 或 fit24 中间关键点。
+
+每个发布中的每个视图只提供一套标准手关键点，直接放在 keypoints 下，不设 annotation_set_id 字段或目录。uv 与 xyz 是这套关键点的二维与三维表示，不是两套标注。provenance 分别记录二者来自原始标注还是计算结果；不要求已有 2D 必须由当前 xyz 重新投影覆盖。
+
+ReInterHand 的 Original keypoints、Original fits keypoints 及带前臂关键点不纳入 shared；如需手关键点，从选定 MANO 参数生成 MANO21 并记录模型/指尖回归约定。其他数据集默认使用选定的官方关键点，不额外生成平行的 MANO 派生集合。后续主动更换生成方法或结果时发布新的 dataset_version，不在同一版本内增设方法分支。
+
+manual/projection/fitting 只记录在 provenance，不作为目录或类型分支。不得通过坐标为零、是否出画或 visibility 判断标注是否存在。派生标注仅在实际生成并通过数值检查后声明 valid=true；没有生成的项为 false，不伪造坐标。
+
+`keypoints/visibility.pt [T,2,K]` 保存源逐点可见性，布尔表示使用 `visibility_type=boolean`。uv 与 xyz 共用时引用同一份文件。整手比例属性没有 MANO 可挂载时使用 `whole_hand_visibility.pt [T,2]`，`meaning=whole_hand`；它与逐点可见性分开，通用登记规则见 5.1。
+
+不使用 annotation_set_id；ReInterHand 中间关键点集合不进入 shared，raw 保留来源文件。
+
+### 5.4 object：身份、资产、位姿与几何
+
+#### 5.4.1 metainfo.json：物体身份与跟踪作用域
+
+手用 `hand_left`、`hand_right` 及槽位 0、1 表示，不再另存 entities.json。物体身份登记在 `annotation/object/<object_id>/metainfo.json`，必填 `object_id`、`identity_scope`、`scope_id`、`source_locator`；可含 `category_id`、`source_object_id`、`mesh_ref`、`has_model`、部件引用。即使只有分割、没有 pose/mesh，也可只有这份物体元信息。
+
+`identity_scope` 为 frame/subsequence/sequence，`scope_id` 指定具体作用域；跨相机共享身份只在已有源对应证据时使用。VISOR 按官方 subsequence 与实体名关联时记录 `association_basis=official_subsequence_entity_name`，不能声称这是全视频物理实例跟踪。无需与 object_id 一一对应的标准 track_id；官方独立轨迹标识存在时保留为 source_track_id，并声明作用域。手槽不证明跨采集片段的个人身份。
+
+#### 5.4.2 assets：网格、材质与纹理
+
+资产属于物体，统一存放在 `annotation/object/<object_id>/` 内，可用 `assets/` 子目录组织网格、材质、纹理和部件资产。序列层不设共享 assets。所有引用采用视图根目录为基准；其中物体资产组件的 `data_ref` 与部件的 `mesh_ref` 采用相对于当前视图目录的 POSIX 路径，例如 `annotation/object/cup_01/assets/cup.obj`，且必须指向所属物体目录内的资产。OBJ 内部的材质、纹理引用遵循文件格式自身的相对路径规则，依赖文件一并保留。不同相机视图允许各自保存物体资产，不要求跨视图去重；下载物体时包含其资产依赖。
+
+网格 schema 为 `mesh/obj/v1`，顶点米制，静态有效性可直接声明标量 `valid`，或通过 `valid_ref` 指向标量 bool Tensor；不按 T 重复静态资产。由物体／部件通过引用关联，不仅凭文件名猜测。
+
+#### 5.4.3 pose.pt、pose_valid.pt 与 visibility.pt
+
+刚体 schema 为 `object/rigid/v1`，`pose.pt [T,4,4]` 固定为 `T_camera_from_object`，平移米制，有效性 `[T]`。物体坐标原点、轴向必须与 mesh 一致；旋转块为正交矩阵且 determinant≈1。
+
+`object/<id>/visibility.pt [T]` 保存源物体可见比例，float32 [0,1]，`visibility_type=ratio`。通过所属物体组件 attributes 登记，独立表达其有效性。
+
+#### 5.4.4 articulation.json、部件位姿与 joint_state.pt
+
+关节物体：schema `object/articulated/v1`，`articulation.json` 登记 `parts` 与 `joints`。每个 part 有 `part_id`、`parent_id`（根为 null）、`has_model`、`mesh_ref`；has_model=false 时 mesh_ref=null，结构节点允许没有网格。父链不得成环。每个 joint 有唯一 `joint_id`、`parent_part`、`child_part`、`type`；fixed 单位 null、revolute 弧度、prismatic 米。有源限位时保存 `limits:[lower,upper]`；没有时 null，不伪造上下限。部件姿态统一为 `T_camera_from_part [T,4,4]`，不与父局部变换混装。
+
+若提供 `joint_state.pt [T,J]`，必须登记固定 joint_order、轴在父部件系的表达、零位变换与正方向，valid 为 `[T,J]`；缺少这些运动学定义时只发布部件位姿与已有来源信息，不伪造可驱动的关节模型。关节值与部件位姿同时存在时需验证一致性。
+
+部件层级应声明语义：纯语义包含树允许 `joints=[]`，不将包含关系推断为机械关节。关节状态 schema 为 `object/joint_state/v1`；转动用弧度、移动用米，混合类型按 joint_order 对应的关节定义解释。
+
+#### 5.4.5 dimensions、几何关键点与顶点部件标签
+
+`dimensions.pt [T,3]` 采用 `object/dimensions/v1`，有效性为 `[T]`。
+
+物体/部件 `dimensions` 为 `[length,width,height]` 米，轴顺序与该 mesh 的局部坐标关联，登记 `dimensions_semantics` 和来源。HOI4D dimensions 与 mesh 的具体尺度关系未验证前标为 source_unspecified，保留源值并暂停依赖该关系的几何验收，不能默认为待施加缩放。需要施加缩放时明确 scale_applied_to_mesh，禁止重复应用。
+
+源物体关键点放 `object/<id>/keypoints/xyz.pt [T,K,3]`（相机系）或 `template_xyz.pt [K,3]`（物体系），schema 分别为 object_keypoints/camera/v1 和 object_keypoints/template/v1。明确 keypoint_schema、keypoint_names、单位及有效性；模板点配合 pose 可投影，无须重复生成全部帧。H2O 中心/角点/棱中点，以及 ARCTIC 部件点分别登记具体源顺序，不套用手的 21 点 schema。每个发布选择一套源几何点并记录选择，不另建方法分支。
+
+`vertex_part_ids.pt [V] int64` 绑定 `mesh_ref` 与 topology_id，登记整数到 part_id 的映射；未知用 -1。ARCTIC 不同拓扑的资产分别绑定，不能共用未经转换的顶点标签。部件层级中 is_instance/has_model 等源属性保留，几何文件仍全部归 object。
+
+### 5.5 segment：分割类别、编码与覆盖范围
+
+每个发布选择一套任务使用的分割表示，不建立方法／标注集分支。没有分割就不创建 segment 目录，不为其他模态创建空的实体表。
+
+| schema_id | 文件与数值语义 |
+|---|---|
+| segment/uint16_labels/v1 | mask.mkv；整数区域编号，通过 instances.jsonl 解释 |
+| segment/instance_polygons/v1 | polygons.jsonl；实例多边形，可重叠；当前不支持孔洞拓扑 |
+| segment/foreground_intensity/v1 | mask.mkv；0–255 前景强度，不是区域编号或经过校准的概率 |
+
+#### 5.5.1 uint16 标签图与 instances.jsonl
+
+组件声明 `segmentation_type=semantic/instance/part`；同一组件固定一种类型。`mask.mkv` 解码为 `[T,H,W] uint16`，schema `segment/uint16_labels/v1`，使用 `mkv/uint16_ffv1/v1`，FFV1 gray16le 无损；只有所有区域编码均 ≤255 时允许 gray8（pixel_format=gray），读取后转 uint16，数值不变。禁止调色板和有损编码。有效性 `[T]`，表示该帧有可用分割标注。数值 0 固定为 unassigned，65535 固定为 ignore，1–65534 为区域编码，不能直接等同 entity_id。
+
+`instances.jsonl` 每帧一行，包含 `frame_index` 与 `labels`。每条标签包含 `mask_value`、`category_id`、`entity_id`、`part_id`；无意义或未知字段为 null。semantic 允许 entity_id=null；instance 必须引用 hand_left/hand_right 或登记的 object_id；part 还须关联登记部件。源实例 ID 和其他属性分别保存在 `source_instance_id`、`source_attributes`。mask 中每个非保留编码必须有且仅有一个映射。
+
+FreiHAND 的试点按本任务需要，统一到手／背景类别，保留每个原生区域编码；不要求给原生细分区域猜测手指名称。需要细部件监督时，尚未核实的部件名称必须保持未知，不能因粗粒度手类别已核实便声称部件语义也已统一。
+
+#### 5.5.2 重叠实例多边形
+
+每发布选择一套任务使用的分割表示，不建立方法/标注集分支。VISOR 的实际试点存在重叠实例多边形，单层标签图不能无损表达。对此补充 `segment/instance_polygons/v1`：`segment/polygons.jsonl` 每帧包含 `frame_index` 和 `instances`，每实例包含 `mask_value` 与 `polygons`（列表，每个多边形为源图像像素坐标顶点序列，保留原始精度）。身份和类别仍由同一 `instances.jsonl` 映射，有效性仍为 `[T]`，通过 schema 区分物理编码。允许多实例重叠，不采用后画覆盖前画。消费者按需栅格化为独立实例二值 mask；不能声称合并的单层 mask 无损。
+
+#### 5.5.3 灰度前景强度
+
+ReInterHand 的官方渲染 mask 为双手合并的灰度前景掩码，实测存在 0–255 的中间值，不是左右手实例编号。登记 `segment/foreground_intensity/v1`：仍存 `segment/mask.mkv`，解码为 `[T,H,W] uint16`，使用 `mkv/uint16_ffv1/v1`，此类数据优先编码为 FFV1 gray8（pixel_format=gray），读取后转 uint16。有效值范围 0–255，归一化值为 `float32(value)/255`；0 为背景端点、255 为前景端点。组件声明 `foreground_category=hand`、`entity_id=null` 和双手合并语义，不使用区域编号映射。这里保留原始渲染 mask 强度，不把它称为经过校准的概率。若任务需要二值 mask，阈值化属于任务层派生操作，记录阈值；共享层不丢弃中间灰度。不同 schema 的数值含义不同，不能将该文件按整数类别图解码。
+
+FreiHAND 训练集的 JPEG mask 使用 `segment/foreground_intensity/v1`，逐像素保留 JPEG 解码后的灰度，`entity_id=hand_right`。该 schema 不限定双手合并：单手或合并范围由 `entity_id` 与 `coverage` 明确声明。评估集整数区域图仍用 `segment/uint16_labels/v1`，两者不能仅凭文件名使用同一种解码语义。
+
+#### 5.5.4 coverage 与有效性
+
+`coverage.kind=full/selected_entities/partial/unknown`。full 指声明的标注范围完整；selected_entities 还应列出目标范围。无论哪种，0 本身不自动成为背景；背景要有明确类别映射，未标注区域不能用于构造负样本。保留源逐类/逐实例 exhaustive 信息，未知不可改写为完整。
+
+三种表示的帧级有效性均为 `[T]`，表示该帧是否提供此分割标注；对应 valid_ref 在组件中登记，仍用小型 bool `.pt` 数组。栅格 mask 必须登记 storage，格式见 3.1.2，所有帧的整数编码或强度逐值完全相同。编码语义由 schema_id 决定，读取器不能仅依据 mask.mkv 文件名选择解码方式。
+
+### 5.6 contact：接触、抓取、区域与距离
+
+#### 5.6.1 relations.jsonl 与 relations_valid.pt
+
+`annotation/contact/relations.jsonl`，schema contact/relations/v1，每帧一行含 frame_index、relations。每条记录含 relation_type（contact/grasp）、subject_id（手槽或登记实体）、object_id、status、source_locator、provenance。status 固定为 positive/negative/unknown/target_unannotated：positive 必须有可解析目标，negative 表示源明确否定该关系，unknown 为不确定，target_unannotated 为确有接触但目标未标注。非 positive 的 object_id 可 null，不能用 null 冒充“不接触”。稀疏源无记录的帧不自动补 negative。
+
+VISOR 的对象 mask ID 必须先按同帧 source_instance_id 解析成 object_id；hand-not-in-contact、none-of-the-above、inconclusive 分别映射 negative、target_unannotated、unknown，保留原始字符串。Dex ycb_grasp_ind 通过 ycb_ids 映射到登记物体，以 relation_type=grasp 保存；不得当作逐顶点接触。
+
+relations 组件的 valid_ref 指向 `relations_valid.pt [T] bool`，表示该帧是否有可用源关系标注。有效帧中可以存在 status=unknown 的明确不确定标注；无源标注的帧为 valid=false、relations=[]。组件仍声明 available/provenance/source_locator。
+
+#### 5.6.2 实体对的顶点区域与距离
+
+已发布的接触区域/距离按参与关系的 subject_id 与 object_id 组织，每对实体保留选定的一套结果，以精确 geometry_ref/topology_id 关联到手或物体/部件；不要求每套数据都有。顶点区域 schema contact/vertex_region/v1：bool `[T,V]` 加同形 valid；顶点距离 schema contact/vertex_distance/v1：float32 `[T,V]`、米、同形 valid，声明 source/target geometry_ref、distance_definition（signed/unsigned、测量到点集或表面等明确源定义）。geometry_ref 必须指向已登记 mesh 或由固定 MANO 模型配置确定的拓扑；拓扑/顶点数变化时按拓扑拆分片段。其他源区域表示只有在实际接入并登记 schema 后才可转换，不能随意栅格化宣称等价。
+
+顶点区域／距离已有存储定义，但尚未完成真实输入试点；接入时必须提供源语义与几何验收证据，不因已经登记 schema 就视为通过。
+
+## 附录：任务范围
+
+不强制收录 2D bbox、完整高频动捕、动作程序、身体 SMPL-X、点云或网络特征。范围内的接触、visibility、选定手关键点、物体几何不能因不便处理而静默丢弃。分割采用的物理编码由第 5.5 节决定，存在重叠时不能以单层标签图声称无损。
+
+不设置 entities_ref/segment/entities.json，不要求与 object_id 重复的 track_id。MediaPipe 不在当前关键点定义中；旧版本迁移必须保留可追溯关系，不能直接删表。手部共享表示不含独立 hand_mesh。
+
+schema.json 是普通注册表，不是 JSON Schema 文档或可执行验收器；定义存在不代表真实数据已验证。验收须保留实测范围与未决项。
+
+本存储约定只更新标准，不代表既有 FFV1／depth.pt 试点已迁移。新发布必须显式写 storage 配置；旧产物按其旧定义读取，不能只改文件后缀或版本标识伪装为合规。
diff --git a/RHD/shared-v1.1/doc/history-v1.0/CONTRACT.md b/RHD/shared-v1.1/doc/history-v1.0/CONTRACT.md
new file mode 100644
index 0000000000000000000000000000000000000000..e80d21a1c4af1bfaa2f429b3395a4304e6af6eb0
--- /dev/null
+++ b/RHD/shared-v1.1/doc/history-v1.0/CONTRACT.md
@@ -0,0 +1,459 @@
+# 手物数据仓库统一约定 v1.0
+
+格式版本：`hand-warehouse/1.0`。存储约定：`lossless-video-2026-09-18`。
+
+范围限于手物交互重建。按本任务纳入的源模态转换，不要求每个数据集填满所有组件。缺失模态、尚未下载、语义未核实分别报告，不能互相替代。
+
+shared 层不是 raw 的完整镜像。处理者只需提取本次任务范围明确要求、语义已经核实且能够按本规范可靠转换的字段和模态。raw 中其余字段可以不纳入 shared，但必须在 `RAW_TO_SHARED.md` 中列出主要未纳入内容及原因。不得为了覆盖全部 raw 字段而猜测语义、虚构模态或保存未经定义的字段。未纳入 shared 不等于源数据不存在，原始信息仍以 raw 为准。
+
+本文定义各字段的含义与使用规则，机器可读注册表见 [schema.json](schema.json)。两者互相补充；如有冲突，应先核实并统一定义。
+
+## 1. 目录
+
+```text
+hand-datasets/
+  <dataset_name>/
+    raw/
+      doc/                         # 官方说明、来源与校验记录
+      script/                      # 官方下载脚本、必要包装脚本
+      data/                        # 保留原始包，不原地解压或改写
+    <dataset_version>/
+      doc/                         # 发布说明、schema、来源清单
+      script/                      # 转换、校验脚本及运行配置
+      data/
+        <sequence_id>/
+          <camera_id>/
+            metainfo.json
+            observation/
+              rgb.mkv
+              rgb_valid.pt
+              depth.mkv           # float32 深度的可逆视频编码
+              depth_valid.mkv     # 逐像素 bool 的无损视频编码
+            camera/
+              frames.jsonl
+              intrinsic.pt
+              intrinsic_valid.pt
+              extrinsic.pt
+              extrinsic_valid.pt
+            annotation/
+              mano/
+                motion.pt
+                motion_valid.pt
+                visibility.pt
+              keypoints/
+                uv.pt
+                uv_valid.pt
+                xyz.pt
+                xyz_valid.pt
+                visibility.pt    # 源数据有时提供
+              object/
+                <object_id>/
+                  assets/          # 该物体的网格、材质、纹理及部件资产
+                    <mesh_id>.obj
+                  pose.pt
+                  pose_valid.pt
+                  visibility.pt
+                  metainfo.json    # 物体身份、类别、mesh、尺寸与部件引用
+                  articulation.json
+                  keypoints/
+                  vertex_part_ids.pt
+                  joint_state.pt
+                  joint_state_valid.pt
+                  parts/<part_id>/pose.pt
+                  parts/<part_id>/pose_valid.pt
+              segment/
+                mask.mkv
+                mask_valid.pt
+                instances.jsonl
+              contact/
+                relations.jsonl
+                <subject_id>__<object_id>/  # 对应实体间的距离/接触区域
+```
+
+目录展示可能存在的组件，不要求填满。具体文件、字段和缺省规则分别见后续对应小节。原始包的解压发生在临时工作区，raw 内原始包保持不变。
+
+## 2. 相机视图的 metainfo.json
+
+### 2.1 顶层字段与发布信息
+
+每个相机视图必须有 `metainfo.json`。以下字段除另行说明外均为必填：
+
+| 字段 | 填写内容 |
+|---|---|
+| schema_version | 结构版本，本版为 `hand-warehouse/1.0` |
+| dataset_id | 数据集的逻辑标识 |
+| release_id | 本次数据发布版本，对应目录中的 dataset_version |
+| sequence_id | 所属序列或独立图片样本的标识 |
+| camera_id | 当前相机视图标识 |
+| sample_type | `image` 或 `video`，规则见 2.2 |
+| num_frames | 当前视图帧数 T，所有随帧组件按同一时间轴组织 |
+| hand_slots | 固定为 `["left", "right"]`；解剖学左右的使用规则见 5.1 |
+| sampling | 采样类型、源 FPS、帧索引引用及选择策略，见 2.2 |
+| camera | 当前相机模型与图像尺寸，见 2.3 |
+| components | 实际提供的组件及其文件、schema、有效性和来源，见 2.5 |
+| split | `train/val/test/unknown`，划分协议见 2.4 |
+| view_type | 必填，固定为 `ego/exo/unknown`。源数据或采集设置明确相机视角时必须填写 `ego` 或 `exo`；只有无法从可信来源确定时才填写 `unknown`，不得省略或主观猜测。多相机序列须逐视图分别填写。 |
+
+`dataset_version` 是数据发布版本；`schema_version` 是结构版本，两者独立。原始包校验摘要、官方来源和转换配置应记录在发布清单中。解压发生在临时工作区，原始包保持不变。
+
+### 2.2 图片、视频与 sampling
+
+`sample_type=image`：允许单图 T=1、`sampling.type=single`，也允许将独立图片批量装入一个视频容器，T>1 时 `sampling.type=independent`、`source_fps=null`。分片大小按数据集选择；FreiHAND 默认每片最多 4096 张，训练与评估分开，尾片不补帧。该数量不是其他数据集的强制要求；同批分辨率、相机模型类型及划分协议一致。每行 frames 必须有稳定且唯一的 `sample_id`、原始文件定位；内参、手形状等仍逐帧保留，不能因打包而共享错误的标定或身份。`sequence_id` 在这里仅是批次标识，不代表真实序列；不得按相邻帧推断跟踪、同步或接触延续。源 camera_id、image_variant、split 等随样本变化时放在 frames 的对应字段中。真实采集时间未知则 timestamp_ns=null。合成背景变体不视为真实多相机。
+
+`sample_type=video`：`sampling.type=dense/sparse`；`source_fps` 是真实采集 FPS，未知为 null。非连续取样必须保留源帧号和已知源时间，不可用采样后索引除以 FPS 冒充源时间。可另记采样策略与步长。
+
+shared 可以仅存所选 RGB 帧对应的数据。OakInk2 图像/动捕不同采样率时用 annotation_matches 明确映射；不要求将未采样动捕点硬塞进 T。多视角身份和源同步关系要保留；选择了哪些帧/相机及原因写在 sampling 中。
+
+`sampling.frames_ref` 指向 `camera/frames.jsonl`。帧号、逐帧时间、同步与标注匹配记录的结构见 4.1；MKV 封装时间的约定见 3.1。
+
+### 2.3 camera 模型声明
+
+`camera` 至少包含 `model`、`schema_id`、`image_size:[W,H]`。模型未知使用 `unknown` 和 `null`，不猜成针孔。实际内参、畸变及外参数组放在 `camera/`，各模型的固定结构见第 4 节。
+
+### 2.4 split 与划分协议
+
+保留上游划分，不将同一采集序列的相邻帧随意拆到不同集合。
+
+有官方划分时必填 split_scheme 和 split_source_locator，split_scheme 区分如 Dex-YCB s0/s1、ARCTIC P1/P2 等选定协议；不知道时 split=unknown 并给理由，不凭空分配。每发布可选择一种协议；存在逐帧差异时 frames 中的 split 覆盖视图默认值，并登记其来源。
+
+### 2.5 components 组件登记
+
+组件表的键是本发布内唯一名称，例如 `rgb`、`depth`、`mano`、`keypoints_uv`。每个已提供组件声明以下信息；模态特有参数在第 3–5 节对应小节中定义。
+
+| 字段 | 约定 |
+|---|---|
+| available | 本发布是否提供该组件；缺省也表示未提供 |
+| schema_id | 已登记的具体存储与语义类型，不得临时创造未登记名称 |
+| data_ref | 数据文件路径，相对当前相机视图根目录，使用 POSIX 路径 |
+| axes | 数组各维度的含义 |
+| valid_ref / valid_axes | 有效性文件及其维度；语义由所属组件规定 |
+| storage / valid_storage | 视频数据／视频有效性的存储配置；包含已登记 profile、实际 codec、pixel_format、encoded_size，见 3.1；非视频组件按原数组规则 |
+| provenance | source / format_conversion / derived，以及转换或生成方法 |
+| source_locator | 原文件、压缩包成员和记录／帧的定位信息 |
+
+不存在的组件允许缺省或写作 `{ "available": false, "reason": "..." }`，不用引用不存在的文件。静态网格可声明标量有效性；具体见 5.4。观测的 valid 见第 3 节，标注的 valid 与 visibility 区分见 5.1。
+
+`provenance.kind` 使用 source/format_conversion/derived，`method` 说明转换或生成方法；发布清单补充脚本版本、参数、输入摘要。`source_locator` 定位到原始文件/压缩包成员和记录、帧号；允许引用有完整溯源清单的前一发布，但链条最终应能回到 raw。不得仅写一个无法定位记录的数据集名字。
+
+`.pt` 仅保存 CPU Tensor，不保存 Python 自定义对象；浮点默认 float32，有效性为 bool，浮点无效位置填 NaN。所有随帧数组保留首维 T，单帧也不 squeeze；静态资产按其 schema 单独声明。单位、坐标及固定形状见各组件小节。
+
+机器注册表 `schema.json` 中，`components` 固定解码后的数据类型、形状、单位和语义；`storage_profiles` 固定视频内的编码／还原方式。不得临时创造未登记的 schema_id 或 storage.profile。同一语义允许选择其登记的不同无损存储 profile。
+
+## 3. observation 观测数据
+
+### 3.1 rgb.mkv 与 rgb_valid.pt
+
+RGB、深度和栅格 mask 在 shared 中统一使用 MKV 视频容器，不展开为逐帧图片或图像 tar。MANO、关键点、位姿等数值标注仍用数组；分割的重叠多边形仍用 JSONL，不为了视频化而有损栅格化。单图可为一帧视频，独立图批量封装规则见 2.2。
+
+**无损指共享层不增加信息损失。** 源 JPEG／H.264 等本身可能已是有损编码，原样保留并不恢复已丢失信息；不得重新以有损 JPEG、H.264、H.265、AV1 参数编码。源视频／图片的色彩、位深、分辨率和几何关系不得被静默改变。RGB schema `rgb/uint8/v1` 的统一读取结果是 `[T,H,W,3] uint8`、RGB 通道，有效性仍为 `rgb_valid.pt [T] bool`。超出该 schema 的高位深或 HDR 源必须报告并扩展定义，不能降到 8 位冒充无损。
+
+#### 3.1.1 允许的 RGB 存储 profile
+
+| storage.profile | 编码方式 | 适用规则 |
+|---|---|---|
+| mkv/mjpeg_copy/v1 | 源 JPEG 压缩帧直接封装成 MJPEG/MKV | 不解码重编码；保持每张 JPEG 码流字节；普通 8 位 JPEG 且 MKV/解码器支持时使用 |
+| mkv/source_copy/v1 | 已有视频的 RGB 对应码流直接封装为 MKV | 仅源编码能被 MKV 和选定解码器支持时使用，不伪造帧；需维持正确的呈现顺序与依赖帧 |
+| mkv/h264_rgb_lossless/v1 | libx264rgb 的真正无损模式 | 必须 RGB 路径、CRF=0，并通过全帧 RGB 字节比较；不能替换成默认 libx264 YUV420 路径 |
+| mkv/ffv1_rgb/v1 | FFV1 的 RGB 可逆编码路径 | 作为通用候选；解码回 RGB 后必须逐字节相同，不做色度降采样 |
+
+优先尝试源码流直接封装；不能封装或需要选择稀疏帧时，比较 FFV1 与无损 RGB H.264。对完整待发布片段，只在通过无损验收的候选中选择文件较小者，不假设某个编码器总最小；编码时间和随机读取代价记入构建记录。中间候选不作为 shared 多份常驻。H.264 跨帧压缩允许较长 GOP，必须记录 GOP／关键帧间隔，随机取帧需从前一关键帧正确解码，不能把 seek 返回的近似帧当目标帧。
+
+普通源视频可以保留它已有的有损码流，但不允许新增有损重编码。源是 VRS 等记录容器时，先查明图像流实际编码：已有兼容 JPEG／视频包可直接提取封装，否则解码后使用真正无损编码；不把整个 VRS 改后缀当 MKV。PNG 不要求直接塞进 MKV，可选上表两种无损重编码方式。
+
+#### 3.1.2 视频配置与校验
+
+每个视频组件在 metainfo 中登记 `storage`，至少包含：
+
+| 字段 | 内容 |
+|---|---|
+| profile | 上述登记的存储 profile；语义仍由组件 schema_id 指定 |
+| codec | 文件中实际 codec，例如 mjpeg、h264、ffv1；source_copy 必须写实际 codec |
+| pixel_format | 实际编码像素格式；不得仅凭编码器参数猜测 |
+| encoded_size | 视频物理像素尺寸 `[width,height]`；深度可能不同于逻辑尺寸，见 3.2 |
+| decoder | 解码器名称、版本，以及颜色矩阵／范围／旋转处理等实际像素解释配置；未知的源色彩声明 unknown，不擅自称为 sRGB |
+| encoder_parameters | 重编码时的编码器、版本、无损模式和 GOP 等参数；直接封装时记录 stream_copy |
+| source_lossy | 源是否已有损：true / false / unknown；不是共享层再有损编码的许可 |
+
+无损重新编码的 RGB 必须使用同一固定解码配置，比较**全部帧**的统一 RGB 字节、数量及顺序。MJPEG-copy 不重新编码，生产校验采用 `jpeg-packets-all-rgb-sample16/v1`：从 MKV 逐包取回，对全部源 JPEG 的 SHA256、数量、顺序和图像尺寸进行精确核对；每视图另用同一固定解码配置比较最多 16 帧的源与目标 RGB 字节（含首尾与四分位位置，其余由固定种子抽取）。记录策略、实际索引、种子与结果；不足 16 帧时全查。试点与最终完整序列随机抽查，对选中视图的全部帧复核解码 RGB。历史已做全帧像素检查的证明继续保留。
+
+逐包一致与像素抽查的范围必须分别声明，不能将抽查写成全量像素检查。不能用 PSNR 高、视觉相似、编码器参数称为 lossless 等替代精确检查。同时保留源编码的色彩标记和必要元数据；原图有 EXIF/色彩/方向等元数据时保留 raw 和必要来源信息；不能静默自动旋转图像而不更新像素对应与标定。以上加速策略仅适用于原 JPEG 码流直接封装，不适用于深度、标签或重新编码的 RGB。
+
+所有共享视频的呈现帧顺序与统一 frame_index 一一对应，每个栅格组件恰好 T 帧。MKV 的 `storage_fps` 只服务封装，声明 `timebase_role=index_only`；source_copy 可以保留源 PTS 以避免改坏码流，但真实时间与标注对齐仍以 frames 为准。未知真实时间保留 null。缺失某帧组件时保留索引位置并使用该组件的无效占位／valid 标识，不删帧；不能以重复相邻图像冒充已知观测。
+
+### 3.2 depth.mkv 与 depth_valid.mkv
+
+深度语义仍是 `depth/z_float32/v1`：统一读取结果 `[T,H,W] float32`，米制相机 Z 分量，`depth_type=z`。有效深度有限且大于 0，无效位置为 NaN。`depth_origin=measured/rendered/unknown` 必填，来源不明时 unknown。默认与 RGB 共用像素网格及相机参考系，不处理未注册 RGB-D。射线距离必须依据源定义转换成 z，不能只改声明。
+
+#### 3.2.1 float32 的可逆视频编码
+
+采用 `mkv/depth_float32_bits/v1`：**不是把深度量化成 uint16**，而是将规范化后每个 IEEE-754 float32 的完整 32 位拆成两个 uint16，使用 FFV1 gray16le 保存。视频物理尺寸为 `[2W,H]`：每行前 W 列存原 float32 位串的低 16 位，后 W 列存高 16 位。读取时先合并为 uint32 位串，再按 float32 重新解释，不能数值 cast 成 float32。
+
+```text
+u = reinterpret_uint32(depth_float32)
+encoded[:, :, :W] = uint16(u & 65535)
+encoded[:, :, W:] = uint16(u >> 16)
+u_restored = uint32(low) | (uint32(high) << 16)
+depth_float32 = reinterpret_float32(u_restored)
+```
+
+统一采用 little-endian 原始字节接口。`camera.image_size` 始终是逻辑 RGB 尺寸 `[W,H]`，不能改成编码视频的 2W；`storage.encoded_size=[2W,H]`。包括 NaN 在内的 float32 位串必须全帧完全恢复，不允许改成 float16、整数毫米、归一化灰度或 RGB 伪彩色。这里的无损验收基准是完成既定米制／坐标转换后的标准 float32 数组，不声称消除 float64→float32 等原约定转换本身的舍入。
+
+#### 3.2.2 逐像素有效性
+
+`depth_valid.mkv` 使用 `mkv/bool_ffv1/v1`，FFV1 gray8（FFmpeg pixel_format=`gray`），物理尺寸 `[W,H]`。像素只能为 0 或 1，统一解码为 `[T,H,W] bool`，逐像素含义不变。这样不再把庞大的 bool 数组保存为未压缩 `.pt`；标注的帧级／手级 valid 仍保留原有小数组。
+
+登记示例（W、H 以下取 640、480；decoder/encoder_parameters 的实际版本由转换器填写）：
+
+```json
+{
+  "available": true,
+  "schema_id": "depth/z_float32/v1",
+  "data_ref": "observation/depth.mkv",
+  "axes": ["T", "height", "width"],
+  "valid_ref": "observation/depth_valid.mkv",
+  "valid_axes": ["T", "height", "width"],
+  "unit": "m",
+  "depth_type": "z",
+  "depth_origin": "measured",
+  "invalid_value": "NaN",
+  "storage": {
+    "profile": "mkv/depth_float32_bits/v1",
+    "codec": "ffv1",
+    "pixel_format": "gray16le",
+    "encoded_size": [1280, 480],
+    "source_lossy": false,
+    "decoder": {"name": "ffmpeg", "version": "填写实际版本"},
+    "encoder_parameters": {"name": "ffv1", "level": 3, "version": "填写实际版本"}
+  },
+  "valid_storage": {
+    "profile": "mkv/bool_ffv1/v1",
+    "codec": "ffv1",
+    "pixel_format": "gray",
+    "encoded_size": [640, 480],
+    "source_lossy": false,
+    "decoder": {"name": "ffmpeg", "version": "填写实际版本"},
+    "encoder_parameters": {"name": "ffv1", "version": "填写实际版本"}
+  },
+  "provenance": {"kind": "format_conversion", "method": "源深度转米制 z float32；逐位打包为 FFV1"},
+  "source_locator": {"file": "raw/data/depth.zip", "member": "depth/0001.png"}
+}
+```
+
+深度和有效性视频都必须逐帧解码验收：float32 位串相同、bool 相同、T 相同，并检查 valid=true 的正有限值和 valid=false 的 NaN。读取器必须按 profile 还原，不能把 depth.mkv 的编码像素直接当深度值。
+
+## 4. camera 相机、帧索引与标定
+
+### 4.1 frames.jsonl：索引、时间与对应关系
+
+`camera/frames.jsonl` 每行对应统一帧号 `frame_index=0..T-1`，是所有组件的唯一行索引。至少包含 `frame_index`、`timestamp_ns`、`clock_domain`、`source_locator`；原始帧号/文件名保存在 `source_frame_id`，不能被新帧号替代。每行还可有 `annotation_matches`，按组件键保存 `source_frame_id`、`source_timestamp_ns`、`clock_domain`、`match_method` 和 `delta_ns`；方法为 exact/index_map/nearest/interpolated，索引映射无时间依据时 delta_ns=null。nearest 必须记录允许误差；interpolated 必须记录两端源标识和权重。delta_ns 仅在同一时间域中计算为源标注时间减图像时间。多相机共享 `sequence_id`；已知同步关系必须用 `sync_id` 或明确的源帧/时间映射表达，不能仅凭相同数组索引认定同步。
+
+每个视图必须提供此文件。源时间使用整数纳秒及 `clock_domain`，未知写 JSON `null`；不同时间域不能直接比较。逐帧 split 可以覆盖 metainfo 的视图默认划分，并保留来源，见 2.4。
+
+### 4.2 坐标系与标定通则
+
+| 项目 | 统一约定 |
+|---|---|
+| 相机坐标 | 右手系，X 向右、Y 向下、Z 向前，长度单位米 |
+| 齐次变换 | 列向量，`p_target = T_target_from_source @ p_source` |
+| 图像坐标 | `(u,v)`；左上像素中心为 `(0,0)`，u 向右、v 向下，单位 pixel |
+| 固定标定 | 本版展开为 T 份，同一 schema 不混用静态与动态形状 |
+| 分辨率或模型变化 | 分开存储为视图／片段，不在同一组件中混装 |
+| 未知标定 | 相机内外参允许缺省，不填单位阵冒充已知标定 |
+
+### 4.3 intrinsic.pt 与畸变参数
+
+| model / schema_id | intrinsic.pt 的固定结构 |
+|---|---|
+| pinhole / camera/pinhole/v1 | `[T,3,3]`，标准 K，最后一行为 `[0,0,1]`；限无畸变或已校正图像 |
+| fisheye624 / camera/fisheye624/v1 | `[T,15]`，`[f,cx,cy,k0,k1,k2,k3,k4,k5,p0,p1,s0,s1,s2,s3]`，采用 Project Aria Fisheye624 投影定义 |
+| opencv_fisheye4 / camera/opencv_fisheye4/v1 | `intrinsic.pt [T,3,3]` 保存 K；同组件 `distortion_ref` 指向 `[T,4]`，顺序 `[k1,k2,k3,k4]`，使用 OpenCV fisheye 等距角度多项式；已由 ReInterHand 实际原始相机参数验证 |
+| rational8 / camera/rational8/v1 | `intrinsic.pt [T,3,3]` 保存 K；同组件必需 `distortion_ref` 指向 `[T,8]`，顺序 `[k1,k2,p1,p2,k3,k4,k5,k6]` |
+| unknown / null | 不提供可用 intrinsic，不声称可以投影 |
+
+有畸变的其他模型必须注册新 schema，固定参数名、顺序和投影公式；不能塞进针孔 K 后遗失畸变项。`metainfo.camera.schema_id` 必须与 intrinsic 组件一致。同一模型的别名不可隐式改变参数布局。
+
+`opencv_fisheye4`：对前方点令 `x=X/Z, y=Y/Z, r=sqrt(x²+y²), theta=atan(r)`，`theta_d=theta*(1+k1*theta²+k2*theta⁴+k3*theta⁶+k4*theta⁸)`；`u=fx*x*theta_d/r+cx, v=fy*y*theta_d/r+cy`。光轴 r=0 时使用连续极限 `theta_d/r=1`。四系数不能按普通径向畸变解释，也不能补零冒充 Fisheye624。
+
+rational8 对归一化坐标 x=X/Z、y=Y/Z，令 r²=x²+y²，径向项为 `(1+k1*r²+k2*r⁴+k3*r⁶)/(1+k4*r²+k5*r⁴+k6*r⁶)`；再加 p1/p2 切向项并经 K 得到像素。`distortion_ref` 与 intrinsic 共用 `[T]` valid，保存到 camera/distortion.pt。不得把这种畸变三维坐标当作真实相机系 xyz 保存。
+
+内参有效性为 `intrinsic_valid.pt [T] bool`；有畸变时使用对应 `distortion_ref`。同一模型的参数名和顺序固定。
+
+### 4.4 extrinsic.pt 与 extrinsic_valid.pt
+
+`extrinsic.pt` 为 `[T,4,4]`，schema `transform/se3/v1`，方向固定 `T_camera_from_world`，有效性 `[T]`。世界坐标含义及源坐标转换记录在 provenance 中；只有相机坐标标注不要求虚构世界坐标。旋转块须正交且 determinant≈1。
+
+## 5. annotation 标注数据
+
+### 5.1 标注通则：手槽、valid 与 visibility
+
+手槽固定为 0=left、1=right，指解剖学左右，不按画面位置或可见性重排。本阶段只处理左右手两槽，不处理更多手。实体引用使用 `hand_left`、`hand_right`；手槽不证明跨采集片段的个人身份。
+
+#### 5.1.1 valid：标注是否可用于监督
+
+标注的 `valid=true` 表示：有对应实际标注、通过本 schema 数值检查，且通过来源明确提供并适用于该组件的有效性/QA 条件。`valid=false` 可由缺标注、无法建立帧对应、源无效占位或官方 QA 不通过导致；不等于画面没有手或手不可见。各组件独立判断，MANO 按 `[T,2]` 标记左右手，关键点按 `[T,2,K]` 标记。
+
+**2026-09-20 将标注 valid 从“仅表示存在”修订为“可用于监督”，字段形状不变。** 公式为 `source_annotation_present AND numerical_checks_pass AND applicable_official_QA_pass`。没有官方 QA 时省略最后一项，不伪造 QA；不能把未知当成已通过已存在的 QA。适配器在组件 `valid_policy` 中记录具体规则、来源、聚合/广播作用域。缺失官方必需 QA 的记录须明确处理为未知或暂停验收，不能静默通过。无效浮点项仍填 NaN，原始数据保留在 raw；被排除原值可用于 doc 中明确标识的诊断渲染，不能冒充 shared 有效监督。
+
+本地筛选须依据明确的规则，并在 `valid_policy.local_excluded_frame_indices`、排除原因和正式报告中记录。单个可疑投影作为问题记录，不直接硬编码排除该帧。已确认的曝光异常须明确作用范围，不能把一个序列的“前两帧有问题”套到所有序列。RGB 编码完好与几何监督可用是两件事，允许保留原图及帧索引而屏蔽对应标注；未发现问题不等于完成全部人工审核，试点待确认时不能作为已验收发布使用。
+
+源字段必须按官方语义映射，不能直接按名字复制：
+
+| 来源 | 官方含义 | 映射原则 |
+|---|---|---|
+| [H2O](https://github.com/taeinkwon/h2odataset) 的手标注首位 | 0 未标注、1 已标注 | 可作为对应手标注存在性的依据，不推断未标注原因 |
+| [HOT3D](https://github.com/facebookresearch/hot3d#using-mask-files) 的 pose_available、visible、mask_qa_pass | 分别表达姿态存在、可见性、对画面中可见手物位姿的人工 QA | 逐手/物体记录决定存在性，再 AND 当前相机当前帧 QA；QA 是整帧聚合判定，保守排除该帧全部手物几何监督，不声称每个实体均有错误；源可见性基于位姿推导时，其自身 valid 同样受 QA 约束 |
+| [Dex-YCB](https://github.com/NVlabs/dex-ycb-toolkit#loading-dataset-and-visualizing-samples) 的全零 pose_m、全 -1 joints | 不可见的手或缺标注共用占位表示 | 对应组件 valid=false；不能从该值判定 visibility=false，也不能声称原因是动捕缺失 |
+| [ARCTIC](https://github.com/zc-alexfan/arctic/blob/master/docs/data/data_doc.md) 的 is_valid/left_valid/right_valid | 是否有效用于官方评估 | 核实每项筛选依据；不把可见性/评估选择直接等同 QA。本次原始 mano.npy 不含这些派生评估标记，按原记录与数值检查生成 valid，并声明没有额外官方 QA 输入 |
+
+源 valid=false 若代表评估筛选或其他条件，应检查实际标注和源约定后映射；不能一律清空坐标。反之，占位零或 -1 只有在源官方明确规定时才判为缺失，不泛化成所有数据的判断规则。
+
+`valid=true` 的标注应通过其 schema 的数值与形状检查；检查失败必须报告或修复，不能静默隐藏。QA 不通过应报告排除数量与原因，并保留可追溯信息；不能把这类无效称为缺标注。RGB、深度等观测有效性仍按各自 schema；手物 QA 不自动否定 RGB、静态相机内参或物体资产。相机外参是否过滤须依据其自身来源规则；HOT3D 本次保留源外参用于溯源和诊断，不能用其存在性证明 QA 失败帧的几何监督正确。
+
+#### 5.1.2 visibility：可见性属性
+
+附加质量属性只保留 `visibility`，存放在对应模态或标注集内，不设 quality 目录。同一份可见性仅存一次；uv 与 xyz 共用时引用同一个文件。
+
+visibility 通过所属组件 attributes 登记 data_ref、axes、dtype、visibility_type、meaning、provenance、source_locator；未知值通过属性 valid_ref 标识，全已知可声明 valid=true。比例与布尔值不相互强转，也不按任意阈值二值化。没有 MANO 时，整手可见性挂在 keypoints 组件，使用独立的 whole_hand_visibility.pt，明确 meaning=whole_hand，不与逐关键点可见性混用。
+
+`valid` 回答“这项标注能否用于监督”，`visibility` 回答“在当前图像中是否可见（或可见多少）”。不可见的手或关键点仍可有有效标注；不能因 visibility=0 就清空坐标。源没有 visibility 时缺省或标为未知，不由 valid 推断。
+
+| 情况 | 手标注 valid | visibility |
+|---|---|---|
+| RGB 已开始录制，动捕尚未开始，没有其他对应手标注 | false | 以独立源可见性标注为准；没有则未知 |
+| 手被遮挡，但源有标注且通过适用有效性检查 | true | 若源声明不可见，则 false 或源可见比例 |
+| 手可见且有对应标注，通过适用 QA | true | 若源有此信息，则 true 或源可见比例 |
+| 手可见，但该帧漏标或动捕中断 | false | 可以为 true，但必须有独立来源依据 |
+| 有手部参数，但官方 QA 明确不通过 | false | 不据此断言不可见；源可见比例若基于不可靠位姿，其属性 valid 也为 false |
+
+visibility 自己的 valid_ref 表示该可见性标注是否可用，不复用 MANO 或关键点坐标的 valid_ref；明确记录源存在性及适用的 QA 条件。上述例子不要求凭图像自动生成可见性。
+
+不设 quality 组件或目录，不另存拟合误差、曝光、截断比例等通用质量数组。适用的官方 QA 合并进对应 valid，在 `valid_policy` 记录来源与规则；正式校验报告保留原始 QA 时间区间及排除统计。原始 QA 文件仍在 raw，官方 split 保留。
+
+### 5.2 mano：参数与整手可见性
+
+MANO schema `mano/axis_angle61/v1`：`motion.pt [T,2,61]`，顺序为完整 16 关节 axis-angle 48、shape betas 10、全局平移 3。姿态使用弧度，平移米，位于当前相机系。有效性 `[T,2]`；缺少一侧整槽 NaN。PCA 必须先按对应模型展开，不能将 PCA 系数直接填入 axis-angle。
+
+`model_profile` 必须固定 MANO 版本、`flat_hand_mean=true`、左手 shapedirs 修正状态。平移表示模型输出顶点所加的全局平移，不是某个腕关节的坐标；源语义不同须转换。shape 无量纲。模型权重不作为共享数据附带上传。
+
+`mano/visibility.pt [T,2]` 保存源整手可见比例时使用 float32 [0,1]，`visibility_type=ratio`；只有实际采用 0–100 的百分比才除以100，不能只凭表头判断。HOT3D 的 `visibility_ratio[%]` 实值已经是0–1，官方读取器原样读取，必须保留原值。通过 MANO 组件 attributes 登记，使用独立有效性，不复用 motion_valid。
+
+手部共享表示仅保留 MANO 参数与选定关键点，不发布独立手表面几何。需要渲染或接触计算时由 MANO 参数生成，几何引用使用固定 MANO 模型配置与顶点顺序；不影响 object 下的物体模型和材质资产。
+
+### 5.3 keypoints：二维点、三维点与逐点可见性
+
+关键点独立于 MANO 参数存在；没有 motion 也可有关键点。`uv.pt [T,2,K,2]` 与 `xyz.pt [T,2,K,3]`，有效性 `[T,2,K]`，分别采用 `keypoints/uv/v1` 和 `keypoints/xyz/v1`。K 由 `keypoint_schema` 固定，不能在同一数组中逐帧变化；同体系统一顺序。数值使用像素坐标或米制相机系。
+
+| keypoint_schema | K 与固定索引 |
+|---|---|
+| mano21/v1 | 21；wrist 后依次 thumb/index/middle/ring/little，每指由近端至指尖 |
+| rhd21/v1 | 21；保持 wrist，然后五指由近端至指尖；原始每指 tip→palm 反序。只统一顺序，不宣称解剖学位置等价于 MANO |
+
+具体名称与源索引映射见 `schema.json`。当前只登记 MANO21 与 RHD21；不登记 MediaPipe、ReInterHand capture21 或 fit24 中间关键点。
+
+每个发布中的每个视图只提供一套标准手关键点，直接放在 keypoints 下，不设 annotation_set_id 字段或目录。uv 与 xyz 是这套关键点的二维与三维表示，不是两套标注。provenance 分别记录二者来自原始标注还是计算结果；不要求已有 2D 必须由当前 xyz 重新投影覆盖。
+
+ReInterHand 的 Original keypoints、Original fits keypoints 及带前臂关键点不纳入 shared；如需手关键点，从选定 MANO 参数生成 MANO21 并记录模型/指尖回归约定。其他数据集默认使用选定的官方关键点，不额外生成平行的 MANO 派生集合。后续主动更换生成方法或结果时发布新的 dataset_version，不在同一版本内增设方法分支。
+
+manual/projection/fitting 只记录在 provenance，不作为目录或类型分支。不得通过坐标为零、是否出画或 visibility 判断标注是否存在。派生标注仅在实际生成并通过数值检查后声明 valid=true；没有生成的项为 false，不伪造坐标。
+
+`keypoints/visibility.pt [T,2,K]` 保存源逐点可见性，布尔表示使用 `visibility_type=boolean`。uv 与 xyz 共用时引用同一份文件。整手比例属性没有 MANO 可挂载时使用 `whole_hand_visibility.pt [T,2]`，`meaning=whole_hand`；它与逐点可见性分开，通用登记规则见 5.1。
+
+不使用 annotation_set_id；ReInterHand 中间关键点集合不进入 shared，raw 保留来源文件。
+
+### 5.4 object：身份、资产、位姿与几何
+
+#### 5.4.1 metainfo.json：物体身份与跟踪作用域
+
+手用 `hand_left`、`hand_right` 及槽位 0、1 表示，不再另存 entities.json。物体身份登记在 `annotation/object/<object_id>/metainfo.json`，必填 `object_id`、`identity_scope`、`scope_id`、`source_locator`；可含 `category_id`、`source_object_id`、`mesh_ref`、`has_model`、部件引用。即使只有分割、没有 pose/mesh，也可只有这份物体元信息。
+
+`identity_scope` 为 frame/subsequence/sequence，`scope_id` 指定具体作用域；跨相机共享身份只在已有源对应证据时使用。VISOR 按官方 subsequence 与实体名关联时记录 `association_basis=official_subsequence_entity_name`，不能声称这是全视频物理实例跟踪。无需与 object_id 一一对应的标准 track_id；官方独立轨迹标识存在时保留为 source_track_id，并声明作用域。手槽不证明跨采集片段的个人身份。
+
+#### 5.4.2 assets：网格、材质与纹理
+
+资产属于物体，统一存放在 `annotation/object/<object_id>/` 内，可用 `assets/` 子目录组织网格、材质、纹理和部件资产。序列层不设共享 assets。所有引用采用视图根目录为基准；其中物体资产组件的 `data_ref` 与部件的 `mesh_ref` 采用相对于当前视图目录的 POSIX 路径，例如 `annotation/object/cup_01/assets/cup.obj`，且必须指向所属物体目录内的资产。OBJ 内部的材质、纹理引用遵循文件格式自身的相对路径规则，依赖文件一并保留。不同相机视图允许各自保存物体资产，不要求跨视图去重；下载物体时包含其资产依赖。
+
+网格 schema 为 `mesh/obj/v1`，顶点米制，静态有效性可直接声明标量 `valid`，或通过 `valid_ref` 指向标量 bool Tensor；不按 T 重复静态资产。由物体／部件通过引用关联，不仅凭文件名猜测。
+
+#### 5.4.3 pose.pt、pose_valid.pt 与 visibility.pt
+
+刚体 schema 为 `object/rigid/v1`，`pose.pt [T,4,4]` 固定为 `T_camera_from_object`，平移米制，有效性 `[T]`。物体坐标原点、轴向必须与 mesh 一致；旋转块为正交矩阵且 determinant≈1。
+
+`object/<id>/visibility.pt [T]` 保存源物体可见比例，float32 [0,1]，`visibility_type=ratio`。通过所属物体组件 attributes 登记，独立表达其有效性。
+
+#### 5.4.4 articulation.json、部件位姿与 joint_state.pt
+
+关节物体：schema `object/articulated/v1`，`articulation.json` 登记 `parts` 与 `joints`。每个 part 有 `part_id`、`parent_id`（根为 null）、`has_model`、`mesh_ref`；has_model=false 时 mesh_ref=null，结构节点允许没有网格。父链不得成环。每个 joint 有唯一 `joint_id`、`parent_part`、`child_part`、`type`；fixed 单位 null、revolute 弧度、prismatic 米。有源限位时保存 `limits:[lower,upper]`；没有时 null，不伪造上下限。部件姿态统一为 `T_camera_from_part [T,4,4]`，不与父局部变换混装。
+
+若提供 `joint_state.pt [T,J]`，必须登记固定 joint_order、轴在父部件系的表达、零位变换与正方向，valid 为 `[T,J]`；缺少这些运动学定义时只发布部件位姿与已有来源信息，不伪造可驱动的关节模型。关节值与部件位姿同时存在时需验证一致性。
+
+部件层级应声明语义：纯语义包含树允许 `joints=[]`，不将包含关系推断为机械关节。关节状态 schema 为 `object/joint_state/v1`；转动用弧度、移动用米，混合类型按 joint_order 对应的关节定义解释。
+
+#### 5.4.5 dimensions、几何关键点与顶点部件标签
+
+`dimensions.pt [T,3]` 采用 `object/dimensions/v1`，有效性为 `[T]`。
+
+物体/部件 `dimensions` 为 `[length,width,height]` 米，轴顺序与该 mesh 的局部坐标关联，登记 `dimensions_semantics` 和来源。HOI4D dimensions 与 mesh 的具体尺度关系未验证前标为 source_unspecified，保留源值并暂停依赖该关系的几何验收，不能默认为待施加缩放。需要施加缩放时明确 scale_applied_to_mesh，禁止重复应用。
+
+源物体关键点放 `object/<id>/keypoints/xyz.pt [T,K,3]`（相机系）或 `template_xyz.pt [K,3]`（物体系），schema 分别为 object_keypoints/camera/v1 和 object_keypoints/template/v1。明确 keypoint_schema、keypoint_names、单位及有效性；模板点配合 pose 可投影，无须重复生成全部帧。H2O 中心/角点/棱中点，以及 ARCTIC 部件点分别登记具体源顺序，不套用手的 21 点 schema。每个发布选择一套源几何点并记录选择，不另建方法分支。
+
+`vertex_part_ids.pt [V] int64` 绑定 `mesh_ref` 与 topology_id，登记整数到 part_id 的映射；未知用 -1。ARCTIC 不同拓扑的资产分别绑定，不能共用未经转换的顶点标签。部件层级中 is_instance/has_model 等源属性保留，几何文件仍全部归 object。
+
+### 5.5 segment：分割类别、编码与覆盖范围
+
+每个发布选择一套任务使用的分割表示，不建立方法／标注集分支。没有分割就不创建 segment 目录，不为其他模态创建空的实体表。
+
+| schema_id | 文件与数值语义 |
+|---|---|
+| segment/uint16_labels/v1 | mask.mkv；整数区域编号，通过 instances.jsonl 解释 |
+| segment/instance_polygons/v1 | polygons.jsonl；实例多边形，可重叠；当前不支持孔洞拓扑 |
+| segment/foreground_intensity/v1 | mask.mkv；0–255 前景强度，不是区域编号或经过校准的概率 |
+
+#### 5.5.1 uint16 标签图与 instances.jsonl
+
+组件声明 `segmentation_type=semantic/instance/part`；同一组件固定一种类型。`mask.mkv` 解码为 `[T,H,W] uint16`，schema `segment/uint16_labels/v1`，使用 `mkv/uint16_ffv1/v1`，FFV1 gray16le 无损；只有所有区域编码均 ≤255 时允许 gray8（pixel_format=gray），读取后转 uint16，数值不变。禁止调色板和有损编码。有效性 `[T]`，表示该帧有可用分割标注。数值 0 固定为 unassigned，65535 固定为 ignore，1–65534 为区域编码，不能直接等同 entity_id。
+
+`instances.jsonl` 每帧一行，包含 `frame_index` 与 `labels`。每条标签包含 `mask_value`、`category_id`、`entity_id`、`part_id`；无意义或未知字段为 null。semantic 允许 entity_id=null；instance 必须引用 hand_left/hand_right 或登记的 object_id；part 还须关联登记部件。源实例 ID 和其他属性分别保存在 `source_instance_id`、`source_attributes`。mask 中每个非保留编码必须有且仅有一个映射。
+
+FreiHAND 的试点按本任务需要，统一到手／背景类别，保留每个原生区域编码；不要求给原生细分区域猜测手指名称。需要细部件监督时，尚未核实的部件名称必须保持未知，不能因粗粒度手类别已核实便声称部件语义也已统一。
+
+#### 5.5.2 重叠实例多边形
+
+每发布选择一套任务使用的分割表示，不建立方法/标注集分支。VISOR 的实际试点存在重叠实例多边形，单层标签图不能无损表达。对此补充 `segment/instance_polygons/v1`：`segment/polygons.jsonl` 每帧包含 `frame_index` 和 `instances`，每实例包含 `mask_value` 与 `polygons`（列表，每个多边形为源图像像素坐标顶点序列，保留原始精度）。身份和类别仍由同一 `instances.jsonl` 映射，有效性仍为 `[T]`，通过 schema 区分物理编码。允许多实例重叠，不采用后画覆盖前画。消费者按需栅格化为独立实例二值 mask；不能声称合并的单层 mask 无损。
+
+#### 5.5.3 灰度前景强度
+
+ReInterHand 的官方渲染 mask 为双手合并的灰度前景掩码，实测存在 0–255 的中间值，不是左右手实例编号。登记 `segment/foreground_intensity/v1`：仍存 `segment/mask.mkv`，解码为 `[T,H,W] uint16`，使用 `mkv/uint16_ffv1/v1`，此类数据优先编码为 FFV1 gray8（pixel_format=gray），读取后转 uint16。有效值范围 0–255，归一化值为 `float32(value)/255`；0 为背景端点、255 为前景端点。组件声明 `foreground_category=hand`、`entity_id=null` 和双手合并语义，不使用区域编号映射。这里保留原始渲染 mask 强度，不把它称为经过校准的概率。若任务需要二值 mask，阈值化属于任务层派生操作，记录阈值；共享层不丢弃中间灰度。不同 schema 的数值含义不同，不能将该文件按整数类别图解码。
+
+FreiHAND 训练集的 JPEG mask 使用 `segment/foreground_intensity/v1`，逐像素保留 JPEG 解码后的灰度，`entity_id=hand_right`。该 schema 不限定双手合并：单手或合并范围由 `entity_id` 与 `coverage` 明确声明。评估集整数区域图仍用 `segment/uint16_labels/v1`，两者不能仅凭文件名使用同一种解码语义。
+
+#### 5.5.4 coverage 与有效性
+
+`coverage.kind=full/selected_entities/partial/unknown`。full 指声明的标注范围完整；selected_entities 还应列出目标范围。无论哪种，0 本身不自动成为背景；背景要有明确类别映射，未标注区域不能用于构造负样本。保留源逐类/逐实例 exhaustive 信息，未知不可改写为完整。
+
+三种表示的帧级有效性均为 `[T]`，表示该帧是否提供此分割标注；对应 valid_ref 在组件中登记，仍用小型 bool `.pt` 数组。栅格 mask 必须登记 storage，格式见 3.1.2，所有帧的整数编码或强度逐值完全相同。编码语义由 schema_id 决定，读取器不能仅依据 mask.mkv 文件名选择解码方式。
+
+### 5.6 contact：接触、抓取、区域与距离
+
+#### 5.6.1 relations.jsonl 与 relations_valid.pt
+
+`annotation/contact/relations.jsonl`，schema contact/relations/v1，每帧一行含 frame_index、relations。每条记录含 relation_type（contact/grasp）、subject_id（手槽或登记实体）、object_id、status、source_locator、provenance。status 固定为 positive/negative/unknown/target_unannotated：positive 必须有可解析目标，negative 表示源明确否定该关系，unknown 为不确定，target_unannotated 为确有接触但目标未标注。非 positive 的 object_id 可 null，不能用 null 冒充“不接触”。稀疏源无记录的帧不自动补 negative。
+
+VISOR 的对象 mask ID 必须先按同帧 source_instance_id 解析成 object_id；hand-not-in-contact、none-of-the-above、inconclusive 分别映射 negative、target_unannotated、unknown，保留原始字符串。Dex ycb_grasp_ind 通过 ycb_ids 映射到登记物体，以 relation_type=grasp 保存；不得当作逐顶点接触。
+
+relations 组件的 valid_ref 指向 `relations_valid.pt [T] bool`，表示该帧是否有可用源关系标注。有效帧中可以存在 status=unknown 的明确不确定标注；无源标注的帧为 valid=false、relations=[]。组件仍声明 available/provenance/source_locator。
+
+#### 5.6.2 实体对的顶点区域与距离
+
+已发布的接触区域/距离按参与关系的 subject_id 与 object_id 组织，每对实体保留选定的一套结果，以精确 geometry_ref/topology_id 关联到手或物体/部件；不要求每套数据都有。顶点区域 schema contact/vertex_region/v1：bool `[T,V]` 加同形 valid；顶点距离 schema contact/vertex_distance/v1：float32 `[T,V]`、米、同形 valid，声明 source/target geometry_ref、distance_definition（signed/unsigned、测量到点集或表面等明确源定义）。geometry_ref 必须指向已登记 mesh 或由固定 MANO 模型配置确定的拓扑；拓扑/顶点数变化时按拓扑拆分片段。其他源区域表示只有在实际接入并登记 schema 后才可转换，不能随意栅格化宣称等价。
+
+顶点区域／距离已有存储定义，但尚未完成真实输入试点；接入时必须提供源语义与几何验收证据，不因已经登记 schema 就视为通过。
+
+## 附录：任务范围
+
+不强制收录 2D bbox、完整高频动捕、动作程序、身体 SMPL-X、点云或网络特征。范围内的接触、visibility、选定手关键点、物体几何不能因不便处理而静默丢弃。分割采用的物理编码由第 5.5 节决定，存在重叠时不能以单层标签图声称无损。
+
+不设置 entities_ref/segment/entities.json，不要求与 object_id 重复的 track_id。MediaPipe 不在当前关键点定义中；旧版本迁移必须保留可追溯关系，不能直接删表。手部共享表示不含独立 hand_mesh。
+
+schema.json 是普通注册表，不是 JSON Schema 文档或可执行验收器；定义存在不代表真实数据已验证。验收须保留实测范围与未决项。
+
+本存储约定只更新标准，不代表既有 FFV1／depth.pt 试点已迁移。新发布必须显式写 storage 配置；旧产物按其旧定义读取，不能只改文件后缀或版本标识伪装为合规。
diff --git a/RHD/shared-v1.1/doc/history-v1.0/RAW_MAPPING.md b/RHD/shared-v1.1/doc/history-v1.0/RAW_MAPPING.md
new file mode 100644
index 0000000000000000000000000000000000000000..af081186eb2c923db4067831ec8121965a5abad9
--- /dev/null
+++ b/RHD/shared-v1.1/doc/history-v1.0/RAW_MAPPING.md
@@ -0,0 +1,22 @@
+# RHD raw → share 映射
+
+| raw | share | 规则 |
+|---|---|---|
+| color/*.png | observation/rgb.mkv | 比较通过逐像素无损验证的 FFV1 / RGB H.264，选择较小文件 |
+| depth/*.png | observation/depth.mkv | (R×256+G)/65535×5 米；float32 z 深度位串拆成两幅 uint16 半字横向拼接，用 FFV1 保存 |
+| 深度是否提供 | observation/depth_valid.mkv | 当前源每像素有编码，保留为 true；不猜测额外无效值 |
+| anno_*['K'] | camera/intrinsic.pt | 每帧针孔 K |
+| anno_*['xyz'] | annotation/keypoints/xyz.pt | 左右手槽，米制；rhd21/v1；原始 tip→palm 重排为近端→远端 |
+| anno_*['uv_vis'][:, :2] | annotation/keypoints/uv.pt | 原生二维像素坐标，同样重排 |
+| anno_*['uv_vis'][:, 2] | annotation/keypoints/visibility.pt | 原生逐点 bool 可见性，与标注是否存在分开 |
+| mask/*.png | annotation/segment/mask.mkv + instances.jsonl | 源 0 背景改为 65534；1 为 person，2–17 左手、18–33 右手；保留原生区域编号映射，不丢弃细分类 |
+| 原图编号 | camera/frames.jsonl | 稳定 sample_id、原 ZIP 成员和标注索引；image 类型，无真实时间序列 |
+
+没有源 MANO、物体、接触或相机外参就缺省，不补造。RHD 21 点只统一其原生体系顺序，不宣称与 MANO 关节位置等价。完整 ZIP 原样保留并随发布上传；运行日志只存 tmp。24 张试点已通过人工核验；全量按每片最多 512 张，训练/评估分开、尾片不补帧。预计 87 个分片；完成后另做全量随机抽查。
+
+正式入口为 `script/convert_rhd.py`、`script/validate_rhd.py` 和 `script/render_full_random_review.py`。三者均无必填命令行参数，并从自身位置定位本数据集的 `raw/`、`shared-v1.0/` 与 `tmp/`；公共实现位于 `script/rhd_common.py`。完整运行方式和依赖见 `script/README.md`。脚本不会删除或改写 raw，也不会自动上传或把自动检查写成人工通过。
+
+<!-- view-type-classification-v1 -->
+## View type
+
+Every published view has `view_type: exo`. This is the release-level classification selected for RHD's synthetic rendered cameras; the upstream annotations do not contain a per-image `view_type` field. The value therefore records this release's camera-role classification rather than an independently copied upstream label.
diff --git a/RHD/shared-v1.1/doc/history-v1.0/schema.json b/RHD/shared-v1.1/doc/history-v1.0/schema.json
new file mode 100644
index 0000000000000000000000000000000000000000..edb7cf7ce8e8e282d1fbfb5b39ef02a60321d2fb
--- /dev/null
+++ b/RHD/shared-v1.1/doc/history-v1.0/schema.json
@@ -0,0 +1,880 @@
+{
+  "schema_version": "hand-warehouse/1.0",
+  "validity_revision": "usable-annotation-2026-09-20",
+  "annotation_validity": {
+    "meaning": "annotation usable for supervision, not merely record presence",
+    "formula": "source_annotation_present AND numerical_checks_pass AND applicable_official_QA_pass AND NOT explicitly_reviewed_local_exclusion",
+    "without_official_qa": "omit QA term; declare source rules; do not fabricate QA",
+    "policy_field": "components.<name>.valid_policy",
+    "visibility_is_independent": true,
+    "invalid_float_value": "NaN",
+    "hot3d": "broadcast per-camera frame manual QA conservatively to hand/object labels and pose-derived visibility; retain RGB and source calibration; keep native QA in raw and review report",
+    "hot3d_visibility": "native visibility_ratio[%] already ranges from 0 to 1; do not divide by 100"
+  },
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "view_metadata": {
+    "required_fields": [
+      "view_type"
+    ],
+    "view_type_values": [
+      "ego",
+      "exo",
+      "unknown"
+    ],
+    "view_type_policy": "required per camera view; use ego or exo whenever the source data or capture setup establishes the viewpoint; use unknown only when no trustworthy source determines it; never omit or guess"
+  },
+  "keypoints": {
+    "mano21/v1": {
+      "count": 21,
+      "names": [
+        "wrist",
+        "thumb_1",
+        "thumb_2",
+        "thumb_3",
+        "thumb_4",
+        "index_1",
+        "index_2",
+        "index_3",
+        "index_4",
+        "middle_1",
+        "middle_2",
+        "middle_3",
+        "middle_4",
+        "ring_1",
+        "ring_2",
+        "ring_3",
+        "ring_4",
+        "little_1",
+        "little_2",
+        "little_3",
+        "little_4"
+      ],
+      "source_index_map": null,
+      "note": "adapter maps official MANO joint and fingertip convention"
+    },
+    "rhd21/v1": {
+      "count": 21,
+      "names": [
+        "wrist",
+        "thumb_1",
+        "thumb_2",
+        "thumb_3",
+        "thumb_4",
+        "index_1",
+        "index_2",
+        "index_3",
+        "index_4",
+        "middle_1",
+        "middle_2",
+        "middle_3",
+        "middle_4",
+        "ring_1",
+        "ring_2",
+        "ring_3",
+        "ring_4",
+        "little_1",
+        "little_2",
+        "little_3",
+        "little_4"
+      ],
+      "source_index_map_per_hand": [
+        0,
+        4,
+        3,
+        2,
+        1,
+        8,
+        7,
+        6,
+        5,
+        12,
+        11,
+        10,
+        9,
+        16,
+        15,
+        14,
+        13,
+        20,
+        19,
+        18,
+        17
+      ]
+    }
+  },
+  "camera": {
+    "opencv_fisheye4": {
+      "K": [
+        3,
+        3
+      ],
+      "distortion": [
+        "k1",
+        "k2",
+        "k3",
+        "k4"
+      ],
+      "projection": "theta=atan(r); theta_d=theta*(1+k1*theta^2+k2*theta^4+k3*theta^6+k4*theta^8); source ReInterHand"
+    },
+    "pinhole": {
+      "K": [
+        3,
+        3
+      ]
+    },
+    "fisheye624": {
+      "parameters": [
+        "f",
+        "cx",
+        "cy",
+        "k0",
+        "k1",
+        "k2",
+        "k3",
+        "k4",
+        "k5",
+        "p0",
+        "p1",
+        "s0",
+        "s1",
+        "s2",
+        "s3"
+      ]
+    },
+    "rational8": {
+      "K": [
+        3,
+        3
+      ],
+      "distortion": [
+        "k1",
+        "k2",
+        "p1",
+        "p2",
+        "k3",
+        "k4",
+        "k5",
+        "k6"
+      ]
+    }
+  },
+  "segmentation": {
+    "segment/uint16_labels/v1": {
+      "storage": "mask.mkv",
+      "dtype": "uint16",
+      "mapping": "instances.jsonl",
+      "valid_shape": [
+        "T"
+      ],
+      "required_metadata": [
+        "segmentation_type",
+        "coverage",
+        "mapping_ref",
+        "storage"
+      ],
+      "shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "reserved_codes": {
+        "0": "unassigned",
+        "65535": "ignore"
+      },
+      "region_codes": [
+        1,
+        65534
+      ],
+      "allowed_storage_profiles": [
+        "mkv/uint16_ffv1/v1"
+      ]
+    },
+    "segment/instance_polygons/v1": {
+      "storage": "polygons.jsonl",
+      "mapping": "instances.jsonl",
+      "frame_keys": [
+        "frame_index",
+        "instances"
+      ],
+      "instance_keys": [
+        "mask_value",
+        "polygons"
+      ],
+      "coordinate_unit": "pixel",
+      "overlap_allowed": true,
+      "valid_shape": [
+        "T"
+      ],
+      "required_metadata": [
+        "segmentation_type",
+        "coverage",
+        "mapping_ref"
+      ],
+      "polygon_shape": [
+        "N",
+        2
+      ],
+      "holes_supported": false
+    },
+    "segment/foreground_intensity/v1": {
+      "storage": "mask.mkv",
+      "dtype": "uint16",
+      "value_range": [
+        0,
+        255
+      ],
+      "normalization_scale": 0.00392156862745098,
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "meaning": "native hand foreground intensity; individual hand or union declared in metadata; not instance codes or calibrated probability",
+      "zero": "background",
+      "full_scale": "foreground",
+      "mapping": "foreground_category in component metadata",
+      "valid_shape": [
+        "T"
+      ],
+      "required_metadata": [
+        "segmentation_type",
+        "coverage",
+        "value_range",
+        "normalization_scale",
+        "foreground_category",
+        "entity_id",
+        "storage"
+      ],
+      "shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "allowed_storage_profiles": [
+        "mkv/uint16_ffv1/v1"
+      ]
+    }
+  },
+  "note": "Registry for hand-warehouse/1.0. Read CONTRACT.md for field semantics. This is not a JSON Schema document or executable validator.",
+  "components": {
+    "mano/axis_angle61/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        2,
+        61
+      ],
+      "valid_shape": [
+        "T",
+        2
+      ],
+      "unit": "m",
+      "angle_unit": "rad",
+      "coordinate_frame": "camera",
+      "layout": {
+        "pose_axis_angle": [
+          0,
+          48
+        ],
+        "shape": [
+          48,
+          58
+        ],
+        "translation": [
+          58,
+          61
+        ]
+      }
+    },
+    "keypoints/uv/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        2,
+        21,
+        2
+      ],
+      "valid_shape": [
+        "T",
+        2,
+        21
+      ],
+      "unit": "pixel",
+      "required_metadata": [
+        "keypoint_schema"
+      ]
+    },
+    "keypoints/xyz/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        2,
+        21,
+        3
+      ],
+      "valid_shape": [
+        "T",
+        2,
+        21
+      ],
+      "unit": "m",
+      "required_metadata": [
+        "keypoint_schema"
+      ]
+    },
+    "depth/z_float32/v1": {
+      "storage": "mkv",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "valid_shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "unit": "m",
+      "depth_type": "z",
+      "pixel_grid": "current_rgb",
+      "coordinate_frame": "current_rgb_camera",
+      "valid_storage": "mkv",
+      "allowed_storage_profiles": [
+        "mkv/depth_float32_bits/v1"
+      ],
+      "allowed_valid_storage_profiles": [
+        "mkv/bool_ffv1/v1"
+      ],
+      "required_metadata": [
+        "storage",
+        "valid_storage",
+        "depth_origin"
+      ],
+      "depth_origin_values": [
+        "measured",
+        "rendered",
+        "unknown"
+      ]
+    },
+    "transform/se3/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        4,
+        4
+      ],
+      "valid_shape": [
+        "T"
+      ],
+      "unit": "m",
+      "required_metadata": [
+        "convention"
+      ]
+    },
+    "object/rigid/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        4,
+        4
+      ],
+      "valid_shape": [
+        "T"
+      ],
+      "unit": "m",
+      "required_metadata": [
+        "convention"
+      ]
+    },
+    "camera/pinhole/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        3,
+        3
+      ],
+      "valid_shape": [
+        "T"
+      ]
+    },
+    "camera/rational8/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        3,
+        3
+      ],
+      "valid_shape": [
+        "T"
+      ]
+    },
+    "camera/opencv_fisheye4/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        3,
+        3
+      ],
+      "valid_shape": [
+        "T"
+      ]
+    },
+    "camera/fisheye624/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        15
+      ],
+      "valid_shape": [
+        "T"
+      ]
+    },
+    "camera/distortion8/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        8
+      ],
+      "valid_shape": [
+        "T"
+      ]
+    },
+    "camera/fisheye4_distortion/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        4
+      ],
+      "valid_shape": [
+        "T"
+      ]
+    },
+    "object/joint_state/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        "J"
+      ],
+      "valid_shape": [
+        "T",
+        "J"
+      ],
+      "required_metadata": [
+        "joint_order"
+      ],
+      "unit_rule": "revolute radians; prismatic metres; mixed types declared per joint"
+    },
+    "object_keypoints/camera/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        "K",
+        3
+      ],
+      "valid_shape": [
+        "T",
+        "K"
+      ],
+      "unit": "m",
+      "coordinate_frame": "camera",
+      "required_metadata": [
+        "keypoint_schema"
+      ]
+    },
+    "object/dimensions/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        3
+      ],
+      "valid_shape": [
+        "T"
+      ],
+      "unit": "m",
+      "required_metadata": [
+        "dimensions_semantics"
+      ],
+      "axis_order": [
+        "length",
+        "width",
+        "height"
+      ],
+      "scale_rule": "do not apply to mesh without source-supported size/scale relation"
+    },
+    "object_keypoints/template/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "K",
+        3
+      ],
+      "valid_shape": [
+        "K"
+      ],
+      "unit": "m",
+      "coordinate_frame": "object",
+      "static": true,
+      "required_metadata": [
+        "keypoint_schema"
+      ]
+    },
+    "mesh/obj/v1": {
+      "storage": "obj",
+      "unit": "m",
+      "static": true,
+      "valid_shape": [],
+      "dependencies": "MTL and textures retained under owning object"
+    },
+    "rgb/uint8/v1": {
+      "storage": "mkv",
+      "dtype": "uint8",
+      "shape": [
+        "T",
+        "H",
+        "W",
+        3
+      ],
+      "valid_shape": [
+        "T"
+      ],
+      "color_order": "RGB",
+      "allowed_storage_profiles": [
+        "mkv/mjpeg_copy/v1",
+        "mkv/source_copy/v1",
+        "mkv/h264_rgb_lossless/v1",
+        "mkv/ffv1_rgb/v1"
+      ],
+      "required_metadata": [
+        "storage"
+      ]
+    },
+    "contact/relations/v1": {
+      "storage": "jsonl",
+      "valid_shape": [
+        "T"
+      ],
+      "frame_keys": [
+        "frame_index",
+        "relations"
+      ],
+      "absence_semantics": "no record is not a negative contact annotation"
+    },
+    "contact/vertex_region/v1": {
+      "storage": "pt",
+      "dtype": "bool",
+      "shape": [
+        "T",
+        "V"
+      ],
+      "valid_shape": [
+        "T",
+        "V"
+      ],
+      "required_metadata": [
+        "source_geometry_ref",
+        "target_geometry_ref",
+        "topology_id"
+      ],
+      "pilot_status": "defined_not_empirically_validated"
+    },
+    "contact/vertex_distance/v1": {
+      "storage": "pt",
+      "dtype": "float32",
+      "shape": [
+        "T",
+        "V"
+      ],
+      "valid_shape": [
+        "T",
+        "V"
+      ],
+      "unit": "m",
+      "required_metadata": [
+        "source_geometry_ref",
+        "target_geometry_ref",
+        "topology_id",
+        "distance_definition"
+      ],
+      "pilot_status": "defined_not_empirically_validated"
+    },
+    "object/articulated/v1": {
+      "storage": "json",
+      "required_keys": [
+        "parts",
+        "joints"
+      ],
+      "part_keys": [
+        "part_id",
+        "parent_id",
+        "has_model",
+        "mesh_ref"
+      ],
+      "hierarchy_semantics": "declare mechanical articulation or semantic containment; containment alone does not imply joints",
+      "acyclic": true
+    },
+    "segment/uint16_labels/v1": {
+      "storage": "mkv",
+      "dtype": "uint16",
+      "mapping": "instances.jsonl",
+      "valid_shape": [
+        "T"
+      ],
+      "required_metadata": [
+        "segmentation_type",
+        "coverage",
+        "mapping_ref",
+        "storage"
+      ],
+      "shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "reserved_codes": {
+        "0": "unassigned",
+        "65535": "ignore"
+      },
+      "region_codes": [
+        1,
+        65534
+      ],
+      "allowed_storage_profiles": [
+        "mkv/uint16_ffv1/v1"
+      ]
+    },
+    "segment/instance_polygons/v1": {
+      "storage": "jsonl",
+      "mapping": "instances.jsonl",
+      "frame_keys": [
+        "frame_index",
+        "instances"
+      ],
+      "instance_keys": [
+        "mask_value",
+        "polygons"
+      ],
+      "coordinate_unit": "pixel",
+      "overlap_allowed": true,
+      "valid_shape": [
+        "T"
+      ],
+      "required_metadata": [
+        "segmentation_type",
+        "coverage",
+        "mapping_ref"
+      ],
+      "polygon_shape": [
+        "N",
+        2
+      ],
+      "holes_supported": false
+    },
+    "segment/foreground_intensity/v1": {
+      "storage": "mkv",
+      "dtype": "uint16",
+      "value_range": [
+        0,
+        255
+      ],
+      "normalization_scale": 0.00392156862745098,
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "meaning": "native hand foreground intensity; individual hand or union declared in metadata; not instance codes or calibrated probability",
+      "zero": "background",
+      "full_scale": "foreground",
+      "mapping": "foreground_category in component metadata",
+      "valid_shape": [
+        "T"
+      ],
+      "required_metadata": [
+        "segmentation_type",
+        "coverage",
+        "value_range",
+        "normalization_scale",
+        "foreground_category",
+        "entity_id",
+        "storage"
+      ],
+      "shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "allowed_storage_profiles": [
+        "mkv/uint16_ffv1/v1"
+      ]
+    }
+  },
+  "storage_revision": "lossless-video-2026-09-18",
+  "sampling": {
+    "image": {
+      "single": {
+        "T": 1
+      },
+      "independent": {
+        "T": ">=2",
+        "required_frame_fields": [
+          "sample_id",
+          "source_locator"
+        ],
+        "temporal_relationship": false
+      },
+      "source_fps": null
+    },
+    "video": {
+      "sampling_types": [
+        "dense",
+        "sparse"
+      ]
+    }
+  },
+  "storage_profiles": {
+    "mkv/mjpeg_copy/v1": {
+      "container": "matroska",
+      "codec": "mjpeg",
+      "method": "stream_copy_from_source_jpeg",
+      "logical_dtype": "uint8",
+      "decoded_pixel_format": "rgb24",
+      "validation": [
+        "source_jpeg_packet_sha256_exact",
+        "all_packet_count_order_and_dimensions_exact",
+        "deterministic_decoded_rgb_sample_exact",
+        "pilot_and_final_selected_whole_sequences_decoded_rgb_exact"
+      ],
+      "validation_policy": {
+        "id": "jpeg-packets-all-rgb-sample16/v1",
+        "sample_count_per_view": 16,
+        "short_views": "all_frames_if_T_less_than_16",
+        "fixed_indices": "0,T-1,T//4,T//2,3*T//4, deduplicated",
+        "remaining_indices": "sample without replacement to min(T,16) using Python random.Random(seed)",
+        "seed": "first 8 bytes of SHA256(sequence_id/camera_id/20260920), big-endian integer",
+        "report": "policy, exact selected frame indices, seed, separate packet and pixel coverage",
+        "legacy_all_frame_pixel_proofs": "still accepted; preserve historical evidence"
+      }
+    },
+    "mkv/source_copy/v1": {
+      "container": "matroska",
+      "codec": "source_codec_declared_in_metadata",
+      "method": "stream_copy_only",
+      "logical_dtype": "uint8",
+      "decoded_pixel_format": "rgb24",
+      "validation": [
+        "no_reencoding",
+        "all_decoded_rgb_frames_exact",
+        "presentation_frame_order_exact"
+      ]
+    },
+    "mkv/h264_rgb_lossless/v1": {
+      "container": "matroska",
+      "codec": "h264",
+      "encoder": "libx264rgb",
+      "crf": 0,
+      "decoded_pixel_format": "rgb24",
+      "logical_dtype": "uint8",
+      "gop": "declared_in_encoder_parameters",
+      "validation": [
+        "all_decoded_rgb_frames_exact"
+      ],
+      "forbidden": [
+        "lossy_rate_control",
+        "rgb_to_yuv420_subsampling"
+      ]
+    },
+    "mkv/ffv1_rgb/v1": {
+      "container": "matroska",
+      "codec": "ffv1",
+      "decoded_pixel_format": "rgb24",
+      "logical_dtype": "uint8",
+      "validation": [
+        "all_decoded_rgb_frames_exact"
+      ]
+    },
+    "mkv/depth_float32_bits/v1": {
+      "container": "matroska",
+      "codec": "ffv1",
+      "pixel_format": "gray16le",
+      "logical_dtype": "float32",
+      "logical_shape": [
+        "T",
+        "H",
+        "W"
+      ],
+      "encoded_shape": [
+        "T",
+        "H",
+        "2*W"
+      ],
+      "packing": "IEEE754 little-endian float32 bits; low uint16 in first W columns, high uint16 in last W columns",
+      "decode": "reinterpret_float32(uint32(low) | (uint32(high) << 16))",
+      "validation": [
+        "all_float32_bits_exact_including_nan"
+      ]
+    },
+    "mkv/bool_ffv1/v1": {
+      "container": "matroska",
+      "codec": "ffv1",
+      "pixel_format": "gray",
+      "logical_dtype": "bool",
+      "stored_values": [
+        0,
+        1
+      ],
+      "validation": [
+        "all_bool_values_exact"
+      ]
+    },
+    "mkv/uint16_ffv1/v1": {
+      "container": "matroska",
+      "codec": "ffv1",
+      "pixel_formats": [
+        "gray",
+        "gray16le"
+      ],
+      "logical_dtype": "uint16",
+      "gray_condition": "all values <=255; decode by exact uint8-to-uint16 promotion",
+      "validation": [
+        "all_integer_values_exact"
+      ]
+    }
+  },
+  "video_metadata": {
+    "required": [
+      "profile",
+      "codec",
+      "pixel_format",
+      "encoded_size",
+      "decoder",
+      "encoder_parameters",
+      "source_lossy"
+    ],
+    "source_lossy_values": [
+      true,
+      false,
+      "unknown"
+    ],
+    "timebase_role": "index_only",
+    "lossless_reference": "source compressed packets or fixed-decoder source pixels; depth uses normalized standard float32 bits",
+    "selection": "choose smaller complete candidate only after exact roundtrip validation"
+  }
+}
diff --git a/RHD/shared-v1.1/doc/history-v1.0/validation/AUTOMATED_CHECKS.md b/RHD/shared-v1.1/doc/history-v1.0/validation/AUTOMATED_CHECKS.md
new file mode 100644
index 0000000000000000000000000000000000000000..98b00c14af444dc19e345d512878086b62d516a2
--- /dev/null
+++ b/RHD/shared-v1.1/doc/history-v1.0/validation/AUTOMATED_CHECKS.md
@@ -0,0 +1,9 @@
+# RHD 全量自动检查
+
+43,986 张，87 个分片；训练 41,258 张、评估 2,728 张。
+
+全量转换期间验证 RGB 无新增像素损失、分割码值一致、float32 深度逐比特往返一致；发布前复核全部帧索引、样本唯一性、组件引用、张量形状/类型和有效数值。另从全量产物随机抽取 24 张与 raw 对比，用户已完成人工确认。
+
+[全量随机审核报告](full_random/REPORT.md) · [raw→share 映射](../RAW_MAPPING.md)
+
+抽查通过不代表所有图像都经过人工检查；具体语义限制见[校验报告](REPORT.md)。
diff --git a/RHD/shared-v1.1/doc/history-v1.0/validation/REPORT.md b/RHD/shared-v1.1/doc/history-v1.0/validation/REPORT.md
new file mode 100644
index 0000000000000000000000000000000000000000..106e1d7a008041b465498d9f41cc1cfe4fc8e5bb
--- /dev/null
+++ b/RHD/shared-v1.1/doc/history-v1.0/validation/REPORT.md
@@ -0,0 +1,18 @@
+# RHD 小规模转换核验报告
+
+[打开离线审核页面](index.html) · [样本清单和自动检查结果](evidence.json)
+
+状态：**自动检查通过，用户于 2026-09-18T17:20:06 确认试点没有问题；此前允许全量处理；现已另行通过全量随机核验并批准发布。**
+
+训练/评估各 12 张，共 24 张。每个划分选源可见关键点数量最低和最高的各两张，再补充固定种子 20260918 的随机样本，去重后共 12 张；这不是总体均匀抽样。RHD 为独立渲染图片，不推断跨图跟踪关系。
+
+从官方完整 ZIP 直接读取 RGB、深度、分割、相机和关键点，转换为 v1.0。RGB 比较 FFV1 与无损 RGB H.264，两个候选均逐像素验证，当前两批均选较小的 FFV1。物理像素格式 bgr0，解码输出 RGB uint8。分割逐值验证；深度先按官方公式归一到 float32 米制，再拆位编码、解码，逐比特验证；无量化到 uint16 深度。
+
+源 XYZ 经 K 投影与原 UV 的最大差异：训练约 0.682 像素，评估约 0.393 像素。报告差异而不强制改写源 UV。README 称 XYZ 为 world frame，本批原坐标直接经 K 与 UV 对应，按原数据使用的相机投影参考系保留；未额外推测外参。源可见性与标注 valid 分开；不可见仍有坐标的点保留 valid=true。
+
+源未给出额外深度无效码约定，因此逐像素保留提供的深度，不擅自将远平面/零值删除。深度渲染背景与 RGB 背景贴图可能不表达同一三维场景；可视化仅帮助核对源输出，不宣称背景贴图具有真实测量深度。深度图逐张拉伸显示对比度，颜色不可跨图直接比较米数。
+
+审核重点：左右手和关键点顺序、UV 与 XYZ 投影是否匹配、遮挡/出画点是否保留、分割轮廓、深度轮廓。原生细分区域码全部保留，未合并成只有左右手的二值图；预览仅用左右手颜色方便检查。
+
+
+全量自动检查已通过：43,986 张。额外人工核验请看 [全量随机抽查](full_random/REPORT.md)，人工确认已通过，用户已批准发布。
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--- /dev/null
+++ b/RHD/shared-v1.1/doc/history-v1.0/validation/evidence.json
@@ -0,0 +1,81 @@
+{
+  "human_review": "approved",
+  "full_processing": {
+    "automated": "passed",
+    "counts": {
+      "training": 41258,
+      "evaluation": 2728
+    },
+    "shards": 87,
+    "full_random_review": "approved",
+    "report_ref": "full_random/REPORT.md"
+  },
+  "sampling_seed": 20260918,
+  "reports": [
+    {
+      "split": "training",
+      "selected_ids": [
+        7689,
+        29103,
+        41256,
+        41257,
+        20189,
+        10098,
+        40491,
+        3306,
+        39758,
+        28259,
+        23073,
+        41179
+      ],
+      "rgb_candidate_sizes": {
+        "ffv1": 825990,
+        "h264_rgb_lossless": 1498960
+      },
+      "selected_rgb_profile": "mkv/ffv1_rgb/v1",
+      "max_projection_difference_pixels": 0.6817232966423035,
+      "depth_float32_bits_exact": true,
+      "media_roundtrip_exact": true
+    },
+    {
+      "split": "evaluation",
+      "selected_ids": [
+        2677,
+        919,
+        2725,
+        2726,
+        2248,
+        2415,
+        1513,
+        511,
+        400,
+        891,
+        779,
+        190
+      ],
+      "rgb_candidate_sizes": {
+        "ffv1": 798517,
+        "h264_rgb_lossless": 1541938
+      },
+      "selected_rgb_profile": "mkv/ffv1_rgb/v1",
+      "max_projection_difference_pixels": 0.39323511719703674,
+      "depth_float32_bits_exact": true,
+      "media_roundtrip_exact": true
+    }
+  ],
+  "metadata_schema_check": "passed",
+  "converter_sha256": "74c4d384d9b9370c5163a8a1fcb05dcbeafb750598f196f0a395d1de2d8726e4",
+  "human_review_confirmation": {
+    "reviewer": "user",
+    "statement": "没问题。",
+    "confirmed_at_local": "2026-09-18T17:20:06",
+    "scope": "24 pilot samples; approval for full preprocessing only"
+  },
+  "publication": "approved",
+  "publication_confirmation": {
+    "reviewer": "user",
+    "statement": "RHD没问题，可以上传了，上传顺便测一下速度吧！",
+    "confirmed_at_local": "2026-09-18T18:25:54+0800",
+    "scope": "24 full-output random samples; publication of raw and share approved"
+  }
+}
\ No newline at end of file
diff --git a/RHD/shared-v1.1/doc/history-v1.0/validation/full_random/REPORT.md b/RHD/shared-v1.1/doc/history-v1.0/validation/full_random/REPORT.md
new file mode 100644
index 0000000000000000000000000000000000000000..a4ec7ae7c7b753a0b302e139f4449a6787228780
--- /dev/null
+++ b/RHD/shared-v1.1/doc/history-v1.0/validation/full_random/REPORT.md
@@ -0,0 +1,7 @@
+# RHD 全量随机抽查
+
+[离线预览](index.html) · [抽样清单](samples.json)
+
+全量 43,986 张，训练与评估各随机选 12 张；分层等额、固定种子20260918，无放回抽样。直接读取已完成的分片，不复用试点。所选 RGB、mask 和 float32 深度逐值/逐比特与 raw 对应数据匹配。
+
+**人工确认已通过，用户已批准发布 raw 与 share。** 检查左右手身份、分割轮廓、UV/XYZ投影及深度；本报告不替代全量数值验证。
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+<!doctype html><meta charset="utf-8"><title>RHD 全量随机抽查</title><style>body{font:16px system-ui;margin:30px;background:#f5f6f8}section{background:white;padding:16px;margin:20px 0}img{max-width:100%}</style><h1>RHD 全量产物随机抽查：24 张</h1><p>直接从全量产物读取，训练与评估各随机12张；种子20260918。分层等额抽样，不能据此估计总体错误率。RGB、mask及深度重新与 raw 对比通过，人工确认已通过，用户已批准发布。</p><p>依次为 RGB、左右手分割、原生 UV（空心=不可见）、XYZ 投影、逐图拉伸的 z 深度。颜色：红左手、蓝右手。</p><section><h2>evaluation/00190</h2><p>Source visible joints: 21/42. Shard data/evaluation_00000000/camera, frame 190. Depth display range: 0.252–5.000 m.</p><img src="evaluation_00190.png"></section><section><h2>evaluation/00400</h2><p>Source visible joints: 20/42. Shard data/evaluation_00000000/camera, frame 400. Depth display range: 0.373–5.000 m.</p><img src="evaluation_00400.png"></section><section><h2>evaluation/00511</h2><p>Source visible joints: 34/42. Shard data/evaluation_00000000/camera, frame 511. Depth display range: 0.577–5.000 m.</p><img src="evaluation_00511.png"></section><section><h2>evaluation/00746</h2><p>Source visible joints: 42/42. Shard data/evaluation_00000512/camera, frame 234. Depth display range: 0.633–5.000 m.</p><img src="evaluation_00746.png"></section><section><h2>evaluation/00779</h2><p>Source visible joints: 21/42. Shard data/evaluation_00000512/camera, frame 267. Depth display range: 0.528–5.000 m.</p><img src="evaluation_00779.png"></section><section><h2>evaluation/00891</h2><p>Source visible joints: 41/42. Shard data/evaluation_00000512/camera, frame 379. Depth display range: 0.611–5.000 m.</p><img src="evaluation_00891.png"></section><section><h2>evaluation/01185</h2><p>Source visible joints: 20/42. Shard data/evaluation_00001024/camera, frame 161. Depth display range: 0.456–5.000 m.</p><img src="evaluation_01185.png"></section><section><h2>evaluation/01377</h2><p>Source visible joints: 42/42. Shard data/evaluation_00001024/camera, frame 353. Depth display range: 0.480–5.000 m.</p><img src="evaluation_01377.png"></section><section><h2>evaluation/01513</h2><p>Source visible joints: 36/42. Shard data/evaluation_00001024/camera, frame 489. Depth display range: 0.412–5.000 m.</p><img src="evaluation_01513.png"></section><section><h2>evaluation/02248</h2><p>Source visible joints: 24/42. Shard data/evaluation_00002048/camera, frame 200. Depth display range: 0.499–5.000 m.</p><img src="evaluation_02248.png"></section><section><h2>evaluation/02415</h2><p>Source visible joints: 29/42. Shard data/evaluation_00002048/camera, frame 367. Depth display range: 0.444–5.000 m.</p><img src="evaluation_02415.png"></section><section><h2>evaluation/02470</h2><p>Source visible joints: 20/42. Shard data/evaluation_00002048/camera, frame 422. Depth display range: 0.522–5.000 m.</p><img src="evaluation_02470.png"></section><section><h2>training/03306</h2><p>Source visible joints: 40/42. Shard data/training_00003072/camera, frame 234. Depth display range: 0.336–5.000 m.</p><img src="training_03306.png"></section><section><h2>training/07180</h2><p>Source visible joints: 21/42. Shard data/training_00007168/camera, frame 12. Depth display range: 0.416–5.000 m.</p><img src="training_07180.png"></section><section><h2>training/10098</h2><p>Source visible joints: 42/42. Shard data/training_00009728/camera, frame 370. Depth display range: 0.357–5.000 m.</p><img src="training_10098.png"></section><section><h2>training/10271</h2><p>Source visible joints: 42/42. Shard data/training_00010240/camera, frame 31. Depth display range: 0.632–5.000 m.</p><img src="training_10271.png"></section><section><h2>training/20189</h2><p>Source visible joints: 31/42. Shard data/training_00019968/camera, frame 221. Depth display range: 0.471–5.000 m.</p><img src="training_20189.png"></section><section><h2>training/21319</h2><p>Source visible joints: 21/42. Shard data/training_00020992/camera, frame 327. Depth display range: 0.446–5.000 m.</p><img src="training_21319.png"></section><section><h2>training/23073</h2><p>Source visible joints: 42/42. Shard data/training_00023040/camera, frame 33. Depth display range: 0.549–5.000 m.</p><img src="training_23073.png"></section><section><h2>training/23469</h2><p>Source visible joints: 21/42. Shard data/training_00023040/camera, frame 429. Depth display range: 0.553–5.000 m.</p><img src="training_23469.png"></section><section><h2>training/28259</h2><p>Source visible joints: 24/42. Shard data/training_00028160/camera, frame 99. Depth display range: 0.521–5.000 m.</p><img src="training_28259.png"></section><section><h2>training/39758</h2><p>Source visible joints: 21/42. Shard data/training_00039424/camera, frame 334. Depth display range: 0.335–5.000 m.</p><img src="training_39758.png"></section><section><h2>training/40491</h2><p>Source visible joints: 21/42. Shard data/training_00040448/camera, frame 43. Depth display range: 0.642–5.000 m.</p><img src="training_40491.png"></section><section><h2>training/41179</h2><p>Source visible joints: 31/42. Shard data/training_00040960/camera, frame 219. Depth display range: 0.464–5.000 m.</p><img src="training_41179.png"></section>
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