Replace Human Hand test inputs with validity-aligned absolute poses

Replace only the Human Hand test split. The updated payload removes the leading invalid initialization prefix, keeps later validity flags, publishes absolute per-frame hand/camera poses, and removes delta actions and internal source/cleaning metadata. Other platforms are unchanged.

README.md

@@ -17,6 +17,10 @@ It does not contain ground-truth target videos or evaluation results.
 | Policy | 48 |
 | **Total** | **268** |
 
+## Human Hand input format
+
+Human Hand test episodes provide frame-0 camera observations, calibration, and absolute per-frame hand/camera poses. Delta-action tensors, internal source mappings, target videos, masks, prompts, and evaluation outputs are not included. Pose sample `t` corresponds to episode frame `t`; consumers should honor the `left_valid`, `right_valid`, and `camera_valid` arrays.
+
 `test_manifest.json` is the canonical inventory. `SHA256SUMS` records the
 checksum of every uploaded file. Keep the repository private until the dataset
 release and access policy have been approved.

human_hand/README.md

@@ -1,3 +1,11 @@
-# Ego-human ACWMBench inference dataset
+# Human Hand test inputs
 
-Canonical 15 FPS bimanual human-hand trajectories. The active `top_head`, `hand_left`, and `hand_right` observations are rectified 640x480 pinhole images (90 degree HFOV, 38 degree downward pitch). Original images and calibration are retained in `observations/fisheye/` and `calibration_fisheye.json`. Physical controls remain unchanged; read `calibration.json` for the source-to-virtual rotation.
+This directory contains the input-only Human Hand portion of the WorldOracle
+test split. Target videos, masks, prompts, evaluation outputs, delta-action
+tensors, internal source mappings, and cleaning records are not included.
+
+Each episode provides frame-0 camera observations, camera calibration, and
+per-frame absolute hand/camera poses in `controls/hand_camera_poses.npz`.
+Pose sample `t` corresponds to episode frame `t`. The first released sample is
+valid; any later unavailable measurements remain identified by the relevant
+`*_valid` arrays and should be masked by downstream consumers.

human_hand/hangtowel/ep000000/controls/action_57d_spec.json

@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
-        9,
-        18
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    },
-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}

human_hand/hangtowel/ep000000/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:88cbbadd6580f408b3e78a41697b7d4e82eecfea88fee1178cf45230beec3f9d
-size 1761644
+oid sha256:a8fd901a433bd8113a1534d063c8f17d4b7184f92efe9a0138dfadf9815f5cfa
+size 1760067

human_hand/hangtowel/ep000000/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "hangtowel",
   "episode_index": 0,
   "episode_name": "ep000000",
   "fps": 15.0,
-  "num_frames": 1841,
-  "num_transitions": 1840,
+  "num_frames": 1840,
   "seed_local_index": 0,
   "embodiment": "ego_human_bimanual",
   "files": {
-    "trajectory": "trajectory.parquet",
     "calibration": "calibration.json",
-    "source_map": "source_map.json",
     "observations": {
       "top_head": "observations/top_head.png",
       "hand_left": "observations/hand_left.png",
@@ -20,8 +17,7 @@
       "head_stereo_right": "observations/head_stereo_right.png"
     },
     "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
+      "hand_camera_poses": "controls/hand_camera_poses.npz"
     },
     "fisheye_calibration": "calibration_fisheye.json",
     "fisheye_observations": {
@@ -41,5 +37,8 @@
     "height": 480,
     "hfov_deg": 90.0,
     "view_pitch_deg": 38.0
-  }
+  },
+  "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.",
+  "pose_representation": "absolute_per_frame",
+  "contains_delta_action": false
 }

human_hand/hangtowel/ep000000/pinhole_migration.json

@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "hangtowel",
-  "episode": "ep000000",
-  "views": [
-    "top_head",
-    "hand_left",
-    "hand_right"
-  ],
-  "width": 640,
-  "height": 480,
-  "hfov_deg": 90.0,
-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
-    "prompt": {
-      "source_nonzero": 17385178.0,
-      "pinhole_nonzero": 36564392.0,
-      "area_ratio": 2.1031934214306003
-    },
-    "multiview_masks/top_head": {
-      "source_nonzero": 18861165.0,
-      "pinhole_nonzero": 37530916.0,
-      "area_ratio": 1.989851422221268
-    },
-    "multiview_masks/hand_left": {
-      "source_nonzero": 10412557.0,
-      "pinhole_nonzero": 19206622.0,
-      "area_ratio": 1.8445634439264054
-    },
-    "multiview_masks/hand_right": {
-      "source_nonzero": 12673383.0,
-      "pinhole_nonzero": 22588287.0,
-      "area_ratio": 1.7823407530570172
-    }
-  },
-  "created_unix": 1789875738.2098904
-}

human_hand/hangtowel/ep000000/source_map.json

@@ -1,1896 +0,0 @@
-{
-  "source_dataset": "<redacted>",
-  "source_episode_index": 0,
-  "source_fps": 60.0,
-  "canonical_fps": 15.0,
-  "sampling_stride": 4,
-  "source_frame_indices": [
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human_hand/hangtowel/ep000000/trajectory.parquet

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human_hand/hangtowel/ep000001/controls/action_57d_spec.json

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-{
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-  "width": 57,
-  "layout": [
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-      "name": "camera_delta",
-      "indices": [
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-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}

human_hand/hangtowel/ep000001/controls/hand_camera_poses.npz

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human_hand/hangtowel/ep000001/metadata.json

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 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "hangtowel",
   "episode_index": 1,
   "episode_name": "ep000001",
   "fps": 15.0,
-  "num_frames": 1828,
-  "num_transitions": 1827,
+  "num_frames": 1826,
   "seed_local_index": 0,
   "embodiment": "ego_human_bimanual",
   "files": {
-    "trajectory": "trajectory.parquet",
     "calibration": "calibration.json",
-    "source_map": "source_map.json",
     "observations": {
       "top_head": "observations/top_head.png",
       "hand_left": "observations/hand_left.png",
@@ -20,8 +17,7 @@
       "head_stereo_right": "observations/head_stereo_right.png"
     },
     "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
+      "hand_camera_poses": "controls/hand_camera_poses.npz"
     },
     "fisheye_calibration": "calibration_fisheye.json",
     "fisheye_observations": {
@@ -41,5 +37,8 @@
     "height": 480,
     "hfov_deg": 90.0,
     "view_pitch_deg": 38.0
-  }
+  },
+  "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.",
+  "pose_representation": "absolute_per_frame",
+  "contains_delta_action": false
 }

human_hand/hangtowel/ep000001/pinhole_migration.json

@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "hangtowel",
-  "episode": "ep000001",
-  "views": [
-    "top_head",
-    "hand_left",
-    "hand_right"
-  ],
-  "width": 640,
-  "height": 480,
-  "hfov_deg": 90.0,
-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
-    "prompt": {
-      "source_nonzero": 16339551.0,
-      "pinhole_nonzero": 31245052.0,
-      "area_ratio": 1.9122344304320236
-    },
-    "multiview_masks/top_head": {
-      "source_nonzero": 18595506.0,
-      "pinhole_nonzero": 37151100.0,
-      "area_ratio": 1.997853674968565
-    },
-    "multiview_masks/hand_left": {
-      "source_nonzero": 10356296.0,
-      "pinhole_nonzero": 19299366.0,
-      "area_ratio": 1.8635394353347954
-    },
-    "multiview_masks/hand_right": {
-      "source_nonzero": 14112812.0,
-      "pinhole_nonzero": 22010024.0,
-      "area_ratio": 1.5595774959660769
-    }
-  },
-  "created_unix": 1789875879.9205146
-}

human_hand/hangtowel/ep000001/source_map.json

@@ -1,1887 +0,0 @@
-{
-  "source_dataset": "<redacted>",
-  "source_episode_index": 1,
-  "source_fps": 60.0,
-  "canonical_fps": 15.0,
-  "sampling_stride": 4,
-  "source_frame_indices": [
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human_hand/hangtowel/ep000001/trajectory.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0c33fe9c0f6d3ea687a1bd04fb6cc470405fd97c7f57f2dd55aa9e3316b29919
-size 7649627

human_hand/hangtowel/ep000003/controls/action_57d_spec.json

@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
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-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
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-      "encoding": "xyz+rot6d"
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-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
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-      "joint_indices": [
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-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}

human_hand/hangtowel/ep000003/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2d6126de56192029e133970abe9f054aefa6d5bcdeab36a17a316e3b3719cfa1
-size 1791834
+oid sha256:ac8b08191bc93c6622cacb1b81195cec38822dee241804a41aa5184c7c9dd3ba
+size 1790187

human_hand/hangtowel/ep000003/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "hangtowel",
   "episode_index": 3,
   "episode_name": "ep000003",
   "fps": 15.0,
-  "num_frames": 1860,
-  "num_transitions": 1859,
+  "num_frames": 1859,
   "seed_local_index": 0,
   "embodiment": "ego_human_bimanual",
   "files": {
-    "trajectory": "trajectory.parquet",
     "calibration": "calibration.json",
-    "source_map": "source_map.json",
     "observations": {
       "top_head": "observations/top_head.png",
       "hand_left": "observations/hand_left.png",
@@ -20,8 +17,7 @@
       "head_stereo_right": "observations/head_stereo_right.png"
     },
     "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
+      "hand_camera_poses": "controls/hand_camera_poses.npz"
     },
     "fisheye_calibration": "calibration_fisheye.json",
     "fisheye_observations": {
@@ -41,5 +37,8 @@
     "height": 480,
     "hfov_deg": 90.0,
     "view_pitch_deg": 38.0
-  }
+  },
+  "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.",
+  "pose_representation": "absolute_per_frame",
+  "contains_delta_action": false
 }

human_hand/hangtowel/ep000003/pinhole_migration.json

@@ -1,39 +0,0 @@
-{
-  "schema_version": "acwmbench.ego.pinhole_migration.v1",
-  "task": "hangtowel",
-  "episode": "ep000003",
-  "views": [
-    "top_head",
-    "hand_left",
-    "hand_right"
-  ],
-  "width": 640,
-  "height": 480,
-  "hfov_deg": 90.0,
-  "view_pitch_deg": 38.0,
-  "controls_transformed": false,
-  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
-  "mask_stats": {
-    "prompt": {
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-      "pinhole_nonzero": 35901490.0,
-      "area_ratio": 1.9831810029971857
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-      "area_ratio": 2.0992753618162006
-    },
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-      "area_ratio": 1.9258486731818294
-    }
-  },
-  "created_unix": 1789875974.9977176
-}

human_hand/hangtowel/ep000003/source_map.json

@@ -1,1919 +0,0 @@
-{
-  "source_dataset": "<redacted>",
-  "source_episode_index": 3,
-  "source_fps": 60.0,
-  "canonical_fps": 15.0,
-  "sampling_stride": 4,
-  "source_frame_indices": [
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human_hand/hangtowel/ep000003/trajectory.parquet

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3a04681ce7aa4c36563ded243c92e2243287b27e8d819f1779a5fdea5fb84a72
-size 7790060

human_hand/hangtowel/ep000004/controls/action_57d_spec.json

@@ -1,60 +0,0 @@
-{
-  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
-  "width": 57,
-  "layout": [
-    {
-      "name": "camera_delta",
-      "indices": [
-        0,
-        9
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_wrist_world_delta",
-      "indices": [
-        9,
-        18
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "right_fingertips_in_wrist",
-      "indices": [
-        18,
-        33
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    },
-    {
-      "name": "left_wrist_world_delta",
-      "indices": [
-        33,
-        42
-      ],
-      "encoding": "xyz+rot6d"
-    },
-    {
-      "name": "left_fingertips_in_wrist",
-      "indices": [
-        42,
-        57
-      ],
-      "joint_indices": [
-        4,
-        8,
-        12,
-        16,
-        20
-      ]
-    }
-  ],
-  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
-  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
-}

human_hand/hangtowel/ep000004/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eaf4b76738dbb1ea6189e553d05762aa66e4f7fcb3197cec84392017ce158511
-size 1787122
+oid sha256:c60badf1e075890e78407f9506804775457d7af4591e601e92f25f1533d6804e
+size 1785414

human_hand/hangtowel/ep000004/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "hangtowel",
   "episode_index": 4,
   "episode_name": "ep000004",
   "fps": 15.0,
-  "num_frames": 1864,
-  "num_transitions": 1863,
+  "num_frames": 1863,
   "seed_local_index": 0,
   "embodiment": "ego_human_bimanual",
   "files": {
-    "trajectory": "trajectory.parquet",
     "calibration": "calibration.json",
-    "source_map": "source_map.json",
     "observations": {
       "top_head": "observations/top_head.png",
       "hand_left": "observations/hand_left.png",
@@ -20,8 +17,7 @@
       "head_stereo_right": "observations/head_stereo_right.png"
     },
     "controls": {
-      "hand_camera_poses": "controls/hand_camera_poses.npz",
-      "action_57d_spec": "controls/action_57d_spec.json"
+      "hand_camera_poses": "controls/hand_camera_poses.npz"
     },
     "fisheye_calibration": "calibration_fisheye.json",
     "fisheye_observations": {
@@ -41,5 +37,8 @@
     "height": 480,
     "hfov_deg": 90.0,
     "view_pitch_deg": 38.0
-  }
+  },
+  "alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.",
+  "pose_representation": "absolute_per_frame",
+  "contains_delta_action": false
 }