Replace Human Hand test inputs with validity-aligned absolute poses (part 3)

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.

human_hand/pourwater/ep000001/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0b32de33ff565eaa9342792f3de73d801885905ef5c23350e266892931ec3b11
-size 1800440
+oid sha256:93dcd70391801c0893cdb0540d35e3c938a9b2099996cfcf86dc5f2e38b0d872
+size 1798996

human_hand/pourwater/ep000001/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pourwater",
   "episode_index": 1,
   "episode_name": "ep000001",
   "fps": 15.0,
-  "num_frames": 1890,
-  "num_transitions": 1889,
+  "num_frames": 1889,
   "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/pourwater/ep000002/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0153e01cc6a5d2f2c200bcb36cb22073ac219cb9e9a7340d18f3980a2beb7b10
-size 1841904
+oid sha256:e278602c8c266bae277df64fd64c64b197d4ce9be9f8e18c99a92e7fce5490c2
+size 1840687

human_hand/pourwater/ep000002/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pourwater",
   "episode_index": 2,
   "episode_name": "ep000002",
   "fps": 15.0,
-  "num_frames": 1936,
-  "num_transitions": 1935,
+  "num_frames": 1934,
   "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/pourwater/ep000003/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f5fbc0bc71b0d87444efdf6517d5c3dedff0073ac30bf096697f0c4f6e2d8d59
-size 1823939
+oid sha256:8d209dcf87a5e584f35a8c6d8edb356b4ce6c42669a329dffb049f168dfd6373
+size 1822713

human_hand/pourwater/ep000003/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pourwater",
   "episode_index": 3,
   "episode_name": "ep000003",
   "fps": 15.0,
-  "num_frames": 1916,
-  "num_transitions": 1915,
+  "num_frames": 1915,
   "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/pourwater/ep000004/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f8f726c13a19fecde5800a7263f139b987d833ea35d80f9b7a5e284026e5c1b7
-size 1869958
+oid sha256:1286fb543162248b4500109ece725f2ee6007966cd7e1a023e6a1b8ada447f03
+size 1868620

human_hand/pourwater/ep000004/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pourwater",
   "episode_index": 4,
   "episode_name": "ep000004",
   "fps": 15.0,
-  "num_frames": 1956,
-  "num_transitions": 1955,
+  "num_frames": 1955,
   "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/pourwater/ep000005/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:46804293c3c54d12ddaced181274876a915d50bb3451a9c8972659c7f38c0d29
-size 1855862
+oid sha256:c9f0bd8c0b9688a0a99e4e635398f269e5104571332d4ff0a447b8a6110ae4ac
+size 1854345

human_hand/pourwater/ep000005/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pourwater",
   "episode_index": 5,
   "episode_name": "ep000005",
   "fps": 15.0,
-  "num_frames": 1940,
-  "num_transitions": 1939,
+  "num_frames": 1939,
   "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
 }