Replace Human Hand test inputs with validity-aligned absolute poses (part 2)

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/pickfruit/ep000002/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d2f16fd9417b517a7d128d2b3593b8b3c53a6e996464f7619d15fcd30a674fd1
-size 1814474
+oid sha256:6d53fdfb36376e4bf9f75047710a3d26af765a05e14250f6c02a3fe28153bfaa
+size 1812878

human_hand/pickfruit/ep000002/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pickfruit",
   "episode_index": 2,
   "episode_name": "ep000002",
   "fps": 15.0,
-  "num_frames": 1901,
-  "num_transitions": 1900,
+  "num_frames": 1900,
   "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/pickfruit/ep000005/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4a38b98cc3e712850d16d726ef55d015f39da4a053dc4832e09b88a6196618a2
-size 1884067
+oid sha256:12da8d833838375fdc59e1fd6c1b05ddc49691be4c7c8031534a6a71eb627b44
+size 1882636

human_hand/pickfruit/ep000005/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pickfruit",
   "episode_index": 5,
   "episode_name": "ep000005",
   "fps": 15.0,
-  "num_frames": 1968,
-  "num_transitions": 1967,
+  "num_frames": 1967,
   "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/pickfruit/ep000008/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:87bb51a743ab0c336af1973c2455c9e0c7c7d9ebe92cfc9cafb85db970e6703f
-size 1810339
+oid sha256:f955340c87ace3477e7c750b3351d2c012aa1f9ce4f991f3eaf13c10f5ce8892
+size 1808639

human_hand/pickfruit/ep000008/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pickfruit",
   "episode_index": 8,
   "episode_name": "ep000008",
   "fps": 15.0,
-  "num_frames": 1888,
-  "num_transitions": 1887,
+  "num_frames": 1887,
   "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/pickfruit/ep000010/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d426bdfa0ac02755b62c9c27ac5a753d998afeeaf23120e9184ca6740450b84b
-size 1814508
+oid sha256:5ac124878b68a0eb32e4cc33ca5cf3209893201e3ca14b43f0d96188c36f22d6
+size 1813057

human_hand/pickfruit/ep000010/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pickfruit",
   "episode_index": 10,
   "episode_name": "ep000010",
   "fps": 15.0,
-  "num_frames": 1909,
-  "num_transitions": 1908,
+  "num_frames": 1905,
   "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/pickfruit/ep000011/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a131ed23244c92399317e7054179937b595dcba31b5a2c1c91ff90d4e47db7ab
-size 1817277
+oid sha256:61a97dd22347625ea93949071cb24fe3c93fb8f6becec46ccf71c5d4ebbb9f1e
+size 1815931

human_hand/pickfruit/ep000011/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pickfruit",
   "episode_index": 11,
   "episode_name": "ep000011",
   "fps": 15.0,
-  "num_frames": 1907,
-  "num_transitions": 1906,
+  "num_frames": 1906,
   "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
 }