Replace Human Hand test inputs with validity-aligned absolute poses (part 4)

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/pulldrawer/ep000002/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c8a4860f2399035cfc606b08e5bf48d2802ee076b4861c33f8b5c163e49479e9
-size 1802453
+oid sha256:3d4e961dd64926b8ce65d6081b2832c512d4f1309b866b1cb42e7b6a348f0db4
+size 1800444

human_hand/pulldrawer/ep000002/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pulldrawer",
   "episode_index": 2,
   "episode_name": "ep000002",
   "fps": 15.0,
-  "num_frames": 1899,
-  "num_transitions": 1898,
+  "num_frames": 1898,
   "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/pulldrawer/ep000003/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5e815b0ec232607742a8360bb70121dbd96f9c80880ae8fdf8b257cabbcdb25d
-size 1816056
+oid sha256:dac29bc8380cf42dc0f3d9e6b43d4d7c15caadc1baeac542720b58d02f072d0f
+size 1814657

human_hand/pulldrawer/ep000003/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pulldrawer",
   "episode_index": 3,
   "episode_name": "ep000003",
   "fps": 15.0,
-  "num_frames": 1899,
-  "num_transitions": 1898,
+  "num_frames": 1896,
   "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/pulldrawer/ep000004/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4047358c493d3eb862daac64096531c56edfad09c62a51a301933d88e47958e1
-size 1765079
+oid sha256:ba1b36a904b037733e44ed17bfdd338e28edef0053102692a653adacc81651f0
+size 1763011

human_hand/pulldrawer/ep000004/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pulldrawer",
   "episode_index": 4,
   "episode_name": "ep000004",
   "fps": 15.0,
-  "num_frames": 1868,
-  "num_transitions": 1867,
+  "num_frames": 1865,
   "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/pulldrawer/ep000005/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b5f79f19e5dbec6af36365e3f8fce89ac9b87319ce82cd9bd1515ecd4c915384
-size 1791468
+oid sha256:57b95231290938a138df8ff06dbab06820ef9bbb05de83923e4596a9c6059d90
+size 1790057

human_hand/pulldrawer/ep000005/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pulldrawer",
   "episode_index": 5,
   "episode_name": "ep000005",
   "fps": 15.0,
-  "num_frames": 1885,
-  "num_transitions": 1884,
+  "num_frames": 1884,
   "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/pulldrawer/ep000006/controls/hand_camera_poses.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5150a6e0567f3a2228c7007572277a2d413911ea48dfe4f2337d0d5bca771994
-size 1784529
+oid sha256:e0e643ac189196988eef6d630a8a757a20ab11c0986f0a717751626842f89314
+size 1782930

human_hand/pulldrawer/ep000006/metadata.json

@@ -1,17 +1,14 @@
 {
-  "schema_version": "acwmbench.inference.ego.v1",
+  "schema_version": "worldoracle.human_hand.test_input.v2",
   "task_name": "pulldrawer",
   "episode_index": 6,
   "episode_name": "ep000006",
   "fps": 15.0,
-  "num_frames": 1872,
-  "num_transitions": 1871,
+  "num_frames": 1871,
   "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
 }