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@@ -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 - } + }, + 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@@ -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 - } + }, + 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@@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "pulldrawer", "episode_index": 13, "episode_name": "ep000013", "fps": 15.0, - "num_frames": 1847, - "num_transitions": 1846, + "num_frames": 1843, "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 - } + }, + 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@@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "pulldrawer", "episode_index": 14, "episode_name": "ep000014", "fps": 15.0, - "num_frames": 1894, - "num_transitions": 1893, + "num_frames": 1893, "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 - } + }, + 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@@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "pulldrawer", "episode_index": 19, "episode_name": "ep000019", "fps": 15.0, - "num_frames": 1867, - "num_transitions": 1866, + "num_frames": 1866, "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 - } + }, + 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@@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "pulldrawer", "episode_index": 27, "episode_name": "ep000027", "fps": 15.0, - "num_frames": 1897, - "num_transitions": 1896, + "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 - } + }, + 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The released observation images are frame 0 inputs.", + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } diff --git a/human_hand/pulldrawer/ep000027/observations/fisheye/hand_left.png b/human_hand/pulldrawer/ep000027/observations/fisheye/hand_left.png index 4e4be21b9bebd6bccf472ac3f1e70e36e363e94a..b811e1adc1e5589f252a91e658711c63dceca993 100644 --- a/human_hand/pulldrawer/ep000027/observations/fisheye/hand_left.png +++ b/human_hand/pulldrawer/ep000027/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ba7b2718d2dee494de9f4872a8c7e46cfb03527ea31660a359365b85d5cc7b03 -size 813833 +oid sha256:6ca6bc03340025f3bbd1dd99709e5d6f4167923ceeeaf5c8319208352ccecf70 +size 813448 diff --git a/human_hand/pulldrawer/ep000027/observations/fisheye/hand_right.png b/human_hand/pulldrawer/ep000027/observations/fisheye/hand_right.png index 691fc9713ee46d26552485f0cf1880572925e1a2..56622c931de29f4c228c84ad1c81439e019f9eb7 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@@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.test_input.v2", "task_name": "pulldrawer", "episode_index": 29, "episode_name": "ep000029", "fps": 15.0, - "num_frames": 1881, - "num_transitions": 1880, + "num_frames": 1880, "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 - } + }, + 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"initial_observations": { + "description": "Frame 0 input images for the released camera views." }, - "views": { - "top_head": { - "source": "head_fisheye", - "mount": "head", - "compatibility_alias": true, - "active_projection": { - "model": "pinhole", - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "source_model": "opencv_fisheye", - "source_backup": { - "gt": "video/fisheye/", - "inference": "observations/fisheye/.png" - } - }, - "source_projection": "opencv_fisheye" - }, - "hand_left": { - "source": "head_fisheye_left", - "mount": "head", - "compatibility_alias": true, - "active_projection": { - "model": "pinhole", - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "source_model": "opencv_fisheye", - "source_backup": { - "gt": "video/fisheye/", - "inference": "observations/fisheye/.png" - } - }, - "source_projection": "opencv_fisheye" - }, - "hand_right": { - "source": "head_fisheye_right", - "mount": "head", - "compatibility_alias": true, - "active_projection": { - "model": "pinhole", - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "source_model": "opencv_fisheye", - "source_backup": { - "gt": "video/fisheye/", - "inference": "observations/fisheye/.png" - } - }, - "source_projection": "opencv_fisheye" - }, - "head_stereo_left": { - "source": "head_stereo_left", - "mount": "head", - "compatibility_alias": false - }, - "head_stereo_right": { - "source": "head_stereo_right", - "mount": "head", - "compatibility_alias": false + "hand_camera_poses": { + "path": "controls/hand_camera_poses.npz", + "alignment": "sample t corresponds to episode frame t", + "arrays": { + "left_positions_camera": "[T, 21, 3] float, left-hand joints in camera coordinates", + "right_positions_camera": "[T, 21, 3] float, right-hand joints in camera coordinates", + "left_quaternions_camera_xyzw": "[T, 21, 4] float, XYZW quaternions", + "right_quaternions_camera_xyzw": "[T, 21, 4] float, XYZW quaternions", + "left_valid": "[T] boolean validity mask", + "right_valid": "[T] boolean validity mask", + "camera_position_world": "[T, 3] float camera-reference position", + "camera_quaternion_world_xyzw": "[T, 4] float XYZW camera-reference orientation", + "camera_valid": "[T] boolean validity mask" } }, - "active_projection": { - "model": "pinhole", - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "source_model": "opencv_fisheye", - "source_backup": { - "gt": "video/fisheye/", - "inference": "observations/fisheye/.png" - } - } + "task": "pulldrawer" } diff --git a/human_hand/schema.json b/human_hand/schema.json index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..e5600e098f4c77839e1cbdbba24c8c57f483b5cf 100644 --- a/human_hand/schema.json +++ b/human_hand/schema.json @@ -1,558 +1,24 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.absolute_pose.v1", "embodiment": "ego_human_bimanual", "fps": 15.0, - "features": { - "action": { - "dtype": "float32", - "shape": [ - 57 - ], - "field_descriptions": { - "camera_delta": { - "description": "camera xyz + rot6d delta", - "dimensions": 9, - "indices": [ - 0, - 1, - 2, - 3, - 4, - 5, - 6, - 7, - 8 - ] - }, - "right_wrist_world_delta": { - "description": "right wrist world xyz + rot6d delta", - "dimensions": 9, - "indices": [ - 9, - 10, - 11, - 12, - 13, - 14, - 15, - 16, - 17 - ] - }, - "right_fingertips_in_wrist": { - "description": "five right fingertip XYZ positions in aligned wrist frame", - "dimensions": 15, - "indices": [ - 18, - 19, - 20, - 21, - 22, - 23, - 24, - 25, - 26, - 27, - 28, - 29, - 30, - 31, - 32 - ] - }, - "left_wrist_world_delta": { - "description": "left wrist world xyz + rot6d delta", - "dimensions": 9, - "indices": [ - 33, - 34, - 35, - 36, - 37, - 38, - 39, - 40, - 41 - ] - }, - "left_fingertips_in_wrist": { - "description": "five left fingertip XYZ positions in aligned wrist frame", - "dimensions": 15, - "indices": [ - 42, - 43, - 44, - 45, - 46, - 47, - 48, - 49, - 50, - 51, - 52, - 53, - 54, - 55, - 56 - ] - } - } - }, - "observation.state": { - "dtype": "float32", - "shape": [ - 304 - ], - "field_descriptions": { - "hand_state/left/ori": { - "description": "21 XYZW quaternions", - "dimensions": 84, - "indices": [ - 0, - 1, - 2, - 3, - 4, - 5, - 6, - 7, - 8, - 9, - 10, - 11, - 12, - 13, - 14, - 15, - 16, - 17, - 18, - 19, - 20, - 21, - 22, - 23, - 24, - 25, - 26, - 27, - 28, - 29, - 30, - 31, - 32, - 33, - 34, - 35, - 36, - 37, - 38, - 39, - 40, - 41, - 42, - 43, - 44, - 45, - 46, - 47, - 48, - 49, - 50, - 51, - 52, - 53, - 54, - 55, - 56, - 57, - 58, - 59, - 60, - 61, - 62, - 63, - 64, - 65, - 66, - 67, - 68, - 69, - 70, - 71, - 72, - 73, - 74, - 75, - 76, - 77, - 78, - 79, - 80, - 81, - 82, - 83 - ] - }, - "hand_state/left/pos": { - "description": "21 XYZ positions in camera frame", - "dimensions": 63, - "indices": [ - 84, - 85, - 86, - 87, - 88, - 89, - 90, - 91, - 92, - 93, - 94, - 95, - 96, - 97, - 98, - 99, - 100, - 101, - 102, - 103, - 104, - 105, - 106, - 107, - 108, - 109, - 110, - 111, - 112, - 113, - 114, - 115, - 116, - 117, - 118, - 119, - 120, - 121, - 122, - 123, - 124, - 125, - 126, - 127, - 128, - 129, - 130, - 131, - 132, - 133, - 134, - 135, - 136, - 137, - 138, - 139, - 140, - 141, - 142, - 143, - 144, - 145, - 146 - ] - }, - "hand_state/left/valid": { - "description": "left hand valid", - "dimensions": 1, - "indices": [ - 147 - ] - }, - "hand_state/right/ori": { - "description": "21 XYZW quaternions", - "dimensions": 84, - "indices": [ - 148, - 149, - 150, - 151, - 152, - 153, - 154, - 155, - 156, - 157, - 158, - 159, - 160, - 161, - 162, - 163, - 164, - 165, - 166, - 167, - 168, - 169, - 170, - 171, - 172, - 173, - 174, - 175, - 176, - 177, - 178, - 179, - 180, - 181, - 182, - 183, - 184, - 185, - 186, - 187, - 188, - 189, - 190, - 191, - 192, - 193, - 194, - 195, - 196, - 197, - 198, - 199, - 200, - 201, - 202, - 203, - 204, - 205, - 206, - 207, - 208, - 209, - 210, - 211, - 212, - 213, - 214, - 215, - 216, - 217, - 218, - 219, - 220, - 221, - 222, - 223, - 224, - 225, - 226, - 227, - 228, - 229, - 230, - 231 - ] - }, - "hand_state/right/pos": { - "description": "21 XYZ positions in camera frame", - "dimensions": 63, - "indices": [ - 232, - 233, - 234, - 235, - 236, - 237, - 238, - 239, - 240, - 241, - 242, - 243, - 244, - 245, - 246, - 247, - 248, - 249, - 250, - 251, - 252, - 253, - 254, - 255, - 256, - 257, - 258, - 259, - 260, - 261, - 262, - 263, - 264, - 265, - 266, - 267, - 268, - 269, - 270, - 271, - 272, - 273, - 274, - 275, - 276, - 277, - 278, - 279, - 280, - 281, - 282, - 283, - 284, - 285, - 286, - 287, - 288, - 289, - 290, - 291, - 292, - 293, - 294 - ] - }, - "hand_state/right/valid": { - "description": "right hand valid", - "dimensions": 1, - "indices": [ - 295 - ] - }, - "head_camera/orientation": { - "description": "camera-to-world XYZW quaternion", - "dimensions": 4, - "indices": [ - 296, - 297, - 298, - 299 - ] - }, - "head_camera/position": { - "description": "camera-to-world XYZ position", - "dimensions": 3, - "indices": [ - 300, - 301, - 302 - ] - }, - "head_camera/valid": { - "description": "camera pose valid", - "dimensions": 1, - "indices": [ - 303 - ] - } - } - }, - "observation.aux": { - "dtype": "float32", - "shape": [ - 19 - ] - }, - "observation.source_state": { - "dtype": "float32", - "shape": [ - 635 - ] - } - }, - "views": { - "top_head": { - "source": "head_fisheye", - "mount": "head", - "compatibility_alias": true, - "active_projection": { - "model": "pinhole", - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "source_model": "opencv_fisheye", - "source_backup": { - "gt": "video/fisheye/", - "inference": "observations/fisheye/.png" - } - }, - "source_projection": "opencv_fisheye" - }, - "hand_left": { - "source": "head_fisheye_left", - "mount": "head", - "compatibility_alias": true, - "active_projection": { - "model": "pinhole", - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "source_model": "opencv_fisheye", - "source_backup": { - "gt": "video/fisheye/", - "inference": "observations/fisheye/.png" - } - }, - "source_projection": "opencv_fisheye" - }, - "hand_right": { - "source": "head_fisheye_right", - "mount": "head", - "compatibility_alias": true, - "active_projection": { - "model": "pinhole", - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "source_model": "opencv_fisheye", - "source_backup": { - "gt": "video/fisheye/", - "inference": "observations/fisheye/.png" - } - }, - "source_projection": "opencv_fisheye" - }, - "head_stereo_left": { - "source": "head_stereo_left", - "mount": "head", - "compatibility_alias": false - }, - "head_stereo_right": { - "source": "head_stereo_right", - "mount": "head", - "compatibility_alias": false - } + "contains_delta_action": false, + "initial_observations": { + "description": "Frame 0 input images for the released camera views." }, - "active_projection": { - "model": "pinhole", - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "source_model": "opencv_fisheye", - "source_backup": { - "gt": "video/fisheye/", - "inference": "observations/fisheye/.png" + "hand_camera_poses": { + "path": "controls/hand_camera_poses.npz", + "alignment": "sample t corresponds to episode frame t", + "arrays": { + "left_positions_camera": "[T, 21, 3] float, left-hand joints in camera coordinates", + "right_positions_camera": "[T, 21, 3] float, right-hand joints in camera coordinates", + "left_quaternions_camera_xyzw": "[T, 21, 4] float, XYZW quaternions", + "right_quaternions_camera_xyzw": "[T, 21, 4] float, XYZW quaternions", + "left_valid": "[T] boolean validity mask", + "right_valid": "[T] boolean validity mask", + "camera_position_world": "[T, 3] float camera-reference position", + "camera_quaternion_world_xyzw": "[T, 4] float XYZW camera-reference orientation", + "camera_valid": "[T] boolean validity mask" } } } diff --git a/test_manifest.json b/test_manifest.json index 0d545f280246994c2efd6dec7da6bb89c0b2366c..3d9f28d127138198ee748866535e0e644648b7d9 100644 --- a/test_manifest.json +++ b/test_manifest.json @@ -1,6 +1,6 @@ { - "schema_version": "worldoracle.test_inputs.v1", - "generated_at": "2026-10-14", + "schema_version": "worldoracle.test_inputs.v2", + "generated_at": "2026-11-01", "repository": "WorldOracle/worldoracle-testset", "contains_ground_truth": false, "datasets": { @@ -292,7 +292,10 @@ "ep000029" ] } - } + }, + "payload": "initial camera observations and absolute per-frame hand/camera poses", + "contains_delta_action": false, + "contains_ground_truth": false }, "policy": { "episode_count": 48,