| # ACWMBench Inference Dataset | |
| This self-contained package provides initial RGB observations and aligned | |
| action/state trajectories for action-conditioned world-model evaluation. | |
| Only the initial observation is included. No future RGB frames are provided; | |
| predicting future visual outcomes is the responsibility of each model adapter. | |
| Every episode starts at frame zero, with timestamp equal to `frame_index / fps`. | |
| Action and state vectors retain their recorded values. | |
| Use `manifest.json` for episode discovery, the JSON schemas for structure, and | |
| `shared/g02/kinematics.json` for the mesh-free robot description. SHA-256 | |
| manifests support integrity checks. | |