| --- |
| pretty_name: WorldOracle Validation Ground Truth |
| --- |
| |
| # WorldOracle Validation Ground Truth |
|
|
| This public dataset contains the frozen WorldOracle validation split and its |
| ground-truth data. It contains validation episodes only and does not include |
| test-set ground truth. |
|
|
| The data is stored as one uncompressed tar archive per episode. This keeps the |
| repository resumable and avoids hundreds of thousands of individual Hub files. |
| Extract an episode with `tar -xf <episode>.tar -C <destination>`. |
|
|
| ## Platforms |
|
|
| | Platform | Episodes | |
| | --- | ---: | |
| | AgiBot | 20 | |
| | YAM | 15 | |
| | Human Hand | 20 | |
| | Policy | 12 | |
| | **Total** | **67** | |
|
|
| `validation_manifest.json` is the canonical inventory. It records the path, |
| size and SHA-256 of every episode archive. `SHA256SUMS` covers all repository |
| files except itself. Validation inputs are available under `inputs/`. |
|
|
| ## Human Hand absolute pose format |
|
|
| Human Hand validation inputs provide synchronized absolute hand and camera |
| poses in `controls/hand_camera_poses.npz`. Pose sample `t` corresponds directly |
| to validation video frame `t`. |
|
|
| - `left_positions_camera` and `right_positions_camera` contain the 21 hand |
| joints in the released camera-reference coordinates. |
| - `left_quaternions_camera_xyzw` and `right_quaternions_camera_xyzw` contain |
| the corresponding joint orientations in XYZW order. |
| - `camera_position_world` and `camera_quaternion_world_xyzw` contain the |
| tracked camera-reference pose. |
| - `left_valid`, `right_valid`, and `camera_valid` indicate whether each |
| measurement is usable. |
|
|
| The leading initialization interval in which the pose tracking was invalid has |
| been removed, so the first released sample is valid. Any unavailable |
| measurements occurring later in an episode remain present and are marked by |
| the validity arrays. Delta-action tensors, source-frame indices, internal |
| source mappings, and cleaning records are not part of the public release. |
|
|
| ## Human Hand joint visualization |
|
|
| [`scripts/visualize_human_hand.py`](scripts/visualize_human_hand.py) provides a |
| standalone example for projecting the released 3D hand joints onto the |
| rectified `top_head` frames of a public Human Hand validation episode. It reads |
| the episode's released `hand_camera_poses.npz` and `calibration.json`, applies |
| the tracked-camera, physical-fisheye, and virtual-camera transformations, and |
| renders the left- and right-hand 21-joint skeletons next to the original |
| frames. |
|
|
| Install the two runtime dependencies with: |
|
|
| ```bash |
| python -m pip install numpy opencv-python |
| ``` |
|
|
| After extracting one of the public Human Hand validation archives, run: |
|
|
| ```bash |
| python scripts/visualize_human_hand.py \ |
| --npz inputs/human_hand/<task>/<episode>/controls/hand_camera_poses.npz \ |
| --calibration inputs/human_hand/<task>/<episode>/calibration.json \ |
| --frames-dir <extracted-episode>/video/top_head \ |
| --output hand_joint_projection.mp4 \ |
| --fps 15 |
| ``` |
|
|
| The script requires the image sequence and NPZ arrays to have identical frame |
| counts and respects the released hand- and camera-validity masks. It contains |
| no hard-coded episode list or camera parameters; all geometry is read from the |
| selected public validation episode. |
|
|
| ## License and Citation |
|
|
| All data in this repository are licensed under [**CC BY-NC-SA 4.0**](https://creativecommons.org/licenses/by-nc-sa/4.0/). If you find our benchmark useful in your research, please consider citing our work. |
|
|
| ```bibtex |
| @article{duan2026worldoracle, |
| title={WorldOracle: Benchmarking Action-Conditioned World Models against Real-World Executions}, |
| author={Duan, Haoyi and Chen, Liliang and Wang, Nan and Zhang, Yang and Lu, Yuhang and Chen, Xiaotong and Tseng, Wei-Cheng and Gao, Shenyuan and Li, Zhaoshuo and Jin, Jingyi and others}, |
| journal={arXiv preprint arXiv:2610.18826}, |
| year={2026} |
| } |
| |
