Datasets:

WorldOracle
/

worldoracle-validation

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mu-tao commited on 8 days ago

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9f47982

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1 Parent(s): 2af2ef4

Add validation input split

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inputs/README.md +20 -0
inputs/SHA256SUMS +642 -0
inputs/agibot/README.md +13 -0
inputs/agibot/hangtowel/ep000018/calibration.json +138 -0
inputs/agibot/hangtowel/ep000018/metadata.json +19 -0
inputs/agibot/hangtowel/ep000018/observations/hand_left.png +3 -0
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inputs/agibot/hangtowel/ep000019/calibration.json +138 -0
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inputs/agibot/hangtowel/ep000020/calibration.json +138 -0
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inputs/agibot/hangtowel/ep000043/calibration.json +138 -0
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inputs/agibot/pickfruit/ep000014/calibration.json +138 -0
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inputs/agibot/pickfruit/ep000028/calibration.json +138 -0
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inputs/agibot/pickfruit/ep000040/calibration.json +138 -0
inputs/agibot/pickfruit/ep000040/metadata.json +19 -0
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inputs/README.md ADDED Viewed

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+---
+pretty_name: WorldOracle Validation Inputs
+---
+# WorldOracle Validation Inputs
+This directory contains the model inputs for the frozen WorldOracle validation
+split: initial observations, calibration metadata, and action/state trajectories.
+It does not contain test ground truth or future target videos.
+| Platform | Episodes |
+| --- | ---: |
+| AgiBot | 20 |
+| YAM | 15 |
+| Human Hand | 20 |
+| Policy | 12 |
+| **Total** | **67** |
+`validation_input_manifest.json` is the canonical inventory and
+`SHA256SUMS` records the checksum of every file in this directory.

inputs/SHA256SUMS ADDED Viewed

	@@ -0,0 +1,642 @@

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+673fb211294440a075fffd9495706e99192cb257c7b4bda0bf58fb4317560a28  yam/pulldrawer/task.json
+f3257880a0f77b87bf264d61edf4156ec6d3d89bea9d9ff87dcb97a4ae1c71c4  yam/shared/yam/kinematics.json

inputs/agibot/README.md ADDED Viewed

	@@ -0,0 +1,13 @@

+# 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.

inputs/agibot/hangtowel/ep000018/calibration.json ADDED Viewed

	@@ -0,0 +1,138 @@

+{
+  "cameras": {
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+          },
+          "name": "transform_01"
+        }
+      ]
+    }
+  },
+  "coordinate_convention": "Matrices retain the robot calibration convention.",
+  "schema_version": "acwmbench.inference.v1"
+}

inputs/agibot/hangtowel/ep000018/metadata.json ADDED Viewed

	@@ -0,0 +1,19 @@

+{
+  "episode_index": 18,
+  "episode_name": "ep000018",
+  "files": {
+    "calibration": "calibration.json",
+    "observations": {
+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "top_head": "observations/top_head.png"
+    },
+    "trajectory": "trajectory.parquet"
+  },
+  "fps": 30.0,
+  "num_frames": 3526,
+  "num_transitions": 3525,
+  "schema_version": "acwmbench.inference.v1",
+  "seed_local_index": 0,
+  "task_name": "hangtowel"
+}

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Git LFS Details

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Git LFS Details

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inputs/agibot/hangtowel/ep000019/calibration.json ADDED Viewed

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+  "coordinate_convention": "Matrices retain the robot calibration convention.",
+  "schema_version": "acwmbench.inference.v1"
+}

inputs/agibot/hangtowel/ep000019/metadata.json ADDED Viewed

	@@ -0,0 +1,19 @@

+{
+  "episode_index": 19,
+  "episode_name": "ep000019",
+  "files": {
+    "calibration": "calibration.json",
+    "observations": {
+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "top_head": "observations/top_head.png"
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+  },
+  "fps": 30.0,
+  "num_frames": 3519,
+  "num_transitions": 3518,
+  "schema_version": "acwmbench.inference.v1",
+  "seed_local_index": 0,
+  "task_name": "hangtowel"
+}

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Git LFS Details

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+  "coordinate_convention": "Matrices retain the robot calibration convention.",
+  "schema_version": "acwmbench.inference.v1"
+}

inputs/agibot/hangtowel/ep000020/metadata.json ADDED Viewed

	@@ -0,0 +1,19 @@

+{
+  "episode_index": 20,
+  "episode_name": "ep000020",
+  "files": {
+    "calibration": "calibration.json",
+    "observations": {
+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "top_head": "observations/top_head.png"
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+  },
+  "fps": 30.0,
+  "num_frames": 3711,
+  "num_transitions": 3710,
+  "schema_version": "acwmbench.inference.v1",
+  "seed_local_index": 0,
+  "task_name": "hangtowel"
+}

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Git LFS Details

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+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25
+          ]
+        },
+        "state/head/position": {
+          "description": "头部关节角度（弧度），[joint_head_yaw, joint_head_pitch]，size of 2",
+          "dimensions": 3,
+          "indices": [
+            120,
+            121,
+            122
+          ]
+        },
+        "state/joint/current_value": {
+          "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/joint/effort": {
+          "description": "左右臂关节力矩（Nm），来自 motor_states[:].effort",
+          "dimensions": 14,
+          "indices": [
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105
+          ]
+        },
+        "state/joint/position": {
+          "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
+          "dimensions": 14,
+          "indices": [
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91
+          ]
+        },
+        "state/joint/velocity": {
+          "description": "左右臂关节速度（弧度/秒），来自 motor_states[:].velocity",
+          "dimensions": 14,
+          "indices": [
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119
+          ]
+        },
+        "state/left_ee_force/cols": {
+          "description": "左手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/contact": {
+          "description": "左手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/controlled": {
+          "description": "左手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/err_code": {
+          "description": "左手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/normal_force": {
+          "description": "左手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_x": {
+          "description": "左手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_y": {
+          "description": "左手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/rows": {
+          "description": "左手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_x": {
+          "description": "左手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_y": {
+          "description": "左手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/valid": {
+          "description": "左手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_effector/position": {
+          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "state/left_vr_button/axis_click": {
+          "description": "左手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_x": {
+          "description": "左手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_y": {
+          "description": "左手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/hand_trig": {
+          "description": "左手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/index_trig": {
+          "description": "左手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_one": {
+          "description": "左手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_two": {
+          "description": "左手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/operator_event/action_src_status": {
+          "description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）",
+          "dimensions": 1,
+          "indices": [
+            135
+          ]
+        },
+        "state/right_ee_force/cols": {
+          "description": "右手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/contact": {
+          "description": "右手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/controlled": {
+          "description": "右手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/err_code": {
+          "description": "右手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/normal_force": {
+          "description": "右手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_x": {
+          "description": "右手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_y": {
+          "description": "右手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/rows": {
+          "description": "右手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_x": {
+          "description": "右手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_y": {
+          "description": "右手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/valid": {
+          "description": "右手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_effector/position": {
+          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "state/right_vr_button/axis_click": {
+          "description": "右手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_x": {
+          "description": "右手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_y": {
+          "description": "右手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/hand_trig": {
+          "description": "右手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/index_trig": {
+          "description": "右手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_one": {
+          "description": "右手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_two": {
+          "description": "右手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/robot/orientation": {
+          "description": "机体姿态，odom 坐标系，四元数，size of 4",
+          "dimensions": 4,
+          "indices": [
+            131,
+            132,
+            133,
+            134
+          ]
+        },
+        "state/robot/position": {
+          "description": "机体位置，odom 坐标系，size of 3（x, y, z，单位 m）",
+          "dimensions": 3,
+          "indices": [
+            128,
+            129,
+            130
+          ]
+        },
+        "state/waist/position": {
+          "description": "腰部关节角度（弧度），[joint_lift_body, joint_body_pitch]，size of 2",
+          "dimensions": 5,
+          "indices": [
+            123,
+            124,
+            125,
+            126,
+            127
+          ]
+        }
+      },
+      "shape": [
+        208
+      ]
+    }
+  },
+  "observations": {
+    "hand_left": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    },
+    "hand_right": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    },
+    "top_head": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    }
+  },
+  "schema_version": "acwmbench.inference.v1",
+  "timeline": {
+    "fps": 30.0,
+    "frame_index": {
+      "dtype": "int64",
+      "origin": 0,
+      "step": 1
+    },
+    "timestamp": {
+      "definition": "frame_index / fps",
+      "dtype": "float32"
+    }
+  }
+}

inputs/agibot/hangtowel/task.json ADDED Viewed

	@@ -0,0 +1,743 @@

+{
+  "episodes": [
+    "ep000000",
+    "ep000002",
+    "ep000005",
+    "ep000006",
+    "ep000007",
+    "ep000009",
+    "ep000012",
+    "ep000014",
+    "ep000018",
+    "ep000019",
+    "ep000020",
+    "ep000023",
+    "ep000024",
+    "ep000026",
+    "ep000028",
+    "ep000029",
+    "ep000030",
+    "ep000031",
+    "ep000032",
+    "ep000034",
+    "ep000038",
+    "ep000040",
+    "ep000041",
+    "ep000043",
+    "ep000044"
+  ],
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "field_descriptions": {
+        "action/end/orientation": {
+          "description": "左右手臂末端期望姿态（XYZ+臂形角），shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15
+          ]
+        },
+        "action/end/position": {
+          "description": "左右手臂末端期望位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            2,
+            3,
+            4,
+            5,
+            6,
+            7
+          ]
+        },
+        "action/head/position": {
+          "description": "头部关节期望角度（弧度），[joint_head_yaw, joint_head_pitch]",
+          "dimensions": 3,
+          "indices": [
+            30,
+            31,
+            32
+          ]
+        },
+        "action/joint/position": {
+          "description": "左右臂关节期望角度（弧度），来自 retarget 或 state 补帧",
+          "dimensions": 14,
+          "indices": [
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29
+          ]
+        },
+        "action/left_effector/position": {
+          "description": "左执行器期望行程值/关节角度，夹爪需归一化处理",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "action/left_refpose/orientation": {
+          "description": "左臂参考姿态",
+          "dimensions": 4,
+          "indices": [
+            44,
+            45,
+            46,
+            47
+          ]
+        },
+        "action/right_effector/position": {
+          "description": "右执行器期望行程值/关节角度，夹爪需归一化处理",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "action/right_refpose/orientation": {
+          "description": "右臂参考姿态",
+          "dimensions": 4,
+          "indices": [
+            48,
+            49,
+            50,
+            51
+          ]
+        },
+        "action/robot/velocity": {
+          "description": "底盘期望速度，odom 坐标系，[线速度, 角速度]，size of 2",
+          "dimensions": 6,
+          "indices": [
+            38,
+            39,
+            40,
+            41,
+            42,
+            43
+          ]
+        },
+        "action/waist/position": {
+          "description": "腰部关节期望角度（弧度），[joint_lift_body, joint_body_pitch]",
+          "dimensions": 5,
+          "indices": [
+            33,
+            34,
+            35,
+            36,
+            37
+          ]
+        }
+      },
+      "shape": [
+        52
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "field_descriptions": {
+        "extrinsic_end_T_hand_left_rgbd_aligned/rotation_matrix": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144
+          ]
+        },
+        "extrinsic_end_T_hand_left_rgbd_aligned/translation_vector": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            190,
+            191,
+            192
+          ]
+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/rotation_matrix": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153
+          ]
+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/translation_vector": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            193,
+            194,
+            195
+          ]
+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/rotation_matrix": {
+          "description": "头部后鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189
+          ]
+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/translation_vector": {
+          "description": "头部后鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            205,
+            206,
+            207
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/rotation_matrix": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/translation_vector": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            202,
+            203,
+            204
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/rotation_matrix": {
+          "description": "头部左鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/translation_vector": {
+          "description": "头部左鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            196,
+            197,
+            198
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/rotation_matrix": {
+          "description": "头部右鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/translation_vector": {
+          "description": "头部右鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            199,
+            200,
+            201
+          ]
+        },
+        "state/end/arm_orientation": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的姿态（RPY 弧度或四元数）",
+          "dimensions": 8,
+          "indices": [
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71
+          ]
+        },
+        "state/end/arm_position": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            72,
+            73,
+            74,
+            75,
+            76,
+            77
+          ]
+        },
+        "state/end/orientation": {
+          "description": "左右手臂末端姿态，四元数 XYZW，shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63
+          ]
+        },
+        "state/end/position": {
+          "description": "左右手臂末端位置（m），shape (2,3)，基于末端关节 FK 计算",
+          "dimensions": 6,
+          "indices": [
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ]
+        },
+        "state/end/velocity": {
+          "description": "左右手臂末端线速度（m/s），来自 MC frame_twists",
+          "dimensions": 24,
+          "indices": [
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
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+          "indices": []
+        },
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+          "description": "左手触觉传感器接触状态",
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+          "description": "左手触觉传感器错误码",
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+        },
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+          "dimensions": 0,
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+        },
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+          "dimensions": 0,
+          "indices": []
+        },
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+          "description": "左手触觉传感器 Y 方向分辨率",
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+          "indices": []
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+          "description": "左手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
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+          "description": "左手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
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+          "description": "左手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
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+          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            0
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+        },
+        "state/left_vr_button/axis_click": {
+          "description": "左手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_x": {
+          "description": "左手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_y": {
+          "description": "左手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/hand_trig": {
+          "description": "左手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/index_trig": {
+          "description": "左手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_one": {
+          "description": "左手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
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+          "description": "左手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/operator_event/action_src_status": {
+          "description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）",
+          "dimensions": 1,
+          "indices": [
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+          ]
+        },
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+          "description": "右手触觉传感器矩阵列数",
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+          "indices": []
+        },
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+          "description": "右手触觉传感器接触状态",
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+          "indices": []
+        },
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+        },
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+          "dimensions": 1,
+          "indices": [
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+          "description": "右手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_x": {
+          "description": "右手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_y": {
+          "description": "右手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/hand_trig": {
+          "description": "右手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/index_trig": {
+          "description": "右手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
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+          "description": "右手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
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+        },
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+          "indices": [
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+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
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+      "hand_right": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
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+      "top_head": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      }
+    }
+  },
+  "fps": 30.0,
+  "schema_version": "acwmbench.inference.v1",
+  "task": "hangtowel"
+}

inputs/agibot/pickfruit/ep000014/calibration.json ADDED Viewed

	@@ -0,0 +1,138 @@

+{
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+  "coordinate_convention": "Matrices retain the robot calibration convention.",
+  "schema_version": "acwmbench.inference.v1"
+}

inputs/agibot/pickfruit/ep000014/metadata.json ADDED Viewed

	@@ -0,0 +1,19 @@

+{
+  "episode_index": 14,
+  "episode_name": "ep000014",
+  "files": {
+    "calibration": "calibration.json",
+    "observations": {
+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "top_head": "observations/top_head.png"
+    },
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+  },
+  "fps": 30.0,
+  "num_frames": 3546,
+  "num_transitions": 3545,
+  "schema_version": "acwmbench.inference.v1",
+  "seed_local_index": 0,
+  "task_name": "pickfruit"
+}

inputs/agibot/pickfruit/ep000014/observations/hand_left.png ADDED Viewed

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inputs/agibot/pickfruit/ep000014/observations/hand_right.png ADDED Viewed

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inputs/agibot/pickfruit/ep000014/observations/top_head.png ADDED Viewed

Git LFS Details

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inputs/agibot/pickfruit/ep000014/trajectory.parquet ADDED Viewed

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inputs/agibot/pickfruit/ep000028/calibration.json ADDED Viewed

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+}

inputs/agibot/pickfruit/ep000028/metadata.json ADDED Viewed

	@@ -0,0 +1,19 @@

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+}

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Git LFS Details

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Git LFS Details

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+}

inputs/agibot/pickfruit/ep000040/metadata.json ADDED Viewed

	@@ -0,0 +1,19 @@

+{
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+  "episode_name": "ep000040",
+  "files": {
+    "calibration": "calibration.json",
+    "observations": {
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+  "schema_version": "acwmbench.inference.v1",
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+  "task_name": "pickfruit"
+}

inputs/agibot/pickfruit/ep000040/observations/hand_left.png ADDED Viewed

Git LFS Details

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