diff --git a/README.md b/README.md index a69b373751e4b26c70f86de5ec799f51a46af4e0..a7b3ec7371d868b1e97c5e0587bdbaf874995050 100644 --- a/README.md +++ b/README.md @@ -26,51 +26,26 @@ Extract an episode with `tar -xf .tar -C `. size and SHA-256 of every episode archive. `SHA256SUMS` covers all repository files except itself. Validation inputs are available under `inputs/`. -## Human Hand wrist-local coordinate frame - -Human Hand inputs use a 57-dimensional action vector containing camera motion, -right-wrist motion, five right fingertips, left-wrist motion, and five left -fingertips. Fingertip positions are expressed in the corresponding released -wrist-local frame. - -The released frame is obtained from the source wrist pose by applying the -following fixed alignment: - -```text -aligned_wrist_in_camera = source_wrist_in_camera @ A - - [ 0 1 0 0 ] -A = [-1 0 0 0 ] - [ 0 0 1 0 ] - [ 0 0 0 1 ] -``` - -Consequently, the axes of the **released, aligned frame** are defined as: - -- **+X (red):** normal to the palm plane, pointing from the dorsal side toward - the palmar side. -- **+Y (green):** from wrist to fingertips for the left hand, and from - fingertips to wrist for the right hand. -- **+Z (blue):** within the palm plane, pointing from the pinky side toward the - thumb side. - -The illustration below projects these released axes onto a public validation -frame. `L` and `R` mark the left- and right-wrist origins, respectively. - -![Released Human Hand wrist-local coordinate frame](assets/human_hand_wrist_coordinate_frame.png) - -For a fingertip position given in the head-camera frame, the released -wrist-local coordinate is computed as: - -```text -fingertip_in_wrist = inverse(aligned_wrist_in_camera) @ fingertip_in_camera -``` - -The raw source-frame joint positions and `xyzw` quaternions are retained in -`controls/hand_camera_poses.npz`. The machine-readable 57D field layout is -provided in each episode's `controls/action_57d_spec.json`. The source wrist -basis and the released aligned basis are therefore intentionally not -interchangeable. +## 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 diff --git a/SHA256SUMS b/SHA256SUMS index 2ee0bc8f8216db0e48f4b33ff873d5d4969ba618..c796de5aeda009c17107946128de4a4fc8854471 100644 --- a/SHA256SUMS +++ b/SHA256SUMS @@ -1,4 +1,4 @@ -8543d665abf2557f02acd41966ff6e814619cd89e1e2e89e40da6e3aa4182cb0 README.md +ae4769136d2b063c7b3de1c327a50d34de19165300b30461c5afe2614d9d8ecc README.md df1b56d4c0e830ae9a5869861f3d69eb0f3967b317f4cfa3bf4b4197a3a454c0 data/agibot/hangtowel/ep000018.tar 51e4bdc9feee025ff4df27e077955010b04ea72a7af0b6e20ab7369f0ed2facd data/agibot/hangtowel/ep000019.tar 6b0e875586cb5815541c171f6b080de976b04f8a1c2b96ebf5abba9f24c76646 data/agibot/hangtowel/ep000020.tar @@ -19,26 +19,26 @@ aa16ee57eb0ce43c18a3eacdcd47dc342ac874a3f34a1f2e29fcb6ec937dfb80 data/agibot/pu b100b50d57e1df6f09e158949437a8459545ac0802c83df3dc1e8a60318ad3f7 data/agibot/pulldrawer/ep000036.tar 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f19841591b65e17541eb6ec16122e6da8e784e20ebc770bcdbc4133ea2289e00 policy/README.md 70d35222477728992eb73df6925f9519e610b242b067670d086c87da65a48fce policy/hangtowel/ep000003/calibration.json ff2d977331ade5a119e7a1d1f73600887ff5ab61a6191151da7d14d9483ff199 policy/hangtowel/ep000003/metadata.json @@ -542,7 +459,7 @@ eb55ccf46595945312f4b846b239d50a8319c2f81f6e330525e5a4109d6e43e1 policy/pourwat 78d55a1cbe17601b8adb48bb876de655f938045dae8958961bee833d7092161c policy/schema.json 576397a74881d32d34e57bfc45fa0532d30175b22adef1f5f25cc660fbf7c6b8 policy/shared/g02/kinematics.json 9e56f4dc4ecec082ecad37fa7f6498e3187dbe11b848d94e3cd2d87573d7ace7 policy/shared/g02/kinematics.urdf -c23c72ce06d63b68e9eb98ccd90e3cdf48ac4cc99b0762cab509b3117bc321b4 validation_input_manifest.json +5c4ca655565822a5924b81c7fd8933769ac1f6b1b126ebd67364d20f6836b73c validation_input_manifest.json e11f6c7400974d5574450a459221ba788a558bf1a6b08713839f8078cbd7e304 yam/hangtowel/ep000006/calibration.json ac2ad3b26ffe361ab24321f662c79527e066119836c181927b2297748268b56d yam/hangtowel/ep000006/metadata.json 3516edd4f69560bfd5e5495526d368082bd94623dd134a1d02256b2bfe832273 yam/hangtowel/ep000006/observations/hand_left.png diff --git a/inputs/human_hand/README.md b/inputs/human_hand/README.md index 4388f866916df6f9efdc1023547074726493d161..bf382b627c2d08a7d74734038d8d35629311dc8d 100644 --- a/inputs/human_hand/README.md +++ b/inputs/human_hand/README.md @@ -1,3 +1,3 @@ -# Ego-human ACWMBench inference dataset +# Human Hand validation inputs -Canonical 15 FPS bimanual human-hand trajectories. The active `top_head`, `hand_left`, and `hand_right` observations are rectified 640x480 pinhole images (90 degree HFOV, 38 degree downward pitch). Original images and calibration are retained in `observations/fisheye/` and `calibration_fisheye.json`. Physical controls remain unchanged; read `calibration.json` for the source-to-virtual rotation. +Each validation episode provides frame-0 camera observations, camera calibration, and per-frame absolute hand/camera poses. Pose sample `t` corresponds to validation video frame `t`. Delta-action tensors and internal source/cleaning mappings are not included. diff --git a/inputs/human_hand/hangtowel/ep000002/controls/action_57d_spec.json b/inputs/human_hand/hangtowel/ep000002/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/hangtowel/ep000002/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/hangtowel/ep000002/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000002/controls/hand_camera_poses.npz index 41e2d5dc7bc9ae1218ec68a093b0b0d190fe1715..5f210cb09b055a270b061d657aeed24d3d34e161 100644 --- a/inputs/human_hand/hangtowel/ep000002/controls/hand_camera_poses.npz +++ b/inputs/human_hand/hangtowel/ep000002/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:25731c289a792e01bbfe47c880c549ad45c814d50d3ce77d7c346cd444fd58b9 -size 1744798 +oid sha256:aac96fe1adaf7b16c8f19823441678955c2f8354bf654874b21c93ddd55ec4e9 +size 1743039 diff --git a/inputs/human_hand/hangtowel/ep000002/metadata.json b/inputs/human_hand/hangtowel/ep000002/metadata.json index 93569ac1cde3700a203aea551851cf18d63ea829..6ff6aa38c13cc0799e236c83b1b4138b23bb21ab 100644 --- a/inputs/human_hand/hangtowel/ep000002/metadata.json +++ b/inputs/human_hand/hangtowel/ep000002/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "hangtowel", "episode_index": 2, "episode_name": "ep000002", "fps": 15.0, - "num_frames": 1821, - "num_transitions": 1820, + "num_frames": 1820, "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 } diff --git a/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_left.png b/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_left.png index 8d0bb06a8b61e63a273478852eede93519aca2cf..cad768a6df8585f3bc88f91dc455e1a1a467ab00 100644 --- a/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_left.png +++ b/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:db6c8cbddb6a6fd6369ecc9571da15e9066fa001dfb50a4cb347ebca2302165d -size 729559 +oid sha256:0e2f9c53d0ad2910ea8597e543c217ff01a3df4df48fc24d474e6de77d1d06a6 +size 732659 diff --git a/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_right.png b/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_right.png index 977fae1ae79a0f64e98571eeecde70115d0e0242..2c983cf178d81f120aa02327ebc0e4bd61b00bf9 100644 --- a/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_right.png +++ b/inputs/human_hand/hangtowel/ep000002/observations/fisheye/hand_right.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7ee91fe14004fb7b8618ccaf4cfe267263dedebaa55b78d8574ed428ddcf476c -size 811993 +oid sha256:c00f29dce7347a69e099858d38c37bec4787f80e5b68007f436d46fcd80d15aa +size 809156 diff --git a/inputs/human_hand/hangtowel/ep000002/observations/fisheye/top_head.png b/inputs/human_hand/hangtowel/ep000002/observations/fisheye/top_head.png index 2849da21d252909b45bed50e93a97dbcbbc307a8..80ac9112f878a3b16d2d0737ead6b582d20739a5 100644 --- a/inputs/human_hand/hangtowel/ep000002/observations/fisheye/top_head.png +++ b/inputs/human_hand/hangtowel/ep000002/observations/fisheye/top_head.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:070958b133a17ae2846e4bd0f5afa92fe704ddf4e256c20ee8829c81208b99a7 -size 712283 +oid sha256:e72841db6caa03caa6b584c0adfcccf35d5f6b9941c42fa035a0b97e1525016b +size 710101 diff --git a/inputs/human_hand/hangtowel/ep000002/observations/hand_left.png b/inputs/human_hand/hangtowel/ep000002/observations/hand_left.png index 2350dbf272e84ea11dd91cc36c0362483c1b68bf..b24cdb0de40a8918a62519dd8933cf9f79288f79 100644 --- a/inputs/human_hand/hangtowel/ep000002/observations/hand_left.png +++ b/inputs/human_hand/hangtowel/ep000002/observations/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0a904f46644d9ae7154bd48e8d4d31fd02c430fed5749afca163d3bbe4633220 -size 330849 +oid sha256:485b7b25db215a2061dd06e0e2b923d4ee55c2974fffb6969dbc2b8034834f4b +size 314661 diff --git a/inputs/human_hand/hangtowel/ep000002/observations/hand_right.png b/inputs/human_hand/hangtowel/ep000002/observations/hand_right.png index a2e27439307faf26847889d6787cee654032fb61..e62d191087619f4f5aa6e0c1295947d5734e226d 100644 --- a/inputs/human_hand/hangtowel/ep000002/observations/hand_right.png +++ b/inputs/human_hand/hangtowel/ep000002/observations/hand_right.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e97f36ed04217c63560434881b9cbb80045750434502b48ea93d0c7cf01f2bf4 -size 381199 +oid sha256:3aebfde92ae59023d697656bd793de8bf8615cc3a445029a5021cae5a023d547 +size 371480 diff --git a/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_left.png b/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_left.png index 99c53f3bbf833829ca12e6407038bd2c02b98145..b39d8d56e74f6a852a18a5b1adec925d6331ea4e 100644 --- a/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_left.png +++ b/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a72c062a4f3048e0bf38ee746f6111f54ea95a00666d5148ccca25f1d28c8f02 -size 842218 +oid sha256:0b4947dc79ba64e78edb32e431992fcbfe74cbd2febe07bded78e0f3cb9636a6 +size 859402 diff --git a/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_right.png b/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_right.png index cfd99dbf6fbb19938c785eac7c6fa1b3e7046a71..2832cbb39dd4d3ff640aa5387768aefb4fe430c7 100644 --- a/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_right.png +++ b/inputs/human_hand/hangtowel/ep000002/observations/head_stereo_right.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c6b208e210bd49777f6234b293ec242c375f6d6f3fed375aec56761f55fb897c -size 858118 +oid sha256:de1d4843beb49ac1d02496ba6f5edfe083d25711a709c36795ff0f0411ac281f +size 861295 diff --git a/inputs/human_hand/hangtowel/ep000002/observations/top_head.png b/inputs/human_hand/hangtowel/ep000002/observations/top_head.png index 6dc690e21372e90108b27fe9e4d48a8d884b41e2..9fb68338be717437c9494e4c14b8ab16431014fb 100644 --- a/inputs/human_hand/hangtowel/ep000002/observations/top_head.png +++ b/inputs/human_hand/hangtowel/ep000002/observations/top_head.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d1a66abc4eb91685c7a07dd1da906e6f94fd2f347114fb9254aa1827a6db6463 -size 369784 +oid sha256:17835c942497d63934608f4f61c9243941d0dfc159e9c29ee868e1b078399c12 +size 346756 diff --git a/inputs/human_hand/hangtowel/ep000002/pinhole_migration.json b/inputs/human_hand/hangtowel/ep000002/pinhole_migration.json deleted file mode 100644 index 55e812457c7626c0d002639dbdd7b252d634ec15..0000000000000000000000000000000000000000 --- a/inputs/human_hand/hangtowel/ep000002/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "hangtowel", - "episode": "ep000002", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 19583525.0, - "pinhole_nonzero": 38748699.0, - "area_ratio": 1.9786376048234422 - }, - "multiview_masks/top_head": { - "source_nonzero": 17702439.0, - "pinhole_nonzero": 37720892.0, - "area_ratio": 2.1308302206266605 - }, - "multiview_masks/hand_left": { - "source_nonzero": 10657424.0, - "pinhole_nonzero": 20049070.0, - "area_ratio": 1.881230398640422 - }, - "multiview_masks/hand_right": { - "source_nonzero": 13605179.0, - "pinhole_nonzero": 22646071.0, - "area_ratio": 1.6645184161119821 - } - }, - "created_unix": 1789875927.8057 -} diff --git a/inputs/human_hand/hangtowel/ep000002/source_map.json b/inputs/human_hand/hangtowel/ep000002/source_map.json deleted file mode 100644 index 4bf60d5043c0de22d09ae9badba1c4fb27617bc4..0000000000000000000000000000000000000000 --- a/inputs/human_hand/hangtowel/ep000002/source_map.json +++ /dev/null @@ -1,1878 +0,0 @@ -{ - 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/hangtowel/ep000007/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000007/controls/hand_camera_poses.npz index 7913cd3fbe6406b620142f21a44a969ba533e836..6dff3622dadc078a5e63fe029d25a36c53675cf4 100644 --- a/inputs/human_hand/hangtowel/ep000007/controls/hand_camera_poses.npz +++ b/inputs/human_hand/hangtowel/ep000007/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4c6eed0f1ddde9674796731742f55d7b014fbf0a853e8493a87326fec22f70cc -size 1774742 +oid sha256:954610e147e9d8c244ca5d51a9efbb54f04a59846117d3bf15062109bcbeb9cf +size 1773066 diff --git a/inputs/human_hand/hangtowel/ep000007/metadata.json b/inputs/human_hand/hangtowel/ep000007/metadata.json index 5dfa0f6c13a94290756e71566dd3d18bf378c9a7..da604390a70b91e3229a4127e97647fc24acda30 100644 --- a/inputs/human_hand/hangtowel/ep000007/metadata.json +++ b/inputs/human_hand/hangtowel/ep000007/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "hangtowel", "episode_index": 7, "episode_name": "ep000007", "fps": 15.0, - "num_frames": 1845, - "num_transitions": 1844, + "num_frames": 1844, "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 } diff --git a/inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_left.png b/inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_left.png index 091309fa02d88f0e665b375d62b183bf7c66dbbb..305099654674c9f7d7e838c27554730c5ead227a 100644 --- a/inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_left.png +++ b/inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:00c3319b3a7e767e0143b6d68a40816ec48afa1f5669d1c377f4c6d796b2e8f9 -size 723501 +oid sha256:7e2ac005e692b90920b3f8b6a8e6e7957a842d646dd71883591a79d7ba6ad6fa +size 731920 diff --git a/inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_right.png b/inputs/human_hand/hangtowel/ep000007/observations/fisheye/hand_right.png index 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1531, - 1620, - 1696, - 1768 - ] -} diff --git a/inputs/human_hand/hangtowel/ep000007/trajectory.parquet b/inputs/human_hand/hangtowel/ep000007/trajectory.parquet deleted file mode 100644 index 1218137a3a007be2ff404061fb3bb742bb65fc86..0000000000000000000000000000000000000000 --- a/inputs/human_hand/hangtowel/ep000007/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d90ce26f0fea6ee370ecf60b5ac24f2204f9d3f375440f75892cf27d67ba0458 -size 7699015 diff --git a/inputs/human_hand/hangtowel/ep000008/controls/action_57d_spec.json b/inputs/human_hand/hangtowel/ep000008/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/hangtowel/ep000008/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/hangtowel/ep000008/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000008/controls/hand_camera_poses.npz index 2fe1a100d4f079173d2a31d26f6e83a425f0ab41..d7a88770521f9b21978a2f15a3a9eb0f4e853f90 100644 --- a/inputs/human_hand/hangtowel/ep000008/controls/hand_camera_poses.npz +++ b/inputs/human_hand/hangtowel/ep000008/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:403f6ee39ad2e6a4e197fa00b112d621f8cec35d5454cad6eff1984aaa30ba9d -size 1804373 +oid sha256:fb9f4b1930eba350ae23c16242c16fffe96806df64043013987a2308edcca3ef +size 1802578 diff --git a/inputs/human_hand/hangtowel/ep000008/metadata.json b/inputs/human_hand/hangtowel/ep000008/metadata.json index b4f3e271111a5fc88d9f2cc341f3248b6f3bae02..81df45356245ca9905e06e9869585eeaea6d2b1b 100644 --- a/inputs/human_hand/hangtowel/ep000008/metadata.json +++ b/inputs/human_hand/hangtowel/ep000008/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "hangtowel", "episode_index": 8, "episode_name": "ep000008", "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 } diff --git a/inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_left.png b/inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_left.png index c682357c2e26262ae8b64f386e4eacbf225c4d01..08139916a37d9cb01b4ba280a6b82c43293f1466 100644 --- a/inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_left.png +++ b/inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6a48ac5712c82922b5289c190ca41540cfd6711a1b95d34b2e61aa94d7e8d79e -size 739604 +oid sha256:aee1a5cd6e9b65d858fae69a52a10bedd7e28dacb7c6f6ad430eb5e8a1063552 +size 754757 diff --git a/inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_right.png b/inputs/human_hand/hangtowel/ep000008/observations/fisheye/hand_right.png index 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- "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/hangtowel/ep000011/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000011/controls/hand_camera_poses.npz index 2e1e2c829339d838611e811bcdfb3cf5299fc71b..7422d0d064237624ac5eff9148d31fa8c8a6e7d0 100644 --- a/inputs/human_hand/hangtowel/ep000011/controls/hand_camera_poses.npz +++ b/inputs/human_hand/hangtowel/ep000011/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f1beb654a4048c56c41300c0bb778a9fccb457eea9ededd2f514ada909d98862 -size 1783579 +oid sha256:f7d8ba294a98681b3c43850db27759e36f9d04e590edb7d275c08089f5ba830d +size 1781773 diff --git a/inputs/human_hand/hangtowel/ep000011/metadata.json b/inputs/human_hand/hangtowel/ep000011/metadata.json index 00653961fe4cd50fe06b23d2a76afc3ba3f3056b..072383e7ca4aa46626d80d6f3a5cec0fda0cffc9 100644 --- a/inputs/human_hand/hangtowel/ep000011/metadata.json +++ b/inputs/human_hand/hangtowel/ep000011/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "hangtowel", "episode_index": 11, "episode_name": "ep000011", "fps": 15.0, - "num_frames": 1854, - "num_transitions": 1853, + "num_frames": 1853, "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. 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770, - 844, - 922, - 998, - 1074, - 1146, - 1216, - 1282, - 1342, - 1412, - 1492, - 1580, - 1661, - 1734 - ] -} diff --git a/inputs/human_hand/hangtowel/ep000011/trajectory.parquet b/inputs/human_hand/hangtowel/ep000011/trajectory.parquet deleted file mode 100644 index 7b7df12b2a97f8cdcdc57f512374c3907a158e3f..0000000000000000000000000000000000000000 --- a/inputs/human_hand/hangtowel/ep000011/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e6462f34787352c843a38b531b1b403f18acdda37d931613eb7255d2c7f1a0c8 -size 7743960 diff --git a/inputs/human_hand/hangtowel/ep000015/controls/action_57d_spec.json b/inputs/human_hand/hangtowel/ep000015/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/hangtowel/ep000015/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/hangtowel/ep000015/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000015/controls/hand_camera_poses.npz index 5211cc8c12b6e648629082801d3383973f23f6b1..9ff0bb171d12fb4d3be616de5a8da9ab99b19734 100644 --- a/inputs/human_hand/hangtowel/ep000015/controls/hand_camera_poses.npz +++ b/inputs/human_hand/hangtowel/ep000015/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ed0e9a43474504f34a0da3590b9e5771f06769448ab5be63f557713f68ebfcc8 -size 1787422 +oid sha256:27e2a8c0a99d5187ab1afe1ed679a3e3d206adf086258d7af25edd253bbab0e8 +size 1785563 diff --git a/inputs/human_hand/hangtowel/ep000015/metadata.json b/inputs/human_hand/hangtowel/ep000015/metadata.json index b5ce8921f02dd7c24ab6687df09a889451691421..7f728c23b79c6506467d6389680325fc2bd1f28f 100644 --- a/inputs/human_hand/hangtowel/ep000015/metadata.json +++ b/inputs/human_hand/hangtowel/ep000015/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "hangtowel", "episode_index": 15, "episode_name": "ep000015", "fps": 15.0, - "num_frames": 1864, - "num_transitions": 1863, + "num_frames": 1856, "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 } diff --git a/inputs/human_hand/hangtowel/ep000015/observations/fisheye/hand_left.png b/inputs/human_hand/hangtowel/ep000015/observations/fisheye/hand_left.png index 48d967477ad817aba2a830982d5871506eed1cea..cd6e51c15ec9f893457e8aae8c39eeadf1749c71 100644 --- a/inputs/human_hand/hangtowel/ep000015/observations/fisheye/hand_left.png +++ b/inputs/human_hand/hangtowel/ep000015/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d7941ff1eb7555f5a33ba3d72f5e6dec8f3c12c55610673176b602e3bba9be45 -size 768857 +oid sha256:3df9ad9c248144b29e279592b0c4cae93fbce112c145f9726b6b13b73b5e7b44 +size 748139 diff --git a/inputs/human_hand/hangtowel/ep000015/observations/fisheye/hand_right.png b/inputs/human_hand/hangtowel/ep000015/observations/fisheye/hand_right.png index 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76, - 161, - 241, - 317, - 388, - 471, - 552, - 632, - 713, - 792, - 866, - 949, - 1024, - 1101, - 1188, - 1260, - 1334, - 1415, - 1495, - 1573, - 1648, - 1729, - 1812 - ] -} diff --git a/inputs/human_hand/hangtowel/ep000015/trajectory.parquet b/inputs/human_hand/hangtowel/ep000015/trajectory.parquet deleted file mode 100644 index 2a87fad21e777632873a5aeb77846910953c848d..0000000000000000000000000000000000000000 --- a/inputs/human_hand/hangtowel/ep000015/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:754676e8731758e8c6f87c19c5f4d4a0b59ca4e769a27dccc02fc1043f00c32b -size 7765515 diff --git a/inputs/human_hand/hangtowel/schema.json b/inputs/human_hand/hangtowel/schema.json index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..9e2fd7ab8141634ba09f7663b6adb9c4ef0cc035 100644 --- a/inputs/human_hand/hangtowel/schema.json +++ b/inputs/human_hand/hangtowel/schema.json @@ -1,558 +1,25 @@ { - "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, - 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"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 - ] - } + "contains_delta_action": false, + "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": "hangtowel" } diff --git a/inputs/human_hand/pickfruit/ep000006/controls/action_57d_spec.json b/inputs/human_hand/pickfruit/ep000006/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pickfruit/ep000006/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pickfruit/ep000006/controls/hand_camera_poses.npz b/inputs/human_hand/pickfruit/ep000006/controls/hand_camera_poses.npz index 4ee291949d50f989cdb85a6c3a0cafa999160ab5..62701dc6dd1780f73ab49191fde1d77b17618621 100644 --- a/inputs/human_hand/pickfruit/ep000006/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pickfruit/ep000006/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a9e318379ecfa52d6b440a0492249219ebd3b7a742da7f6a7ba63cecad3d2fac -size 1744252 +oid sha256:22467e0dcd8edaaf670a0831619123baa466888729b041738e906e364c43446c +size 1742626 diff --git a/inputs/human_hand/pickfruit/ep000006/metadata.json b/inputs/human_hand/pickfruit/ep000006/metadata.json index cccacfe7de574759f8fe697c4ef16900e5bb1c3a..51b37b0d9fdc5e054c2e0b76d237b1ae3457381f 100644 --- a/inputs/human_hand/pickfruit/ep000006/metadata.json +++ b/inputs/human_hand/pickfruit/ep000006/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pickfruit", "episode_index": 6, "episode_name": "ep000006", "fps": 15.0, - "num_frames": 1829, - "num_transitions": 1828, + "num_frames": 1828, "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 } diff --git a/inputs/human_hand/pickfruit/ep000006/observations/fisheye/hand_left.png b/inputs/human_hand/pickfruit/ep000006/observations/fisheye/hand_left.png index d6b3d27c3b55641b97ee7fb062e5b213460caabb..0bd4266bd08ab07a0d8d0ef8785e81634de26dbe 100644 --- a/inputs/human_hand/pickfruit/ep000006/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pickfruit/ep000006/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0f761d8473891f880a0e7c5d379eb52969d0edc09c1beb6876e0b2ed3ba4d2c0 -size 662264 +oid sha256:90187b1a27765459a4cb84b2b93d9a139f1d61f821ce1d120089251d56adeb18 +size 677345 diff --git a/inputs/human_hand/pickfruit/ep000006/observations/fisheye/hand_right.png b/inputs/human_hand/pickfruit/ep000006/observations/fisheye/hand_right.png index 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- "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pickfruit/ep000017/controls/hand_camera_poses.npz b/inputs/human_hand/pickfruit/ep000017/controls/hand_camera_poses.npz index 2b5eaef7547d09b4ddf12d8b39b0d444cb4c1e96..e073feee7e869255cc436b9890358af56728ee26 100644 --- a/inputs/human_hand/pickfruit/ep000017/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pickfruit/ep000017/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eb62d33507518af7828b7ec326701a3efa067984ce4f60d23c720923059a8e25 -size 1779526 +oid sha256:800481fffe7ca050debc681ace45ad91dad528bc75f25c869d73f82714fb9034 +size 1777894 diff --git a/inputs/human_hand/pickfruit/ep000017/metadata.json b/inputs/human_hand/pickfruit/ep000017/metadata.json index 0d66b088383410090351b3575a913d14220ba11a..a89506f81d313f920493aa4431980419197f9266 100644 --- a/inputs/human_hand/pickfruit/ep000017/metadata.json +++ b/inputs/human_hand/pickfruit/ep000017/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pickfruit", "episode_index": 17, "episode_name": "ep000017", "fps": 15.0, - "num_frames": 1858, - "num_transitions": 1857, + "num_frames": 1857, "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 } diff --git a/inputs/human_hand/pickfruit/ep000017/observations/fisheye/hand_left.png b/inputs/human_hand/pickfruit/ep000017/observations/fisheye/hand_left.png index 9f2344c1f3a1a3c6d7c7c49123d9b9f9ffe3fa9a..eb9df5979f76c848a0265f2a4e2146c2a2efb39b 100644 --- a/inputs/human_hand/pickfruit/ep000017/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pickfruit/ep000017/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c9c48097bfeabe643931a2a88066035ad360205e1a87e253dd4734682daa43e1 -size 717294 +oid sha256:80fb514a9ae5fa7c37d6504ee3419d5874ef45d107791da2e2d346c23794ea35 +size 719015 diff --git a/inputs/human_hand/pickfruit/ep000017/observations/fisheye/hand_right.png b/inputs/human_hand/pickfruit/ep000017/observations/fisheye/hand_right.png index 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380, - 456, - 528, - 606, - 697, - 777, - 856, - 940, - 1008, - 1094, - 1176, - 1264, - 1346, - 1432, - 1520, - 1595, - 1665, - 1732, - 1815 - ] -} diff --git a/inputs/human_hand/pickfruit/ep000017/trajectory.parquet b/inputs/human_hand/pickfruit/ep000017/trajectory.parquet deleted file mode 100644 index 1e369c6b26103b2557ea33d636af3112b880c688..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pickfruit/ep000017/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0fc2a585b894a33d151efa1bf592da59b80f4956660bc0912ce727687eea3a66 -size 7728097 diff --git a/inputs/human_hand/pickfruit/ep000022/controls/action_57d_spec.json b/inputs/human_hand/pickfruit/ep000022/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pickfruit/ep000022/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pickfruit/ep000022/controls/hand_camera_poses.npz b/inputs/human_hand/pickfruit/ep000022/controls/hand_camera_poses.npz index 82f4edf3cb824bfbdd39af21bd256453dc22bee2..0dcee5cb8c8106bdb1e3c2986f0f7c72ae072bd0 100644 --- a/inputs/human_hand/pickfruit/ep000022/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pickfruit/ep000022/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c65a21e5aefdd8c15e07bed9dbba8814238bfecb7dfb5d262eba02bc9c4fc8b9 -size 1764688 +oid sha256:5a55293cc1c6ab30c752ab8bed74eb2884d76a26b1813d08c728faafc54e317a +size 1763036 diff --git a/inputs/human_hand/pickfruit/ep000022/metadata.json b/inputs/human_hand/pickfruit/ep000022/metadata.json index 6044aaf5b31a4fb8838ccdebf8a3ce61ea18c3ba..fb93d898e22fd5b75c1ef523f4302e5b9346d508 100644 --- a/inputs/human_hand/pickfruit/ep000022/metadata.json +++ b/inputs/human_hand/pickfruit/ep000022/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pickfruit", "episode_index": 22, "episode_name": "ep000022", "fps": 15.0, - "num_frames": 1847, - "num_transitions": 1846, + "num_frames": 1846, "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 } diff --git a/inputs/human_hand/pickfruit/ep000022/observations/fisheye/hand_left.png b/inputs/human_hand/pickfruit/ep000022/observations/fisheye/hand_left.png index fca80a7a4f7a96e88cbf55b2992cebe65d5b7093..10d043f778e49539967363ab80e46b306b9eb3af 100644 --- a/inputs/human_hand/pickfruit/ep000022/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pickfruit/ep000022/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:418195347a008280414264515eb6c05063c11217b415d0128693d759d81688eb -size 854599 +oid sha256:699c0cc155f6d56cde8d180a06873e1fcf77058ec7883cb49d1c0b4cd6f57f7d +size 860008 diff --git a/inputs/human_hand/pickfruit/ep000022/observations/fisheye/hand_right.png b/inputs/human_hand/pickfruit/ep000022/observations/fisheye/hand_right.png index 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- "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. 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1316, - 1409, - 1488, - 1562, - 1648, - 1715, - 1800 - ] -} diff --git a/inputs/human_hand/pickfruit/ep000022/trajectory.parquet b/inputs/human_hand/pickfruit/ep000022/trajectory.parquet deleted file mode 100644 index 7c4c74db650b76fc2f800d2c146eaa45b66af854..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pickfruit/ep000022/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2773a59f5fb8ea583b9f454d73c1cefeadf6272fe6c9fec9a6bb8d662e2ef444 -size 7674124 diff --git a/inputs/human_hand/pickfruit/ep000026/controls/action_57d_spec.json b/inputs/human_hand/pickfruit/ep000026/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pickfruit/ep000026/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pickfruit/ep000026/controls/hand_camera_poses.npz b/inputs/human_hand/pickfruit/ep000026/controls/hand_camera_poses.npz index 47d3e6d78a29f36d0cf99a4c182d6f8c2296efe3..cb12867471d406ab119730d20640ea3b88cd8c83 100644 --- a/inputs/human_hand/pickfruit/ep000026/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pickfruit/ep000026/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9955df5fde56ae590479cf7ecad31f311bd5b07336e4acc08ce0dbffb2ced008 -size 1785235 +oid sha256:081e5fc6b39ff141e31daf8df922010b28573d0cc32566bf7888d60502b36c5e +size 1783601 diff --git a/inputs/human_hand/pickfruit/ep000026/metadata.json b/inputs/human_hand/pickfruit/ep000026/metadata.json index 62f633462d286128e867ad03f19ee9f6057f9e8d..3ceed9edf2d495a50015acd57f04b1dd2d83021b 100644 --- a/inputs/human_hand/pickfruit/ep000026/metadata.json +++ b/inputs/human_hand/pickfruit/ep000026/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pickfruit", "episode_index": 26, "episode_name": "ep000026", "fps": 15.0, - "num_frames": 1877, - "num_transitions": 1876, + "num_frames": 1876, "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 } diff --git a/inputs/human_hand/pickfruit/ep000026/observations/fisheye/hand_left.png b/inputs/human_hand/pickfruit/ep000026/observations/fisheye/hand_left.png index 65fc250ce40a2d4ce58e89ef6c8a2bfd85cf8c42..fa24cc359034c5184e610ae051589dc11b976b3c 100644 --- a/inputs/human_hand/pickfruit/ep000026/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pickfruit/ep000026/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2fc73d4b7bfebf125ab82abf034c582c346428b1357f2296d58c84fa9d355e89 -size 770420 +oid sha256:0dc5cb3f958090733ba87b9530a519ba69399039b7fcffc8408791637fe2538e +size 766379 diff --git a/inputs/human_hand/pickfruit/ep000026/observations/fisheye/hand_right.png b/inputs/human_hand/pickfruit/ep000026/observations/fisheye/hand_right.png index 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14b390deb461ca1347f47d9882793cd9dfd174bc..257686a19185bbe4530cb74efc87e7ddb8a57c57 100644 --- a/inputs/human_hand/pickfruit/ep000026/observations/top_head.png +++ b/inputs/human_hand/pickfruit/ep000026/observations/top_head.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:008c17673fc69892379e50e70a82abf8bd8305074c1d11a4234c63400c3d6110 -size 405860 +oid sha256:6c8ec3ae10f0acb15b1c00bc56b4606a640bf27664719bdb47a77734b6037ee4 +size 389407 diff --git a/inputs/human_hand/pickfruit/ep000026/pinhole_migration.json b/inputs/human_hand/pickfruit/ep000026/pinhole_migration.json deleted file mode 100644 index 05644a7dfdfc5d25d82da3df05c128fa3307be73..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pickfruit/ep000026/pinhole_migration.json +++ /dev/null @@ -1,39 +0,0 @@ -{ - "schema_version": "acwmbench.ego.pinhole_migration.v1", - "task": "pickfruit", - "episode": "ep000026", - "views": [ - "top_head", - "hand_left", - "hand_right" - ], - "width": 640, - "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.", - "mask_stats": { - "prompt": { - "source_nonzero": 16928021.0, - "pinhole_nonzero": 38854901.0, - "area_ratio": 2.2953008505837746 - }, - "multiview_masks/top_head": { - "source_nonzero": 40815910.0, - "pinhole_nonzero": 58787123.0, - "area_ratio": 1.4402992117534559 - }, - "multiview_masks/hand_left": { - "source_nonzero": 21206672.0, - "pinhole_nonzero": 38383681.0, - "area_ratio": 1.8099813586969233 - }, - "multiview_masks/hand_right": { - "source_nonzero": 27529196.0, - "pinhole_nonzero": 46495360.0, - "area_ratio": 1.6889472543985666 - } - }, - "created_unix": 1789878075.1754575 -} diff --git a/inputs/human_hand/pickfruit/ep000026/source_map.json b/inputs/human_hand/pickfruit/ep000026/source_map.json deleted file mode 100644 index bc5f1f1975ebed0957ede9daf27643565c848202..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pickfruit/ep000026/source_map.json +++ /dev/null @@ -1,1936 +0,0 @@ -{ - 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3842, - 4139, - 4434, - 4748, - 5062, - 5343, - 5648, - 5913, - 6256, - 6567, - 6865, - 7142 - ], - "canonical_keyframes": [ - 84, - 169, - 243, - 332, - 412, - 480, - 556, - 645, - 731, - 804, - 888, - 960, - 1035, - 1108, - 1187, - 1266, - 1336, - 1412, - 1478, - 1564, - 1642, - 1716, - 1786 - ] -} diff --git a/inputs/human_hand/pickfruit/ep000026/trajectory.parquet b/inputs/human_hand/pickfruit/ep000026/trajectory.parquet deleted file mode 100644 index 1dac07a05268341d643b883c60d1b588ee93328c..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pickfruit/ep000026/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:33ef107fd4352876d4c0e0412f9e9855fc29de5eb552e3d10d67a0c768ae4543 -size 7783390 diff --git a/inputs/human_hand/pickfruit/ep000032/controls/action_57d_spec.json b/inputs/human_hand/pickfruit/ep000032/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pickfruit/ep000032/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pickfruit/ep000032/controls/hand_camera_poses.npz b/inputs/human_hand/pickfruit/ep000032/controls/hand_camera_poses.npz index f85a31f9901345d39eeee8b27b5066168e5c2314..8c4517bd6401a9d730ba85b24892ac5f2f19d8cc 100644 --- a/inputs/human_hand/pickfruit/ep000032/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pickfruit/ep000032/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:145a5fb55e2487eae213c6fbde0b6b314f1b9e222fc860d0c8a1d858cd6ea374 -size 1778622 +oid sha256:e1a0fd6ea71747fe4514b8c68954fcb0a34fe5405d74713706abb07deacd3c24 +size 1776936 diff --git a/inputs/human_hand/pickfruit/ep000032/metadata.json b/inputs/human_hand/pickfruit/ep000032/metadata.json index d248156361c08b89f29aaa79bffba4de7e8b69d2..acaf66f498a8ad83e0155f64f0dd2b3a2540dbca 100644 --- a/inputs/human_hand/pickfruit/ep000032/metadata.json +++ b/inputs/human_hand/pickfruit/ep000032/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pickfruit", "episode_index": 32, "episode_name": "ep000032", "fps": 15.0, - "num_frames": 1865, - "num_transitions": 1864, + "num_frames": 1864, "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 } diff --git a/inputs/human_hand/pickfruit/ep000032/observations/fisheye/hand_left.png b/inputs/human_hand/pickfruit/ep000032/observations/fisheye/hand_left.png index 243c41126f1c88c8089bda67643acd62ad2e3845..25f84b572a2f98f4aa0f7b396165154871ff915a 100644 --- a/inputs/human_hand/pickfruit/ep000032/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pickfruit/ep000032/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7fe43250514c38cb3f2f40fe9799bbeaa0241d36fbc4027e0686d298ebc6a314 -size 833663 +oid sha256:d5df37b88eb31172351b6b554fae2589c2ce6fd4bb2a1ee2c08e146e7041ca34 +size 846942 diff --git a/inputs/human_hand/pickfruit/ep000032/observations/fisheye/hand_right.png b/inputs/human_hand/pickfruit/ep000032/observations/fisheye/hand_right.png index 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7136 - ], - "canonical_keyframes": [ - 80, - 166, - 230, - 321, - 388, - 464, - 533, - 605, - 671, - 745, - 822, - 892, - 964, - 1037, - 1111, - 1192, - 1266, - 1340, - 1406, - 1478, - 1559, - 1634, - 1710, - 1784 - ] -} diff --git a/inputs/human_hand/pickfruit/ep000032/trajectory.parquet b/inputs/human_hand/pickfruit/ep000032/trajectory.parquet deleted file mode 100644 index 1988eb470fa464e9e24b3a03ce9da60d2d0c02e3..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pickfruit/ep000032/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:57a5f05818ca2a390bf51b91138eff2d0142da95b904f7ca23bf538253b751e3 -size 7752038 diff --git a/inputs/human_hand/pickfruit/schema.json b/inputs/human_hand/pickfruit/schema.json index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..a96c65aa1baabed198ce936457b20fde6c9995df 100644 --- a/inputs/human_hand/pickfruit/schema.json +++ b/inputs/human_hand/pickfruit/schema.json @@ -1,558 +1,25 @@ { - "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, - 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"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 - ] - } + "contains_delta_action": false, + "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": "pickfruit" } diff --git a/inputs/human_hand/pourwater/ep000015/controls/action_57d_spec.json b/inputs/human_hand/pourwater/ep000015/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pourwater/ep000015/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pourwater/ep000015/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000015/controls/hand_camera_poses.npz index 6e60f1983931061498645fa73ff46368f8c2a8f4..269ec13f5f0ccd8120c56c5554c7e23563320732 100644 --- a/inputs/human_hand/pourwater/ep000015/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pourwater/ep000015/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:34dd787d8bcfef05083fa363e7e480979a91271f244e2299333adc2ea70e7627 -size 1797092 +oid sha256:7876a7565edaa4456aa9876a1ce91aaf8fc3326f52ee10eaa088a9c3ca74a747 +size 1795220 diff --git a/inputs/human_hand/pourwater/ep000015/metadata.json b/inputs/human_hand/pourwater/ep000015/metadata.json index 9a6b93c94f92f1228f517e7bdd04fa5b0d4b9443..3c4c871a3d7c284b5e5bae9c5070ecc3f56627b4 100644 --- a/inputs/human_hand/pourwater/ep000015/metadata.json +++ b/inputs/human_hand/pourwater/ep000015/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pourwater", "episode_index": 15, "episode_name": "ep000015", "fps": 15.0, - "num_frames": 1875, - "num_transitions": 1874, + "num_frames": 1874, "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 } diff --git a/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_left.png index 4ec14ac8bad9e8f5ab179db7e218b78bae4a8742..f21b60cb1e17a2dbc648e3d90b5d91306da2bcff 100644 --- a/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e9317f1dd0e18d40aa872f976eb40d0df303ec8cfeb5e10a613ab363ff432d21 -size 704521 +oid sha256:0f1348b5989b1a1613b9996cfac991077052177ddac19df79ae2213ed0bf1852 +size 715453 diff --git a/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_right.png b/inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_right.png index 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz index e2ec4cb930bfcb77731f2570c7aa3c4e4acab2e5..4fea077d782430391d644d401d13e26cc75d6e9f 100644 --- a/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b43808990fff87258db0c203a6e12c8cf12a5106323705b186c03f98bbd532e7 -size 1835999 +oid sha256:45fbb72488f150cc5eb3a7ed5065c63542cf964d1e6b96eb8a5aa106ce09c455 +size 1834147 diff --git a/inputs/human_hand/pourwater/ep000016/metadata.json b/inputs/human_hand/pourwater/ep000016/metadata.json index 6b949efd014e099e12d1f52cb8b36fe3251a3f1d..c98c1a2cc5bb64407e1e075da4f5ed35b30d6008 100644 --- a/inputs/human_hand/pourwater/ep000016/metadata.json +++ b/inputs/human_hand/pourwater/ep000016/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pourwater", "episode_index": 16, "episode_name": "ep000016", "fps": 15.0, - "num_frames": 1910, - "num_transitions": 1909, + "num_frames": 1909, "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 } diff --git a/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_left.png index 448e66db1f5c228df94002eb2d276def9136dd5a..27438e48c06e813c9aeac12a7d72b1d8e1e67b1f 100644 --- a/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d2d37d4ef419fd5d0487415a5a150ea49d21851554b51fea23654cb8b278071f -size 715293 +oid sha256:f621241acd843910e90c441cbf283b5e8d519c19e1c82367cd9bee80d011c0d1 +size 737422 diff --git a/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_right.png b/inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_right.png index 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"schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz index fda0547364ff31c5f0c4da536d9ef1c9c90f27d1..dec974e988a4662ce84a9a9abbbeb62ea6aaa96e 100644 --- a/inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b9c8bf09ea224116a2f710d11064a2650367c3bd060758efb33ae8abd9d62b42 -size 1797620 +oid sha256:87f2ca8b09dce4db25d32f9abf8adebc0b1c48662eac32bf6134f0f6503c83ba +size 1796299 diff --git a/inputs/human_hand/pourwater/ep000020/metadata.json b/inputs/human_hand/pourwater/ep000020/metadata.json index e67fd208921640b769a51fd124e74d138fc0ce9f..71d0ffd5e59ad9e77059c2674f150cc5e7b7d6db 100644 --- a/inputs/human_hand/pourwater/ep000020/metadata.json +++ b/inputs/human_hand/pourwater/ep000020/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pourwater", "episode_index": 20, "episode_name": "ep000020", "fps": 15.0, - "num_frames": 1884, - "num_transitions": 1883, + "num_frames": 1883, "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 } diff --git a/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_left.png index 02a9535eff3dade9a8f2fd406dc4db20b614b2cd..ec767240a94a9c25919620005d863c8eb85404cf 100644 --- a/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9061153aefb09280e5b07895ab047072308e6e8d6111fd8ed4604b1e7b8d54e9 -size 846843 +oid sha256:b7575683b121edb4d5f287699219cdee703b2926fdc47676acd43954f120b6e2 +size 853853 diff --git a/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_right.png b/inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_right.png index 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- "height": 480, - "hfov_deg": 90.0, - "view_pitch_deg": 38.0, - "controls_transformed": false, - "controls_note": "Physical controls and 57D actions are unchanged. 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"schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pourwater", "episode_index": 21, "episode_name": "ep000021", "fps": 15.0, - "num_frames": 1877, - "num_transitions": 1876, + "num_frames": 1876, "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. 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3968, - 4227, - 4523, - 4812, - 5202, - 5531, - 5863, - 6139, - 6431, - 6728, - 6979, - 7304 - ], - "canonical_keyframes": [ - 80, - 158, - 252, - 350, - 453, - 552, - 620, - 692, - 765, - 840, - 920, - 992, - 1057, - 1131, - 1203, - 1300, - 1383, - 1466, - 1535, - 1608, - 1682, - 1745, - 1826 - ] -} diff --git a/inputs/human_hand/pourwater/ep000021/trajectory.parquet b/inputs/human_hand/pourwater/ep000021/trajectory.parquet deleted file mode 100644 index f85e6882ef53bd16b76adb27bcc1754beca913ca..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pourwater/ep000021/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d55b212ab0671faf8219bcfde45dd455a4d2bf167db6729f735593457de2db80 -size 7794510 diff --git a/inputs/human_hand/pourwater/ep000022/controls/action_57d_spec.json b/inputs/human_hand/pourwater/ep000022/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pourwater/ep000022/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz index 9cfaef7a92b226a616bbe112156a3e6c358d0ffd..12ef6eaf5b93c1f45c33d884fdb6885e45b349e5 100644 --- a/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:257adc7705f0b6f107ecdb5a5a7ae1fd19abcb9bd6d6fc7ae4cb5a6922b83fd4 -size 1768612 +oid sha256:6eed655c0220af480020049b65425c90039e216666584b6dff2dd62b37421ad6 +size 1766726 diff --git a/inputs/human_hand/pourwater/ep000022/metadata.json b/inputs/human_hand/pourwater/ep000022/metadata.json index 7d8e70176573bdacb57b9e67feff8ba5b958bc5c..bf9e8aa7e120518a612c419790423ff8562772c2 100644 --- a/inputs/human_hand/pourwater/ep000022/metadata.json +++ b/inputs/human_hand/pourwater/ep000022/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pourwater", "episode_index": 22, "episode_name": "ep000022", "fps": 15.0, - "num_frames": 1853, - "num_transitions": 1852, + "num_frames": 1852, "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 } diff --git a/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_left.png b/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_left.png index e289a978c765e77c0d060af671551d5941394cd2..45f06a8441a653d0313221bd03082bdc021a037f 100644 --- a/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e01089f18f3fe6dd36d6dd5487aa8eb85dcc097b7e98620f305d2ae9b1823bdf -size 683542 +oid sha256:ebf4870bd6f737745e7cc5889988dec05c07ba7bb1445c52e69bb2608a9fd710 +size 689308 diff --git a/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_right.png b/inputs/human_hand/pourwater/ep000022/observations/fisheye/hand_right.png index 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948, - 1028, - 1108, - 1193, - 1269, - 1342, - 1413, - 1494, - 1570, - 1664, - 1757 - ] -} diff --git a/inputs/human_hand/pourwater/ep000022/trajectory.parquet b/inputs/human_hand/pourwater/ep000022/trajectory.parquet deleted file mode 100644 index 11300b13de1c42fa4bd7f6cfd724f9423c0f2f6f..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pourwater/ep000022/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:b84c388fe2d00e9f365275bb7bb2de0fa8c0eeb6d214d0af46b786afa1ea9587 -size 7685568 diff --git a/inputs/human_hand/pourwater/schema.json b/inputs/human_hand/pourwater/schema.json index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..d1c952c77a4228c2f9b6cecc6868f915ca887904 100644 --- a/inputs/human_hand/pourwater/schema.json +++ b/inputs/human_hand/pourwater/schema.json @@ -1,558 +1,25 @@ { - "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, - 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"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 - ] - } + "contains_delta_action": false, + "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": "pourwater" } diff --git a/inputs/human_hand/pulldrawer/ep000010/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000010/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pulldrawer/ep000010/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pulldrawer/ep000010/controls/hand_camera_poses.npz b/inputs/human_hand/pulldrawer/ep000010/controls/hand_camera_poses.npz index 8e525706ebe21912b6a365852a456cc135c3a858..9e59a90444c0bb47d2c53e9a52a2820a06e8f84e 100644 --- a/inputs/human_hand/pulldrawer/ep000010/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pulldrawer/ep000010/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:535aa8dd55496424ce642737fe9bc321553e911b1f16c78e07d54da7bf81f5ca -size 1774682 +oid sha256:a9b8b8a6ff57e87f707e6c03f103e6b4c862e0118b7cd225d678d462f1ca7772 +size 1772655 diff --git a/inputs/human_hand/pulldrawer/ep000010/metadata.json b/inputs/human_hand/pulldrawer/ep000010/metadata.json index 57dbe0bc5a5487fd52ca857c6e3a731a598ed5c2..31d6160bfb789f9a34d119500109f69e2259860a 100644 --- a/inputs/human_hand/pulldrawer/ep000010/metadata.json +++ b/inputs/human_hand/pulldrawer/ep000010/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pulldrawer", "episode_index": 10, "episode_name": "ep000010", "fps": 15.0, - "num_frames": 1861, - "num_transitions": 1860, + "num_frames": 1860, "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 } diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_left.png b/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_left.png index db074424a63e164b6dae1d4f4f1a12e635815e0c..315f11116be8689bd41edea304df3d0319ffc42c 100644 --- a/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:82f1f38a96615ca859d1bd9f99d6129b6024a7378ad97cfaad212fe853562a32 -size 760238 +oid sha256:1b07e387b20a4343c406a87d8bee4223062ae30d29537c7fcd1120e7df776493 +size 769790 diff --git a/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_right.png b/inputs/human_hand/pulldrawer/ep000010/observations/fisheye/hand_right.png index 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"canonical_keyframes": [ - 38, - 101, - 174, - 226, - 279, - 346, - 427, - 509, - 576, - 638, - 700, - 771, - 841, - 900, - 984, - 1066, - 1136, - 1221, - 1297, - 1365, - 1428, - 1493, - 1552, - 1635, - 1717, - 1775, - 1822 - ] -} diff --git a/inputs/human_hand/pulldrawer/ep000010/trajectory.parquet b/inputs/human_hand/pulldrawer/ep000010/trajectory.parquet deleted file mode 100644 index 11f57b7fe23fa009ecab0cc650228e242944a403..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pulldrawer/ep000010/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5d2a0493e57e3c9a55adadf52384e471514b7340ded37a6e7245650d01797328 -size 7737155 diff --git a/inputs/human_hand/pulldrawer/ep000017/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000017/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pulldrawer/ep000017/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pulldrawer/ep000017/controls/hand_camera_poses.npz b/inputs/human_hand/pulldrawer/ep000017/controls/hand_camera_poses.npz index c25084cfbf0e225e49c9a53fc920cdd002572f3a..94db024df85db8dfbcd8163a56eb8f8d51c2f07b 100644 --- a/inputs/human_hand/pulldrawer/ep000017/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pulldrawer/ep000017/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7cfa44cc8ad8648160cf8a851dd18e882d0e7ced924291866f51b89bcfd44c3a -size 1761562 +oid sha256:07e4f9d2e4a93c0e874ef7ba36da561f6f4e60cba65bd835e426d93a33e72a30 +size 1759900 diff --git a/inputs/human_hand/pulldrawer/ep000017/metadata.json b/inputs/human_hand/pulldrawer/ep000017/metadata.json index 6dfb022479e28ccf00b6467312cfd3f56d002441..fa29c3788df9c07407b98de813d070783ca9f734 100644 --- a/inputs/human_hand/pulldrawer/ep000017/metadata.json +++ b/inputs/human_hand/pulldrawer/ep000017/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pulldrawer", "episode_index": 17, "episode_name": "ep000017", "fps": 15.0, - "num_frames": 1850, - "num_transitions": 1849, + "num_frames": 1849, "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 } diff --git a/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/hand_left.png b/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/hand_left.png index 77698e463924245f0ab538262f5e4e5daf11b769..f0daa5f67ec463867300229b9a824b0eece6bebb 100644 --- a/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d8b0c381f6caf974470ff69b3e8a4afdb6e8d6f52763e3f6bb678cd58a751f32 -size 753346 +oid sha256:d418375ae73a967f51370d6c9f542643e457bcfed5338e27ba1e6c7790cf57e3 +size 756139 diff --git a/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/hand_right.png b/inputs/human_hand/pulldrawer/ep000017/observations/fisheye/hand_right.png index 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1034, - 1114, - 1190, - 1258, - 1343, - 1430, - 1509, - 1589, - 1662, - 1748 - ] -} diff --git a/inputs/human_hand/pulldrawer/ep000017/trajectory.parquet b/inputs/human_hand/pulldrawer/ep000017/trajectory.parquet deleted file mode 100644 index 15b58d4e96827c9796242e85d6ce96b7134e9c76..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pulldrawer/ep000017/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:002b6cf16aea82422ee88511d123913394043d674dff9c25121137639aca92a7 -size 7670742 diff --git a/inputs/human_hand/pulldrawer/ep000018/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000018/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pulldrawer/ep000018/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pulldrawer/ep000018/controls/hand_camera_poses.npz b/inputs/human_hand/pulldrawer/ep000018/controls/hand_camera_poses.npz index 5074785f911d963b3cbb9d9b90219ccb7e29b2e7..3b330952dd0910649e81a5174a65934599697b13 100644 --- a/inputs/human_hand/pulldrawer/ep000018/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pulldrawer/ep000018/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:764296bce0b314cf1f1f6aa78f7a1458757e40a4e7dd74588ed8249a600103dc -size 1840433 +oid sha256:0af788c267c50b82d6dd657f0a7fe37e3066853711dc121af9f083ff1c9a6864 +size 1838838 diff --git a/inputs/human_hand/pulldrawer/ep000018/metadata.json b/inputs/human_hand/pulldrawer/ep000018/metadata.json index bbc1c7791547d8f18e2d354052a96f23890ef8e7..4e2b6d4fa9d726ee25e19d897e57ecc45ee94784 100644 --- a/inputs/human_hand/pulldrawer/ep000018/metadata.json +++ b/inputs/human_hand/pulldrawer/ep000018/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pulldrawer", "episode_index": 18, "episode_name": "ep000018", "fps": 15.0, - "num_frames": 1922, - "num_transitions": 1921, + "num_frames": 1921, "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 } diff --git a/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/hand_left.png b/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/hand_left.png index 16ff7a1651aff565345c36b612b2836647284b40..85895690b779b0c0d6045904dd2fa369a0d6a8fe 100644 --- a/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:013897ec8047330c8f48caf54eb92db3e700f1c7955f35436d722b6d831a9289 -size 730407 +oid sha256:93f412d2aee80a85e32767e6d8795d1184209a0994e383568dab30708aea4696 +size 741018 diff --git a/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/hand_right.png b/inputs/human_hand/pulldrawer/ep000018/observations/fisheye/hand_right.png index 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"schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pulldrawer", "episode_index": 24, "episode_name": "ep000024", "fps": 15.0, - "num_frames": 1871, - "num_transitions": 1870, + "num_frames": 1870, "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. 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5678, - 5956, - 6310, - 6608, - 6907, - 7237 - ], - "canonical_keyframes": [ - 81, - 152, - 226, - 300, - 392, - 469, - 537, - 617, - 689, - 769, - 838, - 919, - 1008, - 1083, - 1161, - 1227, - 1333, - 1420, - 1489, - 1578, - 1652, - 1727, - 1809 - ] -} diff --git a/inputs/human_hand/pulldrawer/ep000024/trajectory.parquet b/inputs/human_hand/pulldrawer/ep000024/trajectory.parquet deleted file mode 100644 index 9a012b162c6b1f904655f5a49f9e669841c6296b..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pulldrawer/ep000024/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2f11df89ac768b48f62655728b41cc028d8dc909040b4a32a5751ccc9b83a4fa -size 7742811 diff --git a/inputs/human_hand/pulldrawer/ep000026/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000026/controls/action_57d_spec.json deleted file mode 100644 index 607fb48f017bdf5f32cdf17f938a1a4c86acc259..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pulldrawer/ep000026/controls/action_57d_spec.json +++ /dev/null @@ -1,60 +0,0 @@ -{ - "schema": "cosmos3.human_hand_pose.backward_framewise.v1", - "width": 57, - "layout": [ - { - "name": "camera_delta", - "indices": [ - 0, - 9 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_wrist_world_delta", - "indices": [ - 9, - 18 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "right_fingertips_in_wrist", - "indices": [ - 18, - 33 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - }, - { - "name": "left_wrist_world_delta", - "indices": [ - 33, - 42 - ], - "encoding": "xyz+rot6d" - }, - { - "name": "left_fingertips_in_wrist", - "indices": [ - 42, - 57 - ], - "joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ] - } - ], - "alignment": "Cosmos3 HumanHandPoseLeRobotDataset", - "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i" -} diff --git a/inputs/human_hand/pulldrawer/ep000026/controls/hand_camera_poses.npz b/inputs/human_hand/pulldrawer/ep000026/controls/hand_camera_poses.npz index 4b6e265e8355a7c5a7d0932bdad6152c13e09fda..c24818659cdaf083787c5694fae8a228a8757a3c 100644 --- a/inputs/human_hand/pulldrawer/ep000026/controls/hand_camera_poses.npz +++ b/inputs/human_hand/pulldrawer/ep000026/controls/hand_camera_poses.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8f2ccb2a36c31c3914c4ce2c152660481440a03cafa9bce3eb1c5766d5710b8e -size 1767519 +oid sha256:e33a8fe31b9060ed21828240af21106fb34483cb8fbf5358bc0621d4d5b1ca74 +size 1765216 diff --git a/inputs/human_hand/pulldrawer/ep000026/metadata.json b/inputs/human_hand/pulldrawer/ep000026/metadata.json index 66ef5795768f8a37b72dd0ec8813fc7d88be9453..fb21f67a653ccbffcf73954e1d572d2a7e1109e5 100644 --- a/inputs/human_hand/pulldrawer/ep000026/metadata.json +++ b/inputs/human_hand/pulldrawer/ep000026/metadata.json @@ -1,17 +1,14 @@ { - "schema_version": "acwmbench.inference.ego.v1", + "schema_version": "worldoracle.human_hand.validation_input.v2", "task_name": "pulldrawer", "episode_index": 26, "episode_name": "ep000026", "fps": 15.0, - "num_frames": 1859, - "num_transitions": 1858, + "num_frames": 1858, "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 } diff --git a/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/hand_left.png b/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/hand_left.png index c8c40c580a94a658ac1d35c7da1ce01ab589b37f..0a2b28797f8ac32bfe5f48900ba4eabc5fa71524 100644 --- a/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/hand_left.png +++ b/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/hand_left.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b99220ddd139539b07aa369fdfebd7ddbd1ff9c9a6f9f114a9f68bb61dcd8619 -size 822182 +oid sha256:9374d78e5aca57a767f1a6441bde165ac7977252188e4f9defa1e7242f9c3a29 +size 830458 diff --git a/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/hand_right.png b/inputs/human_hand/pulldrawer/ep000026/observations/fisheye/hand_right.png index 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99, - 162, - 223, - 277, - 332, - 394, - 465, - 554, - 634, - 724, - 825, - 916, - 1008, - 1092, - 1180, - 1251, - 1329, - 1406, - 1484, - 1579, - 1646, - 1709, - 1766, - 1816 - ] -} diff --git a/inputs/human_hand/pulldrawer/ep000026/trajectory.parquet b/inputs/human_hand/pulldrawer/ep000026/trajectory.parquet deleted file mode 100644 index 916f63a167ccf707110aa17d73311e56cb045732..0000000000000000000000000000000000000000 --- a/inputs/human_hand/pulldrawer/ep000026/trajectory.parquet +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:24d0ac8e3bd16411207506f0a5ada5f82b989befb717fa41b87bf6dbeb0e2883 -size 7718473 diff --git a/inputs/human_hand/pulldrawer/schema.json b/inputs/human_hand/pulldrawer/schema.json index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..3117019e596e103538fc09b708c0092e4c178a05 100644 --- a/inputs/human_hand/pulldrawer/schema.json +++ b/inputs/human_hand/pulldrawer/schema.json @@ -1,558 +1,25 @@ { - "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": [ - 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"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 - ] - } + "contains_delta_action": false, + "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/inputs/human_hand/schema.json b/inputs/human_hand/schema.json index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..e5600e098f4c77839e1cbdbba24c8c57f483b5cf 100644 --- a/inputs/human_hand/schema.json +++ b/inputs/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/inputs/human_hand/shared/ego_human/baseline_adapters.json b/inputs/human_hand/shared/ego_human/baseline_adapters.json deleted file mode 100644 index 60bd8f6778a6869fcf6c068508eeb4097da28c6b..0000000000000000000000000000000000000000 --- a/inputs/human_hand/shared/ego_human/baseline_adapters.json +++ /dev/null @@ -1,53 +0,0 @@ -{ - "canonical_view": "top_head", - "canonical_fps": 15.0, - "adapters": { - "cosmos3_nano": { - "status": "ready", - "inputs": [ - "observations/top_head.png", - "trajectory.parquet:action" - ] - }, - "jointcontrolvideo": { - "status": "adapter_ready", - "inputs": [ - "controls/hand_camera_poses.npz" - ] - }, - "oscar": { - "status": "requires_2d_skeleton_renderer", - "inputs": [ - "controls/hand_camera_poses.npz", - "calibration.json" - ] - }, - "rynnworld_teleop": { - "status": "requires_depth_skeleton_renderer", - "inputs": [ - "controls/hand_camera_poses.npz", - "calibration.json" - ] - }, - "egohoi": { - "status": "requires_object_masks_and_pose_map_adapter", - "inputs": [ - "controls/hand_camera_poses.npz", - "calibration.json" - ] - }, - "generated_reality": { - "status": "adapter_ready_when_checkpoint_available", - "inputs": [ - "controls/hand_camera_poses.npz" - ] - }, - "lome": { - "status": "requires_action_map_and_camera_ray_renderer", - "inputs": [ - "controls/hand_camera_poses.npz", - "calibration.json" - ] - } - } -} diff --git a/inputs/human_hand/shared/ego_human/joint_order.json b/inputs/human_hand/shared/ego_human/joint_order.json deleted file mode 100644 index 09519b9cfaa0168e5d7ccfd23ddea93d16c6c0b8..0000000000000000000000000000000000000000 --- a/inputs/human_hand/shared/ego_human/joint_order.json +++ /dev/null @@ -1,13 +0,0 @@ -{ - "number_of_joints_per_hand": 21, - "wrist_joint_index": 0, - "fingertip_joint_indices": [ - 4, - 8, - 12, - 16, - 20 - ], - "orientation": "quaternion_xyzw", - "note": "Full semantic joint names are not declared by the source schema." -} diff --git a/inputs/human_hand/shared/schema.json b/inputs/human_hand/shared/schema.json deleted file mode 100644 index 79d4df66d2c3797ecd9aaf82a4532c96448e0559..0000000000000000000000000000000000000000 --- a/inputs/human_hand/shared/schema.json +++ /dev/null @@ -1,558 +0,0 @@ -{ - "schema_version": "acwmbench.inference.ego.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 - } - }, - "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" - } - } -} diff --git a/inputs/validation_input_manifest.json b/inputs/validation_input_manifest.json index e465703a29aa79529e42d044f58c57ff6590316c..72307769ceda94a1c1a5f9bf6a4753e90e3794fe 100644 --- a/inputs/validation_input_manifest.json +++ b/inputs/validation_input_manifest.json @@ -163,5 +163,10 @@ } } } + }, + "payload": "validation inputs", + "human_hand_format": { + "pose_representation": "absolute_per_frame", + "contains_delta_action": false } } diff --git a/validation_manifest.json b/validation_manifest.json index 87a0e656ef29e905f28f28494311b4e717b42d9c..d44110eb06d8fdad9bfb3cea00a9da21045da316 100644 --- a/validation_manifest.json +++ b/validation_manifest.json @@ -1,9 +1,9 @@ { "schema_version": "worldoracle.validation_ground_truth.v1", - "generated_at": "2026-10-14", + "generated_at": "2026-11-01", "repository": "WorldOracle/worldoracle-validation", "contains_ground_truth": true, - "visibility": "private", + "visibility": "public", "datasets": { "agibot": { "episode_count": 20, @@ -325,32 +325,32 @@ { "episode": "ep000002", "path": "data/human_hand/hangtowel/ep000002.tar", - 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