I have learned a little more about the specifics of the InstallESD, which I thought you might be interested in knowing as well. I believe it will not be possible to turn the recovery server downloads into a fully working Install OS X Mavericks.app.
Install Mac OS X apps downloaded from the App Store first come as a pkg that installs the app to the /Applications folder. However, a regular pkg install would require double the amount of storage space to copy its contents to a new location, and would add significant overhead to the install process. So the pkg file containing the installer (such as the one for Yosemite you can still download from Apple) is actually simultaneously a pkg and a dmg — the InstallESD.dmg. So you can effectively rename one of those pkg files to dmg, and it will successfully open with Disk Image Mounter utility instead of the Installer.
When opened with Installer and installed, the pkg copies a version of the Install Mac OS X app that does not yet contain the InstallESD.dmg into /Applications. The Installer then hardlinks the install pkg itself as InstallESD.dmg inside of SharedSupport, and you end up with a full Install Mac OS X app without the need to duplicate over 5 GB of data.
So how can a file be simultaneously a pkg and a dmg? A pkg is typically a xar archive, which has a header, while a dmg file uses a footer. This means that a pkg would be read from the beginning of the file, while a dmg would be initially read from the end of it. Among other metadata, the dmg's footer contains values for the offset (where the actual disk image starts relative to the start of the file) and the length of the data, so only that section of the file is read when using it as a dmg.
The InstallESD.dmg file you're downloading from the recovery server is only just that — a disk image, and does not contain the necessary data to also be a pkg, which is why the Install Assistant is not accepting it and logging "pkgdmg is missing a footer" and "pkgdmg validation has failed".
I have attempted the low hanging fruit of prepending a few bytes of data to InstallESD.dmg and updating its footer metadata so the offset would not start at 0 (as well as updating the offset of the XML property list to match). This made the install process progress past the "pkgdmg is missing a footer" step, however it now fails with "pkgdmg is not signed or altered".
My understanding is that Install Assistant still expects real pkg data to be at the start of the file, possibly to use its xar signature or checksums to verify the integrity of the data. I'd be more than happy to be proven wrong, but as it stands, if even possible to overcome this, it would require significantly doctoring the InstallESD.dmg, which would defeat the purpose of downloading it directly from Apple.