[QLM-DATA-001] QLM-DATA-001-20261008-normal-v2 payload 200/556

.gitattributes

@@ -128,3 +128,4 @@ raw/v2/press_button/DATA-010-20260926T073438Z/demo_06-a1/capture.json filter=lfs
 raw/v2/press_button/DATA-010-20260926T073438Z/demo_07-a1/capture.json filter=lfs diff=lfs merge=lfs -text
 raw/v2/press_button/DATA-010-20260926T073438Z/demo_08-a1/capture.json filter=lfs diff=lfs merge=lfs -text
 raw/v2/press_button/DATA-010-20260926T073438Z/demo_09-a1/capture.json filter=lfs diff=lfs merge=lfs -text
+raw/v2/push_box/QLM-DATA-001-20261008-normal-v2/push_box__ep0081/capture.json filter=lfs diff=lfs merge=lfs -text

canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/metadata/push_box__ep0098/provenance.json

@@ -0,0 +1,317 @@
+{
+  "work_id": "QLM-DATA-001",
+  "scenario": {
+    "id": "push_box__ep0098",
+    "seed": 202610070098,
+    "asset": "cardboard-box-04",
+    "appearance": "ap_03"
+  },
+  "task_profile": {
+    "task_profile_version": "push-box-v2-2",
+    "asset_sha256": "7673e8efbe4b2d62616aeeedd800c84f46e05341f79abfb008bd341cfaf908c3",
+    "scale": 1,
+    "initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
+    "initial_floor_clearance": 0.02,
+    "goal_x": [
+      -14.048352007789815,
+      -13.422889072554224
+    ],
+    "goal_y": [
+      -0.1565037411227489,
+      0.45554119198992227
+    ],
+    "goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
+    "success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
+    "fall": {
+      "base_height_lt": 0.1,
+      "projected_gravity_error_gt": 0.75
+    },
+    "contact": {
+      "role": "diagnostic_only",
+      "unavailable": "unknown",
+      "bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
+    },
+    "observer": {
+      "position": [
+        1.8,
+        2.0,
+        1.5
+      ],
+      "look_at": [
+        0.65,
+        0.1,
+        0.2
+      ],
+      "fps": 25,
+      "model_input": false
+    },
+    "policy_rgb_fps": 50,
+    "policy_fps": 50,
+    "controller_fps": 100,
+    "physics_fps": 500,
+    "force_zero": true,
+    "success_policy_ticks": 3,
+    "initial_box_yaw_rad": 0.0,
+    "push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)",
+    "robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
+    "expert": {
+      "settle_seconds": 2.1,
+      "normal_approach_seconds": 1.0,
+      "standoff_m": 0.1,
+      "penetration_m": 0.015,
+      "align_base_speed": 0.14,
+      "push_base_speed": 0.12,
+      "face_distance_for_foot_approach": 0.405,
+      "approach_foot_x": 0.28,
+      "push_foot_x": 0.38,
+      "motion": "coordinated",
+      "transition_s": 0.45,
+      "leg_finish_max_x": 0.4,
+      "lateral_tracking_gain": 2.0,
+      "lateral_tracking_limit_m": 0.015,
+      "corner_recovery": false
+    },
+    "initial_face_distance_x": 0.54,
+    "asset_id": "cardboard-box-04",
+    "source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
+    "goal_color": [
+      0.05,
+      0.8,
+      0.15
+    ],
+    "scaleup_recovery": false,
+    "recovery_progress_m": 0.12,
+    "episode_scenario": {
+      "work_id": "QLM-DATA-001",
+      "authorization": "qlm-scaleup-push-v1",
+      "selected_face": "local_x_max"
+    },
+    "instruction": "Push the box into the target area.",
+    "scaleup_metadata": {
+      "episode_uid": "push_box__ep0098",
+      "task_id": "push_box",
+      "split": "train",
+      "difficulty": "randomized",
+      "trajectory_type": "normal",
+      "recovery_type": null,
+      "appearance_preset": "ap_03",
+      "asset_id": "cardboard-box-04",
+      "initial_condition_id": "ic_0098",
+      "goal_condition_id": "gc_0098",
+      "environment_seed": 202610070098
+    },
+    "scaleup_motion_revision": "continuous-v2",
+    "canonical_goal_position": [
+      -13.735620540172018,
+      0.14951872543358669,
+      0.0
+    ],
+    "environment_origin": [
+      -15.0,
+      0.0,
+      0.0
+    ],
+    "initial_center_x_world": -14.203225301419169
+  },
+  "implementation": {
+    "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407",
+    "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2",
+    "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e",
+    "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b"
+  },
+  "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9",
+  "checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706",
+  "capture_sha256": "014905aaecd77691a4f9663eb5085536d8b28247ffbebd7cfa67ae960c2aa72f",
+  "terminal_gate": {
+    "passed": true,
+    "status": "success",
+    "outcome": "success",
+    "terminal_before_reset": true,
+    "n_actions": 458,
+    "n_boundaries": 459,
+    "initial_geometry": {
+      "center": [
+        -14.203225020525817,
+        0.14361344020949723,
+        0.09063524255015812
+      ],
+      "face_center": [
+        -14.44586323778156,
+        0.14361343749908395,
+        0.09063524199312503
+      ],
+      "face_normal": [
+        -1.0,
+        -1.117059511919584e-08,
+        -2.295735139902081e-09
+      ],
+      "footprint_xy": [
+        [
+          -14.445863240360966,
+          -0.07275609889641155
+        ],
+        [
+          -13.960586800690667,
+          -0.07275609889641155
+        ],
+        [
+          -13.960586800690667,
+          0.359982979315406
+        ],
+        [
+          -14.445863240360966,
+          0.359982979315406
+        ]
+      ],
+      "projected_box_corners": [
+        [
+          -13.960586805524619,
+          0.35998297886875835
+        ],
+        [
+          -13.960586805849479,
+          0.359982979315406
+        ],
+        [
+          -13.960586800690667,
+          -0.07275609347558497
+        ],
+        [
+          -13.960586801015527,
+          -0.07275609302893728
+        ],
+        [
+          -14.445863240036106,
+          0.3599829734479318
+        ],
+        [
+          -14.445863240360966,
+          0.35998297389457945
+        ],
+        [
+          -14.445863235202154,
+          -0.07275609889641155
+        ],
+        [
+          -14.445863235527014,
+          -0.07275609844976386
+        ]
+      ],
+      "yaw_rad": -3.141592642419198,
+      "box_fully_inside": false,
+      "actual_fl_eef_world": [
+        -14.822178840637207,
+        0.1420000046491623,
+        0.08869010210037231
+      ],
+      "success_count": 0,
+      "first_fully_inside_policy_ns": null,
+      "expert": null
+    },
+    "scenario": {
+      "id": "push_box__ep0098",
+      "seed": 202610070098,
+      "asset": "cardboard-box-04",
+      "appearance": "ap_03"
+    },
+    "mode": "demonstration",
+    "source": {
+      "package": "qlm_bench",
+      "version": "0.1.0",
+      "implementation": {
+        "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407",
+        "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2",
+        "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e",
+        "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b"
+      },
+      "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9",
+      "source_dirty": true,
+      "dirty_source_sha256": "954a10a09510ebf89e1c06fc4bbfe549e38a8431f8d05d46c526d8a4b4ab46c8",
+      "branch": "scaleup/v1/push_box"
+    },
+    "recovery_verified": true,
+    "approach_max_native_target_step_m": 0.008582985879912368,
+    "approach_continuity_verified": true
+  },
+  "collector": "geometry_aware_native9_expert_v2; existing residual controller; no object teleport/wrench",
+  "fl_velocity_method": "analytical joint Jacobian plus finite-difference gravity-frame derivative epsilon=1e-4",
+  "initial_geometry": {
+    "center": [
+      -14.203225020525817,
+      0.14361344020949723,
+      0.09063524255015812
+    ],
+    "face_center": [
+      -14.44586323778156,
+      0.14361343749908395,
+      0.09063524199312503
+    ],
+    "face_normal": [
+      -1.0,
+      -1.117059511919584e-08,
+      -2.295735139902081e-09
+    ],
+    "footprint_xy": [
+      [
+        -14.445863240360966,
+        -0.07275609889641155
+      ],
+      [
+        -13.960586800690667,
+        -0.07275609889641155
+      ],
+      [
+        -13.960586800690667,
+        0.359982979315406
+      ],
+      [
+        -14.445863240360966,
+        0.359982979315406
+      ]
+    ],
+    "projected_box_corners": [
+      [
+        -13.960586805524619,
+        0.35998297886875835
+      ],
+      [
+        -13.960586805849479,
+        0.359982979315406
+      ],
+      [
+        -13.960586800690667,
+        -0.07275609347558497
+      ],
+      [
+        -13.960586801015527,
+        -0.07275609302893728
+      ],
+      [
+        -14.445863240036106,
+        0.3599829734479318
+      ],
+      [
+        -14.445863240360966,
+        0.35998297389457945
+      ],
+      [
+        -14.445863235202154,
+        -0.07275609889641155
+      ],
+      [
+        -14.445863235527014,
+        -0.07275609844976386
+      ]
+    ],
+    "yaw_rad": -3.141592642419198,
+    "box_fully_inside": false,
+    "actual_fl_eef_world": [
+      -14.822178840637207,
+      0.1420000046491623,
+      0.08869010210037231
+    ],
+    "success_count": 0,
+    "first_fully_inside_policy_ns": null,
+    "expert": null
+  }
+}

canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/metadata/push_box__ep0099/provenance.json

@@ -0,0 +1,317 @@
+{
+  "work_id": "QLM-DATA-001",
+  "scenario": {
+    "id": "push_box__ep0099",
+    "seed": 202610070099,
+    "asset": "cardboard-box-04",
+    "appearance": "ap_03"
+  },
+  "task_profile": {
+    "task_profile_version": "push-box-v2-2",
+    "asset_sha256": "7673e8efbe4b2d62616aeeedd800c84f46e05341f79abfb008bd341cfaf908c3",
+    "scale": 1,
+    "initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
+    "initial_floor_clearance": 0.02,
+    "goal_x": [
+      -14.049828602297609,
+      -13.447343538303228
+    ],
+    "goal_y": [
+      29.83010718290422,
+      30.48626487632475
+    ],
+    "goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
+    "success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
+    "fall": {
+      "base_height_lt": 0.1,
+      "projected_gravity_error_gt": 0.75
+    },
+    "contact": {
+      "role": "diagnostic_only",
+      "unavailable": "unknown",
+      "bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
+    },
+    "observer": {
+      "position": [
+        1.8,
+        2.0,
+        1.5
+      ],
+      "look_at": [
+        0.65,
+        0.1,
+        0.2
+      ],
+      "fps": 25,
+      "model_input": false
+    },
+    "policy_rgb_fps": 50,
+    "policy_fps": 50,
+    "controller_fps": 100,
+    "physics_fps": 500,
+    "force_zero": true,
+    "success_policy_ticks": 3,
+    "initial_box_yaw_rad": 0.0,
+    "push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)",
+    "robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
+    "expert": {
+      "settle_seconds": 2.1,
+      "normal_approach_seconds": 1.0,
+      "standoff_m": 0.1,
+      "penetration_m": 0.015,
+      "align_base_speed": 0.14,
+      "push_base_speed": 0.12,
+      "face_distance_for_foot_approach": 0.405,
+      "approach_foot_x": 0.28,
+      "push_foot_x": 0.38,
+      "motion": "coordinated",
+      "transition_s": 0.45,
+      "leg_finish_max_x": 0.4,
+      "lateral_tracking_gain": 2.0,
+      "lateral_tracking_limit_m": 0.015,
+      "corner_recovery": false
+    },
+    "initial_face_distance_x": 0.54,
+    "asset_id": "cardboard-box-04",
+    "source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
+    "goal_color": [
+      0.05,
+      0.8,
+      0.15
+    ],
+    "scaleup_recovery": false,
+    "recovery_progress_m": 0.12,
+    "episode_scenario": {
+      "work_id": "QLM-DATA-001",
+      "authorization": "qlm-scaleup-push-v1",
+      "selected_face": "local_y_min"
+    },
+    "instruction": "Push the box into the target area.",
+    "scaleup_metadata": {
+      "episode_uid": "push_box__ep0099",
+      "task_id": "push_box",
+      "split": "train",
+      "difficulty": "randomized",
+      "trajectory_type": "normal",
+      "recovery_type": null,
+      "appearance_preset": "ap_03",
+      "asset_id": "cardboard-box-04",
+      "initial_condition_id": "ic_0099",
+      "goal_condition_id": "gc_0099",
+      "environment_seed": 202610070099
+    },
+    "scaleup_motion_revision": "continuous-v2",
+    "canonical_goal_position": [
+      -13.74858607030042,
+      30.158186029614484,
+      0.0
+    ],
+    "environment_origin": [
+      -15.0,
+      30.0,
+      0.0
+    ],
+    "initial_center_x_world": -14.235628970185521
+  },
+  "implementation": {
+    "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407",
+    "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2",
+    "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e",
+    "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b"
+  },
+  "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9",
+  "checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706",
+  "capture_sha256": "a8e2d02407dc6124e01afb9a2b60e5944c72d3e28bd08e839b5688c4e332fd42",
+  "terminal_gate": {
+    "passed": true,
+    "status": "success",
+    "outcome": "success",
+    "terminal_before_reset": true,
+    "n_actions": 476,
+    "n_boundaries": 477,
+    "initial_geometry": {
+      "center": [
+        -14.235629414209056,
+        30.1502600823111,
+        0.09063522877071284
+      ],
+      "face_center": [
+        -14.451998942975214,
+        30.150260074905084,
+        0.09063522923080825
+      ],
+      "face_normal": [
+        -0.9999999657714582,
+        -3.422854177870249e-08,
+        2.1264333317685757e-09
+      ],
+      "footprint_xy": [
+        [
+          -14.451998951430818,
+          29.90762186557416
+        ],
+        [
+          -14.019259876987295,
+          29.90762186557416
+        ],
+        [
+          -14.019259876987295,
+          30.39289829904804
+        ],
+        [
+          -14.451998951430818,
+          30.39289829904804
+        ]
+      ],
+      "projected_box_corners": [
+        [
+          -14.451998951430818,
+          30.392898284236008
+        ],
+        [
+          -14.451998951129916,
+          30.392898283475343
+        ],
+        [
+          -14.019259893898502,
+          30.39289829904804
+        ],
+        [
+          -14.0192598935976,
+          30.39289829828737
+        ],
+        [
+          -14.451998934820512,
+          29.90762186633483
+        ],
+        [
+          -14.45199893451961,
+          29.90762186557416
+        ],
+        [
+          -14.019259877288198,
+          29.907621881146856
+        ],
+        [
+          -14.019259876987295,
+          29.907621880386188
+        ]
+      ],
+      "yaw_rad": -1.5707962925663537,
+      "box_fully_inside": false,
+      "actual_fl_eef_world": [
+        -14.822178840637207,
+        30.142000198364258,
+        0.08869010210037231
+      ],
+      "success_count": 0,
+      "first_fully_inside_policy_ns": null,
+      "expert": null
+    },
+    "scenario": {
+      "id": "push_box__ep0099",
+      "seed": 202610070099,
+      "asset": "cardboard-box-04",
+      "appearance": "ap_03"
+    },
+    "mode": "demonstration",
+    "source": {
+      "package": "qlm_bench",
+      "version": "0.1.0",
+      "implementation": {
+        "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407",
+        "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2",
+        "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e",
+        "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b"
+      },
+      "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9",
+      "source_dirty": true,
+      "dirty_source_sha256": "954a10a09510ebf89e1c06fc4bbfe549e38a8431f8d05d46c526d8a4b4ab46c8",
+      "branch": "scaleup/v1/push_box"
+    },
+    "recovery_verified": true,
+    "approach_max_native_target_step_m": 0.005216344428733107,
+    "approach_continuity_verified": true
+  },
+  "collector": "geometry_aware_native9_expert_v2; existing residual controller; no object teleport/wrench",
+  "fl_velocity_method": "analytical joint Jacobian plus finite-difference gravity-frame derivative epsilon=1e-4",
+  "initial_geometry": {
+    "center": [
+      -14.235629414209056,
+      30.1502600823111,
+      0.09063522877071284
+    ],
+    "face_center": [
+      -14.451998942975214,
+      30.150260074905084,
+      0.09063522923080825
+    ],
+    "face_normal": [
+      -0.9999999657714582,
+      -3.422854177870249e-08,
+      2.1264333317685757e-09
+    ],
+    "footprint_xy": [
+      [
+        -14.451998951430818,
+        29.90762186557416
+      ],
+      [
+        -14.019259876987295,
+        29.90762186557416
+      ],
+      [
+        -14.019259876987295,
+        30.39289829904804
+      ],
+      [
+        -14.451998951430818,
+        30.39289829904804
+      ]
+    ],
+    "projected_box_corners": [
+      [
+        -14.451998951430818,
+        30.392898284236008
+      ],
+      [
+        -14.451998951129916,
+        30.392898283475343
+      ],
+      [
+        -14.019259893898502,
+        30.39289829904804
+      ],
+      [
+        -14.0192598935976,
+        30.39289829828737
+      ],
+      [
+        -14.451998934820512,
+        29.90762186633483
+      ],
+      [
+        -14.45199893451961,
+        29.90762186557416
+      ],
+      [
+        -14.019259877288198,
+        29.907621881146856
+      ],
+      [
+        -14.019259876987295,
+        29.907621880386188
+      ]
+    ],
+    "yaw_rad": -1.5707962925663537,
+    "box_fully_inside": false,
+    "actual_fl_eef_world": [
+      -14.822178840637207,
+      30.142000198364258,
+      0.08869010210037231
+    ],
+    "success_count": 0,
+    "first_fully_inside_policy_ns": null,
+    "expert": null
+  }
+}

canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/metadata/push_box__ep0100/provenance.json

@@ -0,0 +1,317 @@
+{
+  "work_id": "QLM-DATA-001",
+  "scenario": {
+    "id": "push_box__ep0100",
+    "seed": 202610070100,
+    "asset": "cardboard-box-04",
+    "appearance": "ap_03"
+  },
+  "task_profile": {
+    "task_profile_version": "push-box-v2-2",
+    "asset_sha256": "7673e8efbe4b2d62616aeeedd800c84f46e05341f79abfb008bd341cfaf908c3",
+    "scale": 1,
+    "initial_geometric_center_xy": "derived: front face at x=0.54m; center y aligned to native neutral FL lateral command",
+    "initial_floor_clearance": 0.02,
+    "goal_x": [
+      -44.03707896552524,
+      -43.3720382514937
+    ],
+    "goal_y": [
+      -30.143347361970854,
+      -29.568879272041585
+    ],
+    "goal_membership": "Four corners of the XY envelope of all eight pose-transformed source box-bound corners inside goal",
+    "success": "box_fully_inside and not fallen for 3 consecutive 50Hz policy ticks",
+    "fall": {
+      "base_height_lt": 0.1,
+      "projected_gravity_error_gt": 0.75
+    },
+    "contact": {
+      "role": "diagnostic_only",
+      "unavailable": "unknown",
+      "bool_columns": "false is an invalid placeholder when extension availability is false; never confirmed non-contact"
+    },
+    "observer": {
+      "position": [
+        1.8,
+        2.0,
+        1.5
+      ],
+      "look_at": [
+        0.65,
+        0.1,
+        0.2
+      ],
+      "fps": 25,
+      "model_input": false
+    },
+    "policy_rgb_fps": 50,
+    "policy_fps": 50,
+    "controller_fps": 100,
+    "physics_fps": 500,
+    "force_zero": true,
+    "success_policy_ticks": 3,
+    "initial_box_yaw_rad": 0.0,
+    "push_face": "local_x_min (reviewed narrow face, selected from actual mesh bounds)",
+    "robot_placement": "retain native robot reset XY origin; move box to obtain frontal FL alignment",
+    "expert": {
+      "settle_seconds": 2.1,
+      "normal_approach_seconds": 1.0,
+      "standoff_m": 0.1,
+      "penetration_m": 0.015,
+      "align_base_speed": 0.14,
+      "push_base_speed": 0.12,
+      "face_distance_for_foot_approach": 0.405,
+      "approach_foot_x": 0.28,
+      "push_foot_x": 0.38,
+      "motion": "coordinated",
+      "transition_s": 0.45,
+      "leg_finish_max_x": 0.4,
+      "lateral_tracking_gain": 2.0,
+      "lateral_tracking_limit_m": 0.015,
+      "corner_recovery": false
+    },
+    "initial_face_distance_x": 0.54,
+    "asset_id": "cardboard-box-04",
+    "source_profile_sha256": "d5066dd45b281344d4efcdbc01fb9e75cc0d3b93301268cab4529d81623d3c00",
+    "goal_color": [
+      0.05,
+      0.8,
+      0.15
+    ],
+    "scaleup_recovery": false,
+    "recovery_progress_m": 0.12,
+    "episode_scenario": {
+      "work_id": "QLM-DATA-001",
+      "authorization": "qlm-scaleup-push-v1",
+      "selected_face": "local_x_min"
+    },
+    "instruction": "Push the box into the target area.",
+    "scaleup_metadata": {
+      "episode_uid": "push_box__ep0100",
+      "task_id": "push_box",
+      "split": "train",
+      "difficulty": "randomized",
+      "trajectory_type": "normal",
+      "recovery_type": null,
+      "appearance_preset": "ap_03",
+      "asset_id": "cardboard-box-04",
+      "initial_condition_id": "ic_0100",
+      "goal_condition_id": "gc_0100",
+      "environment_seed": 202610070100
+    },
+    "scaleup_motion_revision": "continuous-v2",
+    "canonical_goal_position": [
+      -43.70455860850947,
+      -29.85611331700622,
+      0.0
+    ],
+    "environment_origin": [
+      -45.0,
+      -30.0,
+      0.0
+    ],
+    "initial_center_x_world": -44.22579942829813
+  },
+  "implementation": {
+    "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407",
+    "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2",
+    "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e",
+    "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b"
+  },
+  "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9",
+  "checkpoint_sha256": "1cc5f68fe15e37ccabae26060d79a26a8c078ed465a81f6f729c2009b67ca706",
+  "capture_sha256": "b70376721432fc32a28e998615a46e09857bcb492ca1aeae8cde57055f17dad8",
+  "terminal_gate": {
+    "passed": true,
+    "status": "success",
+    "outcome": "success",
+    "terminal_before_reset": true,
+    "n_actions": 462,
+    "n_boundaries": 463,
+    "initial_geometry": {
+      "center": [
+        -44.225798731162264,
+        -29.858596188712806,
+        0.09063524233965622
+      ],
+      "face_center": [
+        -44.46843694841801,
+        -29.858596181379117,
+        0.09063524211147134
+      ],
+      "face_normal": [
+        -0.9999999999999996,
+        3.022477912597363e-08,
+        -9.404325557942273e-10
+      ],
+      "footprint_xy": [
+        [
+          -44.468436955024266,
+          -30.07496573252238
+        ],
+        [
+          -43.98316050730026,
+          -30.07496573252238
+        ],
+        [
+          -43.98316050730026,
+          -29.64222664490323
+        ],
+        [
+          -44.468436955024266,
+          -29.64222664490323
+        ]
+      ],
+      "projected_box_corners": [
+        [
+          -44.46843695489119,
+          -30.074965717247572
+        ],
+        [
+          -44.468436955024266,
+          -30.074965717855008
+        ],
+        [
+          -44.468436941811746,
+          -29.64222664490323
+        ],
+        [
+          -44.46843694194482,
+          -29.642226645510664
+        ],
+        [
+          -43.983160520379705,
+          -30.074965731914943
+        ],
+        [
+          -43.98316052051278,
+          -30.07496573252238
+        ],
+        [
+          -43.98316050730026,
+          -29.642226659570603
+        ],
+        [
+          -43.98316050743334,
+          -29.642226660178036
+        ]
+      ],
+      "yaw_rad": -3.022477912597364e-08,
+      "box_fully_inside": false,
+      "actual_fl_eef_world": [
+        -44.82217788696289,
+        -29.857999801635742,
+        0.08869010210037231
+      ],
+      "success_count": 0,
+      "first_fully_inside_policy_ns": null,
+      "expert": null
+    },
+    "scenario": {
+      "id": "push_box__ep0100",
+      "seed": 202610070100,
+      "asset": "cardboard-box-04",
+      "appearance": "ap_03"
+    },
+    "mode": "demonstration",
+    "source": {
+      "package": "qlm_bench",
+      "version": "0.1.0",
+      "implementation": {
+        "__init__.py": "02566799d0b1b4b6a2f706b3e7680fffc812ed2854f5c8a7e05cb8fb3ea43407",
+        "batch.py": "c74e9215b5cc82ae23990bd6a7711ef8456093b00431a4e69eee2b443db6a6e2",
+        "isaac.py": "33b089e5bb7189782f355828410edae91bb6932ee8b75970d98d86334702d86e",
+        "orchestrator.py": "2a1b06fc57b78bad741977809c96eb818e39f7f244bb3f3ce03e7c8861ff393b"
+      },
+      "source_commit": "a11e5a77c09a5fcc0170463dcb59f428ac6a65a9",
+      "source_dirty": true,
+      "dirty_source_sha256": "954a10a09510ebf89e1c06fc4bbfe549e38a8431f8d05d46c526d8a4b4ab46c8",
+      "branch": "scaleup/v1/push_box"
+    },
+    "recovery_verified": true,
+    "approach_max_native_target_step_m": 0.00545355306333757,
+    "approach_continuity_verified": true
+  },
+  "collector": "geometry_aware_native9_expert_v2; existing residual controller; no object teleport/wrench",
+  "fl_velocity_method": "analytical joint Jacobian plus finite-difference gravity-frame derivative epsilon=1e-4",
+  "initial_geometry": {
+    "center": [
+      -44.225798731162264,
+      -29.858596188712806,
+      0.09063524233965622
+    ],
+    "face_center": [
+      -44.46843694841801,
+      -29.858596181379117,
+      0.09063524211147134
+    ],
+    "face_normal": [
+      -0.9999999999999996,
+      3.022477912597363e-08,
+      -9.404325557942273e-10
+    ],
+    "footprint_xy": [
+      [
+        -44.468436955024266,
+        -30.07496573252238
+      ],
+      [
+        -43.98316050730026,
+        -30.07496573252238
+      ],
+      [
+        -43.98316050730026,
+        -29.64222664490323
+      ],
+      [
+        -44.468436955024266,
+        -29.64222664490323
+      ]
+    ],
+    "projected_box_corners": [
+      [
+        -44.46843695489119,
+        -30.074965717247572
+      ],
+      [
+        -44.468436955024266,
+        -30.074965717855008
+      ],
+      [
+        -44.468436941811746,
+        -29.64222664490323
+      ],
+      [
+        -44.46843694194482,
+        -29.642226645510664
+      ],
+      [
+        -43.983160520379705,
+        -30.074965731914943
+      ],
+      [
+        -43.98316052051278,
+        -30.07496573252238
+      ],
+      [
+        -43.98316050730026,
+        -29.642226659570603
+      ],
+      [
+        -43.98316050743334,
+        -29.642226660178036
+      ]
+    ],
+    "yaw_rad": -3.022477912597364e-08,
+    "box_fully_inside": false,
+    "actual_fl_eef_world": [
+      -44.82217788696289,
+      -29.857999801635742,
+      0.08869010210037231
+    ],
+    "success_count": 0,
+    "first_fully_inside_policy_ns": null,
+    "expert": null
+  }
+}

canonical/lerobot_v2_1/QLM-DATA-001-20261008-normal-v2/videos/chunk-000/observation.images.ego/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90e7b69f3306c688d64481f32a4f5b7bc01259392fa850b8113741f3adf1618b
+size 2384046