| --- |
| tags: |
| - robotics |
| - lerobot |
| - robotwin |
| - putcab |
| - preview |
| task_categories: |
| - robotics |
| --- |
| # PutCab Concurrent: in-place waiting, Preview10 |
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| Ten qualified scene-matched demonstrations for user review. Three 320×240 H.264 |
| camera views at 50/3 FPS; simulation runs at 250 Hz. Frames: 1641. |
| Left arm opens the drawer; right arm grasps and lifts the object at its original |
| location. Transfer and placement follow the required drawer readiness condition. |
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| Sequential uses five A-then-B and five B-then-A demonstrations. Concurrent starts |
| both native expert programs at the same physics tick with independently advancing |
| control queues. Mixed selects five episodes from each parent on complementary |
| scene seeds. CTR uses the E098 V4 source trajectories, C2 transitions and selected |
| random deltas, with feedback waiting at the in-place safe-lift waypoint. |
| Ordinary expert episodes may use a front-clearance transit waypoint with |
| scene-specific approach height and orientation; each episode's transport strategy is recorded |
| in its lineage. Waiting remains at the original grasp-and-lift endpoint. |
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| `observation.arm_active_mask` is float32[2], ordered left/right. At observation t, |
| it describes the outgoing action interval: 1 if the arm advances its task program |
| at any of the next 15 physics steps; 0 for pre-start, explicit holding, gate waiting, |
| completed programs and padding. Gripper commands and their programmed settling |
| dwell belong to the active program. The final repeated action has mask [0,0]. |
| `observation.arm_motion_mask` separately reports whether any of the arm's seven |
| commanded coordinates changes by more than 1e-7 inside that same interval. |
| Measured physical joint motion is available in `meta/actual_joint_state`. |
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| `meta/arm_progress` retains physics-step progress counters for independent mask |
| reconstruction. `meta/lineage.jsonl` records scene identities, command hashes, |
| mask receipts, scheduling events and parent revisions. These annotations are |
| part of the data artifact; model-side use is specified in separate training runs. |
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| Each episode passed task success and full-scene penetration ≤10 mm in generation |
| and fresh exact-control video replay. All 30 videos were decoded and timestamps |
| checked; arm masks were reconstructed from the executed progress counters. |
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| Experiment: E107-R001. Lifecycle: reported → audit pending. |
| Full 50-episode construction awaits user preview approval. |
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