ctr-scan-object-200ep-sequential

200 episodes, 68638 frames, 100 unique scene seeds, LeRobot v3,25FPS.

Episode order / 数据集备注

Episodes 0–99 (the first 100) are left-first; episodes 100–199 (the last 100) are right-first. Each block contains the original50 seeds followed by the E74250 new seeds.

前100条为先左后右，后100条为先右后左；两个100条分组使用相同的100个seed。

Seeds and timing

The complete seed list and per-seed episode/timing mapping are in seed_timing_map.json, episode_seed_timing.csv and merge_episode_map.json. retime.source_seed and retime.source_cohort are also stored on every numeric row. Positive offset_s delays the right arm; negative values delay the left arm. Nominal offsets are rounded to the nearest250Hz physical step. Workspace waits are separately recorded.

Cameras, labels and provenance

All sources use New FOV centered_fovy90:320×240, vertical90degrees, calibrated centered optical-axis mount; head plus both wrist cameras,250Hz physics,25FPS recordings. Original raster rendering is retained. This is a physical-video merge, with no resimulation, cross-time image composition or retiming of controls. Source videos are copied without re-encoding, and video files remain separate across source boundaries.

The first cohort is the20260911 paired750 collection; the second is E742 paired750. Requested gripper targets are checked against frozen controls. Any stale first-cohort pre-command zero labels are corrected only to the verified initial-open command; all other action values and all observation values are preserved. First-cohort observations retain their original capture/accessor provenance; unavailable historical raw physical qpos is not reconstructed. E742 records measured qpos and normalized measured grippers. Per-source corrections and hashes are in meta/source_provenance.json. Uniform alone includes observation.arm_active_mask:0 only for the initial artificial start delay,1 for all later responsibilities including finished holds, scan barriers and workspace waits. Other methods have no IdleMask. Numeric statistics are exact global linear quantiles over all valid published rows once, without padding or mask exclusion; no mean of per-episode quantiles. Image quantiles are omitted.

The E742 Scan Uniform left-wrist video was restored from original HDF5 after a native exporter dropped one frame; the verified repaired parent is used. Physical success and collision checks follow source receipts (2mm penetration gate). Publication does not imply user audit approval or authorization for model training. No train/test split is added.

Full seed list: 5, 7, 9, 12, 21, 26, 30, 34, 46, 50, 58, 59, 71, 72, 75, 76, 78, 82, 83, 84, 86, 87, 90, 95, 97, 98, 107, 118, 119, 127, 128, 130, 134, 135, 138, 141, 142, 146, 150, 151, 152, 154, 155, 159, 160, 164, 170, 172, 174, 185, 187, 189, 190, 191, 199, 200, 201, 202, 205, 211, 214, 218, 224, 231, 235, 237, 244, 247, 249, 253, 255, 257, 258, 261, 262, 265, 267, 275, 283, 290, 294, 298, 301, 306, 311, 312, 313, 319, 323, 326, 333, 344, 347, 353, 355, 356, 358, 362, 363, 365