| tags: | |
| - lerobot | |
| - robotwin | |
| - ctr | |
| - aloha-agilex | |
| # 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](meta/seed_timing_map.json), | |
| [episode_seed_timing.csv](meta/episode_seed_timing.csv) and [merge_episode_map.json](meta/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 | |