| --- |
| pretty_name: ctr-sortblocks-100ep-sequential |
| tags: |
| - lerobot |
| - robotics |
| - simulation |
| language: |
| - en |
| --- |
| # ctr-sortblocks-100ep-sequential |
|
|
| 100 native RoboTwin **Blocks Ranking RGB-CTR** expert episodes in LeRobot v3 format. |
| This is synthetic expert data, not a learned-policy benchmark. |
|
|
| ## Task |
|
|
| The left arm places red then yellow; the right arm places blue then green. |
| Initial red/blue and yellow/green poses are mirrored across the arm bisector. |
| Final world-x order is red, yellow, blue, green. Group centers are 0.52 m apart. |
| Every physics step checks a conservative minimum 0.10 m cross-arm/actor clearance. |
| The lowest recorded clearance in this dataset is 0.185744 m. |
|
|
| ## Sampling |
|
|
| Episodes 0–49: physical left arm first. Episodes 50–99: physical right arm first. The delayed arm starts exactly when the first arm finishes. |
|
|
| All four companion datasets use the same 100 accepted initial scenes and frozen |
| per-scene joint/gripper controls. Timing changes do not change trajectory speed. |
| Mixed reuses the selected source episodes; it introduces no new simulation scenes. |
| Source scene IDs, control hashes and exact offsets are in meta/retime_manifest.json. |
| |
| ## Contents |
| |
| - Episodes: 100; training rows: 91191; FPS: 25; physics: 250 Hz. |
| - Robot: Aloha AgileX; observation.state: 14 measured joint/gripper values. |
| - action: 14 commanded joint/gripper targets at the next recorded observation. |
| - Images:top, left_wrist and right_wrist, 320×240 RGB H.264 video. |
| - Wrist preset: centered_fovy90, including calibrated optical-axis mounts. |
| - Fixed wider head intrinsics: fx=fy=260 px, cx=160, cy=120. |
| - Last observations are verification/next-target material, not extra action rows. |
|
|
| ## IdleMask |
|
|
| This non-CTR dataset has no IdleMask columns. Training with this dataset does not enable IdleMask. |
|
|
| ## Statistics and provenance |
|
|
| Numeric publication statistics use all valid published numeric rows, with exact |
| global linear quantiles computed after promotion to float64. This includes state, |
| action, timestamps and timing metadata. Image quantiles are omitted; native |
| LeRobot sampled image mean/std estimates are retained. |
| There is no episode-quantile averaging, padding, or mask-based exclusion. |
| Training-specific delta/action-window normalization is a separate transform. |
|
|
| meta/source_programs contains the frozen controls and initial scenes. |
| .ctr-revision.json identifies the generated scene/control manifest; the immutable |
| Hugging Face commit is recorded in the external publication receipt. |
| SHA256SUMS pins the uploaded files. All episodes passed task success, camera, |
| control-integrity and timing checks before publication. |
| |
