Add artifact card

README.md

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+---
+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.