RoboTwin putcab fixed-role parallel retime 50
Fifty successful RoboTwin 2.0 put_object_cabinet episodes with fixed roles: left arm opens drawer A and right arm grasps object B.
The two task phases are aligned to start together, followed by a reproducible barrier. Collision-aware yield and wait metadata is retained in phase_type_id, arm_active_mask, and source_index.
The dataset contains 10,299 frames at 50 FPS, 14D state/action, and three AV1 cameras. Wrist cameras use 90 degree vertical FOV and approximately 106.26 degree horizontal FOV.
Safety qualification applies to the retimed parallel window: zero threshold frames, minimum capsule clearance 0.068346 m, and maximum tracking error 0. The inherited synchronous tail metrics and all immutable source receipts are preserved under provenance/.
Terminal-frame repair
Revision successor repair removes episode 16 timesteps 179 and 210 across all modalities. The repaired dataset contains 10,299 aligned frames; timestep 210 duplicated timestep 209 exactly, and timestep 179 lay on a smooth action segment. See provenance/TERMINAL_FRAME_MASK_RECEIPT.json.
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