Shiki42/PutCab-Concurrent-InplaceWait-Preview10

PutCab Concurrent: in-place waiting, Preview10

Ten qualified scene-matched demonstrations for user review. Three 320×240 H.264 camera views at 50/3 FPS; simulation runs at 250 Hz. Frames: 1641. Left arm opens the drawer; right arm grasps and lifts the object at its original location. Transfer and placement follow the required drawer readiness condition.

Sequential uses five A-then-B and five B-then-A demonstrations. Concurrent starts both native expert programs at the same physics tick with independently advancing control queues. Mixed selects five episodes from each parent on complementary scene seeds. CTR uses the E098 V4 source trajectories, C2 transitions and selected random deltas, with feedback waiting at the in-place safe-lift waypoint. Ordinary expert episodes may use a front-clearance transit waypoint with scene-specific approach height and orientation; each episode's transport strategy is recorded in its lineage. Waiting remains at the original grasp-and-lift endpoint.

observation.arm_active_mask is float32[2], ordered left/right. At observation t, it describes the outgoing action interval: 1 if the arm advances its task program at any of the next 15 physics steps; 0 for pre-start, explicit holding, gate waiting, completed programs and padding. Gripper commands and their programmed settling dwell belong to the active program. The final repeated action has mask [0,0]. observation.arm_motion_mask separately reports whether any of the arm's seven commanded coordinates changes by more than 1e-7 inside that same interval. Measured physical joint motion is available in meta/actual_joint_state.

meta/arm_progress retains physics-step progress counters for independent mask reconstruction. meta/lineage.jsonl records scene identities, command hashes, mask receipts, scheduling events and parent revisions. These annotations are part of the data artifact; model-side use is specified in separate training runs.

Each episode passed task success and full-scene penetration ≤10 mm in generation and fresh exact-control video replay. All 30 videos were decoded and timestamps checked; arm masks were reconstructed from the executed progress counters.

Experiment: E107-R001. Lifecycle: reported → audit pending. Full 50-episode construction awaits user preview approval.