ctr-scan-object-left-first-20260916

Complete paired corrected release

Task: scan_object; timing: left_first. 50 successful episodes, 17008 frames, 25 FPS, LeRobot v3.0.

The collection now contains all 750 successful trajectories. Previously missing 21 trajectories were repaired by restoring the original gripper initialization and scene settling sequence before frozen-control replay. All original seed sets, object identities, control hashes and timing offsets were preserved; no replanning or relaxed collision/success gates. Each task has 50 concurrent, 50 left-first, 50 right-first and 100 uniform episodes using the same original 50 seeds across timing variants.

Ray tracing with OIDN2.5.1, 32 samples/pixel, path depth8; centered_fovy90 wrists at 320x240 and near=0.005m. Measured gripper state is recorded separately from commands. This revision supersedes the successful-only incomplete release; historical revisions remain available. Lifecycle: reported, audit pending.

Included seeds: 5, 7, 9, 12, 26, 30, 34, 58, 59, 71, 75, 76, 78, 82, 84, 86, 87, 90, 95, 98, 107, 118, 119, 127, 130, 135, 138, 141, 146, 150, 151, 152, 154, 155, 159, 160, 164, 170, 172, 174, 185, 187, 189, 190, 191, 200, 201, 202, 205, 211

Joint dimensions and units

Original feature names and their order are preserved exactly in both action and observation.state. Each name below identifies one scalar dimension. Observation values and requested action targets are different quantities.

Left arm

Index	Original joint name	Unit
0	left_joint_1.pos	rad
1	left_joint_2.pos	rad
2	left_joint_3.pos	rad
3	left_joint_4.pos	rad
4	left_joint_5.pos	rad
5	left_joint_6.pos	rad
6	left_gripper.pos	0–1 (closed–open)

Right arm

Index	Original joint name	Unit
7	right_joint_1.pos	rad
8	right_joint_2.pos	rad
9	right_joint_3.pos	rad
10	right_joint_4.pos	rad
11	right_joint_5.pos	rad
12	right_joint_6.pos	rad
13	right_gripper.pos	0–1 (closed–open)

The earlier metadata-only update preserved all data values. The gripper correction documented below changes the confirmed gripper action labels and their statistics; original feature names, observation states, arm actions, videos and timing remain unchanged.

Gripper action correction — 2026-09-16

This revision corrects 11,930 stale initial-hold gripper labels in this dataset. Before each arm's first gripper command, the requested target is held at 1 (open), as established by initialization and the frozen source program. Previous affected labels were 0 (closed).

Reconstruction follows the actual per-physics-step source indices, including shoe workspace waits and the shared scanning tail. All later gripper commands match their frozen source values. The per-episode evidence is in meta/gripper-label-repair.json. Action statistics are recomputed.

Measured observation states, arm action values, original joint names, images, timestamps, masks and episode order are unchanged. Requested targets are not substitutes for measured gripper positions; contact/tracking differences in measured states are preserved. This is a verified action-label correction, not a claim that all historical physical-state provenance has been re-audited.

Supersedes dataset revision f3fde3d2ee29baedd42f701c02ab08cebc6c1555. Old revisions remain accessible. Old checkpoints require retraining on corrected labels and new normalization before being used as corrected-data evidence. No training was started here. Result reported; archive audit approval remains pending.

Repository name

The date suffix is the corrected-release date, 2026-09-16. This repository was renamed from Shiki42/ctr-scan-object-left-first-20260911 to Shiki42/ctr-scan-object-left-first-20260916; dataset payloads and original joint names are unchanged. Historical commits remain available.

Arm active mask

observation.arm_active_mask was reconstructed on 2026-09-17 from the pinned meta/retime_manifest.json and meta/retime_source_indices/*.npz traces. It is float32[2], ordered left/right. At observation t, value 1 means that arm's actual next action interval contains task-program progress, including gripper program progress. All waits and holds are 0. No velocity threshold is used and no synthetic terminal frame is added. retime.*_idle is a distinct loss-mask annotation; necessary waits can remain un-masked for loss while still being inactive here. Per-episode evidence is in meta/arm-active-mask-contract.json.

The replacement names and value semantics match the existing Shiki42/PutCab-CTR-Train50-V4 field.