Scan object-CTR — mixed
100 episodes, 62352 valid action frames at25Hz. Native RoboTwin2 simulation with head,left-wrist,right-wrist RGB and14-dimensional measured states/next commanded actions. Both wrists use calibrated centered_fovy90.
The four methods share50qualified scenes selected from a frozen0..199candidate pool.195candidates were examined; each accepted scene passed its source andall5timing replays. Selection biases toward feasible expert scenes; this is not an unfiltered success benchmark.
Sequential:50left-first followedby50right-first. Concurrent:50simultaneous. CTR:100episodes in scene-major order, slot i uses u=i/100 and(i+50)/100. Mixed:34left-first slots0..33,33right-first0..32,33concurrent17..49. Slots map to actualseeds in meta/retime_manifest.json.
Task: leftarm graspsobject,rightarm scanner; independentprepare,barrier,10cmcircle-offset scanalign,then independent fixedside returns. Initial delays alone set idle=true; barriers,scanhold,settling andterminalholds arefalse. OnlyCTR includes retime.left_idle,retime.right_idle andobservation.arm_active_mask; other methods do notenableIdleMask. No retime.overlap column.
State[t] pairs with commanded target[t+1]. All publishednumeric statistics use exactglobal numpy.quantile withlinearinterpolation,excludingpadding. Image quantiles omitted. meta/exact_global_statistics.json records identities andconstantdimensions.
Collection/export source1f7770d5a66c2e80bd48e22721aa410696ccdd39;E750-R006. Full250replay/fourgroup audit passed: recipes,hashes,cameras,masks,actionalignment,globalquantiles andchecksums. Native task evaluation source33e8ff820339723c5116307f3558cb6e0f29b3f3 is separatelyqualified anddoesnotchange these data. Original generated .ctr-revision.json retains its local logicalrepo_id andmanifestSHA; thepublic repository is Shiki42/ctr-scanobject-100ep-mixed.
Limitations: simulated expert demonstrations; no trained-policy performance claim. Final task evaluation requires scan latch plusreleased,supported,stationaryitems in targetregions. No personal data.
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