DEPRECATED / 已废弃（2026-09-24）
数据集采用光栅化渲染，且存在穿模。用户决定废弃该数据集及由其训练的 S015 E745/E747/E749 checkpoint；停止后续评测。历史文件与 revision 保留，仅供溯源，不得作为有效研究结果使用。
Scan Object CTR Uniform100, E742 cohort
This LeRobot v3 dataset contains 100 Uniform episodes from E742's 50 new Scan Object training scenes, two per scene. It includes observation.arm_active_mask with the reviewed prefix start-delay semantics: deliberate initial inactivity is masked; terminal holding and necessary waiting remain supervised. The top and both wrist cameras use the calibrated centered_fovy90 preset at 25 FPS.
The output preserves the verified E742 numeric and video payload. .ctr-revision.json binds the source SHA256SUMS digest. E747 and E749 must use the same immutable public revision and the same 100 episodes; E747 consumes the mask in action loss, while E749 does not load or consume it. Both compute exact global normalization from their actual training representation and valid windows.
The paired evaluation suite uses separate scenes.
The first public revision had a metadata-only left-wrist interval offset in episodes 98–99. The corrected revision aligns those intervals with the 28,772-frame video and the top/right cameras. Numeric rows, action targets, IdleMask values, videos, and episode membership are unchanged; the correction is recorded in .ctr-revision.json and its publication receipt.
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