Shiki42/piperx-put-cube-in-drawer-20260908-87ep-ctr-preview-check

piperx-put-cube-in-drawer-20260908-87ep-ctr-preview-check

LeRobot v3.0;156 episodes from78 retained original sources;86912 frames at30 FPS. The87ep name identifies the original source collection, not output count. Three synchronized output videos per episode: top848x480, left/right wrist640x480. Action and observation.state are float32[14]: left6 joints+gripper, right6 joints+gripper. Joints are degrees; grippers mm.

The right arm executes opening and preparation up to a shared entry source frame. Both arms and all cameras then follow the same original source clock through placement/withdrawal. Entry/exit use retained source motion, not a hard clock cut. Outside that phase the clocks may differ. Source maps and receipts are included.

Idle and preview-check fields

Per-frame observation.arm_active_mask is non-null float32[2], ordered [left,right]. 1 includes that arm's seven action dimensions in loss;0 excludes them. This is a loss weight, not a policy observation input. Align it to every target action-chunk step and combine with non-padding masks. Removed per-arm idle columns are absent. Preview timelines read the same active-mask values as Parquet. Interval JSON is visual annotation provenance, not a legacy training schema.

This revision preserves all final-rest supervision and initial/task idle masks. Source62 outputs54/132 restore the omitted approach; source9 outputs6/84 use the reviewed retreat marker370 for right idle labels. No other videos or actions were regenerated. Historical reports document predecessor schemas; the current schema and exhaustive validation are in active-mask-validation.json.

Local three-view preview

Download the complete snapshot, then run python serve.py --port 38773 from the snapshot and open http://127.0.0.1:38773/preview/ . Three views are side by side; Idle Mask is immediately below the videos, followed by the synchronization bar. Manifest, per-frame source clocks and data links are included under preview/. All episodes begin with review_status=unreviewed. Automatic numeric checks do not certify flawless image quality. Exposure/color and segmentation artifacts can remain; review notes appear for known source issues. Browser notes are user-local.

Original source: Travor278/piperx-put-cube-in-drawer-20260908-87ep at 58bbbd720f6e78d162b8f4bc7077759d34c5162f. Cabinet screen P90<=10px at640px width; 9 original sources excluded. Source selection and source mappings are preserved. This export is independent of previous HF versions. Code and evidence: https://github.com/Shiki42/real-robot-data-retime (entry-anchor implementation4de1afc, left post-open idle policy69a0325).