Shiki42/piperx-sortletter-20260921-140ep-ctr-2x

piperx-sortletter-20260921-140ep-ctr-2x

280 episodes, 216821 frames, 30 FPS, three 640×480 RGB views. LeRobot v3.0, 14-D action and state.

Selection in output order: ctr-2x episodes 1–280 (1-based). CTR retains two relative-timing samples per original episode (280 total); the 140ep name refers to the 140 source demonstrations.

Source: Takizz/piperx-sortletter-0911-0917-140ep-raw, pinned revision f3d743be7a21e8f9d0c5dd23c910ca50c0134ad1. provenance.json records every output-to-input mapping. Task IDs and the original task text are preserved.

Packaging preserves video bytes and all action/state/frame/timestamp values exactly. Episode and global indices are regenerated, and numeric statistics are recomputed. Only waiting before each arm starts is masked. From task start onward—including post-completion static frames—its mask is 1. Both arms can be masked only at the beginning of an original episode. The mask is float32[2], left then right: 1 includes loss, 0 excludes loss.

Reverse executes the right segment before the left. Concurrent starts both detected segments at frame zero and holds the shorter arm's final pose. CTR uses two uniform relative-timing samples per source. Retimed main-camera videos use per-episode vertical split compositing; wrists follow their respective arm clocks. This is a video counterfactual, not a certification of physical simultaneous execution or collision safety.

VALIDATION_RECEIPT.json records packaging checks. SHA256SUMS covers payloads. Source clocks and detailed source receipts are retained under meta/.

Corrected training mask

Only pre-task waiting is idle (mask=0). From task start onward mask=1, including post-completion holds. NPZ active intervals and retime.overlap describe execution timing only.