Add S1 background appearance cup augmentation: 93 verified LeRobot episodes

Three geometric groups, one lighting recipe each. Preserve every published episode and every other repository directory.

150case_data_enhance_blender_v2/README.md

@@ -1,7 +1,7 @@
 # S1 cup stacking with matched background appearance — LeRobot v2.1
 
-89 / 150 accepted native trajectories, 123270 synchronized frames,
-267 camera videos. Dataset: `dataset/s1_stack_cups_real2_three_view_video`.
+93 / 150 accepted native trajectories, 128611 synchronized frames,
+279 camera videos. Dataset: `dataset/s1_stack_cups_real2_three_view_video`.
 Three randomized geometric groups per source case; one fixed lighting recipe per trajectory.
 The photo-aligned table baseline is 0.800000 m;
 each native physical augmentation records its actual tabletop height and delta.

150case_data_enhance_blender_v2/checksums.json

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150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/README.md

@@ -1,7 +1,7 @@
 # S1 cup stacking with matched background appearance — LeRobot v2.1
 
-89 / 150 accepted native trajectories, 123270 synchronized frames,
-267 camera videos. Dataset: `dataset/s1_stack_cups_real2_three_view_video`.
+93 / 150 accepted native trajectories, 128611 synchronized frames,
+279 camera videos. Dataset: `dataset/s1_stack_cups_real2_three_view_video`.
 Three randomized geometric groups per source case; one fixed lighting recipe per trajectory.
 The photo-aligned table baseline is 0.800000 m;
 each native physical augmentation records its actual tabletop height and delta.

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/data/chunk-000/episode_000089.parquet

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150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/meta/episodes.jsonl

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150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/meta/episodes_stats.jsonl

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150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/meta/info.json

@@ -4,15 +4,15 @@
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   "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/meta/source_case_groups.json

@@ -145,11 +145,19 @@
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+    91
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   "stack_cups_ep000031": [
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+  "stack_cups_ep000032": [
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+  "stack_cups_ep000034": [
+    90
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 }

150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/meta/source_cases.jsonl

@@ -87,3 +87,7 @@
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+{"episode_index": 89, "tasks": ["Stack_the_cups_together."], "length": 1322, "start_index": 123270, "source_id": "physical_00__stack_cups_ep000032", "source_case_id": "stack_cups_ep000032", "physical_index": 0, "appearance_index": 0, "source_action_sha256": "5ead05067a05f5e1a3b06a6b648aa773795432352af8200f9b4fe3a022eff8a1", "source_episode_sha256": "fa54b10577bd3302736cfd7e392c5ee06695e57fb631eabc8ecf9cdb8ce191b1", "native_scene_sha256": "261325d9f0f4baeee4ffeca84bc514e17ba079bf05e7d35680c8ed7aa11fcf7e", "raw_actions": "../../episodes/physical_00__stack_cups_ep000032/actions_30fps.npz", "videos": {"observation.images.cam_high": "videos/chunk-000/observation.images.cam_high/episode_000089.mp4", "observation.images.cam_left_wrist": "videos/chunk-000/observation.images.cam_left_wrist/episode_000089.mp4", "observation.images.cam_right_wrist": "videos/chunk-000/observation.images.cam_right_wrist/episode_000089.mp4"}}
+{"episode_index": 90, "tasks": ["Stack_the_cups_together."], "length": 1277, "start_index": 124592, "source_id": "physical_00__stack_cups_ep000034", "source_case_id": "stack_cups_ep000034", "physical_index": 0, "appearance_index": 0, "source_action_sha256": "645f8176bba491d44524feb5a0cd18d7b56e79cf0caf2642377bcc85b0694e90", "source_episode_sha256": "5bc74d28e3917745954460af98c47504fc134ae2eae08bafa87dc691d4ea6c8d", "native_scene_sha256": "e46e064fc644ca90bfc31e6884731f6298c29200201335676f0a4f5e681d7225", "raw_actions": "../../episodes/physical_00__stack_cups_ep000034/actions_30fps.npz", "videos": {"observation.images.cam_high": "videos/chunk-000/observation.images.cam_high/episode_000090.mp4", "observation.images.cam_left_wrist": "videos/chunk-000/observation.images.cam_left_wrist/episode_000090.mp4", "observation.images.cam_right_wrist": "videos/chunk-000/observation.images.cam_right_wrist/episode_000090.mp4"}}
+{"episode_index": 91, "tasks": ["Stack_the_cups_together."], "length": 1294, "start_index": 125869, "source_id": "physical_01__stack_cups_ep000030", "source_case_id": "stack_cups_ep000030", "physical_index": 1, "appearance_index": 0, "source_action_sha256": "b880abb6e64c515b7ccaa34d860deee914f5b0c53bd18eb88c36eb45899f450b", "source_episode_sha256": "a379bd7d15770840d29901ef78cc67b9e6483794376e825066927a485cb2a7a6", "native_scene_sha256": "67c65d5abff5ce4220cf118c00171e8776caa9b6e4b38c9ffae2adefec51009b", "raw_actions": "../../episodes/physical_01__stack_cups_ep000030/actions_30fps.npz", "videos": {"observation.images.cam_high": "videos/chunk-000/observation.images.cam_high/episode_000091.mp4", "observation.images.cam_left_wrist": "videos/chunk-000/observation.images.cam_left_wrist/episode_000091.mp4", "observation.images.cam_right_wrist": "videos/chunk-000/observation.images.cam_right_wrist/episode_000091.mp4"}}
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150case_data_enhance_blender_v2/dataset/s1_stack_cups_real2_three_view_video/meta/stats.json

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150case_data_enhance_blender_v2/episodes/physical_00__stack_cups_ep000034/actions_30fps.npz

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+        "source": "User authorized adjusting table height for alignment, preserving all captured robot joints.",
+        "limitations": [
+          "Table height is fitted to images and current S1 simulator geometry; not a corrected physical tape measurement.",
+          "Manual finger pad and cup annotations have uncertainty; SDK gripper mapping remains nominal."
+        ]
+      },
+      "limitations": [
+        "Visual pinhole and material/geometry reconstruction, not hardware camera calibration.",
+        "Manual cup/finger/wall landmarks and source camera distortion limit exact pixel matching.",
+        "All three sensors render the same shared room geometry/materials and world lights.",
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+        "head_fit": {
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+          "table_center_xy_m": [
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+          "table_half_xy_m": [
+            0.6,
+            0.3
+          ],
+          "cup_centers_xy_m": [
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+          "optimizer_success": true,
+          "cost": 20.05235807868658,
+          "head_camera_translation_from_previous_native_m": [
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+            0.009488446576838838,
+            0.04476816414466045
+          ],
+          "hand_landmarks_approx_px": [
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+              483.0
+            ],
+            [
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+              491.0
+            ],
+            [
+              894.0,
+              553.0
+            ],
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+          "hand_projection_px": [
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+          "source": "User authorized adjusting table height for alignment, preserving all captured robot joints.",
+          "limitations": [
+            "Table height is fitted to images and current S1 simulator geometry; not a corrected physical tape measurement.",
+            "Manual finger pad and cup annotations have uncertainty; SDK gripper mapping remains nominal."
+          ]
+        },
+        "shared_world": true,
+        "method": "Cup rim/base, shared table back edge and shared vertical wall seam lines; fixed measured robot kinematics.",
+        "fit_revision": "Shared82cm fit followed by user-authorized80cm table-height refinement; wrist cameras translated with cup/table geometry to lift fixed robot foreground into reference frame. Right seam adjusted+7cm based on shared three-view render review.",
+        "initial_shared_fit_cost": 74.80530488066681
+      },
+      "head_fit": {
+        "schema": "rssr.s1.heightfit.head.v1",
+        "tabletop_z_m": 0.8000000099999999,
+        "table_center_xy_m": [
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+        ],
+        "table_half_xy_m": [
+          0.6,
+          0.3
+        ],
+        "cup_centers_xy_m": [
+          [
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+            -0.7247601502042893
+          ],
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+        "camera_world_position_m": [
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+          1.5504909827914213
+        ],
+        "camera_world_rotation": [
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+        ],
+        "reference_fovy_deg": 46.68734463653697,
+        "focal_px": 834.1598929781229,
+        "optimizer_success": true,
+        "cost": 20.05235807868658,
+        "head_camera_translation_from_previous_native_m": [
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+          0.009488446576838838,
+          0.04476816414466045
+        ],
+        "hand_landmarks_approx_px": [
+          [
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+            483.0
+          ],
+          [
+            297.0,
+            491.0
+          ],
+          [
+            894.0,
+            553.0
+          ],
+          [
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+            557.0
+          ]
+        ],
+        "hand_projection_px": [
+          [
+            201.9607084551119,
+            472.97423212126085
+          ],
+          [
+            296.23254453113276,
+            479.43942855616905
+          ],
+          [
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+            563.8407002841916
+          ],
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+          ]
+        ],
+        "hand_pixel_rms": 7.835444032514649,
+        "residual": [
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+          0.4476816414466045,
+          -0.14337599157070371,
+          0.17366175699004616,
+          0.12289973244530727
+        ],
+        "source": "User authorized adjusting table height for alignment, preserving all captured robot joints.",
+        "limitations": [
+          "Table height is fitted to images and current S1 simulator geometry; not a corrected physical tape measurement.",
+          "Manual finger pad and cup annotations have uncertainty; SDK gripper mapping remains nominal."
+        ]
+      },
+      "limitations": [
+        "Visual pinhole and material/geometry reconstruction, not hardware camera calibration.",
+        "Manual cup/finger/wall landmarks and source camera distortion limit exact pixel matching.",
+        "All three sensors render the same shared room geometry/materials and world lights.",
+        "Cup height9cm and bottom5.85cm remain documented priors."
+      ],
+      "camera_response_note": "Fixed per-camera exposure estimates model different sensor captures; room geometry/materials/lights remain shared.",
+      "render_policy": "Reference16:9 previews; production224square expands vertical coverage preserving horizontal FOV, no padding or deformation.",
+      "visual_review": {
+        "method": "Agent inspected all3 final64-sample reference views against supplied photos; shared room geometry and fixed parent mounts accepted as approximate visual alignment.",
+        "hardware_camera_calibration": false,
+        "reviewed_reference_samples": 64,
+        "tabletop_baseline_m": 0.8,
+        "preview_receipt": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_3x1_20261017/room_review_final80_64/preview_receipt.json",
+        "preview_receipt_sha256": "2e2d699bf79e73d82c07118814d1fc0669b465b6bd415c4278310cfdedef6ad0",
+        "strict_idle_b200_verification": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_3x1_20261017/diagnostics/gpu_preflight_1792175018743286715/verification.json",
+        "strict_idle_b200_verification_sha256": "f35bdf0f81c73bd6a96d5460e6a17eea28ea3b87ccd7db2ffa7984109eecb350",
+        "source_pose_joint_values_unchanged": true,
+        "limitations_preserved": true
+      }
+    },
+    "hardware_sdk_ready": false,
+    "assembly_revision": "uniform_decode_timestamps_v4_no_picture_reencoding"
+  }
+}

150case_data_enhance_blender_v2/manifest.json

@@ -11,9 +11,9 @@
   },
   "path_in_repo": "150case_data_enhance_blender_v2",
   "dataset_path": "dataset/s1_stack_cups_real2_three_view_video",
-  "episodes": 89,
-  "frames": 123270,
-  "videos": 267,
+  "episodes": 93,
+  "frames": 128611,
+  "videos": 279,
   "expected_episodes": 150,
   "full_campaign_complete": false,
   "source_batch": "/pfs/yichen/rssr_data_enhance+causal_map/result/sim2-real2/s1_heightfit_bgfit_v3_20261017",