| # SimForge generated corpus | |
| LeRobotDataset v3 Parquet/MP4 layout. Lossless RGB and geometric labels remain in the source episodes. | |
| Failed recoveries are labelled negatives, not successful demonstrations. Consult meta/accepted_pairs.json and meta/quality.json. | |
| Sensor response and real robot transfer are not validated. RGB video is compressed; use source PNG/NPY for precision labels. | |