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COLLECTION.md

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+# v3 final dataset: collection report
+
+500 episodes, 222451 frames, 50 fps (dt 0.02 s, every 2nd ctrl step), interleaved color order.
+
+## Per-color episodes
+
+### red (100 episodes)
+- episode indices: 0..495 step 5
+- seeds: 600000..600165
+- duration: 7.87-11.95 s
+
+### green (100 episodes)
+- episode indices: 1..496 step 5
+- seeds: 610000..610137
+- duration: 7.93-12.28 s
+
+### blue (100 episodes)
+- episode indices: 2..497 step 5
+- seeds: 620000..620146
+- duration: 7.96-11.71 s
+
+### yellow (100 episodes)
+- episode indices: 3..498 step 5
+- seeds: 630001..630153
+- duration: 7.96-11.80 s
+
+### purple (100 episodes)
+- episode indices: 4..499 step 5
+- seeds: 640001..640160
+- duration: 7.87-13.27 s
+
+## Rejection stats (per worker)
+
+| color | kept | attempts | reasons |
+|---|---|---|---|
+| red | 100 | 166 | {'kept': 100, 'not_gentle': 24, 'fast_not_gentle': 36, 'duration': 2, 'box_contact': 4} |
+| green | 100 | 138 | {'kept': 100, 'not_gentle': 14, 'box_contact': 5, 'duration': 1, 'fast_not_gentle': 18} |
+| blue | 100 | 147 | {'kept': 100, 'not_gentle': 26, 'fast_not_gentle': 20, 'box_contact': 1} |
+| yellow | 100 | 154 | {'fast_not_gentle': 26, 'kept': 100, 'not_gentle': 21, 'box_contact': 7} |
+| purple | 100 | 161 | {'fast_not_gentle': 32, 'kept': 100, 'not_gentle': 22, 'duration': 3, 'box_contact': 4} |

VALIDATION.md

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+# v3 final dataset: VALIDATION
+
+Validator: datasets/validate_v3.py. Full log: act/logs/validate_v3_run2.log.
+Result: **ALL_CHECKS_PASSED** (26/26 checks OK).
+
+## Dataset summary
+
+- 500 episodes, 222451 frames, fps 50 TRUTHFUL (dt 0.02 s = every 2nd ctrl step of the 10 ms sim, k=3 slow replay).
+- Duration: 7.87-13.27 s, mean 8.89 s.
+- Schema: state (9,) qpos[0:9]; action (8,) absolute ctrl targets; 3 fisheye cams 480x480 (wrist_left, wrist_right, base).
+- Teacher: measured-qpos slow replay, k=3, rim_clear=0.045, ik_speed=0.05, n_close=60, n_hold=40 (rl/slow/SLOWDOWN.md chosen config).
+
+## Check bar (all OK, log lines in act/logs/validate_v3_run2.log)
+
+1. Episode/frame counts: parquet rows 222451 == meta total_frames; 500 episodes contiguous 0..499; global index contiguous.
+2. fps/dt truthful: timestamps start at 0, strict 0.02 s cadence in every episode (0 bad); meta fps == 50.
+3. State/action ranges: state within joint limits + 0.05 rad soft tol (max excursion 0.0242 rad); action within actuator ctrl ranges + 0.05 rad soft tol (max excursion 0.0233 rad; MuJoCo clamps ctrl internally, ctrllimited=True on all 8 actuators). All finite.
+4. Image integrity: decoded video frame counts == sum of episode lengths for all 3 cams; 10 random (episode, frame) spot-checks re-rendered from the full_qpos sidecar through the identical fisheye pipeline, MAE 1.39-3.05 (threshold 12), side-by-sides in datasets/v3/validation_pairs/.
+5. Per-timestamp delta bounds: max |dq| <= 0.06 rad and max EE displacement <= 0.015 m between consecutive frames in ALL 500 episodes (worst observed: dq 0.0353 rad, dee 0.0116 m).
+6. Contact == 0: kinematic re-simulation of every recorded frame of all 500 episodes from the qpos sidecars; ZERO robot-box contact frames anywhere; collection-time box_contact_steps == 0 for all kept episodes.
+7. Task-label consistency: per episode, task string color == pinned target color == the one cube actually inside the box at the final frame (recomputed in sim). ZERO mismatches across 500 episodes. Exactly 5 task strings.
+8. Gentle stats: all kept episodes passed the collection filter gentle AND correct AND box_contact_steps==0 AND duration in [5, 14] s (workers, act/logs/collect_v3slow_w[0-4].log); mean release vxy and peak EE speeds per color below.
+9. LeRobot API: load + strided full-range iteration clean; meta matches reality.
+
+## Per-color breakdown
+
+| color | eps | frames | dur min/mean/max (s) | peak EE mean/max (m/s) | rel vxy mean/max (m/s) | contact steps | max dq (rad) | max dEE (m) |
+|---|---|---|---|---|---|---|---|---|
+| red | 100 | 44491 | 7.87/8.89/11.95 | 0.510/0.563 | 0.020/0.200 | 0 | 0.0343 | 0.0113 |
+| green | 100 | 44038 | 7.93/8.80/12.28 | 0.510/0.579 | 0.018/0.146 | 0 | 0.0343 | 0.0116 |
+| blue | 100 | 44367 | 7.96/8.87/11.71 | 0.516/0.580 | 0.033/0.499 | 0 | 0.0345 | 0.0116 |
+| yellow | 100 | 44279 | 7.96/8.85/11.80 | 0.515/0.573 | 0.027/0.310 | 0 | 0.0353 | 0.0114 |
+| purple | 100 | 45276 | 7.87/9.05/13.27 | 0.512/0.573 | 0.025/0.258 | 0 | 0.0353 | 0.0114 |
+
+## Collection yield (per worker, one color each)
+
+| color | kept | attempts | yield | rejections |
+|---|---|---|---|---|
+| red | 100 | 166 | 60.2% | {'not_gentle': 24, 'fast_not_gentle': 36, 'duration': 2, 'box_contact': 4} |
+| green | 100 | 138 | 72.5% | {'not_gentle': 14, 'box_contact': 5, 'duration': 1, 'fast_not_gentle': 18} |
+| blue | 100 | 147 | 68.0% | {'not_gentle': 26, 'fast_not_gentle': 20, 'box_contact': 1} |
+| yellow | 100 | 154 | 64.9% | {'fast_not_gentle': 26, 'not_gentle': 21, 'box_contact': 7} |
+| purple | 100 | 161 | 62.1% | {'fast_not_gentle': 32, 'not_gentle': 22, 'duration': 3, 'box_contact': 4} |
+
+Total: 500 kept / 766 attempts (65.3% yield; SLOWDOWN.md predicted ~64%).

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