UWSim Auditable Underwater RGB-D Dataset v1.0

Auditable underwater simulation dataset for world model training with fail-closed publish gates. **Key Statistics:** - Total Episodes: 63 - Complete Episodes: 47 (74.6%) - Failed Episodes: 16 (kept per audit discipline) - Total Frames: 5640 - Total Size: 2.42 GB - Render Backend: packaged UE worker, real RHI (UWSIM_RENDER_RHI=1, no -nullrhi) - Physics Backend: Python Fossen (sim-only, not validated against real-world) **Audit Properties:** - All files hashed with SHA-256 (RFC 8785 canonicalization) - Failed samples preserved in `failed/` subdirectory (no deletion) - Frame count gates enforced (EPISODE_FAILED when rgb_count≠expected) - Attempt isolation via UUID namespace - Physics fidelity ledger published (validation_status=sim_only_not_validated) **License:** CC-BY-4.0 (reuse permitted with attribution) **Use Citation:** UWSim Team. (2026). UWSim Auditable Underwater RGB-D Dataset [dataset-v2-r1]. Zenodo. https://doi.org/ **Provenance:** - Collector: scripts/collect_obs_wm_episodes.py - Packaged UE: external - Root Seed: unspecified - Collection Date: 2026-08-06 For methodology and gate documents, see: - docs/PROJECT_STATUS.md - docs/gates/pi-countersign-checklist.md - docs/physics_fidelity_ledger.md