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| "variants": [ |
| "learned", |
| "teacher", |
| "open_jaw", |
| "hold", |
| "shuffled_labels" |
| ], |
| "data_grouping": "Complete episodes grouped by exact initial XY; both destinations share the same split.", |
| "training_selection": "All teacher attempts retained; only independently successful complete training episodes supply labels.", |
| "development": "Checkpoint choices and diagnostics use development cases only; all development trials remain.", |
| "confirmation": "Model and protocol hash frozen before these rollouts. No retries or result-based tuning.", |
| "timeout_s": 20, |
| "control_dt_s": 0.02, |
| "timestep_s": 0.001, |
| "mass_kg": 0.04, |
| "target_novelty": false, |
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| "physical_robot_ready": false, |
| "limitations": [ |
| "Synthetic state/action demonstrations from an authored PiPER controller, not human video or teleoperation.", |
| "Learned inference uses privileged simulator joint, TCP, object and contact measurements; no vision pipeline is trained.", |
| "Only starting-position interpolation for a 40 g rigid block and two trained destinations is evaluated.", |
| "The pinned native servo and rate limiter remain authored low-level control; no teacher, phase machine or IK is called by the student.", |
| "Uncalibrated simulated friction, contacts and actuators; no physical robot qualification or other-arm transfer.", |
| "Compute latency excludes sensing, camera processing, communication and physical actuation; CPU/GPU minima are not certified." |
| ] |
| } |
|
|
