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README.md

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+---
+license: other
+private: true
+tags:
+  - robotics
+  - imitation-learning
+  - decentralized-control
+  - rgb-d
+---
+
+# RoboFactory Five-Task Decentralized Wrist RGB-D
+
+Private research corpus for reproducible shared-policy experiments.
+
+## Contract
+
+- 500 successful synchronized demonstrations: 100 each of LiftBarrier (2 robots), CameraAlignment (3), ThreeRobotsStackCube (3), LongPipelineDelivery (4), and TakePhoto (4).
+- A policy stream contains only one `panda_hand` wrist RGB-D observation and that robot's qpos.
+- RGB is 640×480; depth is native metric depth stored in millimetres.
+- No task ID, agent ID, peer/global/right-camera image, language, or communication is a policy input.
+- HDF5 convention: action has `T` records, while RGB/depth/qpos have `T+1` records. The final observation is the post-action state.
+
+## Reproducible training protocol
+
+All methods use the exact same corpus, held-out episode split, action chunk 100,
+ACT posterior encoder 4 layers and decoder 7 layers. Mixed-task sampling is
+hierarchical: equal probability for task, then demonstration, local arm, and
+time index. The sampling label is never supplied to the policy.
+
+The companion experiment uses frozen unseen 100-seed manifests per task and
+publishes model configurations, normalization statistics, audits, and results
+separately from this private data repository.

corpus_manifest.json

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+{
+  "version": "five_task_rgbd_v1",
+  "tasks": {
+    "lift_barrier": {
+      "episodes": 100,
+      "source": "/workspace/RoboFactory/runs/wrist_rgbd640/lift_barrier"
+    },
+    "camera_alignment": {
+      "episodes": 100,
+      "source": "/workspace/RoboFactory/runs/wrist_rgbd640/camera_alignment"
+    },
+    "three_robots_stack_cube": {
+      "episodes": 100,
+      "source": "/workspace/RoboFactory/runs/wrist_rgbd640/three_robots_stack_cube"
+    },
+    "long_pipeline_delivery": {
+      "episodes": 100,
+      "source": "/workspace/RoboFactory/runs/wrist_rgbd640/long_pipeline_delivery_atomic_canary"
+    },
+    "take_photo": {
+      "episodes": 100,
+      "source": "/workspace/RoboFactory/runs/wrist_rgbd640/take_photo"
+    }
+  },
+  "policy_input": "single local panda_hand wrist RGB-D plus local qpos",
+  "depth_unit": "millimeters"
+}