| # Benchmark service conventions |
|
|
| RoboDojo is the reference for **service organization and acceptance**, not a |
| universal robot controller. New integrations extend that validated design rather |
| than introduce a separate model/simulator workflow. All implemented |
| services use this layout; draft integrations are listed in [SERVICE_SUPPORT.md](SERVICE_SUPPORT.md). |
|
|
| ## Stable responsibilities |
|
|
| ```text |
| benchmarks/simBenchmarks/<benchmark>/ |
| ├── README.md # preparation, service launch, supported scope |
| ├── EVALUATION_PROTOCOL.md # native semantics, tracks, scores and limits |
| ├── server.py # import-safe factory + main(argv=None) |
| ├── server.example.json # explicit operator paths and selected track |
| ├── bench_server/ |
| │ ├── adapter.py # declared observation/action and native bridge |
| │ ├── protocol/ # dependency-light catalogs and interface rules |
| │ └── native_worker_client.py # only when a private worker is needed |
| ├── environment/ # native workers, setup, pins and readiness |
| └── checks/ # benchmark-specific conformance regressions |
| |
| AgentPolicies/<agent>/ # model-owned decisions, prompts, config, results |
| benchkit/sim_server/ # shared communication and session mechanics |
| benchkit/ # also records, source capture, audits, reports |
| ``` |
|
|
| Use the existing transport under `benchkit/sim_server/`. The model |
| actor receives only the declared observation and execution feedback. The trusted |
| driver holds service credentials and administrative/result methods; it must not |
| give these capabilities to the model. Only benchmark-owned code touches the SIM. |
| The service must not import a model implementation or legacy campaign entrypoint. |
|
|
| Register implemented services in `benchkit/sim_server/cli.py`: `rsi-bench list` |
| and `rsi-bench serve --benchmark <id> ...` delegate to the existing wrapper. |
| Do not construct a second factory path that bypasses its source inventory, |
| cache exclusions or complete-schedule rules. Availability is not native readiness. |
| Public reports identify the complete method and its outcomes; optional histories |
| show recorded inputs, outputs, actions and acknowledged feedback. Recording is |
| default on, not a participation/publication gate. Hash/source checks remain internal support; |
| recorded upstream/environment/asset provenance can support reproducibility. |
|
|
| An in-process native adapter inside the service is permitted; a second worker |
| process is needed only for runtime isolation. Do not add empty layers or duplicate |
| servers merely to make file lists identical. Migrated integrations use only |
| `bench_server/adapter.py` and, when needed, `bench_server/protocol/plan.py`. |
| Do not retain old root adapter shims or duplicate `evaluation/` packages solely |
| for compatibility. Update current callers, packaging and source inventories |
| together; frozen historical packages retain their own original sources. |
|
|
| ## Invariants shared with RoboDojo |
|
|
| 1. `server.main(argv=None)` supplies its benchmark factory and declared source |
| inventory to the common launcher. Import, construction and `describe` must not |
| reset an environment, call a model or move a robot. |
| 2. Configuration is validated before native initialization. Select only supported |
| tracks/tasks; freeze the resolved schedule and budgets before the first claim. |
| Deployment paths are operator inputs, not unreviewed protocol overrides. |
| 3. Each selected case is claimed once, including failed initialization. No hidden |
| retries, reset search, branch rollouts or replay after an uncertain control ACK. |
| 4. The declared public observation is an allowlist. Robot state is permitted when |
| specified; object truth, reset metadata, native scoring and private logs stay |
| evaluator-side. Models select actions; fixed low-level execution never solves |
| the task on their behalf. |
| 5. Record calls, executed action decisions and native controls separately. Invalid |
| actions never execute. Declare feedback versus fail-fast behavior per versioned |
| track; uncertainty about native execution remains terminal. |
| 6. Native scoring remains authoritative. Keep task failures, policy stops and |
| infrastructure errors distinct; preserve all attempts and unknown accounting. |
| 7. Source inventories include the service, protocol and required worker code. |
| Shared service capture is scoped separately from campaign/agent capture; |
| declare the selected benchmark's complete supplemental inventory without |
| relying on another benchmark or model file being incidentally captured. |
| Paired client/server records, native outcomes and media belong under the model's |
| results namespace. Only closed artifacts are exported and audited. |
|
|
| These are responsibility and protocol boundaries, not an OS sandbox or provider |
| identity attestation. Apply deployment isolation separately. |
|
|
| ## Differences that must remain benchmark-owned |
|
|
| | Aspect | Common rule | Do not copy blindly from RoboDojo | |
| | --- | --- | --- | |
| | Observation/action | Declared, versioned, validated | EEF16, three cameras, robot ACK payload | |
| | Native runtime | Service-owned and lazily initialized | Isaac Sim, worker topology, fixed IK | |
| | Schedule | Frozen selected cases, each once | Five-layout fast / 50-layout full panels | |
| | Budget | Explicit units and resolved caps | 1100 controls, number of ticks per control | |
| | Scoring | Native rule, never model self-report | Dojo's success conjunction or 0–100 score | |
| | Rejection | Never execute invalid input | A track's feedback/fail-fast selection | |
|
|
| Dojo requires its complete named panel. Other services currently allow an explicit |
| fast subset fixed at startup; this is not native-full support. Do not enable |
| `require_complete_schedule` without defining the benchmark's complete schedule. |
| SimplerEnv retains final-step scoring and separately selected rejection feedback; |
| LIBERO retains its selected task/init-state contract; SIMPLE retains its native |
| 36-value robot/controller commands. No cleanup silently changes these conditions. |
|
|
| For future real-robot backends, reuse these declared capability boundaries, not |
| the simulator's paused-time/reset assumptions. Hardware adapters require their |
| own timing, watchdog, safety, calibration and scoring validation. See |
| [real-robot status](../realRobots/README.md). |
|
|
| ## One acceptance sequence for every integration |
|
|
| | Gate | Required evidence | Does not establish | |
| | --- | --- | --- | |
| | Source/contract review | Native evaluator pins, task inventory, sensor/action/scorer mapping | A working environment | |
| | Offline regression | Import-safe entrypoint; no-reset startup; captured source; shared lifecycle/error tests plus native contract fixtures | Rendering or task success | |
| | Native readiness | Separate authorized no-model check of reset, RGB, one valid control and cleanup through the service | Model capability | |
| | Model sample | Preselected task/case once through the same server, with score, counts, errors and declared optional recording | Whole-suite SR or native-full parity | |
| | Expansion | Independent review, fixes, regression; then predeclare broader coverage | Permission to silently retry failures | |
|
|
| The cross-benchmark entrypoint regression is |
| [`benchkit/sim_server/checks/test_benchmark_conventions.py`](../../benchkit/sim_server/checks/test_benchmark_conventions.py); benchmark-specific tests and the |
| shared service tests remain required. Model samples must be separately authorized; |
| structural refactoring and offline tests do not start one. A valid completed |
| failure is useful acceptance evidence, not a reason to rewrite the scorer. |
|
|
| See [the wire protocol](SERVER_PROTOCOL.md) and [support matrix](SERVICE_SUPPORT.md) |
| for current implementation limits. A passing conformance test is not a claim that |
| all native, sensor, provider or full-schedule gates have passed. |
|
|
