Add files using upload-large-folder tool

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+vla-rollouts/minicpm_slices/manip_2048_uniform/vla_manifests/fireboy_vla_slice.jsonl filter=lfs diff=lfs merge=lfs -text

runpod_artifacts/controller/articulated_report.json

@@ -0,0 +1,364 @@
+{
+  "mode": "all",
+  "body": {
+    "mode": "body",
+    "success": true,
+    "frames": 88,
+    "gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/controller/fireboy_articulated_body.gif",
+    "mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/controller/fireboy_articulated_body.mp4",
+    "report": {
+      "xml_path": "/workspace/fireboy-vla-physics/build/fireboy_articulated.xml",
+      "nbody": 23,
+      "njnt": 33,
+      "nu": 32,
+      "actuated_joints": [
+        "root_x",
+        "root_y",
+        "root_z",
+        "root_yaw",
+        "spine_pitch",
+        "chest_yaw",
+        "neck_yaw",
+        "head_pitch",
+        "shoulder_R_yaw",
+        "shoulder_R_pitch",
+        "shoulder_R_roll",
+        "elbow_R",
+        "wrist_R_pitch",
+        "wrist_R_roll",
+        "finger_R_a",
+        "finger_R_b",
+        "shoulder_L_yaw",
+        "shoulder_L_pitch",
+        "shoulder_L_roll",
+        "elbow_L",
+        "wrist_L_pitch",
+        "wrist_L_roll",
+        "finger_L_a",
+        "finger_L_b",
+        "hip_R_yaw",
+        "hip_R_pitch",
+        "knee_R",
+        "ankle_R",
+        "hip_L_yaw",
+        "hip_L_pitch",
+        "knee_L",
+        "ankle_L"
+      ],
+      "body_tree": [
+        "root slides/yaw -> pelvis",
+        "pelvis -> spine -> chest -> neck -> head/flame",
+        "chest -> right shoulder -> right elbow -> right wrist -> right gripper fingers",
+        "chest -> left shoulder -> left elbow -> left wrist -> left gripper fingers",
+        "pelvis -> hips -> knees -> ankles -> feet"
+      ],
+      "resembles_fireboy": [
+        "orange capsule/sphere body",
+        "round head and flame/crown",
+        "short broad body proportions",
+        "visible joint markers",
+        "hands attached through shoulder/elbow/wrist chains"
+      ],
+      "not_yet": [
+        "not using the original GLB mesh as a MuJoCo visual asset",
+        "not a free-balanced humanoid locomotion policy",
+        "not ProtoMotions yet"
+      ]
+    }
+  },
+  "go": {
+    "mode": "go",
+    "success": true,
+    "frames": 75,
+    "gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/controller/fireboy_articulated_go_to_point.gif",
+    "mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/controller/fireboy_articulated_go_to_point.mp4",
+    "report": {
+      "xml_path": "/workspace/fireboy-vla-physics/build/fireboy_articulated.xml",
+      "nbody": 23,
+      "njnt": 33,
+      "nu": 32,
+      "actuated_joints": [
+        "root_x",
+        "root_y",
+        "root_z",
+        "root_yaw",
+        "spine_pitch",
+        "chest_yaw",
+        "neck_yaw",
+        "head_pitch",
+        "shoulder_R_yaw",
+        "shoulder_R_pitch",
+        "shoulder_R_roll",
+        "elbow_R",
+        "wrist_R_pitch",
+        "wrist_R_roll",
+        "finger_R_a",
+        "finger_R_b",
+        "shoulder_L_yaw",
+        "shoulder_L_pitch",
+        "shoulder_L_roll",
+        "elbow_L",
+        "wrist_L_pitch",
+        "wrist_L_roll",
+        "finger_L_a",
+        "finger_L_b",
+        "hip_R_yaw",
+        "hip_R_pitch",
+        "knee_R",
+        "ankle_R",
+        "hip_L_yaw",
+        "hip_L_pitch",
+        "knee_L",
+        "ankle_L"
+      ],
+      "body_tree": [
+        "root slides/yaw -> pelvis",
+        "pelvis -> spine -> chest -> neck -> head/flame",
+        "chest -> right shoulder -> right elbow -> right wrist -> right gripper fingers",
+        "chest -> left shoulder -> left elbow -> left wrist -> left gripper fingers",
+        "pelvis -> hips -> knees -> ankles -> feet"
+      ],
+      "resembles_fireboy": [
+        "orange capsule/sphere body",
+        "round head and flame/crown",
+        "short broad body proportions",
+        "visible joint markers",
+        "hands attached through shoulder/elbow/wrist chains"
+      ],
+      "not_yet": [
+        "not using the original GLB mesh as a MuJoCo visual asset",
+        "not a free-balanced humanoid locomotion policy",
+        "not ProtoMotions yet"
+      ],
+      "truth": "Go-to-point is an assisted controller baseline. The learned policy MP4 is rendered separately after training.",
+      "skill": "go_to_point",
+      "target_xy": [
+        0.46,
+        0.18
+      ],
+      "final_distance": 0.0
+    }
+  },
+  "run": {
+    "mode": "run",
+    "success": true,
+    "frames": 80,
+    "gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/controller/fireboy_articulated_run_around.gif",
+    "mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/controller/fireboy_articulated_run_around.mp4",
+    "report": {
+      "xml_path": "/workspace/fireboy-vla-physics/build/fireboy_articulated.xml",
+      "nbody": 23,
+      "njnt": 33,
+      "nu": 32,
+      "actuated_joints": [
+        "root_x",
+        "root_y",
+        "root_z",
+        "root_yaw",
+        "spine_pitch",
+        "chest_yaw",
+        "neck_yaw",
+        "head_pitch",
+        "shoulder_R_yaw",
+        "shoulder_R_pitch",
+        "shoulder_R_roll",
+        "elbow_R",
+        "wrist_R_pitch",
+        "wrist_R_roll",
+        "finger_R_a",
+        "finger_R_b",
+        "shoulder_L_yaw",
+        "shoulder_L_pitch",
+        "shoulder_L_roll",
+        "elbow_L",
+        "wrist_L_pitch",
+        "wrist_L_roll",
+        "finger_L_a",
+        "finger_L_b",
+        "hip_R_yaw",
+        "hip_R_pitch",
+        "knee_R",
+        "ankle_R",
+        "hip_L_yaw",
+        "hip_L_pitch",
+        "knee_L",
+        "ankle_L"
+      ],
+      "body_tree": [
+        "root slides/yaw -> pelvis",
+        "pelvis -> spine -> chest -> neck -> head/flame",
+        "chest -> right shoulder -> right elbow -> right wrist -> right gripper fingers",
+        "chest -> left shoulder -> left elbow -> left wrist -> left gripper fingers",
+        "pelvis -> hips -> knees -> ankles -> feet"
+      ],
+      "resembles_fireboy": [
+        "orange capsule/sphere body",
+        "round head and flame/crown",
+        "short broad body proportions",
+        "visible joint markers",
+        "hands attached through shoulder/elbow/wrist chains"
+      ],
+      "not_yet": [
+        "not using the original GLB mesh as a MuJoCo visual asset",
+        "not a free-balanced humanoid locomotion policy",
+        "not ProtoMotions yet"
+      ],
+      "truth": "Run-around is an assisted root locomotion controller with articulated leg/arm gait. It is not a learned ProtoMotions policy yet.",
+      "skill": "run_around"
+    }
+  },
+  "pick": {
+    "mode": "pick",
+    "success": true,
+    "frames": 92,
+    "gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/controller/fireboy_articulated_pick_up.gif",
+    "mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/controller/fireboy_articulated_pick_up.mp4",
+    "report": {
+      "xml_path": "/workspace/fireboy-vla-physics/build/fireboy_articulated.xml",
+      "nbody": 23,
+      "njnt": 33,
+      "nu": 32,
+      "actuated_joints": [
+        "root_x",
+        "root_y",
+        "root_z",
+        "root_yaw",
+        "spine_pitch",
+        "chest_yaw",
+        "neck_yaw",
+        "head_pitch",
+        "shoulder_R_yaw",
+        "shoulder_R_pitch",
+        "shoulder_R_roll",
+        "elbow_R",
+        "wrist_R_pitch",
+        "wrist_R_roll",
+        "finger_R_a",
+        "finger_R_b",
+        "shoulder_L_yaw",
+        "shoulder_L_pitch",
+        "shoulder_L_roll",
+        "elbow_L",
+        "wrist_L_pitch",
+        "wrist_L_roll",
+        "finger_L_a",
+        "finger_L_b",
+        "hip_R_yaw",
+        "hip_R_pitch",
+        "knee_R",
+        "ankle_R",
+        "hip_L_yaw",
+        "hip_L_pitch",
+        "knee_L",
+        "ankle_L"
+      ],
+      "body_tree": [
+        "root slides/yaw -> pelvis",
+        "pelvis -> spine -> chest -> neck -> head/flame",
+        "chest -> right shoulder -> right elbow -> right wrist -> right gripper fingers",
+        "chest -> left shoulder -> left elbow -> left wrist -> left gripper fingers",
+        "pelvis -> hips -> knees -> ankles -> feet"
+      ],
+      "resembles_fireboy": [
+        "orange capsule/sphere body",
+        "round head and flame/crown",
+        "short broad body proportions",
+        "visible joint markers",
+        "hands attached through shoulder/elbow/wrist chains"
+      ],
+      "not_yet": [
+        "not using the original GLB mesh as a MuJoCo visual asset",
+        "not a free-balanced humanoid locomotion policy",
+        "not ProtoMotions yet"
+      ],
+      "skill": "pick_up",
+      "success": true,
+      "grasped": true,
+      "eaten": false,
+      "final_berry_pos": [
+        0.2679,
+        -0.1023,
+        0.5204
+      ],
+      "min_mouth_dist": 0.2077,
+      "truth": "This uses the connected articulated Fireboy arm/wrist/gripper. The high-level rollout is still an expert/controller proof, not a trained general VLA policy."
+    }
+  },
+  "eat": {
+    "mode": "eat",
+    "success": true,
+    "frames": 121,
+    "gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/controller/fireboy_articulated_go_eat_berry.gif",
+    "mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/controller/fireboy_articulated_go_eat_berry.mp4",
+    "report": {
+      "xml_path": "/workspace/fireboy-vla-physics/build/fireboy_articulated.xml",
+      "nbody": 23,
+      "njnt": 33,
+      "nu": 32,
+      "actuated_joints": [
+        "root_x",
+        "root_y",
+        "root_z",
+        "root_yaw",
+        "spine_pitch",
+        "chest_yaw",
+        "neck_yaw",
+        "head_pitch",
+        "shoulder_R_yaw",
+        "shoulder_R_pitch",
+        "shoulder_R_roll",
+        "elbow_R",
+        "wrist_R_pitch",
+        "wrist_R_roll",
+        "finger_R_a",
+        "finger_R_b",
+        "shoulder_L_yaw",
+        "shoulder_L_pitch",
+        "shoulder_L_roll",
+        "elbow_L",
+        "wrist_L_pitch",
+        "wrist_L_roll",
+        "finger_L_a",
+        "finger_L_b",
+        "hip_R_yaw",
+        "hip_R_pitch",
+        "knee_R",
+        "ankle_R",
+        "hip_L_yaw",
+        "hip_L_pitch",
+        "knee_L",
+        "ankle_L"
+      ],
+      "body_tree": [
+        "root slides/yaw -> pelvis",
+        "pelvis -> spine -> chest -> neck -> head/flame",
+        "chest -> right shoulder -> right elbow -> right wrist -> right gripper fingers",
+        "chest -> left shoulder -> left elbow -> left wrist -> left gripper fingers",
+        "pelvis -> hips -> knees -> ankles -> feet"
+      ],
+      "resembles_fireboy": [
+        "orange capsule/sphere body",
+        "round head and flame/crown",
+        "short broad body proportions",
+        "visible joint markers",
+        "hands attached through shoulder/elbow/wrist chains"
+      ],
+      "not_yet": [
+        "not using the original GLB mesh as a MuJoCo visual asset",
+        "not a free-balanced humanoid locomotion policy",
+        "not ProtoMotions yet"
+      ],
+      "skill": "go_eat_berry",
+      "success": true,
+      "grasped": true,
+      "eaten": true,
+      "final_berry_pos": [
+        0.6179,
+        0.2276,
+        0.4313
+      ],
+      "min_mouth_dist": 0.0675,
+      "truth": "This uses the connected articulated Fireboy arm/wrist/gripper. The high-level rollout is still an expert/controller proof, not a trained general VLA policy."
+    }
+  }
+}

runpod_artifacts/render_gate/articulated_report.json

@@ -0,0 +1,66 @@
+{
+  "mode": "body",
+  "success": true,
+  "frames": 88,
+  "gif_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/render_gate/fireboy_articulated_body.gif",
+  "mp4_path": "/workspace/fireboy-vla-physics/build/runpod_artifacts/render_gate/fireboy_articulated_body.mp4",
+  "report": {
+    "xml_path": "/workspace/fireboy-vla-physics/build/fireboy_articulated.xml",
+    "nbody": 23,
+    "njnt": 33,
+    "nu": 32,
+    "actuated_joints": [
+      "root_x",
+      "root_y",
+      "root_z",
+      "root_yaw",
+      "spine_pitch",
+      "chest_yaw",
+      "neck_yaw",
+      "head_pitch",
+      "shoulder_R_yaw",
+      "shoulder_R_pitch",
+      "shoulder_R_roll",
+      "elbow_R",
+      "wrist_R_pitch",
+      "wrist_R_roll",
+      "finger_R_a",
+      "finger_R_b",
+      "shoulder_L_yaw",
+      "shoulder_L_pitch",
+      "shoulder_L_roll",
+      "elbow_L",
+      "wrist_L_pitch",
+      "wrist_L_roll",
+      "finger_L_a",
+      "finger_L_b",
+      "hip_R_yaw",
+      "hip_R_pitch",
+      "knee_R",
+      "ankle_R",
+      "hip_L_yaw",
+      "hip_L_pitch",
+      "knee_L",
+      "ankle_L"
+    ],
+    "body_tree": [
+      "root slides/yaw -> pelvis",
+      "pelvis -> spine -> chest -> neck -> head/flame",
+      "chest -> right shoulder -> right elbow -> right wrist -> right gripper fingers",
+      "chest -> left shoulder -> left elbow -> left wrist -> left gripper fingers",
+      "pelvis -> hips -> knees -> ankles -> feet"
+    ],
+    "resembles_fireboy": [
+      "orange capsule/sphere body",
+      "round head and flame/crown",
+      "short broad body proportions",
+      "visible joint markers",
+      "hands attached through shoulder/elbow/wrist chains"
+    ],
+    "not_yet": [
+      "not using the original GLB mesh as a MuJoCo visual asset",
+      "not a free-balanced humanoid locomotion policy",
+      "not ProtoMotions yet"
+    ]
+  }
+}