diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..f12b0249a9b36d735997f1907b5a0cb6a9bebf14 --- /dev/null +++ b/README.md @@ -0,0 +1,137 @@ +--- +license: mit +task_categories: +- reinforcement-learning +- robotics +tags: +- robot-manipulation +- action-interface +- domain-adaptation +- benchmark +- maniskill +- system-identification +- belief-adaptation +- sim-to-real +pretty_name: ActionShift +--- + +# ActionShift + +Frozen splits, eval configs, and rollout logs for **ActionShift**, a benchmark that measures whether a +manipulation policy can adapt to a hidden action-interface contract without ever being told which +contract is active. Code: [github.com/Archerkattri/actionshift](https://github.com/Archerkattri/actionshift). +Model checkpoints (the frozen PPO backbones and reference adaptation methods that generated these logs): +[kattri15/actionshift-baselines](https://huggingface.co/kattri15/actionshift-baselines). + +## What is an "action-interface contract" here + +A policy emits an action vector every control step. The contract is the mapping from that vector to +controller behavior: which channel drives which joint (`permutation`), per-channel direction +(`sign`), per-channel gain (`scale`), delta-vs-absolute encoding (`target`), reference frame +(`frame`), execution delay in steps (`lag`), and gripper polarity (`gripper_inverted`). ActionShift +holds task dynamics fixed and varies only this contract, so any drop in success is attributable to the +interface and nothing else. The declared contract grammar/product space for the tournament backbones +is `configs/contracts/core.yaml` (32 contracts: 2 permutations x 4 signs x 2 scales x 2 lags, target +and frame fixed). + +## The 5 splits + +Splits are preregistered, seeded, and hash-addressed: each manifest carries a `manifest_sha256` and +every listed contract carries its own `sha256`, so disjointness between splits is test-enforced rather +than asserted. Generator: `split-v1`, seed `20260718`. + +| Split | Manifest | Rule | +|---|---|---| +| `seen` | `configs/split/manifests/seen.json` | contracts the tournament backbones were evaluated on inside the declared pool | +| `unseen_value` | `configs/split/manifests/unseen_value.json` | field values absent from the seen set | +| `unseen_composition` | `configs/split/manifests/unseen_composition.json` | field-value combinations absent from the seen set, zero contract- and composition-signature overlap with training | +| `long_lag` | `configs/split/manifests/long_lag.json` | longer execution delay than any seen contract | +| `task_transfer` | `configs/split/manifests/task_transfer.json` | held out across task family | + +Each `configs/split/*.yaml` is the split definition (name, seed, generator version, pointer to its +manifest, `require_disjoint_contracts: true`); each `configs/split/manifests/*.json` is the +materialized, hash-addressed contract list that definition resolves to. + +## Contents + +``` +configs/split/manifests/*.json 5 frozen split manifests (contract lists, sha256-addressed) +configs/split/*.yaml 5 split definitions (seed, generator, disjointness requirement) +configs/contracts/core.yaml the contract grammar / product-space manifest the tournament draws from +configs/task/*.yaml task configs (pick_cube, push_cube, peg_insertion_side) +configs/evaluation/headline.yaml headline eval sweep: backend, seeds, tasks, splits, methods, episode budget +configs/method/*.yaml per-method configs (oracle, no_adapt, probes, OSI, RMA, DualABI variants) +experiments/manifests/headline.jsonl materialized headline evaluation job matrix +artifacts/**/gate1/*oracle*.jsonl privileged-oracle rollout logs, Gate 1 slice (see below) +artifacts/**/gate0/parity/*oracle_nonidentity.jsonl privileged-oracle parity checks, Gate 0 +artifacts/**/jobs.jsonl, *verdict*.json run ledgers: job id, seed, checkpoint sha256, Wilson/paired-bootstrap verdicts +``` + +## Privileged-oracle rollout logs + +`artifacts/sprint/gate1/`, `artifacts/third_task/gate1/`, `artifacts/fourth_task/gate1/` hold the Gate 1 +oracle rollouts for the four competence-gated tasks (pick_cube, push_cube, pull_cube, stack_cube). The +oracle path knows the true active contract and encodes the canonical policy action before the hidden +wrapper executes it, so it measures the instantaneous ceiling: how well the frozen backbone does when +contract knowledge is free. Each file is one (task, split, seed) cell, 100 episodes per contract, two +contracts per cell. `jobs.jsonl` in each `sprint/gate1/` directory ties every rollout file to the exact +checkpoint `sha256` that produced it. `gate0/parity/*oracle_nonidentity.jsonl` are the earlier parity +checks (does the oracle path stay near-ceiling under a non-identity contract) that gated a task into the +tournament in the first place. + +Headline oracle result on the real ManiSkill simulator (600 episodes/cell, Wilson 95% CI, +`reports/gate1.md` on GitHub): Pick/seen 1.000 [0.994, 1.000], Push/seen 1.000 [0.994, 1.000], both +collapsing the no-adapt floor to ~0. The oracle path does **not** rescue the `long_lag` split (Pick 0.027 +[0.016, 0.043], Push 0.153 [0.127, 0.184]) — contract knowledge alone is insufficient against execution +delay, which is why a separate delay-aware backbone exists (see the model repo). + +## How these logs were generated + +The pinned official ManiSkill v3.0.1 baselines (PPO, control mode `pd_ee_delta_pose`) were trained per +task, then evaluated through a software action-interface wrapper that composes the seven contract +fields. Every oracle rollout row is one episode: seed, contract fields, per-step observations are not +retained, episode outcome and success are. Full generation code and the wrapper implementation are in +the GitHub repo (not mirrored here). + +## Honest limits + +- **Sim-only, no hardware.** Every number here comes from ManiSkill (SAPIEN/PhysX) simulation. No claim + is made about real-robot transfer of these specific contracts or rollouts. +- **Four tasks, one control mode.** pick_cube, push_cube, pull_cube, stack_cube, all `pd_ee_delta_pose`. + peg_insertion_side is excluded on backbone competence (did not clear the Gate 0 floor at the official + training budget); its Gate 0 parity log is included for the record, not as a competent-task result. +- **The oracle is a ceiling, not a target.** It is privileged (it is told the active contract) and is + reported as an upper bound for the adaptation methods, not a method to beat. +- **`long_lag` breaks the oracle too.** Do not read `long_lag` numbers as "contract knowledge fixes + everything" — see above. + +## We are not aware of a prior benchmark isolating the action-interface contract this way + +Manipulation benchmarks with domain randomization vary dynamics (mass, friction, visual appearance). +Sim-to-real and system-identification work generally targets physical parameters, not the software +mapping from policy output to controller command. After checking ASID and Dynamics-as-Prompts (the +nearest system-identification-for-control comparators) and the standard ManiSkill/robomimic benchmark +lines, we did not find a prior benchmark that holds task dynamics fixed and varies only a compositional +action-interface contract (permutation/sign/scale/target/frame/lag/gripper) with frozen, hash-addressed, +disjointness-enforced splits and a privileged-oracle ceiling. This is a scoped claim about what we +checked, not a claim of exhaustive prior-art search. + +## License + +MIT, same as the code and paper. See `LICENSE` in the [GitHub repo](https://github.com/Archerkattri/actionshift). + +## Citation + +```bibtex +@software{attri2026actionshift, + author = {Attri, Krishi}, + title = {ActionShift: Hidden compositional action-interface adaptation benchmark}, + year = {2026}, + publisher = {Zenodo}, + doi = {10.5281/zenodo.21500713}, + url = {https://github.com/Archerkattri/actionshift} +} +``` + +Zenodo DOI: [10.5281/zenodo.21500713](https://doi.org/10.5281/zenodo.21500713). If you use the ManiSkill +baselines this data was generated from, cite ManiSkill separately. diff --git a/artifacts/fourth_task/gate0/parity/stack_cube-oracle_nonidentity.jsonl b/artifacts/fourth_task/gate0/parity/stack_cube-oracle_nonidentity.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53ee88857b30fec3ecda1cf09a2940047cea7bd1 --- /dev/null +++ b/artifacts/fourth_task/gate0/parity/stack_cube-oracle_nonidentity.jsonl @@ -0,0 +1,100 @@ +{"checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "condition": "oracle_nonidentity", "episode_index": 0, "episode_steps": 50, "seed": 20260718, "success": true, "task": "stack_cube", "task_return": 44.859222412109375} +{"checkpoint_sha256": "e63cc8d8ffdca3d03553a21ea615c759b2b224493a7e7e12bee7efc29d5bad9c", "condition": "oracle_nonidentity", "episode_index": 1, "episode_steps": 50, "seed": 20260718, "success": true, "task": "stack_cube", "task_return": 43.640159606933594} 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0000000000000000000000000000000000000000..0b98478347e514aee81140fbbae6677c2d2ecea4 --- /dev/null +++ b/configs/contracts/core.yaml @@ -0,0 +1,14 @@ +schema_version: "1.0" +generator_version: "core-v1" +seed: 20260718 +dimension: 2 +product: + permutation: [[0, 1], [1, 0]] + sign: [[-1, -1], [-1, 1], [1, -1], [1, 1]] + scale: [[1.0, 1.0], [1.5, 1.5]] + lag: [0, 2] +fixed: + target: delta + frame: base + gripper_inverted: false +contract_count: 32 diff --git a/configs/evaluation/headline.yaml b/configs/evaluation/headline.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ffc68638b22d09663927d6a41639f48008d10e --- /dev/null +++ b/configs/evaluation/headline.yaml @@ -0,0 +1,19 @@ +schema_version: "1.0" +backend: maniskill +seeds: [20260718, 20260719, 20260720, 20260721, 20260722] +tasks: [pick_cube, push_cube, peg_insertion_side] +splits: [seen, unseen_value, unseen_composition, long_lag, task_transfer] +methods: + - oracle + - no_adapt + - domain_randomized + - recurrent + - osi + - rma + - random_probes + - fixed_probes + - dualabi + - dualabi_entropy +episodes_per_job: 100 +primary_metric: success_rate +confidence: 0.95 diff --git a/configs/method/domain_randomized.yaml b/configs/method/domain_randomized.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cb498280604ee8d7f3650891101eb62feee12d71 --- /dev/null +++ b/configs/method/domain_randomized.yaml @@ -0,0 +1,12 @@ +name: domain_randomized +privileged_contract_context: none +sample_training_contract_per_episode: true +history: none +actor_hidden_dim: 256 +critic_hidden_dim: 256 +ppo: + learning_rate: 0.0003 + rollout_steps: 32 + epochs: 4 + minibatch_size: 1024 + clip_ratio: 0.2 diff --git a/configs/method/dualabi.yaml b/configs/method/dualabi.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a63cc2aa5b99bcf10179e570c1bc4712a25a818a --- /dev/null +++ b/configs/method/dualabi.yaml @@ -0,0 +1,13 @@ +name: dualabi +belief: learned_factorized +information_mode: task_regret +candidate_count: 13 +candidate_radius: 0.1 +safety_weight: 4.0 +information_weight: 0.8 +terminal_weight: 1.0 +dynamics_ensemble_size: 5 +actor_hidden_dim: 256 +critic_hidden_dim: 256 +history_length: 8 +hard_safety_mask: true diff --git a/configs/method/dualabi_entropy.yaml b/configs/method/dualabi_entropy.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53316c04163b6c08363650e93331ff8167ec10c8 --- /dev/null +++ b/configs/method/dualabi_entropy.yaml @@ -0,0 +1,10 @@ +name: dualabi_entropy +belief: learned_factorized +information_mode: entropy +candidate_count: 13 +candidate_radius: 0.1 +safety_weight: 4.0 +information_weight: 0.8 +terminal_weight: 1.0 +dynamics_ensemble_size: 5 +hard_safety_mask: true diff --git a/configs/method/dualabi_exact_belief.yaml b/configs/method/dualabi_exact_belief.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c4a04f94195bcbc363b92c22998bc80e9772fea3 --- /dev/null +++ b/configs/method/dualabi_exact_belief.yaml @@ -0,0 +1,10 @@ +name: dualabi_exact_belief +belief: exact_enumerated +information_mode: task_regret +candidate_count: 13 +candidate_radius: 0.1 +safety_weight: 4.0 +information_weight: 0.8 +terminal_weight: 1.0 +dynamics_ensemble_size: 5 +hard_safety_mask: true diff --git a/configs/method/dualabi_no_information.yaml b/configs/method/dualabi_no_information.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bbfa767c92628e5e90e2fa5f046d123ac62cfb87 --- /dev/null +++ b/configs/method/dualabi_no_information.yaml @@ -0,0 +1,10 @@ +name: dualabi_no_information +belief: learned_factorized +information_mode: none +candidate_count: 13 +candidate_radius: 0.1 +safety_weight: 4.0 +information_weight: 0.0 +terminal_weight: 1.0 +dynamics_ensemble_size: 5 +hard_safety_mask: true diff --git a/configs/method/dualabi_no_safety.yaml b/configs/method/dualabi_no_safety.yaml new file mode 100644 index 0000000000000000000000000000000000000000..59d05fb105b9cc39b41f132fa455987f456022c8 --- /dev/null +++ b/configs/method/dualabi_no_safety.yaml @@ -0,0 +1,10 @@ +name: dualabi_no_safety +belief: learned_factorized +information_mode: task_regret +candidate_count: 13 +candidate_radius: 0.1 +safety_weight: 0.0 +information_weight: 0.8 +terminal_weight: 1.0 +dynamics_ensemble_size: 5 +hard_safety_mask: false diff --git a/configs/method/dualabi_no_terminal.yaml b/configs/method/dualabi_no_terminal.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ee1874e15e44f71b695e8f252e80e508ea7b9c8f --- /dev/null +++ b/configs/method/dualabi_no_terminal.yaml @@ -0,0 +1,10 @@ +name: dualabi_no_terminal +belief: learned_factorized +information_mode: task_regret +candidate_count: 13 +candidate_radius: 0.1 +safety_weight: 4.0 +information_weight: 0.8 +terminal_weight: 0.0 +dynamics_ensemble_size: 5 +hard_safety_mask: true diff --git a/configs/method/fixed_probes.yaml b/configs/method/fixed_probes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..66736df15d465ac22fce65d1c775b7e9692dea84 --- /dev/null +++ b/configs/method/fixed_probes.yaml @@ -0,0 +1,5 @@ +name: fixed_probes +probe_steps: 3 +probe_radius: 0.1 +sequence: positive_basis +then: learned_factorized diff --git a/configs/method/no_adapt.yaml b/configs/method/no_adapt.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c54a16d95cfb9c72bf1cd81dc7fc1823c07efcfe --- /dev/null +++ b/configs/method/no_adapt.yaml @@ -0,0 +1,11 @@ +name: no_adaptation +privileged_contract_context: none +history: none +actor_hidden_dim: 256 +critic_hidden_dim: 256 +ppo: + learning_rate: 0.0003 + rollout_steps: 32 + epochs: 4 + minibatch_size: 1024 + clip_ratio: 0.2 diff --git a/configs/method/oracle.yaml b/configs/method/oracle.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9c868edfb37e9983a041291d0511cd851af9a627 --- /dev/null +++ b/configs/method/oracle.yaml @@ -0,0 +1,11 @@ +name: oracle +privileged_contract_context: full_one_hot +history: none +actor_hidden_dim: 256 +critic_hidden_dim: 256 +ppo: + learning_rate: 0.0003 + rollout_steps: 32 + epochs: 4 + minibatch_size: 1024 + clip_ratio: 0.2 diff --git a/configs/method/osi.yaml b/configs/method/osi.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f222fec721db8e22c0e18328824624a50562668a --- /dev/null +++ b/configs/method/osi.yaml @@ -0,0 +1,6 @@ +name: osi +privileged_contract_context: training_labels_only +history_length: 8 +history_inputs: [observation, raw_action, next_observation, reward, done] +latent_dim: 32 +actor_hidden_dim: 256 diff --git a/configs/method/random_probes.yaml b/configs/method/random_probes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a5a141ee439aa6551202e12bfac290d921d6aa9e --- /dev/null +++ b/configs/method/random_probes.yaml @@ -0,0 +1,4 @@ +name: random_probes +probe_steps: 3 +probe_radius: 0.1 +then: learned_factorized diff --git a/configs/method/recurrent.yaml b/configs/method/recurrent.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c66f4acf513cb7de1a1796846cb306b2d4a0a77 --- /dev/null +++ b/configs/method/recurrent.yaml @@ -0,0 +1,6 @@ +name: recurrent_domain_randomization +privileged_contract_context: none +history: gru +history_inputs: [observation, previous_raw_action, reward, done] +hidden_dim: 136 +parameter_budget_tolerance: 0.10 diff --git a/configs/method/rma.yaml b/configs/method/rma.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5135b93def165751bcb0f731a84d64e1c32dd8d7 --- /dev/null +++ b/configs/method/rma.yaml @@ -0,0 +1,6 @@ +name: rma +stages: [privileged_teacher, supervised_adaptation, optional_joint_finetune] +privileged_contract_context: teacher_only +history_length: 8 +latent_dim: 32 +actor_hidden_dim: 256 diff --git a/configs/split/long_lag.yaml b/configs/split/long_lag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a59b327ab2f0ef96fa2be0ad84ebaf7763a3de9f --- /dev/null +++ b/configs/split/long_lag.yaml @@ -0,0 +1,9 @@ +schema_version: "1.0" +name: long_lag +seed: 20260718 +generator_version: "split-v1" +split_rule: long_lag +manifest: manifests/long_lag.json +train_lags: [0, 1] +test_lags: [2, 4] +require_disjoint_contracts: true diff --git a/configs/split/manifests/long_lag.json b/configs/split/manifests/long_lag.json new file mode 100644 index 0000000000000000000000000000000000000000..c4a5b013abdad17fa606929b189f6f95962901ee --- /dev/null +++ b/configs/split/manifests/long_lag.json @@ -0,0 +1,20874 @@ +{ + "generator_version": "split-v1", + "manifest_sha256": "c7ce6dcbfc66105d6ff0276ea9b88850cef483cbe27d11d532e20a32be14a740", + "rule": "long_lag", + "schema_version": "1.0", + "seed": 20260718, + "test": [ + { + "composition": [ + "permutation", + "sign", + "lag" + ], + "contract": { + "frame": "base", + "gripper_inverted": false, 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true diff --git a/configs/split/unseen_composition.yaml b/configs/split/unseen_composition.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e9d89d851151423d800775ed0311c69c2b44d8e9 --- /dev/null +++ b/configs/split/unseen_composition.yaml @@ -0,0 +1,10 @@ +schema_version: "1.0" +name: unseen_composition +seed: 20260718 +generator_version: "split-v1" +split_rule: unseen_composition +manifest: manifests/unseen_composition.json +training: individual_field_changes_and_identity +test: held_out_pair_and_triple_compositions +require_disjoint_contracts: true +require_disjoint_composition_signatures: true diff --git a/configs/split/unseen_value.yaml b/configs/split/unseen_value.yaml new file mode 100644 index 0000000000000000000000000000000000000000..48a21c4d78f5d085e10ffe40c42747af491c3f8a --- /dev/null +++ b/configs/split/unseen_value.yaml @@ -0,0 +1,10 @@ +schema_version: "1.0" +name: unseen_value +seed: 20260718 +generator_version: "split-v1" +split_rule: unseen_value +manifest: manifests/unseen_value.json +held_out_values: + scale: 0.5 + lag: 4 +require_disjoint_contracts: true diff --git a/configs/task/peg_insertion_side.yaml b/configs/task/peg_insertion_side.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2955f0ef48c3cf206c623bfd93dac853cac2382e --- /dev/null +++ b/configs/task/peg_insertion_side.yaml @@ -0,0 +1,5 @@ +name: peg_insertion_side +environment_id: PegInsertionSide-v1 +family: insertion +control_mode: pd_ee_delta_pose +max_episode_steps: 100 diff --git a/configs/task/pick_cube.yaml b/configs/task/pick_cube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1c5ecc07af1f3eddd0475051cf0e6e999bca93e7 --- /dev/null +++ b/configs/task/pick_cube.yaml @@ -0,0 +1,5 @@ +name: pick_cube +environment_id: PickCube-v1 +family: pick +control_mode: pd_ee_delta_pose +max_episode_steps: 50 diff --git a/configs/task/push_cube.yaml b/configs/task/push_cube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9ba78c81e88636c4b9a9ab5e7635dff550f0658c --- /dev/null +++ b/configs/task/push_cube.yaml @@ -0,0 +1,5 @@ +name: push_cube +environment_id: PushCube-v1 +family: push +control_mode: pd_ee_delta_pose +max_episode_steps: 50 diff --git a/experiments/manifests/headline.jsonl b/experiments/manifests/headline.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aba7506eb17772082566a1f395d8ffefddb32492 --- /dev/null +++ b/experiments/manifests/headline.jsonl @@ -0,0 +1,750 @@ +{"backend": "maniskill", "information_mode": "not_applicable", "job_id": "778b7231d38422d1", "method": "oracle", "schema_version": "1.0", "seed": 20260718, "split": "seen", "task": "pick_cube"} +{"backend": "maniskill", "information_mode": "not_applicable", "job_id": "935618ba25b4b072", "method": "oracle", "schema_version": "1.0", "seed": 20260719, "split": "seen", "task": "pick_cube"} +{"backend": "maniskill", "information_mode": "not_applicable", "job_id": 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