| --- |
| license: cc-by-nc-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - video |
| - robotics |
| - maniskill |
| - simpler-env |
| - simulator-oracle |
| pretty_name: SIM Oracle Working Interventions v1 |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: |
| - data/metadata.jsonl |
| - "data/train/**/*.mp4" |
| drop_labels: true |
| --- |
| |
| # SIM Oracle Working Interventions v1 |
|
|
| This is the **simulator-oracle** edition of the action-patching pipeline. It |
| uses privileged simulator metrics and is not deployment eligible. It does not |
| use metric estimators. The repository also describes the non-oracle, |
| metric-estimator path; these videos must not be represented as evidence that |
| those estimators recovered the same signals. |
|
|
| The dataset contains 132 of 132 exposed paired |
| episodes (complete). Every row |
| has a full baseline MP4, full intervention MP4, and full labelled side-by-side |
| MP4. Videos start at state frame 0 and end at terminal state frame T. The two |
| arm MP4s decode byte-identically through the state frame immediately preceding |
| the first modified action, inclusive. Natural versus canonicalized prefixes |
| and the episode-2339-style action-splice counterfactual are disclosed per row. |
|
|
| These MP4s are deterministic **simulator action-trace re-renders**, not footage |
| recorded by the original evaluations. The source runs did not save RGB or |
| video. This builder replayed their sealed float32 executed-action traces, with |
| no policy inference, from the exact source initial state and required the same |
| final state hash and terminal outcome before admitting each natural arm. |
|
|
| ## Scope and outcomes |
|
|
| This is the complete exposed cohort from four accepted held-out validation |
| runs. It includes every exposed correction, regression, unchanged success, |
| and unchanged failure—there is no outcome cherry-picking. Tuning episodes, |
| rejected candidates, and unexposed validation episodes are intentionally out of |
| scope. |
|
|
| - Corrections: **69** |
| - Regressions: **2** |
| - Exposed unchanged successes: **41** |
| - Exposed unchanged failures: **20** |
|
|
| ### Tasks |
|
|
| | Task key | Environment | Pairs | |
| | --- | --- | ---: | |
| | `cube_stack` | `StackGreenCubeOnYellowCubeBakedTexInScene-v1` | 43 | |
| | `spoon_cloth` | `PutSpoonOnTableClothInScene-v1` | 89 | |
|
|
| ### Accepted patch lineages |
|
|
| | Lineage | Search/authorship protocol | Pairs | Corrections | Regressions | Patch SHA-256 | |
| | --- | --- | ---: | ---: | ---: | --- | |
| | `cube_any_grasp_gentle_validation_v1` | fixed candidate search + automatic paired selection | 22 | 13 | 0 | `b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c` | |
| | `spoon_hybrid_regrasp_servo_validation_v1` | fixed candidate search + automatic paired selection | 42 | 22 | 0 | `ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0` | |
| | `spoon_agentic_premature_release_validation_v1` | autonomous catalog-guided failure loop | 47 | 23 | 1 | `0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a` | |
| | `cube_open_autonomous_validation_v1` | prior-free category + declarative-program synthesis | 21 | 11 | 1 | `112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699` | |
|
|
| The two fixed-search lineages are useful reviewed-library baselines. The Spoon |
| agentic lineage autonomously chose from that catalog. The open Cube lineage |
| used neither known-category nor known-patch priors: it synthesized a new |
| failure predicate and bounded declarative action program, then passed the same |
| common-inventory tuning and single disjoint-validation gate. |
|
|
| ## Videos and causal-prefix convention |
|
|
| Each arm is H.264/yuv420p at 640x480, |
| 10 fps, with 61 frames for 60 actions. The comparison is |
| 1280x720; baseline |
| is always left and intervention right. Frame `t` is the state before action |
| `t`, so the first edited action executes after the identically displayed frame |
| `t`; physical divergence can first appear at frame `t+1`. |
|
|
| Of the 132 published pairs, 129 replayed with a naturally exact |
| RGB prefix. 3 legacy pairs had small pre-edit visual |
| drift and use a transparently recorded baseline-prefix presentation splice so |
| the published arms obey the exact-prefix convention. One of those—fixed-Spoon |
| episode 2339—also had historical arm-action divergence before its recorded edit |
| and therefore uses a separately simulated canonical counterfactual: baseline |
| actions before step 27 and the sealed intervention suffix thereafter. It is |
| not represented as a naturally clean source pair. Per-row fields preserve the |
| natural-prefix status, canonical splice step, published trace kind, state/action |
| hashes, and source versus published outcome. Total canonical action splices: |
| 1. |
|
|
| ## Dataset layout |
|
|
| `data/metadata.jsonl` is Hugging Face VideoFolder metadata. It exposes exactly |
| three explicitly named video columns: `comparison_file_name` is the labelled |
| comparison, while `baseline_file_name` and `intervention_file_name` are the two |
| individual arms. |
| All paths are POSIX-relative to `data/metadata.jsonl`. |
|
|
| Each row also includes a stable `pair_id`, task/environment identity, episode |
| and batch placement, patch/formula digests, first intervention step, source and |
| published effect labels, and causal-prefix mode. Full per-pair provenance is |
| in `episodes.jsonl`, `interventions.jsonl`, and each episode's `metadata.json`. |
|
|
| Formulas are mechanically reconstructed from canonical patch config or a |
| compiled patch-program AST. Full formula JSON/text is in `formulas/`; the |
| side-by-side MP4 carries the concise exact action/trigger form and its formula |
| digest. For historical legacy runs, the oracle runtime source was not part of |
| the source manifest; the packaged current runtime is labelled reconstruction |
| provenance, while sealed executed action traces remain authoritative. |
|
|
| ## License and attribution |
|
|
| Dataset metadata and paired derivative videos are released under |
| [CC BY-NC 4.0](https://creativecommons.org/licenses/by-nc/4.0/). Simulation, |
| robot assets, environments, and policy components retain their upstream |
| licenses. Please attribute ManiSkill, SIMPLER/SimplerEnv, Octo, and the |
| underlying Bridge/WidowX task assets as applicable. This dataset is |
| non-commercial and simulator-only. |
|
|
| See `LICENSE_AND_ATTRIBUTION.md` for component-specific attribution and pinned |
| upstream revisions. This release does not redistribute or relicense policy |
| weights or upstream software. |
|
|
| ## Integrity |
|
|
| `validation_report.json` records cohort/video/prefix/size gates. |
| `SHA256SUMS` seals every material file except itself. The configured hard size |
| ceiling is 4831838208 bytes (below 5 GiB). |
|
|
| ## Limitations |
|
|
| This release covers one frozen policy, two manipulation tasks, and privileged |
| simulator-oracle signals. It demonstrates intervention behavior in simulation; |
| it does not demonstrate estimator recovery, real-robot safety, or deployment |
| eligibility. Every new task or invented program requires its own fresh paired |
| validation. |
|
|
