formulas/cube_open_autonomous_validation_v1.json

{
  "canonical_patch": {
    "action_space": {
      "dimension": 7,
      "lower": [
        -0.03,
        -0.03,
        -0.03,
        -0.1,
        -0.1,
        -0.1,
        -1.0
      ],
      "upper": [
        0.03,
        0.03,
        0.03,
        0.1,
        0.1,
        0.1,
        1.0
      ]
    },
    "authored_from": {
      "category_digest": "ff1468fd83f715d0da53394dd2a00d126719c504278322721733b0d9880febc2",
      "category_id": "discovered_event_ever_true_16001350a973",
      "gain_scale": 0.5,
      "relation_ids": [
        "correct_held_planar_error",
        "correct_held_vertical_error",
        "retain_current_grasp"
      ],
      "semantics_digest": "b13b16edadec42509544feff52babe3482fe3c664caf3ba64ed21df144276caa"
    },
    "description": "Autonomously synthesized bounded correction from declared online oracle signals and controllability relations.",
    "id": "auth_discovered_event_ever_true_16001350a973_01",
    "initial_phase": "watch",
    "limits": {
      "active_window": {
        "end_exclusive": 52,
        "start": 8
      },
      "max_action_delta": [
        0.02,
        0.02,
        0.01,
        0.0,
        0.0,
        0.0,
        2.0
      ],
      "max_interventions": 24,
      "max_phase_transitions": 1,
      "max_program_steps": 60
    },
    "phases": [
      {
        "name": "watch",
        "transforms": [],
        "transitions": [
          {
            "to": "repair",
            "when": {
              "id": "diagnostic_00",
              "op": "latch",
              "value": {
                "name": "source_grasped",
                "op": "signal"
              }
            }
          }
        ]
      },
      {
        "name": "repair",
        "transforms": [
          {
            "indices": [
              0,
              1
            ],
            "op": "add",
            "value": {
              "maximum": 0.02,
              "op": "clip_norm",
              "value": {
                "factor": {
                  "op": "constant",
                  "value": 0.5
                },
                "op": "scale",
                "value": {
                  "matrix": [
                    [
                      1.0,
                      0.0
                    ],
                    [
                      0.0,
                      1.0
                    ]
                  ],
                  "op": "linear",
                  "value": {
                    "name": "held_source_planar_error_xy",
                    "op": "signal"
                  }
                }
              }
            }
          },
          {
            "indices": [
              2
            ],
            "op": "add",
            "value": {
              "maximum": 0.01,
              "op": "clip_norm",
              "value": {
                "factor": {
                  "op": "constant",
                  "value": 0.25
                },
                "op": "scale",
                "value": {
                  "matrix": [
                    [
                      -1.0
                    ]
                  ],
                  "op": "linear",
                  "value": {
                    "name": "held_source_vertical_error",
                    "op": "signal"
                  }
                }
              }
            }
          },
          {
            "indices": [
              6
            ],
            "op": "set",
            "value": {
              "op": "constant",
              "value": [
                -1.0
              ]
            }
          }
        ],
        "transitions": []
      }
    ],
    "schema_version": "sim_oracle_patch_program.v1",
    "signals": {
      "held_source_planar_error_xy": {
        "value_type": "vector",
        "width": 2
      },
      "held_source_vertical_error": {
        "value_type": "scalar"
      },
      "source_grasped": {
        "value_type": "boolean"
      }
    }
  },
  "compiler_source": {
    "path": "oracle_patching/program.py",
    "provenance": "current_compiler_reconstruction; canonical program SHA is authoritative",
    "sealed_by_source_manifest": false,
    "sha256": "ad8c56a2068ce4a0db40901fc4055bcad09e53f097b31ade3164ebfc27b60621"
  },
  "display_lines": [
    "phase watch -> repair if latch(oracle.source_grasped)",
    "phase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)",
    "phase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)",
    "phase repair: a_exec[6] := [-1.0]"
  ],
  "formula_sha256": "dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493",
  "mechanical_derivation": "compiled oracle_patching.program AST",
  "overlay_lines": [
    "phase watch -> repair if latch(oracle.source_grasped)",
    "phase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)",
    "phase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)",
    "phase repair: a_exec[6] := [-1.0]"
  ],
  "patch_id": "auth_discovered_event_ever_true_16001350a973_01",
  "patch_kind": "program",
  "runtime_source": {
    "path": "oracle_patching/program_runtime.py",
    "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative",
    "sealed_by_source_manifest": false,
    "sha256": "85bae6bc03acaf7bc214cb67af80166499fec0f636a1fcf2ef4e7827460449e7"
  },
  "schema_version": "sim_oracle_action_patch_formula.v1"
}