Publish paired simulator-oracle intervention videos v1
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- LICENSE_AND_ATTRIBUTION.md +25 -0
- README.md +139 -0
- SHA256SUMS +545 -0
- data/metadata.jsonl +0 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/baseline.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/intervention.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/metadata.json +360 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/side_by_side.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/baseline.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/intervention.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/metadata.json +360 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/side_by_side.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/baseline.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/intervention.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/metadata.json +380 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/side_by_side.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/baseline.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/intervention.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/metadata.json +381 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/side_by_side.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/baseline.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/intervention.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/metadata.json +385 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/side_by_side.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/baseline.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/intervention.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/metadata.json +361 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/side_by_side.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/baseline.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/intervention.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/metadata.json +384 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/side_by_side.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/baseline.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/intervention.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/metadata.json +385 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/side_by_side.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/baseline.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/intervention.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/metadata.json +385 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/side_by_side.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/baseline.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/intervention.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/metadata.json +388 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/side_by_side.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/baseline.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/intervention.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/metadata.json +360 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/side_by_side.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/baseline.mp4 +3 -0
- data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/intervention.mp4 +3 -0
LICENSE_AND_ATTRIBUTION.md
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# License and attribution
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Dataset metadata and the paired derivative videos in this release are licensed
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under the Creative Commons Attribution-NonCommercial 4.0 International license
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(CC BY-NC 4.0): https://creativecommons.org/licenses/by-nc/4.0/
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The rendered simulations use ManiSkill environments/assets and Bridge/WidowX
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task assets subject to their upstream terms, including applicable CC BY-NC 4.0
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asset terms. SimplerEnv and Octo code are MIT-licensed upstream components.
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This dataset license does not redistribute, relicense, or grant rights to Octo
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model weights, simulator software, robot assets, or any other upstream work.
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Please cite and attribute ManiSkill, SIMPLER/SimplerEnv, Octo, and the original
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Bridge/WidowX data/assets when using these derivatives.
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## Source-pinned revisions
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- ManiSkill: `8d5d754b1b5515e2e4c61b32f009a4b887eda89c`
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- SimplerEnv: `52a5088ca4bfc3a7159828af08874a198d6f95c3`
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- octo: `653c54acde686fde619855f2eac0dd6edad7116b`
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- octo-small-checkpoint: `03d88976c54a58e10480d2043a8c762b35bc2611`
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- vla-research: `aabb84d8cf6b70092e85151ab6ac92a246fc449d`
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The exact per-run software and artifact inventory remains sealed by each source
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manifest SHA-256 recorded in every dataset row.
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README.md
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---
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license: cc-by-nc-4.0
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task_categories:
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- robotics
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tags:
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- video
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- robotics
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- maniskill
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- simpler-env
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- simulator-oracle
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pretty_name: SIM Oracle Working Interventions v1
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configs:
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- config_name: default
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data_dir: data
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---
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# SIM Oracle Working Interventions v1
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This is the **simulator-oracle** edition of the action-patching pipeline. It
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uses privileged simulator metrics and is not deployment eligible. It does not
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use metric estimators. The repository also describes the non-oracle,
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metric-estimator path; these videos must not be represented as evidence that
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those estimators recovered the same signals.
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The dataset contains 132 of 132 exposed paired
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episodes (complete). Every row
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has a full baseline MP4, full intervention MP4, and full labelled side-by-side
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MP4. Videos start at state frame 0 and end at terminal state frame T. The two
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arm MP4s decode byte-identically through the state frame immediately preceding
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the first modified action, inclusive. Natural versus canonicalized prefixes
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and the episode-2339-style action-splice counterfactual are disclosed per row.
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These MP4s are deterministic **simulator action-trace re-renders**, not footage
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recorded by the original evaluations. The source runs did not save RGB or
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video. This builder replayed their sealed float32 executed-action traces, with
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no policy inference, from the exact source initial state and required the same
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final state hash and terminal outcome before admitting each natural arm.
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## Scope and outcomes
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This is the complete exposed cohort from four accepted held-out validation
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runs. It includes every exposed correction, regression, unchanged success,
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and unchanged failure—there is no outcome cherry-picking. Tuning episodes,
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rejected candidates, and unexposed validation episodes are intentionally out of
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scope.
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- Corrections: **69**
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- Regressions: **2**
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- Exposed unchanged successes: **41**
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- Exposed unchanged failures: **20**
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### Tasks
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| Task key | Environment | Pairs |
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| --- | --- | ---: |
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| `cube_stack` | `StackGreenCubeOnYellowCubeBakedTexInScene-v1` | 43 |
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| `spoon_cloth` | `PutSpoonOnTableClothInScene-v1` | 89 |
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### Accepted patch lineages
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| Lineage | Search/authorship protocol | Pairs | Corrections | Regressions | Patch SHA-256 |
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| --- | --- | ---: | ---: | ---: | --- |
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| `cube_any_grasp_gentle_validation_v1` | fixed candidate search + automatic paired selection | 22 | 13 | 0 | `b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c` |
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| `spoon_hybrid_regrasp_servo_validation_v1` | fixed candidate search + automatic paired selection | 42 | 22 | 0 | `ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0` |
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| `spoon_agentic_premature_release_validation_v1` | autonomous catalog-guided failure loop | 47 | 23 | 1 | `0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a` |
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| `cube_open_autonomous_validation_v1` | prior-free category + declarative-program synthesis | 21 | 11 | 1 | `112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699` |
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The two fixed-search lineages are useful reviewed-library baselines. The Spoon
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agentic lineage autonomously chose from that catalog. The open Cube lineage
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used neither known-category nor known-patch priors: it synthesized a new
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failure predicate and bounded declarative action program, then passed the same
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common-inventory tuning and single disjoint-validation gate.
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## Videos and causal-prefix convention
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Each arm is H.264/yuv420p at 640x480,
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10 fps, with 61 frames for 60 actions. The comparison is
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1280x720; baseline
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is always left and intervention right. Frame `t` is the state before action
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`t`, so the first edited action executes after the identically displayed frame
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`t`; physical divergence can first appear at frame `t+1`.
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Of the 132 published pairs, 129 replayed with a naturally exact
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RGB prefix. 3 legacy pairs had small pre-edit visual
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drift and use a transparently recorded baseline-prefix presentation splice so
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the published arms obey the exact-prefix convention. One of those—fixed-Spoon
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episode 2339—also had historical arm-action divergence before its recorded edit
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and therefore uses a separately simulated canonical counterfactual: baseline
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actions before step 27 and the sealed intervention suffix thereafter. It is
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not represented as a naturally clean source pair. Per-row fields preserve the
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natural-prefix status, canonical splice step, published trace kind, state/action
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hashes, and source versus published outcome. Total canonical action splices:
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1.
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## Dataset layout
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`data/metadata.jsonl` is Hugging Face VideoFolder metadata. It exposes exactly
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three video columns: stock `file_name` is the labelled comparison, while
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`baseline_file_name` and `intervention_file_name` are the two individual arms.
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All paths are POSIX-relative to `data/metadata.jsonl`.
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Each row also includes a stable `pair_id`, task/environment identity, episode
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and batch placement, patch/formula digests, first intervention step, source and
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published effect labels, and causal-prefix mode. Full per-pair provenance is
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in `episodes.jsonl`, `interventions.jsonl`, and each episode's `metadata.json`.
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Formulas are mechanically reconstructed from canonical patch config or a
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compiled patch-program AST. Full formula JSON/text is in `formulas/`; the
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side-by-side MP4 carries the concise exact action/trigger form and its formula
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digest. For historical legacy runs, the oracle runtime source was not part of
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the source manifest; the packaged current runtime is labelled reconstruction
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provenance, while sealed executed action traces remain authoritative.
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## License and attribution
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Dataset metadata and paired derivative videos are released under
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[CC BY-NC 4.0](https://creativecommons.org/licenses/by-nc/4.0/). Simulation,
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robot assets, environments, and policy components retain their upstream
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licenses. Please attribute ManiSkill, SIMPLER/SimplerEnv, Octo, and the
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underlying Bridge/WidowX task assets as applicable. This dataset is
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non-commercial and simulator-only.
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See `LICENSE_AND_ATTRIBUTION.md` for component-specific attribution and pinned
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upstream revisions. This release does not redistribute or relicense policy
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weights or upstream software.
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## Integrity
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`validation_report.json` records cohort/video/prefix/size gates.
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`SHA256SUMS` seals every material file except itself. The configured hard size
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ceiling is 4831838208 bytes (below 5 GiB).
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## Limitations
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This release covers one frozen policy, two manipulation tasks, and privileged
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simulator-oracle signals. It demonstrates intervention behavior in simulation;
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it does not demonstrate estimator recovery, real-robot safety, or deployment
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eligibility. Every new task or invented program requires its own fresh paired
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validation.
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SHA256SUMS
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| 1 |
+
b4fd0e6f08b433a8339cc8a677af57ae8334f0e4a2a1051ac3a3eb5184fd2d80 LICENSE_AND_ATTRIBUTION.md
|
| 2 |
+
0a9a547ac005b1315dfc4ed63dec318f39f2a17f29c637752ca427bff843de5e README.md
|
| 3 |
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3c618e5a7710fde6860963e96eb2fe651d760549008b464a7f5fb697c5eb76c3 data/metadata.jsonl
|
| 4 |
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09e4bed2b51c537c42cd6365e72a1ced30a09916c87933f3c651aedfc0e871c0 data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/baseline.mp4
|
| 5 |
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|
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| 28 |
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| 30 |
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| 31 |
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|
| 32 |
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|
| 33 |
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| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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|
| 42 |
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|
| 43 |
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9781405e06692871c11f1ab5d14965f367f854de37a3f0c5f5a885ee46f6ed6a data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/side_by_side.mp4
|
| 44 |
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|
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| 1 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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},
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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],
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|
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|
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|
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|
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|
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|
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}
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/side_by_side.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:ce656b7585cc3bdfd04f98b55ce77371f5a632018fdb04c586a9f95c87c5ced3
|
| 3 |
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size 635701
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/baseline.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:43f6ca985c5919aa7c38e8bf40a9465e1e9b576d1b9f9a3c382d8ce9014159cb
|
| 3 |
+
size 305093
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/intervention.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:25d08976698f5d7e8d3ca0a1148cd806baed6145528a3f6c2ec5368b156759e2
|
| 3 |
+
size 332850
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/metadata.json
ADDED
|
@@ -0,0 +1,360 @@
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|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
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|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"authorship": "known_library_candidate",
|
| 3 |
+
"causal_pair": {
|
| 4 |
+
"canonical_replay_rgb_prefix_exact": true,
|
| 5 |
+
"canonical_splice_step": null,
|
| 6 |
+
"comparison_input_camera_regions_prefix_exact": true,
|
| 7 |
+
"comparison_prefix_mode": "natural_exact",
|
| 8 |
+
"decoded_mp4_first_different_frame": 38,
|
| 9 |
+
"decoded_mp4_prefix_exact": true,
|
| 10 |
+
"natural_first_different_frame": 38,
|
| 11 |
+
"natural_rgb_prefix_exact": true,
|
| 12 |
+
"pixel_canonicalized_frame_indices": null,
|
| 13 |
+
"pixel_prefix_canonicalized": false,
|
| 14 |
+
"published_first_different_frame": 38,
|
| 15 |
+
"published_rgb_prefix_exact": true,
|
| 16 |
+
"published_trace_kind": "source_intervention",
|
| 17 |
+
"source_causal_pair_clean": true,
|
| 18 |
+
"source_preintervention_action_exact": true,
|
| 19 |
+
"source_telemetry_prefix_differences": [],
|
| 20 |
+
"source_telemetry_prefix_exact": true
|
| 21 |
+
},
|
| 22 |
+
"dataset_edition": "simulator_oracle",
|
| 23 |
+
"dataset_task_key": "cube_stack",
|
| 24 |
+
"entry_id": "cube_any_grasp_gentle_validation_v1",
|
| 25 |
+
"env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1",
|
| 26 |
+
"episode_id": 2563,
|
| 27 |
+
"instruction": "stack the green block on the yellow block",
|
| 28 |
+
"outcomes": {
|
| 29 |
+
"published_effect": "unchanged_failure",
|
| 30 |
+
"published_intervention_success": false,
|
| 31 |
+
"published_intervention_terminal_metrics": {
|
| 32 |
+
"consecutive_grasp": true,
|
| 33 |
+
"elapsed_steps": 60,
|
| 34 |
+
"is_src_obj_grasped": true,
|
| 35 |
+
"moved_correct_obj": false,
|
| 36 |
+
"moved_wrong_obj": false,
|
| 37 |
+
"src_on_target": false,
|
| 38 |
+
"success": false
|
| 39 |
+
},
|
| 40 |
+
"source_baseline_success": false,
|
| 41 |
+
"source_baseline_terminal_metrics": {
|
| 42 |
+
"consecutive_grasp": false,
|
| 43 |
+
"elapsed_steps": 60,
|
| 44 |
+
"is_src_obj_grasped": true,
|
| 45 |
+
"moved_correct_obj": false,
|
| 46 |
+
"moved_wrong_obj": false,
|
| 47 |
+
"src_on_target": false,
|
| 48 |
+
"success": false
|
| 49 |
+
},
|
| 50 |
+
"source_effect": "unchanged_failure",
|
| 51 |
+
"source_intervention_success": false,
|
| 52 |
+
"source_intervention_terminal_metrics": {
|
| 53 |
+
"consecutive_grasp": true,
|
| 54 |
+
"elapsed_steps": 60,
|
| 55 |
+
"is_src_obj_grasped": true,
|
| 56 |
+
"moved_correct_obj": false,
|
| 57 |
+
"moved_wrong_obj": false,
|
| 58 |
+
"src_on_target": false,
|
| 59 |
+
"success": false
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"pair_id": "4f379feb55debca94e70d6d8354827d2f4ef1363d5f1b8005db5dc97ef26e8ac",
|
| 63 |
+
"patch": {
|
| 64 |
+
"deployment_eligible": false,
|
| 65 |
+
"formula": {
|
| 66 |
+
"canonical_patch": {
|
| 67 |
+
"activation_planar_distance_m": 0.025,
|
| 68 |
+
"close_command": -1.0,
|
| 69 |
+
"descend_steps": 4,
|
| 70 |
+
"end_step_exclusive": 42,
|
| 71 |
+
"id": "cube_any_grasp_gentle",
|
| 72 |
+
"latch_oracle_success": true,
|
| 73 |
+
"lift_steps": 4,
|
| 74 |
+
"max_interventions_per_episode": 24,
|
| 75 |
+
"max_planar_action_m": 0.018,
|
| 76 |
+
"minimum_source_lift_m": 0.03,
|
| 77 |
+
"mode": "transport_servo",
|
| 78 |
+
"open_command": 1.0,
|
| 79 |
+
"open_threshold": 0.0,
|
| 80 |
+
"planar_gain": 0.8,
|
| 81 |
+
"regrasp_close_steps": 1,
|
| 82 |
+
"regrasp_finger_qpos_max": 0.03,
|
| 83 |
+
"regrasp_open_steps": 1,
|
| 84 |
+
"release_planar_distance_m": 0.008,
|
| 85 |
+
"release_steps": 2,
|
| 86 |
+
"required_grasp_steps": 3,
|
| 87 |
+
"schema_version": "sim_oracle_action_patch.v1",
|
| 88 |
+
"servo_steps": 9,
|
| 89 |
+
"start_step": 8,
|
| 90 |
+
"trigger_on_grasp": true,
|
| 91 |
+
"unilateral_consecutive_steps": 4,
|
| 92 |
+
"unilateral_force_min_n": 0.5,
|
| 93 |
+
"unilateral_other_force_max_n": 0.05,
|
| 94 |
+
"vertical_action_m": 0.01
|
| 95 |
+
},
|
| 96 |
+
"display_lines": [
|
| 97 |
+
"window(t) := 8 <= t < 42",
|
| 98 |
+
"budget(t) := interventions(t) < 24",
|
| 99 |
+
"proposed_open(t) := a_policy[6](t) > 0.0",
|
| 100 |
+
"target_vector_xy(t) := target_xy(t) - source_xy(t)",
|
| 101 |
+
"d_xy(t) := ||target_vector_xy(t)||_2",
|
| 102 |
+
"a_exec(t) := a_policy(t), then apply the active mode branch below",
|
| 103 |
+
"stable_grasp(t) := consecutive(grasped(t)) >= 3",
|
| 104 |
+
"transport_request(t) := proposed_open(t) OR true",
|
| 105 |
+
"transport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025",
|
| 106 |
+
"servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)",
|
| 107 |
+
"lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0",
|
| 108 |
+
"servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0",
|
| 109 |
+
"descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0",
|
| 110 |
+
"release: a_exec[:6]=0; a_exec[6]=1.0",
|
| 111 |
+
"lift -> servo after age >= 4 OR source_lift >= 0.03",
|
| 112 |
+
"servo -> descend after age >= 9 OR d_xy <= 0.008",
|
| 113 |
+
"descend -> release after age >= 4; release -> done after age >= 2",
|
| 114 |
+
"lost := active transport AND not grasped AND phase_age > 0; lost -> done",
|
| 115 |
+
"a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))",
|
| 116 |
+
"interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]",
|
| 117 |
+
"success_latch(t) := OR_{k<=t} physical_success(k)",
|
| 118 |
+
"if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)"
|
| 119 |
+
],
|
| 120 |
+
"formula_sha256": "13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33",
|
| 121 |
+
"mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime",
|
| 122 |
+
"overlay_lines": [
|
| 123 |
+
"mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))",
|
| 124 |
+
"window: 8 <= t < 42; budget: N_edit < 24",
|
| 125 |
+
"trigger=[open OR true] & grasp[3] & d_xy>=0.025",
|
| 126 |
+
"servo_xy=clip_norm(-0.8*(target-source)_xy,0.018)",
|
| 127 |
+
"phases: lift(4) -> servo(9) -> descend(4) -> release(2)",
|
| 128 |
+
"latch(success) -> [0,0,0,0,0,0,1.0]"
|
| 129 |
+
],
|
| 130 |
+
"patch_id": "cube_any_grasp_gentle",
|
| 131 |
+
"patch_kind": "legacy_config",
|
| 132 |
+
"runtime_source": {
|
| 133 |
+
"path": "oracle_patching/runtime.py",
|
| 134 |
+
"provenance": "current_runtime_reconstruction; sealed executed actions are authoritative",
|
| 135 |
+
"sealed_by_source_manifest": false,
|
| 136 |
+
"sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb"
|
| 137 |
+
},
|
| 138 |
+
"schema_version": "sim_oracle_action_patch_formula.v1"
|
| 139 |
+
},
|
| 140 |
+
"id": "cube_any_grasp_gentle",
|
| 141 |
+
"kind": "legacy_config",
|
| 142 |
+
"metric_estimators_used": false,
|
| 143 |
+
"sha256": "b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c",
|
| 144 |
+
"simulator_oracle": true
|
| 145 |
+
},
|
| 146 |
+
"patch_status": "accepted",
|
| 147 |
+
"protocol_kind": "fixed_candidate_search_with_automatic_selection",
|
| 148 |
+
"replay": {
|
| 149 |
+
"baseline_final_state_sha256": "f3f61f458ec184fb8ba94b216a31859322d0e7e6608472c239700f25b3a1c668",
|
| 150 |
+
"baseline_full_initial_state_sha256": "d3ee90861ac7122b42c4d96e015d8376453c536691280ad69293bc1a0c3b5de7",
|
| 151 |
+
"baseline_initial_state_sha256": "45ecaf5af9c3b48452c4aa3eaab7109d2942ee7fb6c5db17da56e14d6bc56c8e",
|
| 152 |
+
"environment_recovery_events": {
|
| 153 |
+
"baseline": [],
|
| 154 |
+
"published_intervention": [],
|
| 155 |
+
"source_intervention": []
|
| 156 |
+
},
|
| 157 |
+
"input": "sealed_executed_float32_action_traces",
|
| 158 |
+
"policy_inference_used": false,
|
| 159 |
+
"published_action_prefix_matches_baseline": true,
|
| 160 |
+
"published_action_suffix_matches_source_intervention": true,
|
| 161 |
+
"published_intervention_action_sha256": "6712423a97c848c9f7c4cfb717c82c66fcc12599b262c74401bbfea4ecf26267",
|
| 162 |
+
"published_intervention_final_state_sha256": "4a7435e9191518a90fd726a7689309815c88685da7a21727804f16563c4e8594",
|
| 163 |
+
"source_intervention_final_state_sha256": "4a7435e9191518a90fd726a7689309815c88685da7a21727804f16563c4e8594",
|
| 164 |
+
"source_intervention_full_initial_state_sha256": "d3ee90861ac7122b42c4d96e015d8376453c536691280ad69293bc1a0c3b5de7",
|
| 165 |
+
"source_intervention_initial_state_sha256": "45ecaf5af9c3b48452c4aa3eaab7109d2942ee7fb6c5db17da56e14d6bc56c8e",
|
| 166 |
+
"source_outcomes_verified": true,
|
| 167 |
+
"source_state_hashes_verified": true
|
| 168 |
+
},
|
| 169 |
+
"schema_version": "sim_oracle_intervention_pair.v1",
|
| 170 |
+
"scope": "all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded",
|
| 171 |
+
"source": {
|
| 172 |
+
"arm_roles": {
|
| 173 |
+
"0": "baseline",
|
| 174 |
+
"1": "intervention"
|
| 175 |
+
},
|
| 176 |
+
"baseline_action_sha256": "7ded52ae3c8aae0b6854adda4e6424e1ed0f23c3e5f16b8b1de0ec4f8968c4e4",
|
| 177 |
+
"batch_index": 160,
|
| 178 |
+
"batch_slot": 3,
|
| 179 |
+
"environment_seed": 2563,
|
| 180 |
+
"episode_id": 2563,
|
| 181 |
+
"evaluator_source_expected_sha256": "d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c",
|
| 182 |
+
"evaluator_source_match": false,
|
| 183 |
+
"evaluator_source_observed_sha256": "ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e",
|
| 184 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 39 |
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| 49 |
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| 52 |
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| 66 |
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| 69 |
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| 71 |
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|
| 380 |
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|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/side_by_side.mp4
ADDED
|
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|
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size 734709
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/baseline.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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size 368162
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/intervention.mp4
ADDED
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@@ -0,0 +1,3 @@
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size 388649
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/metadata.json
ADDED
|
@@ -0,0 +1,381 @@
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|
| 1 |
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{
|
| 2 |
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"authorship": "known_library_candidate",
|
| 3 |
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"causal_pair": {
|
| 4 |
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"canonical_replay_rgb_prefix_exact": true,
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
+
"source_telemetry_prefix_differences": [],
|
| 20 |
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"source_telemetry_prefix_exact": true
|
| 21 |
+
},
|
| 22 |
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"dataset_edition": "simulator_oracle",
|
| 23 |
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"dataset_task_key": "cube_stack",
|
| 24 |
+
"entry_id": "cube_any_grasp_gentle_validation_v1",
|
| 25 |
+
"env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1",
|
| 26 |
+
"episode_id": 2567,
|
| 27 |
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"instruction": "stack the green block on the yellow block",
|
| 28 |
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"outcomes": {
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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"success": false
|
| 49 |
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},
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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"success": false
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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|
| 63 |
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"patch": {
|
| 64 |
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|
| 65 |
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"formula": {
|
| 66 |
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|
| 67 |
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|
| 68 |
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"close_command": -1.0,
|
| 69 |
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|
| 70 |
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"end_step_exclusive": 42,
|
| 71 |
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"id": "cube_any_grasp_gentle",
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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"servo_steps": 9,
|
| 89 |
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"start_step": 8,
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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"vertical_action_m": 0.01
|
| 95 |
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},
|
| 96 |
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"display_lines": [
|
| 97 |
+
"window(t) := 8 <= t < 42",
|
| 98 |
+
"budget(t) := interventions(t) < 24",
|
| 99 |
+
"proposed_open(t) := a_policy[6](t) > 0.0",
|
| 100 |
+
"target_vector_xy(t) := target_xy(t) - source_xy(t)",
|
| 101 |
+
"d_xy(t) := ||target_vector_xy(t)||_2",
|
| 102 |
+
"a_exec(t) := a_policy(t), then apply the active mode branch below",
|
| 103 |
+
"stable_grasp(t) := consecutive(grasped(t)) >= 3",
|
| 104 |
+
"transport_request(t) := proposed_open(t) OR true",
|
| 105 |
+
"transport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025",
|
| 106 |
+
"servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)",
|
| 107 |
+
"lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0",
|
| 108 |
+
"servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0",
|
| 109 |
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"descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0",
|
| 110 |
+
"release: a_exec[:6]=0; a_exec[6]=1.0",
|
| 111 |
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|
| 112 |
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"servo -> descend after age >= 9 OR d_xy <= 0.008",
|
| 113 |
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|
| 114 |
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"lost := active transport AND not grasped AND phase_age > 0; lost -> done",
|
| 115 |
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"a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))",
|
| 116 |
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|
| 117 |
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"success_latch(t) := OR_{k<=t} physical_success(k)",
|
| 118 |
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|
| 119 |
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| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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],
|
| 130 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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}
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/side_by_side.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 807032
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/baseline.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 279320
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/intervention.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 276411
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/metadata.json
ADDED
|
@@ -0,0 +1,385 @@
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|
| 1 |
+
{
|
| 2 |
+
"authorship": "known_library_candidate",
|
| 3 |
+
"causal_pair": {
|
| 4 |
+
"canonical_replay_rgb_prefix_exact": true,
|
| 5 |
+
"canonical_splice_step": null,
|
| 6 |
+
"comparison_input_camera_regions_prefix_exact": true,
|
| 7 |
+
"comparison_prefix_mode": "natural_exact",
|
| 8 |
+
"decoded_mp4_first_different_frame": 17,
|
| 9 |
+
"decoded_mp4_prefix_exact": true,
|
| 10 |
+
"natural_first_different_frame": 17,
|
| 11 |
+
"natural_rgb_prefix_exact": true,
|
| 12 |
+
"pixel_canonicalized_frame_indices": null,
|
| 13 |
+
"pixel_prefix_canonicalized": false,
|
| 14 |
+
"published_first_different_frame": 17,
|
| 15 |
+
"published_rgb_prefix_exact": true,
|
| 16 |
+
"published_trace_kind": "source_intervention",
|
| 17 |
+
"source_causal_pair_clean": true,
|
| 18 |
+
"source_preintervention_action_exact": true,
|
| 19 |
+
"source_telemetry_prefix_differences": [],
|
| 20 |
+
"source_telemetry_prefix_exact": true
|
| 21 |
+
},
|
| 22 |
+
"dataset_edition": "simulator_oracle",
|
| 23 |
+
"dataset_task_key": "cube_stack",
|
| 24 |
+
"entry_id": "cube_any_grasp_gentle_validation_v1",
|
| 25 |
+
"env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1",
|
| 26 |
+
"episode_id": 2568,
|
| 27 |
+
"instruction": "stack the green block on the yellow block",
|
| 28 |
+
"outcomes": {
|
| 29 |
+
"published_effect": "correction",
|
| 30 |
+
"published_intervention_success": true,
|
| 31 |
+
"published_intervention_terminal_metrics": {
|
| 32 |
+
"consecutive_grasp": true,
|
| 33 |
+
"elapsed_steps": 60,
|
| 34 |
+
"is_src_obj_grasped": true,
|
| 35 |
+
"moved_correct_obj": false,
|
| 36 |
+
"moved_wrong_obj": false,
|
| 37 |
+
"src_on_target": true,
|
| 38 |
+
"success": true
|
| 39 |
+
},
|
| 40 |
+
"source_baseline_success": false,
|
| 41 |
+
"source_baseline_terminal_metrics": {
|
| 42 |
+
"consecutive_grasp": true,
|
| 43 |
+
"elapsed_steps": 60,
|
| 44 |
+
"is_src_obj_grasped": true,
|
| 45 |
+
"moved_correct_obj": false,
|
| 46 |
+
"moved_wrong_obj": false,
|
| 47 |
+
"src_on_target": false,
|
| 48 |
+
"success": false
|
| 49 |
+
},
|
| 50 |
+
"source_effect": "correction",
|
| 51 |
+
"source_intervention_success": true,
|
| 52 |
+
"source_intervention_terminal_metrics": {
|
| 53 |
+
"consecutive_grasp": true,
|
| 54 |
+
"elapsed_steps": 60,
|
| 55 |
+
"is_src_obj_grasped": true,
|
| 56 |
+
"moved_correct_obj": false,
|
| 57 |
+
"moved_wrong_obj": false,
|
| 58 |
+
"src_on_target": true,
|
| 59 |
+
"success": true
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"pair_id": "483367f85e88a4d678763ddfbaeab02d6d49143b2a65a6b3a50a8870b5dd66e0",
|
| 63 |
+
"patch": {
|
| 64 |
+
"deployment_eligible": false,
|
| 65 |
+
"formula": {
|
| 66 |
+
"canonical_patch": {
|
| 67 |
+
"activation_planar_distance_m": 0.025,
|
| 68 |
+
"close_command": -1.0,
|
| 69 |
+
"descend_steps": 4,
|
| 70 |
+
"end_step_exclusive": 42,
|
| 71 |
+
"id": "cube_any_grasp_gentle",
|
| 72 |
+
"latch_oracle_success": true,
|
| 73 |
+
"lift_steps": 4,
|
| 74 |
+
"max_interventions_per_episode": 24,
|
| 75 |
+
"max_planar_action_m": 0.018,
|
| 76 |
+
"minimum_source_lift_m": 0.03,
|
| 77 |
+
"mode": "transport_servo",
|
| 78 |
+
"open_command": 1.0,
|
| 79 |
+
"open_threshold": 0.0,
|
| 80 |
+
"planar_gain": 0.8,
|
| 81 |
+
"regrasp_close_steps": 1,
|
| 82 |
+
"regrasp_finger_qpos_max": 0.03,
|
| 83 |
+
"regrasp_open_steps": 1,
|
| 84 |
+
"release_planar_distance_m": 0.008,
|
| 85 |
+
"release_steps": 2,
|
| 86 |
+
"required_grasp_steps": 3,
|
| 87 |
+
"schema_version": "sim_oracle_action_patch.v1",
|
| 88 |
+
"servo_steps": 9,
|
| 89 |
+
"start_step": 8,
|
| 90 |
+
"trigger_on_grasp": true,
|
| 91 |
+
"unilateral_consecutive_steps": 4,
|
| 92 |
+
"unilateral_force_min_n": 0.5,
|
| 93 |
+
"unilateral_other_force_max_n": 0.05,
|
| 94 |
+
"vertical_action_m": 0.01
|
| 95 |
+
},
|
| 96 |
+
"display_lines": [
|
| 97 |
+
"window(t) := 8 <= t < 42",
|
| 98 |
+
"budget(t) := interventions(t) < 24",
|
| 99 |
+
"proposed_open(t) := a_policy[6](t) > 0.0",
|
| 100 |
+
"target_vector_xy(t) := target_xy(t) - source_xy(t)",
|
| 101 |
+
"d_xy(t) := ||target_vector_xy(t)||_2",
|
| 102 |
+
"a_exec(t) := a_policy(t), then apply the active mode branch below",
|
| 103 |
+
"stable_grasp(t) := consecutive(grasped(t)) >= 3",
|
| 104 |
+
"transport_request(t) := proposed_open(t) OR true",
|
| 105 |
+
"transport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025",
|
| 106 |
+
"servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)",
|
| 107 |
+
"lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0",
|
| 108 |
+
"servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0",
|
| 109 |
+
"descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0",
|
| 110 |
+
"release: a_exec[:6]=0; a_exec[6]=1.0",
|
| 111 |
+
"lift -> servo after age >= 4 OR source_lift >= 0.03",
|
| 112 |
+
"servo -> descend after age >= 9 OR d_xy <= 0.008",
|
| 113 |
+
"descend -> release after age >= 4; release -> done after age >= 2",
|
| 114 |
+
"lost := active transport AND not grasped AND phase_age > 0; lost -> done",
|
| 115 |
+
"a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))",
|
| 116 |
+
"interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]",
|
| 117 |
+
"success_latch(t) := OR_{k<=t} physical_success(k)",
|
| 118 |
+
"if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)"
|
| 119 |
+
],
|
| 120 |
+
"formula_sha256": "13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33",
|
| 121 |
+
"mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime",
|
| 122 |
+
"overlay_lines": [
|
| 123 |
+
"mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))",
|
| 124 |
+
"window: 8 <= t < 42; budget: N_edit < 24",
|
| 125 |
+
"trigger=[open OR true] & grasp[3] & d_xy>=0.025",
|
| 126 |
+
"servo_xy=clip_norm(-0.8*(target-source)_xy,0.018)",
|
| 127 |
+
"phases: lift(4) -> servo(9) -> descend(4) -> release(2)",
|
| 128 |
+
"latch(success) -> [0,0,0,0,0,0,1.0]"
|
| 129 |
+
],
|
| 130 |
+
"patch_id": "cube_any_grasp_gentle",
|
| 131 |
+
"patch_kind": "legacy_config",
|
| 132 |
+
"runtime_source": {
|
| 133 |
+
"path": "oracle_patching/runtime.py",
|
| 134 |
+
"provenance": "current_runtime_reconstruction; sealed executed actions are authoritative",
|
| 135 |
+
"sealed_by_source_manifest": false,
|
| 136 |
+
"sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb"
|
| 137 |
+
},
|
| 138 |
+
"schema_version": "sim_oracle_action_patch_formula.v1"
|
| 139 |
+
},
|
| 140 |
+
"id": "cube_any_grasp_gentle",
|
| 141 |
+
"kind": "legacy_config",
|
| 142 |
+
"metric_estimators_used": false,
|
| 143 |
+
"sha256": "b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c",
|
| 144 |
+
"simulator_oracle": true
|
| 145 |
+
},
|
| 146 |
+
"patch_status": "accepted",
|
| 147 |
+
"protocol_kind": "fixed_candidate_search_with_automatic_selection",
|
| 148 |
+
"replay": {
|
| 149 |
+
"baseline_final_state_sha256": "58feb688c240f77b7bcf5517950957546f782fd519232c41e989e82d06bf467b",
|
| 150 |
+
"baseline_full_initial_state_sha256": "1728739b5e5411251230c14958cef391348e6f1b5cbe6ff1b807f7cc59785930",
|
| 151 |
+
"baseline_initial_state_sha256": "79fda7297685c1c834ee829acc5725a3792e04aebea6ab566197bb53acc76170",
|
| 152 |
+
"environment_recovery_events": {
|
| 153 |
+
"baseline": [],
|
| 154 |
+
"published_intervention": [],
|
| 155 |
+
"source_intervention": []
|
| 156 |
+
},
|
| 157 |
+
"input": "sealed_executed_float32_action_traces",
|
| 158 |
+
"policy_inference_used": false,
|
| 159 |
+
"published_action_prefix_matches_baseline": true,
|
| 160 |
+
"published_action_suffix_matches_source_intervention": true,
|
| 161 |
+
"published_intervention_action_sha256": "e1a09cdb32084c30624564590fb6207c557c048041ca02db6a4e94dfc9a43625",
|
| 162 |
+
"published_intervention_final_state_sha256": "5d47287566c164325c0a969d5af8acd73ef12abbe58559f600d7e533b3eea6bc",
|
| 163 |
+
"source_intervention_final_state_sha256": "5d47287566c164325c0a969d5af8acd73ef12abbe58559f600d7e533b3eea6bc",
|
| 164 |
+
"source_intervention_full_initial_state_sha256": "1728739b5e5411251230c14958cef391348e6f1b5cbe6ff1b807f7cc59785930",
|
| 165 |
+
"source_intervention_initial_state_sha256": "79fda7297685c1c834ee829acc5725a3792e04aebea6ab566197bb53acc76170",
|
| 166 |
+
"source_outcomes_verified": true,
|
| 167 |
+
"source_state_hashes_verified": true
|
| 168 |
+
},
|
| 169 |
+
"schema_version": "sim_oracle_intervention_pair.v1",
|
| 170 |
+
"scope": "all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded",
|
| 171 |
+
"source": {
|
| 172 |
+
"arm_roles": {
|
| 173 |
+
"0": "baseline",
|
| 174 |
+
"1": "intervention"
|
| 175 |
+
},
|
| 176 |
+
"baseline_action_sha256": "49bae6a80bea695979d8271945bdbff4c53bdfb6065cdc9c63568fd8f013d84b",
|
| 177 |
+
"batch_index": 160,
|
| 178 |
+
"batch_slot": 8,
|
| 179 |
+
"environment_seed": 2568,
|
| 180 |
+
"episode_id": 2568,
|
| 181 |
+
"evaluator_source_expected_sha256": "d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c",
|
| 182 |
+
"evaluator_source_match": false,
|
| 183 |
+
"evaluator_source_observed_sha256": "ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e",
|
| 184 |
+
"formula_trace_validation": {
|
| 185 |
+
"formula_trace_semantics_verified": true,
|
| 186 |
+
"intervention_count_exact": true,
|
| 187 |
+
"legacy_reconstructed_action_max_abs_error": 1.862645149230957e-09,
|
| 188 |
+
"modified_mask_exact": true
|
| 189 |
+
},
|
| 190 |
+
"intervention_action_sha256": "e1a09cdb32084c30624564590fb6207c557c048041ca02db6a4e94dfc9a43625",
|
| 191 |
+
"manifest_sha256": "e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db",
|
| 192 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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|
| 24 |
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| 25 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 39 |
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| 49 |
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| 51 |
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| 114 |
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"bytes": 661675,
|
| 329 |
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"codec_fourcc": "h264",
|
| 330 |
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"codec_name": "h264",
|
| 331 |
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"decoded_frames": 61,
|
| 332 |
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"decoded_trace_sha256": "c5b8a6149142f59faaf7360b2ac20143dc680d735348343612f16e478bf22103",
|
| 333 |
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"duration_seconds": 6.1,
|
| 334 |
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"file_name": "data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/side_by_side.mp4",
|
| 335 |
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"fps": 10.0,
|
| 336 |
+
"frames": 61,
|
| 337 |
+
"height": 720,
|
| 338 |
+
"pixel_format": "yuv420p",
|
| 339 |
+
"probe_backend": "opencv_plus_ffmpeg_demux",
|
| 340 |
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"sha256": "deb8c6aee2fcccd4480d9281a0a10cc0a94cef0834ec900b2967f4a4ad053307",
|
| 341 |
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|
| 342 |
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|
| 343 |
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"intervention": {
|
| 344 |
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"audio_streams": 0,
|
| 345 |
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"bytes": 307959,
|
| 346 |
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"codec_fourcc": "h264",
|
| 347 |
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"codec_name": "h264",
|
| 348 |
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"decoded_frames": 61,
|
| 349 |
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"decoded_trace_sha256": "173567c4cd5a32b11a42a3b8a2e1ef0c96079915af65b4ca699867552a921a67",
|
| 350 |
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"duration_seconds": 6.1,
|
| 351 |
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"file_name": "data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/intervention.mp4",
|
| 352 |
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"fps": 10.0,
|
| 353 |
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"frames": 61,
|
| 354 |
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"height": 480,
|
| 355 |
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"pixel_format": "yuv420p",
|
| 356 |
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"probe_backend": "opencv_plus_ffmpeg_demux",
|
| 357 |
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"sha256": "3786712acc8d11d1d1e60761b06280c1c93523694eb82ebd94a26ce5ac725657",
|
| 358 |
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"width": 640
|
| 359 |
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}
|
| 360 |
+
}
|
| 361 |
+
}
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/side_by_side.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:deb8c6aee2fcccd4480d9281a0a10cc0a94cef0834ec900b2967f4a4ad053307
|
| 3 |
+
size 661675
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/baseline.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:debfd0d2e3396a507b2ab7b92cf083dbfdc49372b5d36ed382784aec7c28fb65
|
| 3 |
+
size 315922
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/intervention.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:fd9830fcd70c596605b07b55e2fd72d03564a42a2e8022112f8f6157b40d110b
|
| 3 |
+
size 308275
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/metadata.json
ADDED
|
@@ -0,0 +1,384 @@
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
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|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"authorship": "known_library_candidate",
|
| 3 |
+
"causal_pair": {
|
| 4 |
+
"canonical_replay_rgb_prefix_exact": true,
|
| 5 |
+
"canonical_splice_step": null,
|
| 6 |
+
"comparison_input_camera_regions_prefix_exact": true,
|
| 7 |
+
"comparison_prefix_mode": "natural_exact",
|
| 8 |
+
"decoded_mp4_first_different_frame": 18,
|
| 9 |
+
"decoded_mp4_prefix_exact": true,
|
| 10 |
+
"natural_first_different_frame": 18,
|
| 11 |
+
"natural_rgb_prefix_exact": true,
|
| 12 |
+
"pixel_canonicalized_frame_indices": null,
|
| 13 |
+
"pixel_prefix_canonicalized": false,
|
| 14 |
+
"published_first_different_frame": 18,
|
| 15 |
+
"published_rgb_prefix_exact": true,
|
| 16 |
+
"published_trace_kind": "source_intervention",
|
| 17 |
+
"source_causal_pair_clean": true,
|
| 18 |
+
"source_preintervention_action_exact": true,
|
| 19 |
+
"source_telemetry_prefix_differences": [],
|
| 20 |
+
"source_telemetry_prefix_exact": true
|
| 21 |
+
},
|
| 22 |
+
"dataset_edition": "simulator_oracle",
|
| 23 |
+
"dataset_task_key": "cube_stack",
|
| 24 |
+
"entry_id": "cube_any_grasp_gentle_validation_v1",
|
| 25 |
+
"env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1",
|
| 26 |
+
"episode_id": 2572,
|
| 27 |
+
"instruction": "stack the green block on the yellow block",
|
| 28 |
+
"outcomes": {
|
| 29 |
+
"published_effect": "unchanged_success",
|
| 30 |
+
"published_intervention_success": true,
|
| 31 |
+
"published_intervention_terminal_metrics": {
|
| 32 |
+
"consecutive_grasp": true,
|
| 33 |
+
"elapsed_steps": 60,
|
| 34 |
+
"is_src_obj_grasped": true,
|
| 35 |
+
"moved_correct_obj": false,
|
| 36 |
+
"moved_wrong_obj": false,
|
| 37 |
+
"src_on_target": true,
|
| 38 |
+
"success": true
|
| 39 |
+
},
|
| 40 |
+
"source_baseline_success": true,
|
| 41 |
+
"source_baseline_terminal_metrics": {
|
| 42 |
+
"consecutive_grasp": true,
|
| 43 |
+
"elapsed_steps": 60,
|
| 44 |
+
"is_src_obj_grasped": true,
|
| 45 |
+
"moved_correct_obj": false,
|
| 46 |
+
"moved_wrong_obj": false,
|
| 47 |
+
"src_on_target": true,
|
| 48 |
+
"success": true
|
| 49 |
+
},
|
| 50 |
+
"source_effect": "unchanged_success",
|
| 51 |
+
"source_intervention_success": true,
|
| 52 |
+
"source_intervention_terminal_metrics": {
|
| 53 |
+
"consecutive_grasp": true,
|
| 54 |
+
"elapsed_steps": 60,
|
| 55 |
+
"is_src_obj_grasped": true,
|
| 56 |
+
"moved_correct_obj": false,
|
| 57 |
+
"moved_wrong_obj": false,
|
| 58 |
+
"src_on_target": true,
|
| 59 |
+
"success": true
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"pair_id": "f2f8319edb23c280ecc7a475e2b6706fa419977fb4469e96f61d4d7a7b044fc1",
|
| 63 |
+
"patch": {
|
| 64 |
+
"deployment_eligible": false,
|
| 65 |
+
"formula": {
|
| 66 |
+
"canonical_patch": {
|
| 67 |
+
"activation_planar_distance_m": 0.025,
|
| 68 |
+
"close_command": -1.0,
|
| 69 |
+
"descend_steps": 4,
|
| 70 |
+
"end_step_exclusive": 42,
|
| 71 |
+
"id": "cube_any_grasp_gentle",
|
| 72 |
+
"latch_oracle_success": true,
|
| 73 |
+
"lift_steps": 4,
|
| 74 |
+
"max_interventions_per_episode": 24,
|
| 75 |
+
"max_planar_action_m": 0.018,
|
| 76 |
+
"minimum_source_lift_m": 0.03,
|
| 77 |
+
"mode": "transport_servo",
|
| 78 |
+
"open_command": 1.0,
|
| 79 |
+
"open_threshold": 0.0,
|
| 80 |
+
"planar_gain": 0.8,
|
| 81 |
+
"regrasp_close_steps": 1,
|
| 82 |
+
"regrasp_finger_qpos_max": 0.03,
|
| 83 |
+
"regrasp_open_steps": 1,
|
| 84 |
+
"release_planar_distance_m": 0.008,
|
| 85 |
+
"release_steps": 2,
|
| 86 |
+
"required_grasp_steps": 3,
|
| 87 |
+
"schema_version": "sim_oracle_action_patch.v1",
|
| 88 |
+
"servo_steps": 9,
|
| 89 |
+
"start_step": 8,
|
| 90 |
+
"trigger_on_grasp": true,
|
| 91 |
+
"unilateral_consecutive_steps": 4,
|
| 92 |
+
"unilateral_force_min_n": 0.5,
|
| 93 |
+
"unilateral_other_force_max_n": 0.05,
|
| 94 |
+
"vertical_action_m": 0.01
|
| 95 |
+
},
|
| 96 |
+
"display_lines": [
|
| 97 |
+
"window(t) := 8 <= t < 42",
|
| 98 |
+
"budget(t) := interventions(t) < 24",
|
| 99 |
+
"proposed_open(t) := a_policy[6](t) > 0.0",
|
| 100 |
+
"target_vector_xy(t) := target_xy(t) - source_xy(t)",
|
| 101 |
+
"d_xy(t) := ||target_vector_xy(t)||_2",
|
| 102 |
+
"a_exec(t) := a_policy(t), then apply the active mode branch below",
|
| 103 |
+
"stable_grasp(t) := consecutive(grasped(t)) >= 3",
|
| 104 |
+
"transport_request(t) := proposed_open(t) OR true",
|
| 105 |
+
"transport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025",
|
| 106 |
+
"servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)",
|
| 107 |
+
"lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0",
|
| 108 |
+
"servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0",
|
| 109 |
+
"descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0",
|
| 110 |
+
"release: a_exec[:6]=0; a_exec[6]=1.0",
|
| 111 |
+
"lift -> servo after age >= 4 OR source_lift >= 0.03",
|
| 112 |
+
"servo -> descend after age >= 9 OR d_xy <= 0.008",
|
| 113 |
+
"descend -> release after age >= 4; release -> done after age >= 2",
|
| 114 |
+
"lost := active transport AND not grasped AND phase_age > 0; lost -> done",
|
| 115 |
+
"a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))",
|
| 116 |
+
"interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]",
|
| 117 |
+
"success_latch(t) := OR_{k<=t} physical_success(k)",
|
| 118 |
+
"if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)"
|
| 119 |
+
],
|
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/side_by_side.mp4
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/baseline.mp4
ADDED
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@@ -0,0 +1,3 @@
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size 281827
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/intervention.mp4
ADDED
|
@@ -0,0 +1,3 @@
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/metadata.json
ADDED
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@@ -0,0 +1,385 @@
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|
| 1 |
+
{
|
| 2 |
+
"authorship": "known_library_candidate",
|
| 3 |
+
"causal_pair": {
|
| 4 |
+
"canonical_replay_rgb_prefix_exact": true,
|
| 5 |
+
"canonical_splice_step": null,
|
| 6 |
+
"comparison_input_camera_regions_prefix_exact": true,
|
| 7 |
+
"comparison_prefix_mode": "natural_exact",
|
| 8 |
+
"decoded_mp4_first_different_frame": 17,
|
| 9 |
+
"decoded_mp4_prefix_exact": true,
|
| 10 |
+
"natural_first_different_frame": 17,
|
| 11 |
+
"natural_rgb_prefix_exact": true,
|
| 12 |
+
"pixel_canonicalized_frame_indices": null,
|
| 13 |
+
"pixel_prefix_canonicalized": false,
|
| 14 |
+
"published_first_different_frame": 17,
|
| 15 |
+
"published_rgb_prefix_exact": true,
|
| 16 |
+
"published_trace_kind": "source_intervention",
|
| 17 |
+
"source_causal_pair_clean": true,
|
| 18 |
+
"source_preintervention_action_exact": true,
|
| 19 |
+
"source_telemetry_prefix_differences": [],
|
| 20 |
+
"source_telemetry_prefix_exact": true
|
| 21 |
+
},
|
| 22 |
+
"dataset_edition": "simulator_oracle",
|
| 23 |
+
"dataset_task_key": "cube_stack",
|
| 24 |
+
"entry_id": "cube_any_grasp_gentle_validation_v1",
|
| 25 |
+
"env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1",
|
| 26 |
+
"episode_id": 2575,
|
| 27 |
+
"instruction": "stack the green block on the yellow block",
|
| 28 |
+
"outcomes": {
|
| 29 |
+
"published_effect": "correction",
|
| 30 |
+
"published_intervention_success": true,
|
| 31 |
+
"published_intervention_terminal_metrics": {
|
| 32 |
+
"consecutive_grasp": true,
|
| 33 |
+
"elapsed_steps": 60,
|
| 34 |
+
"is_src_obj_grasped": true,
|
| 35 |
+
"moved_correct_obj": false,
|
| 36 |
+
"moved_wrong_obj": false,
|
| 37 |
+
"src_on_target": true,
|
| 38 |
+
"success": true
|
| 39 |
+
},
|
| 40 |
+
"source_baseline_success": false,
|
| 41 |
+
"source_baseline_terminal_metrics": {
|
| 42 |
+
"consecutive_grasp": true,
|
| 43 |
+
"elapsed_steps": 60,
|
| 44 |
+
"is_src_obj_grasped": true,
|
| 45 |
+
"moved_correct_obj": false,
|
| 46 |
+
"moved_wrong_obj": false,
|
| 47 |
+
"src_on_target": false,
|
| 48 |
+
"success": false
|
| 49 |
+
},
|
| 50 |
+
"source_effect": "correction",
|
| 51 |
+
"source_intervention_success": true,
|
| 52 |
+
"source_intervention_terminal_metrics": {
|
| 53 |
+
"consecutive_grasp": true,
|
| 54 |
+
"elapsed_steps": 60,
|
| 55 |
+
"is_src_obj_grasped": true,
|
| 56 |
+
"moved_correct_obj": false,
|
| 57 |
+
"moved_wrong_obj": false,
|
| 58 |
+
"src_on_target": true,
|
| 59 |
+
"success": true
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"pair_id": "67a9e3a593cc68a67455c69b5f40124a6ea225faf5223a40f47d23672dc59e5f",
|
| 63 |
+
"patch": {
|
| 64 |
+
"deployment_eligible": false,
|
| 65 |
+
"formula": {
|
| 66 |
+
"canonical_patch": {
|
| 67 |
+
"activation_planar_distance_m": 0.025,
|
| 68 |
+
"close_command": -1.0,
|
| 69 |
+
"descend_steps": 4,
|
| 70 |
+
"end_step_exclusive": 42,
|
| 71 |
+
"id": "cube_any_grasp_gentle",
|
| 72 |
+
"latch_oracle_success": true,
|
| 73 |
+
"lift_steps": 4,
|
| 74 |
+
"max_interventions_per_episode": 24,
|
| 75 |
+
"max_planar_action_m": 0.018,
|
| 76 |
+
"minimum_source_lift_m": 0.03,
|
| 77 |
+
"mode": "transport_servo",
|
| 78 |
+
"open_command": 1.0,
|
| 79 |
+
"open_threshold": 0.0,
|
| 80 |
+
"planar_gain": 0.8,
|
| 81 |
+
"regrasp_close_steps": 1,
|
| 82 |
+
"regrasp_finger_qpos_max": 0.03,
|
| 83 |
+
"regrasp_open_steps": 1,
|
| 84 |
+
"release_planar_distance_m": 0.008,
|
| 85 |
+
"release_steps": 2,
|
| 86 |
+
"required_grasp_steps": 3,
|
| 87 |
+
"schema_version": "sim_oracle_action_patch.v1",
|
| 88 |
+
"servo_steps": 9,
|
| 89 |
+
"start_step": 8,
|
| 90 |
+
"trigger_on_grasp": true,
|
| 91 |
+
"unilateral_consecutive_steps": 4,
|
| 92 |
+
"unilateral_force_min_n": 0.5,
|
| 93 |
+
"unilateral_other_force_max_n": 0.05,
|
| 94 |
+
"vertical_action_m": 0.01
|
| 95 |
+
},
|
| 96 |
+
"display_lines": [
|
| 97 |
+
"window(t) := 8 <= t < 42",
|
| 98 |
+
"budget(t) := interventions(t) < 24",
|
| 99 |
+
"proposed_open(t) := a_policy[6](t) > 0.0",
|
| 100 |
+
"target_vector_xy(t) := target_xy(t) - source_xy(t)",
|
| 101 |
+
"d_xy(t) := ||target_vector_xy(t)||_2",
|
| 102 |
+
"a_exec(t) := a_policy(t), then apply the active mode branch below",
|
| 103 |
+
"stable_grasp(t) := consecutive(grasped(t)) >= 3",
|
| 104 |
+
"transport_request(t) := proposed_open(t) OR true",
|
| 105 |
+
"transport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025",
|
| 106 |
+
"servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)",
|
| 107 |
+
"lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0",
|
| 108 |
+
"servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0",
|
| 109 |
+
"descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0",
|
| 110 |
+
"release: a_exec[:6]=0; a_exec[6]=1.0",
|
| 111 |
+
"lift -> servo after age >= 4 OR source_lift >= 0.03",
|
| 112 |
+
"servo -> descend after age >= 9 OR d_xy <= 0.008",
|
| 113 |
+
"descend -> release after age >= 4; release -> done after age >= 2",
|
| 114 |
+
"lost := active transport AND not grasped AND phase_age > 0; lost -> done",
|
| 115 |
+
"a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))",
|
| 116 |
+
"interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]",
|
| 117 |
+
"success_latch(t) := OR_{k<=t} physical_success(k)",
|
| 118 |
+
"if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)"
|
| 119 |
+
],
|
| 120 |
+
"formula_sha256": "13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33",
|
| 121 |
+
"mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime",
|
| 122 |
+
"overlay_lines": [
|
| 123 |
+
"mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))",
|
| 124 |
+
"window: 8 <= t < 42; budget: N_edit < 24",
|
| 125 |
+
"trigger=[open OR true] & grasp[3] & d_xy>=0.025",
|
| 126 |
+
"servo_xy=clip_norm(-0.8*(target-source)_xy,0.018)",
|
| 127 |
+
"phases: lift(4) -> servo(9) -> descend(4) -> release(2)",
|
| 128 |
+
"latch(success) -> [0,0,0,0,0,0,1.0]"
|
| 129 |
+
],
|
| 130 |
+
"patch_id": "cube_any_grasp_gentle",
|
| 131 |
+
"patch_kind": "legacy_config",
|
| 132 |
+
"runtime_source": {
|
| 133 |
+
"path": "oracle_patching/runtime.py",
|
| 134 |
+
"provenance": "current_runtime_reconstruction; sealed executed actions are authoritative",
|
| 135 |
+
"sealed_by_source_manifest": false,
|
| 136 |
+
"sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb"
|
| 137 |
+
},
|
| 138 |
+
"schema_version": "sim_oracle_action_patch_formula.v1"
|
| 139 |
+
},
|
| 140 |
+
"id": "cube_any_grasp_gentle",
|
| 141 |
+
"kind": "legacy_config",
|
| 142 |
+
"metric_estimators_used": false,
|
| 143 |
+
"sha256": "b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c",
|
| 144 |
+
"simulator_oracle": true
|
| 145 |
+
},
|
| 146 |
+
"patch_status": "accepted",
|
| 147 |
+
"protocol_kind": "fixed_candidate_search_with_automatic_selection",
|
| 148 |
+
"replay": {
|
| 149 |
+
"baseline_final_state_sha256": "3bf3885c5e5791258268c3a7eee0fb83ec5356b9d6fd79c5b308f6da6ba9cbc0",
|
| 150 |
+
"baseline_full_initial_state_sha256": "cd4d66944b90a4b54db564d2d761a49ad53ca22acbfdef409ac71a95a900693b",
|
| 151 |
+
"baseline_initial_state_sha256": "bf8e2cfc4d6011df6b2eb3761662c391aeaf354620b8ffabb590a5e79589b13f",
|
| 152 |
+
"environment_recovery_events": {
|
| 153 |
+
"baseline": [],
|
| 154 |
+
"published_intervention": [],
|
| 155 |
+
"source_intervention": []
|
| 156 |
+
},
|
| 157 |
+
"input": "sealed_executed_float32_action_traces",
|
| 158 |
+
"policy_inference_used": false,
|
| 159 |
+
"published_action_prefix_matches_baseline": true,
|
| 160 |
+
"published_action_suffix_matches_source_intervention": true,
|
| 161 |
+
"published_intervention_action_sha256": "cf0191f92ebe4413cb7db45170ea6cb29dc6b158979c8332f5ac9873f403ea84",
|
| 162 |
+
"published_intervention_final_state_sha256": "884dfdfe7ca6f3938fff5b2cee2535ed0e8baf8fd7c164b993b702a9ba379496",
|
| 163 |
+
"source_intervention_final_state_sha256": "884dfdfe7ca6f3938fff5b2cee2535ed0e8baf8fd7c164b993b702a9ba379496",
|
| 164 |
+
"source_intervention_full_initial_state_sha256": "cd4d66944b90a4b54db564d2d761a49ad53ca22acbfdef409ac71a95a900693b",
|
| 165 |
+
"source_intervention_initial_state_sha256": "bf8e2cfc4d6011df6b2eb3761662c391aeaf354620b8ffabb590a5e79589b13f",
|
| 166 |
+
"source_outcomes_verified": true,
|
| 167 |
+
"source_state_hashes_verified": true
|
| 168 |
+
},
|
| 169 |
+
"schema_version": "sim_oracle_intervention_pair.v1",
|
| 170 |
+
"scope": "all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded",
|
| 171 |
+
"source": {
|
| 172 |
+
"arm_roles": {
|
| 173 |
+
"0": "baseline",
|
| 174 |
+
"1": "intervention"
|
| 175 |
+
},
|
| 176 |
+
"baseline_action_sha256": "4834a1dff1629d709101860b842157c77aae91bb7e1c4355c58327d0db71eccf",
|
| 177 |
+
"batch_index": 160,
|
| 178 |
+
"batch_slot": 15,
|
| 179 |
+
"environment_seed": 2575,
|
| 180 |
+
"episode_id": 2575,
|
| 181 |
+
"evaluator_source_expected_sha256": "d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c",
|
| 182 |
+
"evaluator_source_match": false,
|
| 183 |
+
"evaluator_source_observed_sha256": "ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e",
|
| 184 |
+
"formula_trace_validation": {
|
| 185 |
+
"formula_trace_semantics_verified": true,
|
| 186 |
+
"intervention_count_exact": true,
|
| 187 |
+
"legacy_reconstructed_action_max_abs_error": 1.862645149230957e-09,
|
| 188 |
+
"modified_mask_exact": true
|
| 189 |
+
},
|
| 190 |
+
"intervention_action_sha256": "cf0191f92ebe4413cb7db45170ea6cb29dc6b158979c8332f5ac9873f403ea84",
|
| 191 |
+
"manifest_sha256": "e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db",
|
| 192 |
+
"patch_trace_sha256": "c34741ab1cfd52e9d942775a5929771b8362a7b5219e499f6405e3921fd934e7",
|
| 193 |
+
"policy_batch_seed": 1138182910,
|
| 194 |
+
"policy_seed_mode": "frozen-batch",
|
| 195 |
+
"result_path": "outputs/oracle/results/cube-oracle-validation-20260816a.json",
|
| 196 |
+
"result_sha256": "007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d",
|
| 197 |
+
"run_dir": "outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle",
|
| 198 |
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/baseline.mp4
ADDED
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/intervention.mp4
ADDED
|
@@ -0,0 +1,3 @@
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/metadata.json
ADDED
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| 1 |
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{
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| 8 |
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|
| 9 |
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| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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},
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| 22 |
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|
| 23 |
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|
| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 38 |
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| 39 |
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| 41 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 58 |
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| 66 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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|
| 74 |
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},
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| 99 |
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| 102 |
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|
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|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/side_by_side.mp4
ADDED
|
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|
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size 672911
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/baseline.mp4
ADDED
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size 271274
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/intervention.mp4
ADDED
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size 294824
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/metadata.json
ADDED
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@@ -0,0 +1,388 @@
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|
| 1 |
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{
|
| 2 |
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"authorship": "known_library_candidate",
|
| 3 |
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"causal_pair": {
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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"published_trace_kind": "source_intervention",
|
| 17 |
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|
| 18 |
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|
| 19 |
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"source_telemetry_prefix_differences": [],
|
| 20 |
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"source_telemetry_prefix_exact": true
|
| 21 |
+
},
|
| 22 |
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|
| 23 |
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"dataset_task_key": "cube_stack",
|
| 24 |
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"entry_id": "cube_any_grasp_gentle_validation_v1",
|
| 25 |
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"env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1",
|
| 26 |
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"episode_id": 2577,
|
| 27 |
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"instruction": "stack the green block on the yellow block",
|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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"success": false
|
| 49 |
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},
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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"src_on_target": true,
|
| 59 |
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"success": true
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"pair_id": "54ac49cb870dfdebc93b8014d2569eabd0d7c9097391ce68a34d62620346a2b1",
|
| 63 |
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"patch": {
|
| 64 |
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|
| 65 |
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"formula": {
|
| 66 |
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"canonical_patch": {
|
| 67 |
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"activation_planar_distance_m": 0.025,
|
| 68 |
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"close_command": -1.0,
|
| 69 |
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"descend_steps": 4,
|
| 70 |
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"end_step_exclusive": 42,
|
| 71 |
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"id": "cube_any_grasp_gentle",
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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"schema_version": "sim_oracle_action_patch.v1",
|
| 88 |
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"servo_steps": 9,
|
| 89 |
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"start_step": 8,
|
| 90 |
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"trigger_on_grasp": true,
|
| 91 |
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"unilateral_consecutive_steps": 4,
|
| 92 |
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|
| 93 |
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|
| 94 |
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"vertical_action_m": 0.01
|
| 95 |
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},
|
| 96 |
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"display_lines": [
|
| 97 |
+
"window(t) := 8 <= t < 42",
|
| 98 |
+
"budget(t) := interventions(t) < 24",
|
| 99 |
+
"proposed_open(t) := a_policy[6](t) > 0.0",
|
| 100 |
+
"target_vector_xy(t) := target_xy(t) - source_xy(t)",
|
| 101 |
+
"d_xy(t) := ||target_vector_xy(t)||_2",
|
| 102 |
+
"a_exec(t) := a_policy(t), then apply the active mode branch below",
|
| 103 |
+
"stable_grasp(t) := consecutive(grasped(t)) >= 3",
|
| 104 |
+
"transport_request(t) := proposed_open(t) OR true",
|
| 105 |
+
"transport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025",
|
| 106 |
+
"servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)",
|
| 107 |
+
"lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0",
|
| 108 |
+
"servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0",
|
| 109 |
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|
| 110 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
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|
| 125 |
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|
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|
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|
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/side_by_side.mp4
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size 611016
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data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/baseline.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 310021
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/intervention.mp4
ADDED
|
@@ -0,0 +1,3 @@
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size 315389
|
data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/metadata.json
ADDED
|
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|
| 1 |
+
{
|
| 2 |
+
"authorship": "known_library_candidate",
|
| 3 |
+
"causal_pair": {
|
| 4 |
+
"canonical_replay_rgb_prefix_exact": true,
|
| 5 |
+
"canonical_splice_step": null,
|
| 6 |
+
"comparison_input_camera_regions_prefix_exact": true,
|
| 7 |
+
"comparison_prefix_mode": "natural_exact",
|
| 8 |
+
"decoded_mp4_first_different_frame": 21,
|
| 9 |
+
"decoded_mp4_prefix_exact": true,
|
| 10 |
+
"natural_first_different_frame": 21,
|
| 11 |
+
"natural_rgb_prefix_exact": true,
|
| 12 |
+
"pixel_canonicalized_frame_indices": null,
|
| 13 |
+
"pixel_prefix_canonicalized": false,
|
| 14 |
+
"published_first_different_frame": 21,
|
| 15 |
+
"published_rgb_prefix_exact": true,
|
| 16 |
+
"published_trace_kind": "source_intervention",
|
| 17 |
+
"source_causal_pair_clean": true,
|
| 18 |
+
"source_preintervention_action_exact": true,
|
| 19 |
+
"source_telemetry_prefix_differences": [],
|
| 20 |
+
"source_telemetry_prefix_exact": true
|
| 21 |
+
},
|
| 22 |
+
"dataset_edition": "simulator_oracle",
|
| 23 |
+
"dataset_task_key": "cube_stack",
|
| 24 |
+
"entry_id": "cube_any_grasp_gentle_validation_v1",
|
| 25 |
+
"env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1",
|
| 26 |
+
"episode_id": 2587,
|
| 27 |
+
"instruction": "stack the green block on the yellow block",
|
| 28 |
+
"outcomes": {
|
| 29 |
+
"published_effect": "unchanged_failure",
|
| 30 |
+
"published_intervention_success": false,
|
| 31 |
+
"published_intervention_terminal_metrics": {
|
| 32 |
+
"consecutive_grasp": true,
|
| 33 |
+
"elapsed_steps": 60,
|
| 34 |
+
"is_src_obj_grasped": true,
|
| 35 |
+
"moved_correct_obj": false,
|
| 36 |
+
"moved_wrong_obj": false,
|
| 37 |
+
"src_on_target": false,
|
| 38 |
+
"success": false
|
| 39 |
+
},
|
| 40 |
+
"source_baseline_success": false,
|
| 41 |
+
"source_baseline_terminal_metrics": {
|
| 42 |
+
"consecutive_grasp": true,
|
| 43 |
+
"elapsed_steps": 60,
|
| 44 |
+
"is_src_obj_grasped": true,
|
| 45 |
+
"moved_correct_obj": false,
|
| 46 |
+
"moved_wrong_obj": false,
|
| 47 |
+
"src_on_target": false,
|
| 48 |
+
"success": false
|
| 49 |
+
},
|
| 50 |
+
"source_effect": "unchanged_failure",
|
| 51 |
+
"source_intervention_success": false,
|
| 52 |
+
"source_intervention_terminal_metrics": {
|
| 53 |
+
"consecutive_grasp": true,
|
| 54 |
+
"elapsed_steps": 60,
|
| 55 |
+
"is_src_obj_grasped": true,
|
| 56 |
+
"moved_correct_obj": false,
|
| 57 |
+
"moved_wrong_obj": false,
|
| 58 |
+
"src_on_target": false,
|
| 59 |
+
"success": false
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"pair_id": "430cf0957f7789bcb0fb613a6dd1ae560d2397cd40601f2a5580987fe20f12ca",
|
| 63 |
+
"patch": {
|
| 64 |
+
"deployment_eligible": false,
|
| 65 |
+
"formula": {
|
| 66 |
+
"canonical_patch": {
|
| 67 |
+
"activation_planar_distance_m": 0.025,
|
| 68 |
+
"close_command": -1.0,
|
| 69 |
+
"descend_steps": 4,
|
| 70 |
+
"end_step_exclusive": 42,
|
| 71 |
+
"id": "cube_any_grasp_gentle",
|
| 72 |
+
"latch_oracle_success": true,
|
| 73 |
+
"lift_steps": 4,
|
| 74 |
+
"max_interventions_per_episode": 24,
|
| 75 |
+
"max_planar_action_m": 0.018,
|
| 76 |
+
"minimum_source_lift_m": 0.03,
|
| 77 |
+
"mode": "transport_servo",
|
| 78 |
+
"open_command": 1.0,
|
| 79 |
+
"open_threshold": 0.0,
|
| 80 |
+
"planar_gain": 0.8,
|
| 81 |
+
"regrasp_close_steps": 1,
|
| 82 |
+
"regrasp_finger_qpos_max": 0.03,
|
| 83 |
+
"regrasp_open_steps": 1,
|
| 84 |
+
"release_planar_distance_m": 0.008,
|
| 85 |
+
"release_steps": 2,
|
| 86 |
+
"required_grasp_steps": 3,
|
| 87 |
+
"schema_version": "sim_oracle_action_patch.v1",
|
| 88 |
+
"servo_steps": 9,
|
| 89 |
+
"start_step": 8,
|
| 90 |
+
"trigger_on_grasp": true,
|
| 91 |
+
"unilateral_consecutive_steps": 4,
|
| 92 |
+
"unilateral_force_min_n": 0.5,
|
| 93 |
+
"unilateral_other_force_max_n": 0.05,
|
| 94 |
+
"vertical_action_m": 0.01
|
| 95 |
+
},
|
| 96 |
+
"display_lines": [
|
| 97 |
+
"window(t) := 8 <= t < 42",
|
| 98 |
+
"budget(t) := interventions(t) < 24",
|
| 99 |
+
"proposed_open(t) := a_policy[6](t) > 0.0",
|
| 100 |
+
"target_vector_xy(t) := target_xy(t) - source_xy(t)",
|
| 101 |
+
"d_xy(t) := ||target_vector_xy(t)||_2",
|
| 102 |
+
"a_exec(t) := a_policy(t), then apply the active mode branch below",
|
| 103 |
+
"stable_grasp(t) := consecutive(grasped(t)) >= 3",
|
| 104 |
+
"transport_request(t) := proposed_open(t) OR true",
|
| 105 |
+
"transport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025",
|
| 106 |
+
"servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)",
|
| 107 |
+
"lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0",
|
| 108 |
+
"servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0",
|
| 109 |
+
"descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0",
|
| 110 |
+
"release: a_exec[:6]=0; a_exec[6]=1.0",
|
| 111 |
+
"lift -> servo after age >= 4 OR source_lift >= 0.03",
|
| 112 |
+
"servo -> descend after age >= 9 OR d_xy <= 0.008",
|
| 113 |
+
"descend -> release after age >= 4; release -> done after age >= 2",
|
| 114 |
+
"lost := active transport AND not grasped AND phase_age > 0; lost -> done",
|
| 115 |
+
"a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))",
|
| 116 |
+
"interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]",
|
| 117 |
+
"success_latch(t) := OR_{k<=t} physical_success(k)",
|
| 118 |
+
"if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)"
|
| 119 |
+
],
|
| 120 |
+
"formula_sha256": "13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33",
|
| 121 |
+
"mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime",
|
| 122 |
+
"overlay_lines": [
|
| 123 |
+
"mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))",
|
| 124 |
+
"window: 8 <= t < 42; budget: N_edit < 24",
|
| 125 |
+
"trigger=[open OR true] & grasp[3] & d_xy>=0.025",
|
| 126 |
+
"servo_xy=clip_norm(-0.8*(target-source)_xy,0.018)",
|
| 127 |
+
"phases: lift(4) -> servo(9) -> descend(4) -> release(2)",
|
| 128 |
+
"latch(success) -> [0,0,0,0,0,0,1.0]"
|
| 129 |
+
],
|
| 130 |
+
"patch_id": "cube_any_grasp_gentle",
|
| 131 |
+
"patch_kind": "legacy_config",
|
| 132 |
+
"runtime_source": {
|
| 133 |
+
"path": "oracle_patching/runtime.py",
|
| 134 |
+
"provenance": "current_runtime_reconstruction; sealed executed actions are authoritative",
|
| 135 |
+
"sealed_by_source_manifest": false,
|
| 136 |
+
"sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb"
|
| 137 |
+
},
|
| 138 |
+
"schema_version": "sim_oracle_action_patch_formula.v1"
|
| 139 |
+
},
|
| 140 |
+
"id": "cube_any_grasp_gentle",
|
| 141 |
+
"kind": "legacy_config",
|
| 142 |
+
"metric_estimators_used": false,
|
| 143 |
+
"sha256": "b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c",
|
| 144 |
+
"simulator_oracle": true
|
| 145 |
+
},
|
| 146 |
+
"patch_status": "accepted",
|
| 147 |
+
"protocol_kind": "fixed_candidate_search_with_automatic_selection",
|
| 148 |
+
"replay": {
|
| 149 |
+
"baseline_final_state_sha256": "f0a6539959896a32b3ef8967d7aae21d5678a510954da05af9c0bb1c774fa178",
|
| 150 |
+
"baseline_full_initial_state_sha256": "ecca74bd048090e7ef35e55faddceba5ed7cffea629cdb357b09a037a65ad02e",
|
| 151 |
+
"baseline_initial_state_sha256": "b4713ab8ab8f28e94e88a75b93379cceba9680bacec21c58962c06bdc435b1ed",
|
| 152 |
+
"environment_recovery_events": {
|
| 153 |
+
"baseline": [],
|
| 154 |
+
"published_intervention": [],
|
| 155 |
+
"source_intervention": []
|
| 156 |
+
},
|
| 157 |
+
"input": "sealed_executed_float32_action_traces",
|
| 158 |
+
"policy_inference_used": false,
|
| 159 |
+
"published_action_prefix_matches_baseline": true,
|
| 160 |
+
"published_action_suffix_matches_source_intervention": true,
|
| 161 |
+
"published_intervention_action_sha256": "cc21d611f3861c5a86976960b0dab740c689ef5c3288100b21afc3bc8b98c2b4",
|
| 162 |
+
"published_intervention_final_state_sha256": "e21ef9553cb8cc14b5f3ae28812e5a783ec2ced72ee28fd8b725674b10ac96d9",
|
| 163 |
+
"source_intervention_final_state_sha256": "e21ef9553cb8cc14b5f3ae28812e5a783ec2ced72ee28fd8b725674b10ac96d9",
|
| 164 |
+
"source_intervention_full_initial_state_sha256": "ecca74bd048090e7ef35e55faddceba5ed7cffea629cdb357b09a037a65ad02e",
|
| 165 |
+
"source_intervention_initial_state_sha256": "b4713ab8ab8f28e94e88a75b93379cceba9680bacec21c58962c06bdc435b1ed",
|
| 166 |
+
"source_outcomes_verified": true,
|
| 167 |
+
"source_state_hashes_verified": true
|
| 168 |
+
},
|
| 169 |
+
"schema_version": "sim_oracle_intervention_pair.v1",
|
| 170 |
+
"scope": "all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded",
|
| 171 |
+
"source": {
|
| 172 |
+
"arm_roles": {
|
| 173 |
+
"0": "baseline",
|
| 174 |
+
"1": "intervention"
|
| 175 |
+
},
|
| 176 |
+
"baseline_action_sha256": "1dcede5394a4972dbfffeb40da49fe1d214622c8f8b0fac8960a242a5dfbb9ca",
|
| 177 |
+
"batch_index": 161,
|
| 178 |
+
"batch_slot": 11,
|
| 179 |
+
"environment_seed": 2587,
|
| 180 |
+
"episode_id": 2587,
|
| 181 |
+
"evaluator_source_expected_sha256": "d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c",
|
| 182 |
+
"evaluator_source_match": false,
|
| 183 |
+
"evaluator_source_observed_sha256": "ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e",
|
| 184 |
+
"formula_trace_validation": {
|
| 185 |
+
"formula_trace_semantics_verified": true,
|
| 186 |
+
"intervention_count_exact": true,
|
| 187 |
+
"legacy_reconstructed_action_max_abs_error": 9.313225746154785e-10,
|
| 188 |
+
"modified_mask_exact": true
|
| 189 |
+
},
|
| 190 |
+
"intervention_action_sha256": "cc21d611f3861c5a86976960b0dab740c689ef5c3288100b21afc3bc8b98c2b4",
|
| 191 |
+
"manifest_sha256": "e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db",
|
| 192 |
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