diff --git a/LICENSE_AND_ATTRIBUTION.md b/LICENSE_AND_ATTRIBUTION.md new file mode 100644 index 0000000000000000000000000000000000000000..f04820e708b0b6cbb7666ca97ea39e201f8a370c --- /dev/null +++ b/LICENSE_AND_ATTRIBUTION.md @@ -0,0 +1,25 @@ +# License and attribution + +Dataset metadata and the paired derivative videos in this release are licensed +under the Creative Commons Attribution-NonCommercial 4.0 International license +(CC BY-NC 4.0): https://creativecommons.org/licenses/by-nc/4.0/ + +The rendered simulations use ManiSkill environments/assets and Bridge/WidowX +task assets subject to their upstream terms, including applicable CC BY-NC 4.0 +asset terms. SimplerEnv and Octo code are MIT-licensed upstream components. +This dataset license does not redistribute, relicense, or grant rights to Octo +model weights, simulator software, robot assets, or any other upstream work. + +Please cite and attribute ManiSkill, SIMPLER/SimplerEnv, Octo, and the original +Bridge/WidowX data/assets when using these derivatives. + +## Source-pinned revisions + +- ManiSkill: `8d5d754b1b5515e2e4c61b32f009a4b887eda89c` +- SimplerEnv: `52a5088ca4bfc3a7159828af08874a198d6f95c3` +- octo: `653c54acde686fde619855f2eac0dd6edad7116b` +- octo-small-checkpoint: `03d88976c54a58e10480d2043a8c762b35bc2611` +- vla-research: `aabb84d8cf6b70092e85151ab6ac92a246fc449d` + +The exact per-run software and artifact inventory remains sealed by each source +manifest SHA-256 recorded in every dataset row. diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..77b09be94609f9b89be65c3a80d04ed38e438666 --- /dev/null +++ b/README.md @@ -0,0 +1,139 @@ +--- +license: cc-by-nc-4.0 +task_categories: +- robotics +tags: +- video +- robotics +- maniskill +- simpler-env +- simulator-oracle +pretty_name: SIM Oracle Working Interventions v1 +configs: +- config_name: default + data_dir: data +--- + +# SIM Oracle Working Interventions v1 + +This is the **simulator-oracle** edition of the action-patching pipeline. It +uses privileged simulator metrics and is not deployment eligible. It does not +use metric estimators. The repository also describes the non-oracle, +metric-estimator path; these videos must not be represented as evidence that +those estimators recovered the same signals. + +The dataset contains 132 of 132 exposed paired +episodes (complete). Every row +has a full baseline MP4, full intervention MP4, and full labelled side-by-side +MP4. Videos start at state frame 0 and end at terminal state frame T. The two +arm MP4s decode byte-identically through the state frame immediately preceding +the first modified action, inclusive. Natural versus canonicalized prefixes +and the episode-2339-style action-splice counterfactual are disclosed per row. + +These MP4s are deterministic **simulator action-trace re-renders**, not footage +recorded by the original evaluations. The source runs did not save RGB or +video. This builder replayed their sealed float32 executed-action traces, with +no policy inference, from the exact source initial state and required the same +final state hash and terminal outcome before admitting each natural arm. + +## Scope and outcomes + +This is the complete exposed cohort from four accepted held-out validation +runs. It includes every exposed correction, regression, unchanged success, +and unchanged failure—there is no outcome cherry-picking. Tuning episodes, +rejected candidates, and unexposed validation episodes are intentionally out of +scope. + +- Corrections: **69** +- Regressions: **2** +- Exposed unchanged successes: **41** +- Exposed unchanged failures: **20** + +### Tasks + +| Task key | Environment | Pairs | +| --- | --- | ---: | +| `cube_stack` | `StackGreenCubeOnYellowCubeBakedTexInScene-v1` | 43 | +| `spoon_cloth` | `PutSpoonOnTableClothInScene-v1` | 89 | + +### Accepted patch lineages + +| Lineage | Search/authorship protocol | Pairs | Corrections | Regressions | Patch SHA-256 | +| --- | --- | ---: | ---: | ---: | --- | +| `cube_any_grasp_gentle_validation_v1` | fixed candidate search + automatic paired selection | 22 | 13 | 0 | `b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c` | +| `spoon_hybrid_regrasp_servo_validation_v1` | fixed candidate search + automatic paired selection | 42 | 22 | 0 | `ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0` | +| `spoon_agentic_premature_release_validation_v1` | autonomous catalog-guided failure loop | 47 | 23 | 1 | `0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a` | +| `cube_open_autonomous_validation_v1` | prior-free category + declarative-program synthesis | 21 | 11 | 1 | `112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699` | + +The two fixed-search lineages are useful reviewed-library baselines. The Spoon +agentic lineage autonomously chose from that catalog. The open Cube lineage +used neither known-category nor known-patch priors: it synthesized a new +failure predicate and bounded declarative action program, then passed the same +common-inventory tuning and single disjoint-validation gate. + +## Videos and causal-prefix convention + +Each arm is H.264/yuv420p at 640x480, +10 fps, with 61 frames for 60 actions. The comparison is +1280x720; baseline +is always left and intervention right. Frame `t` is the state before action +`t`, so the first edited action executes after the identically displayed frame +`t`; physical divergence can first appear at frame `t+1`. + +Of the 132 published pairs, 129 replayed with a naturally exact +RGB prefix. 3 legacy pairs had small pre-edit visual +drift and use a transparently recorded baseline-prefix presentation splice so +the published arms obey the exact-prefix convention. One of those—fixed-Spoon +episode 2339—also had historical arm-action divergence before its recorded edit +and therefore uses a separately simulated canonical counterfactual: baseline +actions before step 27 and the sealed intervention suffix thereafter. It is +not represented as a naturally clean source pair. Per-row fields preserve the +natural-prefix status, canonical splice step, published trace kind, state/action +hashes, and source versus published outcome. Total canonical action splices: +1. + +## Dataset layout + +`data/metadata.jsonl` is Hugging Face VideoFolder metadata. It exposes exactly +three video columns: stock `file_name` is the labelled comparison, while +`baseline_file_name` and `intervention_file_name` are the two individual arms. +All paths are POSIX-relative to `data/metadata.jsonl`. + +Each row also includes a stable `pair_id`, task/environment identity, episode +and batch placement, patch/formula digests, first intervention step, source and +published effect labels, and causal-prefix mode. Full per-pair provenance is +in `episodes.jsonl`, `interventions.jsonl`, and each episode's `metadata.json`. + +Formulas are mechanically reconstructed from canonical patch config or a +compiled patch-program AST. Full formula JSON/text is in `formulas/`; the +side-by-side MP4 carries the concise exact action/trigger form and its formula +digest. For historical legacy runs, the oracle runtime source was not part of +the source manifest; the packaged current runtime is labelled reconstruction +provenance, while sealed executed action traces remain authoritative. + +## License and attribution + +Dataset metadata and paired derivative videos are released under +[CC BY-NC 4.0](https://creativecommons.org/licenses/by-nc/4.0/). Simulation, +robot assets, environments, and policy components retain their upstream +licenses. Please attribute ManiSkill, SIMPLER/SimplerEnv, Octo, and the +underlying Bridge/WidowX task assets as applicable. This dataset is +non-commercial and simulator-only. + +See `LICENSE_AND_ATTRIBUTION.md` for component-specific attribution and pinned +upstream revisions. This release does not redistribute or relicense policy +weights or upstream software. + +## Integrity + +`validation_report.json` records cohort/video/prefix/size gates. +`SHA256SUMS` seals every material file except itself. The configured hard size +ceiling is 4831838208 bytes (below 5 GiB). + +## Limitations + +This release covers one frozen policy, two manipulation tasks, and privileged +simulator-oracle signals. It demonstrates intervention behavior in simulation; +it does not demonstrate estimator recovery, real-robot safety, or deployment +eligibility. Every new task or invented program requires its own fresh paired +validation. diff --git a/SHA256SUMS b/SHA256SUMS new file mode 100644 index 0000000000000000000000000000000000000000..ea0487adae8d684cc02c1e94848cb09f58767751 --- /dev/null +++ b/SHA256SUMS @@ -0,0 +1,545 @@ +b4fd0e6f08b433a8339cc8a677af57ae8334f0e4a2a1051ac3a3eb5184fd2d80 LICENSE_AND_ATTRIBUTION.md +0a9a547ac005b1315dfc4ed63dec318f39f2a17f29c637752ca427bff843de5e README.md +3c618e5a7710fde6860963e96eb2fe651d760549008b464a7f5fb697c5eb76c3 data/metadata.jsonl +09e4bed2b51c537c42cd6365e72a1ced30a09916c87933f3c651aedfc0e871c0 data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/baseline.mp4 +70fedd4756c636c1969393cd768a201743b0a22e2fde765656b5fff784c32f51 data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/intervention.mp4 +aef9e0beb66492facd51b3ca33bdc0a4879ab4f64834a101fc070e832055a7ab data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/metadata.json 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validation_report.json diff --git a/data/metadata.jsonl b/data/metadata.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec7165304bb724a447e5ef7a378ecfa7f5dc9124 --- /dev/null +++ b/data/metadata.jsonl @@ -0,0 +1,132 @@ +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2562,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/side_by_side.mp4","first_modified_step":18,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5643c1250c292cfffb0f1e2f711e6aa7c5b3db3830c74f173d0037a2e239f930","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2563,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/side_by_side.mp4","first_modified_step":37,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"4f379feb55debca94e70d6d8354827d2f4ef1363d5f1b8005db5dc97ef26e8ac","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2564,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/side_by_side.mp4","first_modified_step":21,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5782747a170e14e74aa00afa8e76f464769d52cf74ce2ba4b3dc027c4d41111f","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2567,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/side_by_side.mp4","first_modified_step":20,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"c11ae20c1c2d60f883519a956aa652e6bb5c95c6d6113c17058c3079910a0e62","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2568,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/side_by_side.mp4","first_modified_step":16,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"483367f85e88a4d678763ddfbaeab02d6d49143b2a65a6b3a50a8870b5dd66e0","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2571,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/side_by_side.mp4","first_modified_step":40,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"2380e6c477d4c8d6e38cdf2b73f97d21a93f33b14b171ca08a584aba3c54ac78","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2572,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/side_by_side.mp4","first_modified_step":17,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f2f8319edb23c280ecc7a475e2b6706fa419977fb4469e96f61d4d7a7b044fc1","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2575,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/side_by_side.mp4","first_modified_step":16,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"67a9e3a593cc68a67455c69b5f40124a6ea225faf5223a40f47d23672dc59e5f","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2576,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/side_by_side.mp4","first_modified_step":16,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"1f9b73dc5a2baafae315129db684db52d2f2077ecc0bd995504f7488d027065d","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2577,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/side_by_side.mp4","first_modified_step":13,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"54ac49cb870dfdebc93b8014d2569eabd0d7c9097391ce68a34d62620346a2b1","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2587,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/side_by_side.mp4","first_modified_step":20,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"430cf0957f7789bcb0fb613a6dd1ae560d2397cd40601f2a5580987fe20f12ca","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2592,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/side_by_side.mp4","first_modified_step":17,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"99d5333565d98180418fcaa22f95cc93fdfd851636d1189faed949361f982d56","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002593/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2593,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002593/side_by_side.mp4","first_modified_step":14,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002593/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"1f01ab4e958afe3ed74e047d6caaa3705941134286e0b86814dbb8213309173f","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002594/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2594,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002594/side_by_side.mp4","first_modified_step":35,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002594/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ace55c1280766fdfc775acf0d4e035a899f78da6a17550086986c7ac98373490","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002595/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2595,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002595/side_by_side.mp4","first_modified_step":19,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002595/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"25a2a6ad3ff1c6d77123af431d65c26db47da997012ea2c942e87a9db4c35f47","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002596/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2596,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002596/side_by_side.mp4","first_modified_step":15,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002596/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"21a6cdfecf50aed9e570510b9f906e53e5a4019536f9dd1d7b64b083c94bd44c","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002599/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2599,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002599/side_by_side.mp4","first_modified_step":36,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002599/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b513d73cc5a21d489e16b509ff515ed51f625343c1b94aa305b47f426a71926e","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002601/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2601,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002601/side_by_side.mp4","first_modified_step":23,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002601/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"dd067343f17c2dc017f23a9c41854cf462498f5f56883caaf340968d1af1426c","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002615/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2615,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002615/side_by_side.mp4","first_modified_step":26,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002615/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f5ef17dfa9fec79b8b90aca99bfc53f504d5f7b902f98beaaba8d0cc940404be","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002617/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2617,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002617/side_by_side.mp4","first_modified_step":21,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002617/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"6aab094e6f4d3d6c7262b62e9e279f5313fa554d0b643ca26f41e657591c5f43","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002619/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2619,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002619/side_by_side.mp4","first_modified_step":17,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002619/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"69c4e8373a51bf6c1aefdedb774b412fbf6e9e08eb23d9ffd0229e04a5b5cf90","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002622/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2622,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002622/side_by_side.mp4","first_modified_step":17,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002622/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d39676cf92e2b0dcf1c4e453fc228a62b2a31570f8856993fe65a47b5190354e","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_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\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003264/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3264,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003264/side_by_side.mp4","first_modified_step":15,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003264/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f540336bd20975a02bd5db8b54275723a7cc252ffd548bea80f378b22fa2d2dc","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003265/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3265,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003265/side_by_side.mp4","first_modified_step":15,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003265/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b11e2863625e8ca3867fcba1c3dfabb723f35fe42c83b3be24c7df9baa35dfb6","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003282/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3282,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003282/side_by_side.mp4","first_modified_step":41,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003282/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b4f136144f6774a17711c9b5498ccd5225dd6c65310e4a3a1fbcd3d1480b8a16","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003288/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3288,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003288/side_by_side.mp4","first_modified_step":18,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003288/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9a8ca8059fef0d53bbd0fd5a3ca9e1e6d324288017e7fee1f5177b4af8fec3fe","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003289/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3289,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003289/side_by_side.mp4","first_modified_step":16,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003289/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8eb20acd616525f1dc9601e592903314070f7a708f73ffad5a2c67353937b15d","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003290/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3290,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003290/side_by_side.mp4","first_modified_step":25,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003290/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5c07af250ea04ece1368d9417a3d72dbb7c696b6b2f94b25753f610f248c2a62","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003292/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3292,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003292/side_by_side.mp4","first_modified_step":32,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003292/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"658be1cafe23c291df18b5922f2a2cc436295448fe461bcee4634a06afefe209","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003293/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3293,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003293/side_by_side.mp4","first_modified_step":12,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003293/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0f86f2fbae3be959cca4f541851183c1d2f17aced17b35ad3e38f73865a47a9b","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"regression","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"regression","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003295/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3295,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003295/side_by_side.mp4","first_modified_step":51,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow 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+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003296/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3296,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003296/side_by_side.mp4","first_modified_step":34,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003296/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"bada46692256d373136e31442524b4ff98a88e47f57ce62122e396d75bdf4578","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003301/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3301,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003301/side_by_side.mp4","first_modified_step":49,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow 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+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003302/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3302,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003302/side_by_side.mp4","first_modified_step":33,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003302/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"3390b072a010cd9a4606a4f97a1b66179bf25c499efc9ddb63f8f26c664a68a1","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003306/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3306,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003306/side_by_side.mp4","first_modified_step":49,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003306/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"223015d8a19b9b8067fa826482396c4d811193255e462409844c5e6bb569a561","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003307/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3307,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003307/side_by_side.mp4","first_modified_step":34,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003307/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"25cf1a81a4e174c16b4a0fb287ad048b5cc621c56493cc8133060e0a6ca61f1a","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003313/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3313,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003313/side_by_side.mp4","first_modified_step":15,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003313/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8a910a99a2d1e63f973d62256fe7fe3c16957ea6fa55a74c6e380ce6dc49cfd0","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003314/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3314,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003314/side_by_side.mp4","first_modified_step":14,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003314/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5f743e71434ddbb4182fabc2ee0394678b6275466254f48b92cdf6b94c507f99","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003316/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3316,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003316/side_by_side.mp4","first_modified_step":14,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003316/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0fea23c8490ae9c6c0535d7feca04078964dd76dc8fff8da510dc041b0675553","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003317/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3317,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003317/side_by_side.mp4","first_modified_step":15,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003317/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"742f0d0d63bb9e5020e0e42ee13e81604cddfc45b04b8d99987a81cc31b32ec8","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003318/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3318,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003318/side_by_side.mp4","first_modified_step":17,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003318/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"346c8190b0c72ce0f624283f08bc4d1fec6114046e7812e8dd80d05ed4c14c95","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003320/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3320,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003320/side_by_side.mp4","first_modified_step":13,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003320/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"2e5ffc93595aa6a265e28b35b10244ae63c4c2572044e71f9e4ad57c9e1a44b7","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003324/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3324,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003324/side_by_side.mp4","first_modified_step":45,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003324/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"4f56f993f1c91bf737818f0c16c458e63cf83fc9df2679b828a3a9cddfafc3d2","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002816/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2816,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002816/side_by_side.mp4","first_modified_step":45,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002816/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d024d522aabc6f8b58a71dd9a7a3dfa077c21f478e4b9e191f33a101265a8c0c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002817/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2817,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002817/side_by_side.mp4","first_modified_step":52,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002817/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8b58d75db7f4e3ef00d669d94c16fb1baf05a8c792d618ebb97dbc4998df4e37","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002818/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2818,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002818/side_by_side.mp4","first_modified_step":26,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002818/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d271ac286bbdfecfd91401498bc0d0c64447f3291d1c8b373d0f6c890304abcf","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002819/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2819,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002819/side_by_side.mp4","first_modified_step":27,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002819/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d671a18edc74571614394b7075b99f7e604c4f616482fdeccdefed24229fa574","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002820/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2820,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002820/side_by_side.mp4","first_modified_step":25,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002820/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"96c9e2ffc82ff6b19e9031b43370d4f2f079f21725f1319d54e5ae379044ac75","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002822/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2822,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002822/side_by_side.mp4","first_modified_step":41,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002822/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9e224d8f080caf47c77af6d24257674e5db60484a7982bd9af6ce89217c105e8","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002823/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2823,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002823/side_by_side.mp4","first_modified_step":29,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002823/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"32eaa8f070fe7a727daaffa680e379376fb20e5cd3a43f0b43869893704ced45","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002826/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2826,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002826/side_by_side.mp4","first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002826/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9b4bbbcd27fa1c52a431a24c53a3bef3792c6d911c3a4ef3dabe55f1e6b81782","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002827/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2827,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002827/side_by_side.mp4","first_modified_step":51,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002827/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"52793bef67ce39ad0a92a2be1579247bd6e698fdccf0f2136f03c307621eb29e","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002829/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2829,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002829/side_by_side.mp4","first_modified_step":28,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002829/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"544090d75c709b0f7156b785d320d7f59d0a34e313600099900a74cc45bba9ff","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002830/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2830,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002830/side_by_side.mp4","first_modified_step":36,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002830/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8473b58c36178da45e081e732e120850d32257e923e8c7f8c403b0512be5c294","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002831/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2831,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002831/side_by_side.mp4","first_modified_step":39,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002831/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"db0840800a051f0638e28b2b328c81e35aed1939ff965ca26444173732e38438","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"regression","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"regression","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2832,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/side_by_side.mp4","first_modified_step":28,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"eb54b7545010c15e7037d3520ac442fa1776050f94db427b41ecbbfbc773ae9a","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002833/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2833,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002833/side_by_side.mp4","first_modified_step":48,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002833/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f11b20efbc2772dbb23126dd91035ceeedacbb018ecd6789f4f1dfe4b805eaf7","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002834/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2834,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002834/side_by_side.mp4","first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002834/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d24706ad96f45059f6b2eb4ac954720929a6b5a5ff1df1d86c9f4a2a29885898","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002835/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2835,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002835/side_by_side.mp4","first_modified_step":49,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002835/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"55d7fdf54ded5f927d068f6ccc5c99810b2bc87f959a67b169ffa0f94aa879fb","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002836/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2836,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002836/side_by_side.mp4","first_modified_step":28,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002836/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"09afb6062272127fe3c8501bf0f3d12e3f2f6e97c88895e48eab9002d7571eea","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002837/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2837,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002837/side_by_side.mp4","first_modified_step":40,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002837/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"aa34913a97ac3091b86d818de76a108b5614bc79f4f3fb2f01c2b9b6f960e173","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002838/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2838,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002838/side_by_side.mp4","first_modified_step":32,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002838/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"120ae55a5eddd93986a9c98cb7e8446ae21952ccad53443c4c70cf7ad3f2ab0d","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002839/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2839,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002839/side_by_side.mp4","first_modified_step":46,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002839/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"3b6adad6287692991cd030e2e2d7a0ed03501698452b3c3f234c156fbfdb4ed1","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002841/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2841,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002841/side_by_side.mp4","first_modified_step":35,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002841/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"cea158e970c482a399ca2ce1e83b8a38331efd418928c98b0e3eeecf888ad6cd","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002843/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2843,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002843/side_by_side.mp4","first_modified_step":31,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002843/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"62176d315f97c52d1a6275817a2824de6d6bde04f3eabfaa3885d2776001a8a9","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002844/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2844,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002844/side_by_side.mp4","first_modified_step":39,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002844/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0041e173cf991645fddbb9fefafb164d20b29ec0fc002dfaee4e959fa89c39e4","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002845/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2845,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002845/side_by_side.mp4","first_modified_step":38,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002845/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"aaff91d983a9d4310ba5cd15973b2ca33e66b781771bd8df0ac737be2ec6f284","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002846/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2846,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002846/side_by_side.mp4","first_modified_step":31,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002846/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9b925f344973728597c07b15a565a355a8822d2b12446c4ff6c909a1efb29312","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002847/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2847,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002847/side_by_side.mp4","first_modified_step":54,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002847/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"85d10caf5e6a4e2dbe899d9270ba330714e9230cdbef50f3780386037b75aa32","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002848/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2848,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002848/side_by_side.mp4","first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002848/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"655ec5c721cd7ac84ee314f74857fc6dbd2913d42652edc74bc69e822cbc4466","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002850/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2850,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002850/side_by_side.mp4","first_modified_step":22,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002850/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"158c06fdd9ec2711d052a2e640df726381ce27613fb63ed4963e2ae3c82ef03c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002851/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2851,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002851/side_by_side.mp4","first_modified_step":29,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002851/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"1999a4bf687f5af50528f48c715b8efd889622f4e372e85790bf2ed9902e4e13","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002852/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2852,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002852/side_by_side.mp4","first_modified_step":52,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002852/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9dbc2daf38365020d7d5d1867cd6cfd85a37ea366c343f60ba13012835d960fa","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002854/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2854,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002854/side_by_side.mp4","first_modified_step":21,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002854/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"938a82a8e3e0deb58fece0c74db949a7855381a1258917cef4e71e0f6587340a","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002855/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2855,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002855/side_by_side.mp4","first_modified_step":35,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002855/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"56c6d42b9d0e73b46d8a097cd5519ee03d72a31947bf2f287a15d11c7d8b894e","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002856/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2856,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002856/side_by_side.mp4","first_modified_step":30,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002856/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f9b89ac198d88c0ecdf86af48b8742a3894e0ad9f3482de8f8a624fff84999e4","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2858,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/side_by_side.mp4","first_modified_step":26,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0dcfeec662db79723ccc1713ba51e049da86a0fb52c9e63c042c737c9a672f56","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002859/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2859,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002859/side_by_side.mp4","first_modified_step":54,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002859/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"3dacb822fba99522fdf163c6002d2a1e7df48ea4290c964cdae1fab42bd7daa5","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002862/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2862,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002862/side_by_side.mp4","first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002862/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0b746ef72af61e010b773d6e3a70112fffc9714a52dba7fa8345b7c62eb1440f","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002863/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2863,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002863/side_by_side.mp4","first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002863/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0ed544b115209d2044c5ab989e282817e28f3c679a7b32257d641c2342a61511","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002865/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2865,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002865/side_by_side.mp4","first_modified_step":39,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002865/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"50d7ae4618ead57e2c43eaec40832123ca76cc2ca602f0e35983c03ffd0884c1","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002867/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2867,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002867/side_by_side.mp4","first_modified_step":18,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002867/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"4135ab412d46353c885d34b9f14ff3c38d550584285fff45aaecba468d06a6a1","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002868/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2868,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002868/side_by_side.mp4","first_modified_step":22,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002868/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"6bfa96a836ebd96afbb500e5f4a4a4c5fe377a783f31d82d4141d65d74c7b4f1","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002870/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2870,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002870/side_by_side.mp4","first_modified_step":25,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002870/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"4d8b29bcf37b10cf606c7d452b87dc0f08f9eca8b6358e11bb227652ab588d0c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002872/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2872,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002872/side_by_side.mp4","first_modified_step":30,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002872/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ed01784758358eb474b8c0464ade5b5ceed92745268b08b4bfd212bec7f2d0f4","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002873/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2873,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002873/side_by_side.mp4","first_modified_step":24,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002873/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0da7b512914b2629d89a6a3414890b7150e9068fb52559f55d5f53280656ad25","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002875/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2875,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002875/side_by_side.mp4","first_modified_step":32,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002875/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"a859080b9c3f0804a12ed0ed0ed70f61a1ff3a0d387fb41c4556625a8e417a88","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002876/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2876,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002876/side_by_side.mp4","first_modified_step":18,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002876/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"986c1327917509fd5968f20a698233f050cfbff2f4a15fa30c2e1fd008bc1430","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002877/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2877,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002877/side_by_side.mp4","first_modified_step":33,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002877/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ea0e334432211de236eafde06f79cf420adc9d77adcb45ebfc50c7021af4d16f","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2879,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/side_by_side.mp4","first_modified_step":56,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"52d227f4217f8826745e0bcdc1beeb162b09e328a4d38ab827e1be187729836a","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002304/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2304,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002304/side_by_side.mp4","first_modified_step":23,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002304/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"3816ddb13e6a462991788a2a447b7b18087328f15a1a2f064f92363879fc4eae","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002305/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2305,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002305/side_by_side.mp4","first_modified_step":20,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002305/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b1bab31fca117ad1094f55300c67933192e92cf4af79ef0a5db92280a6b2f4d5","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002306/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2306,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002306/side_by_side.mp4","first_modified_step":32,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002306/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9dd4a178b7da8fbfde9be3455b245b21794d9be7169c9fb251d4d7ce66998d67","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002310/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2310,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002310/side_by_side.mp4","first_modified_step":32,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002310/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ce0c4eb257d0956f5ee9c5c45ae16318533d4fa2a955f99f5d0d00dc18dfaa56","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002315/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2315,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002315/side_by_side.mp4","first_modified_step":35,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002315/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"93c90521b79ab36454c982b0411b8875390c9a5e0de09c8c41ee9b0841266168","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002318/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2318,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002318/side_by_side.mp4","first_modified_step":39,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002318/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"67ea071a15ed28e0f4ebd4c72967754e1815929f252592333c5427b2a74ffd83","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002319/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2319,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002319/side_by_side.mp4","first_modified_step":29,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002319/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f8283e7584f0ec5fb0c6d3deec5ff9238e1fe5a4d3e331a7d8a3bfeb557bfdf7","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002322/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2322,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002322/side_by_side.mp4","first_modified_step":28,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002322/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"6c965e506581d47de1c01d7ea03f61ed568026391128879514c44c115c977ace","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2323,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/side_by_side.mp4","first_modified_step":29,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8044ab17300f2b68ac9a7ccc0c6cf5e01fe61f5a6658129f362afa1610f591a5","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002324/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2324,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002324/side_by_side.mp4","first_modified_step":40,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002324/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"07310c441ce8cb314a6a79803746e9c2634c9b72836051def430dc08988692f2","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002325/baseline.mp4","comparison_prefix_mode":"natural_exact+transparent_pixel_prefix_canonicalization","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2325,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002325/side_by_side.mp4","first_modified_step":42,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002325/intervention.mp4","natural_rgb_prefix_exact":false,"pair_id":"cbf86883e31daddea3e108a7cb1d5f3b737d0c7c21d45f83177db99c1f40943f","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002326/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2326,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002326/side_by_side.mp4","first_modified_step":17,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002326/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"c709da1805ea4f507c9811dc167d5b4dea1503b1ce8871078eebb38b2419a96c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002327/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2327,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002327/side_by_side.mp4","first_modified_step":21,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002327/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"632957aa757901bf027c422a1d45a77fc6e0addc47c2ecd9aaf8ccd67d49c1bc","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002328/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2328,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002328/side_by_side.mp4","first_modified_step":28,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002328/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"572ec1e3d894121ef355af33dc039e72dafa2c314b07a0d2dd2056c3734da68c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002329/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2329,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002329/side_by_side.mp4","first_modified_step":22,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002329/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"72576a369c1ac358588fe43064093a62b02f38d78ab45cd9db36b63552ef1661","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002330/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2330,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002330/side_by_side.mp4","first_modified_step":27,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002330/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"cfd5716f9ab24550c75930d072acbdd8d5e995a42a01729f85ec38337953faa3","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002331/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2331,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002331/side_by_side.mp4","first_modified_step":53,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002331/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f324bfcc94c5ff406339506151579c69409d39298f280c7d6056c02d2e9218a6","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002333/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2333,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002333/side_by_side.mp4","first_modified_step":42,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002333/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"6807e9aa76051603d29250653eebf918119317963d203170f63d174938747c7d","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002335/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2335,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002335/side_by_side.mp4","first_modified_step":21,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002335/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"33a48f7b917dc0be5b2f1ea2ab5bde9c24c5ae2de86ac4d19bb26e3d7122d341","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002337/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2337,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002337/side_by_side.mp4","first_modified_step":40,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002337/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b688ad4ba9ec9e39d185a95c2cea9c0de1adcd4c733511e0b2e065bc09dc122b","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002339/baseline.mp4","comparison_prefix_mode":"canonical_action_splice+transparent_pixel_prefix_canonicalization","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2339,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002339/side_by_side.mp4","first_modified_step":27,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002339/intervention.mp4","natural_rgb_prefix_exact":false,"pair_id":"1c115bdc036c1d843c69609b71716d4e21a9cc0b9188b952a6841cbf792c2359","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":false,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002340/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2340,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002340/side_by_side.mp4","first_modified_step":49,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002340/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"46b66039930c86061caebf4adeeb7482cddf5cc153321de1bef8e1c19d94cdd8","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002341/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2341,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002341/side_by_side.mp4","first_modified_step":42,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002341/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"a9b1428de90e6ca4902ea6f5abf35ede3a220e95d8a0006319eed987ed1fca27","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002342/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2342,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002342/side_by_side.mp4","first_modified_step":35,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002342/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"26371f7081c55b454919c40e2653fdb1b6ae120eabc0077a3e41878782f32c0a","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002343/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2343,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002343/side_by_side.mp4","first_modified_step":42,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002343/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5e2e3997645e2b3f80e2e314938858a42585a294dc10afea58ab5136a141660c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002344/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2344,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002344/side_by_side.mp4","first_modified_step":44,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002344/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b60be0f0cd78b290df23d1fe76ff35a88063c3019a57fc3b4c0a95198f48ed8c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002346/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2346,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002346/side_by_side.mp4","first_modified_step":17,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002346/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"969a8837d10cda3b63c7d70413025bde027c6e713f98a3c0e525ce649232d03e","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002348/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2348,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002348/side_by_side.mp4","first_modified_step":46,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002348/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"44764ef9a2b8450941c9db97f940c26248324c1f9de08d3ab8fcf5dd78fae048","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002349/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2349,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002349/side_by_side.mp4","first_modified_step":23,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002349/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"1090a900c2c4562ecf4a9665268b93cf59059602608b5f1b05827501fbe18b12","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002350/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2350,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002350/side_by_side.mp4","first_modified_step":30,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002350/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"710b1f1913472afd527e070b00c6eae724be2c939eb83ac3c0f0c28e519e0100","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002351/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2351,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002351/side_by_side.mp4","first_modified_step":32,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002351/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9ddda09fd1ec202df0b5e1fc9cdabb8e56deac79632be4951bd8db79af72749c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002352/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2352,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002352/side_by_side.mp4","first_modified_step":25,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002352/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"c6f0dd193dfd68465f68d0262d8af16640b5952f2be37c9f564f42d64284841e","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002353/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2353,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002353/side_by_side.mp4","first_modified_step":23,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002353/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d758c19c0443f77172d6d5e8471dfee95e292bb5fca2e0a0f076d28b61308af8","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002356/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2356,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002356/side_by_side.mp4","first_modified_step":21,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002356/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"545f912c13bae34d1d1b0c6c26527bc0bfadb54d47b41ed2c8f253b2c92186a8","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002357/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2357,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002357/side_by_side.mp4","first_modified_step":38,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002357/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ef896f440a2f4df3d6dabe03cc93996ccb5f7154b492016dcc96468a781ae264","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002359/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2359,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002359/side_by_side.mp4","first_modified_step":48,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002359/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"986c6778d8d7abc7f2957a33cf57dce41e05624217139a22efc793d797026ac5","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/baseline.mp4","comparison_prefix_mode":"natural_exact+transparent_pixel_prefix_canonicalization","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2362,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/side_by_side.mp4","first_modified_step":29,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/intervention.mp4","natural_rgb_prefix_exact":false,"pair_id":"9557f94e7ed9c736c24ffcff6136d91fc06e65a38c17550e44267aa03544706f","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002363/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2363,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002363/side_by_side.mp4","first_modified_step":32,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002363/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"42ea47a443d76276c13bae6fed69f06a5690755d97393da0cb708b3dea0cbdc6","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002364/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2364,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002364/side_by_side.mp4","first_modified_step":18,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002364/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d9824766d609809e5b4d716ed17d8b31f1cc22d6366263c1c6f58db52ca780d0","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002365/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2365,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002365/side_by_side.mp4","first_modified_step":30,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002365/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ff1443f72b764922bff954d9530eb58af36fe93d32020ee4daceeadc23110855","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002366/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2366,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002366/side_by_side.mp4","first_modified_step":45,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002366/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8741a52f7ffde18ae183bf498e2b6534b0562f0fc5937bbddf3c9350d9d73b09","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} +{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002367/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2367,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002367/side_by_side.mp4","first_modified_step":16,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002367/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"dd494bc2f7ec9febfef0136858f949208d224c3bdb921bb4bf37ed6b68d1f087","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_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) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"} diff --git a/data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/baseline.mp4 b/data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/baseline.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f70276cba6e3d934def549002ebd137c10409839 --- /dev/null +++ b/data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/baseline.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09e4bed2b51c537c42cd6365e72a1ced30a09916c87933f3c651aedfc0e871c0 +size 270917 diff --git a/data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/intervention.mp4 b/data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/intervention.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e5942703839f86a98e37719f409e1fd122a205f --- /dev/null +++ b/data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/intervention.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70fedd4756c636c1969393cd768a201743b0a22e2fde765656b5fff784c32f51 +size 301517 diff --git a/data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/metadata.json b/data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..86cb4281be09b8189f37b720ea5ad2c46ea1db29 --- /dev/null +++ b/data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/metadata.json @@ -0,0 +1,360 @@ +{ + "authorship": "known_library_candidate", + "causal_pair": { + "canonical_replay_rgb_prefix_exact": true, + "canonical_splice_step": null, + "comparison_input_camera_regions_prefix_exact": true, + "comparison_prefix_mode": "natural_exact", + "decoded_mp4_first_different_frame": 19, + "decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 19, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 19, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "cube_stack", + "entry_id": "cube_any_grasp_gentle_validation_v1", + "env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1", + "episode_id": 2562, + "instruction": "stack the green block on the yellow block", + "outcomes": { + "published_effect": "unchanged_failure", + "published_intervention_success": false, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "unchanged_failure", + "source_intervention_success": false, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + } + }, + "pair_id": "5643c1250c292cfffb0f1e2f711e6aa7c5b3db3830c74f173d0037a2e239f930", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.025, + "close_command": -1.0, + "descend_steps": 4, + "end_step_exclusive": 42, + "id": "cube_any_grasp_gentle", + "latch_oracle_success": true, + "lift_steps": 4, + "max_interventions_per_episode": 24, + "max_planar_action_m": 0.018, + "minimum_source_lift_m": 0.03, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 0.8, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.03, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.008, + "release_steps": 2, + "required_grasp_steps": 3, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 9, + "start_step": 8, + "trigger_on_grasp": true, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.05, + "vertical_action_m": 0.01 + }, + "display_lines": [ + "window(t) := 8 <= t < 42", + "budget(t) := interventions(t) < 24", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 3", + "transport_request(t) := proposed_open(t) OR true", + "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", + "servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)", + "lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 8 <= t < 42; budget: N_edit < 24", + "trigger=[open OR true] & grasp[3] & d_xy>=0.025", + "servo_xy=clip_norm(-0.8*(target-source)_xy,0.018)", + "phases: lift(4) -> servo(9) -> descend(4) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "cube_any_grasp_gentle", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" + }, + "id": "cube_any_grasp_gentle", + "kind": "legacy_config", + "metric_estimators_used": false, + "sha256": "b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c", + "simulator_oracle": true + }, + "patch_status": "accepted", + "protocol_kind": "fixed_candidate_search_with_automatic_selection", + "replay": { + "baseline_final_state_sha256": "6cd33f352d9ddd495b4e65963e640aed2ca988e42534ff368007078da71a631c", + "baseline_full_initial_state_sha256": "10b8b7cef704f3b061b9d617af0059bb6912c6c3cb0501a8c7f8e0ba5bf87c37", + "baseline_initial_state_sha256": 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true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "cube_stack", + "entry_id": "cube_any_grasp_gentle_validation_v1", + "env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1", + "episode_id": 2563, + "instruction": "stack the green block on the yellow block", + "outcomes": { + "published_effect": "unchanged_failure", + "published_intervention_success": false, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": false, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "unchanged_failure", + "source_intervention_success": false, + 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false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "483367f85e88a4d678763ddfbaeab02d6d49143b2a65a6b3a50a8870b5dd66e0", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.025, + "close_command": -1.0, + "descend_steps": 4, + "end_step_exclusive": 42, + "id": "cube_any_grasp_gentle", + "latch_oracle_success": true, + "lift_steps": 4, + "max_interventions_per_episode": 24, + "max_planar_action_m": 0.018, + "minimum_source_lift_m": 0.03, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 0.8, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.03, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.008, + "release_steps": 2, + "required_grasp_steps": 3, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 9, + "start_step": 8, + "trigger_on_grasp": true, + "unilateral_consecutive_steps": 4, + 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-> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 8 <= t < 42; budget: N_edit < 24", + "trigger=[open OR true] & grasp[3] & d_xy>=0.025", + 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"canonical_splice_step": null, + "comparison_input_camera_regions_prefix_exact": true, + "comparison_prefix_mode": "natural_exact", + "decoded_mp4_first_different_frame": 41, + "decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 41, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 41, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "cube_stack", + "entry_id": "cube_any_grasp_gentle_validation_v1", + "env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1", + "episode_id": 2571, + "instruction": "stack the green block on the yellow block", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "2380e6c477d4c8d6e38cdf2b73f97d21a93f33b14b171ca08a584aba3c54ac78", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.025, + "close_command": -1.0, + "descend_steps": 4, + "end_step_exclusive": 42, + "id": "cube_any_grasp_gentle", + "latch_oracle_success": true, + "lift_steps": 4, + "max_interventions_per_episode": 24, + "max_planar_action_m": 0.018, + "minimum_source_lift_m": 0.03, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 0.8, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.03, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.008, + "release_steps": 2, + "required_grasp_steps": 3, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 9, + "start_step": 8, + "trigger_on_grasp": true, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.05, + "vertical_action_m": 0.01 + }, + "display_lines": [ + "window(t) := 8 <= t < 42", + "budget(t) := interventions(t) < 24", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 3", + "transport_request(t) := proposed_open(t) OR true", + "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", + "servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)", + "lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 8 <= t < 42; budget: N_edit < 24", + "trigger=[open OR true] & grasp[3] & d_xy>=0.025", + "servo_xy=clip_norm(-0.8*(target-source)_xy,0.018)", + "phases: lift(4) -> servo(9) -> descend(4) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "cube_any_grasp_gentle", + "patch_kind": "legacy_config", + "runtime_source": { + 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true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "cube_stack", + "entry_id": "cube_any_grasp_gentle_validation_v1", + "env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1", + "episode_id": 2572, + "instruction": "stack the green block on the yellow block", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "f2f8319edb23c280ecc7a475e2b6706fa419977fb4469e96f61d4d7a7b044fc1", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.025, + "close_command": -1.0, + "descend_steps": 4, + "end_step_exclusive": 42, + "id": "cube_any_grasp_gentle", + "latch_oracle_success": true, + "lift_steps": 4, + "max_interventions_per_episode": 24, + "max_planar_action_m": 0.018, + "minimum_source_lift_m": 0.03, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 0.8, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.03, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.008, + "release_steps": 2, + "required_grasp_steps": 3, + "schema_version": 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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", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + 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transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025", + "servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)", + "lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": 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true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "cube_stack", + "entry_id": "cube_any_grasp_gentle_validation_v1", + "env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1", + "episode_id": 2587, + "instruction": "stack the green block on the yellow block", + "outcomes": { + "published_effect": "unchanged_failure", + "published_intervention_success": false, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "unchanged_failure", + "source_intervention_success": false, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + } + }, + "pair_id": "430cf0957f7789bcb0fb613a6dd1ae560d2397cd40601f2a5580987fe20f12ca", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.025, + "close_command": -1.0, + "descend_steps": 4, + "end_step_exclusive": 42, + "id": "cube_any_grasp_gentle", + "latch_oracle_success": true, + "lift_steps": 4, + "max_interventions_per_episode": 24, + "max_planar_action_m": 0.018, + "minimum_source_lift_m": 0.03, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 0.8, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.03, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.008, + "release_steps": 2, + "required_grasp_steps": 3, + 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a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), 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"moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": false, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "99d5333565d98180418fcaa22f95cc93fdfd851636d1189faed949361f982d56", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.025, + "close_command": -1.0, + "descend_steps": 4, + "end_step_exclusive": 42, + "id": "cube_any_grasp_gentle", + "latch_oracle_success": true, + 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consecutive(grasped(t)) >= 3", + "transport_request(t) := proposed_open(t) OR true", + "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", + "servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)", + "lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + 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consecutive(grasped(t)) >= 3", + "transport_request(t) := proposed_open(t) OR true", + "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", + "servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)", + "lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + 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clip_norm(-0.8 * target_vector_xy(t), 0.018)", + "lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33", + "mechanical_derivation": 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"dataset_edition": "simulator_oracle", + "dataset_task_key": "cube_stack", + "entry_id": "cube_any_grasp_gentle_validation_v1", + "env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1", + "episode_id": 2599, + "instruction": "stack the green block on the yellow block", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "b513d73cc5a21d489e16b509ff515ed51f625343c1b94aa305b47f426a71926e", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.025, + "close_command": -1.0, + "descend_steps": 4, + "end_step_exclusive": 42, + "id": "cube_any_grasp_gentle", + "latch_oracle_success": true, + "lift_steps": 4, + "max_interventions_per_episode": 24, + "max_planar_action_m": 0.018, + "minimum_source_lift_m": 0.03, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 0.8, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.03, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.008, + "release_steps": 2, + "required_grasp_steps": 3, + "schema_version": "sim_oracle_action_patch.v1", + 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"moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "dd067343f17c2dc017f23a9c41854cf462498f5f56883caaf340968d1af1426c", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.025, + "close_command": -1.0, + "descend_steps": 4, + "end_step_exclusive": 42, + "id": "cube_any_grasp_gentle", + "latch_oracle_success": true, + 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consecutive(grasped(t)) >= 3", + "transport_request(t) := proposed_open(t) OR true", + "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", + "servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)", + "lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + 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"descend_steps": 4, + "end_step_exclusive": 42, + "id": "cube_any_grasp_gentle", + "latch_oracle_success": true, + "lift_steps": 4, + "max_interventions_per_episode": 24, + "max_planar_action_m": 0.018, + "minimum_source_lift_m": 0.03, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 0.8, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.03, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.008, + "release_steps": 2, + "required_grasp_steps": 3, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 9, + "start_step": 8, + "trigger_on_grasp": true, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.05, + "vertical_action_m": 0.01 + }, + "display_lines": [ + "window(t) := 8 <= t < 42", + "budget(t) := interventions(t) < 24", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 3", + "transport_request(t) := proposed_open(t) OR true", + "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", + "servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)", + "lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 8 <= t < 42; budget: N_edit < 24", + "trigger=[open OR true] & grasp[3] & d_xy>=0.025", + "servo_xy=clip_norm(-0.8*(target-source)_xy,0.018)", + "phases: lift(4) -> servo(9) -> descend(4) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "cube_any_grasp_gentle", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": 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"pixel_prefix_canonicalized": false, + "published_first_different_frame": 18, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "cube_stack", + "entry_id": "cube_any_grasp_gentle_validation_v1", + "env_id": "StackGreenCubeOnYellowCubeBakedTexInScene-v1", + "episode_id": 2622, + "instruction": "stack the green block on the yellow block", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "d39676cf92e2b0dcf1c4e453fc228a62b2a31570f8856993fe65a47b5190354e", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.025, + "close_command": -1.0, + "descend_steps": 4, + "end_step_exclusive": 42, + "id": "cube_any_grasp_gentle", + "latch_oracle_success": true, + "lift_steps": 4, + "max_interventions_per_episode": 24, + "max_planar_action_m": 0.018, + "minimum_source_lift_m": 0.03, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 0.8, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.03, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.008, + "release_steps": 2, + "required_grasp_steps": 3, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 9, + "start_step": 8, + "trigger_on_grasp": true, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.05, + "vertical_action_m": 0.01 + }, + "display_lines": [ + "window(t) := 8 <= t < 42", + "budget(t) := interventions(t) < 24", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 3", + "transport_request(t) := proposed_open(t) OR true", + "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", + "servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)", + "lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal 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||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "stage_00_premature_release", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": 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"decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 42, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 42, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_agentic_premature_release_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2822, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "9e224d8f080caf47c77af6d24257674e5db60484a7982bd9af6ce89217c105e8", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "stage_00_premature_release", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": 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"source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_agentic_premature_release_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2823, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "32eaa8f070fe7a727daaffa680e379376fb20e5cd3a43f0b43869893704ced45", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + 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||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "stage_00_premature_release", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": 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a/data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/metadata.json b/data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3c5c46841509a5d70aa3f18591eb791e615307bc --- /dev/null +++ b/data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/metadata.json @@ -0,0 +1,411 @@ +{ + "authorship": "agentic_failure_loop", + "causal_pair": { + "canonical_replay_rgb_prefix_exact": true, + "canonical_splice_step": null, + "comparison_input_camera_regions_prefix_exact": true, + "comparison_prefix_mode": "natural_exact", + "decoded_mp4_first_different_frame": 29, + "decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 29, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 29, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_agentic_premature_release_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2832, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "eb54b7545010c15e7037d3520ac442fa1776050f94db427b41ecbbfbc773ae9a", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + 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:= clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + 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"source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_agentic_premature_release_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2833, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "f11b20efbc2772dbb23126dd91035ceeedacbb018ecd6789f4f1dfe4b805eaf7", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + 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a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": 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||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "stage_00_premature_release", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": 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"decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 47, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 47, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_agentic_premature_release_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2839, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "3b6adad6287692991cd030e2e2d7a0ed03501698452b3c3f234c156fbfdb4ed1", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "stage_00_premature_release", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": 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"source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_agentic_premature_release_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2841, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "cea158e970c482a399ca2ce1e83b8a38331efd418928c98b0e3eeecf888ad6cd", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 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a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + 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true, + "comparison_prefix_mode": "natural_exact", + "decoded_mp4_first_different_frame": 55, + "decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 55, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 55, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [ + "left_finger_target_contact_force" + ], + "source_telemetry_prefix_exact": false + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_agentic_premature_release_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2847, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_failure", + "published_intervention_success": false, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "unchanged_failure", + "source_intervention_success": false, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + } + }, + "pair_id": "85d10caf5e6a4e2dbe899d9270ba330714e9230cdbef50f3780386037b75aa32", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + 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"target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "stage_00_premature_release", + "patch_kind": "legacy_config", + "runtime_source": { + "path": 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"source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_agentic_premature_release_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2848, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "655ec5c721cd7ac84ee314f74857fc6dbd2913d42652edc74bc69e822cbc4466", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + 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"dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_agentic_premature_release_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2856, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": 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b/data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/metadata.json @@ -0,0 +1,413 @@ +{ + "authorship": "agentic_failure_loop", + "causal_pair": { + "canonical_replay_rgb_prefix_exact": true, + "canonical_splice_step": null, + "comparison_input_camera_regions_prefix_exact": true, + "comparison_prefix_mode": "natural_exact", + "decoded_mp4_first_different_frame": 27, + "decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 27, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 27, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_agentic_premature_release_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2858, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "0dcfeec662db79723ccc1713ba51e049da86a0fb52c9e63c042c737c9a672f56", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + 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"is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "4135ab412d46353c885d34b9f14ff3c38d550584285fff45aaecba468d06a6a1", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "stage_00_premature_release", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + 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"decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 23, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 23, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_agentic_premature_release_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2868, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "6bfa96a836ebd96afbb500e5f4a4a4c5fe377a783f31d82d4141d65d74c7b4f1", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + 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false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "4d8b29bcf37b10cf606c7d452b87dc0f08f9eca8b6358e11bb227652ab588d0c", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "stage_00_premature_release", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": 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||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "stage_00_premature_release", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": 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sha256:bd75bc40ecfdae498b52bc4526301e96592aac86a65bab930380a3172373ace1 +size 403482 diff --git a/data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/metadata.json b/data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d46a969cc8fd204bf6fa47146bb401f3e8d6c525 --- /dev/null +++ b/data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/metadata.json @@ -0,0 +1,383 @@ +{ + "authorship": "agentic_failure_loop", + "causal_pair": { + "canonical_replay_rgb_prefix_exact": true, + "canonical_splice_step": null, + "comparison_input_camera_regions_prefix_exact": true, + "comparison_prefix_mode": "natural_exact", + "decoded_mp4_first_different_frame": 57, + "decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 57, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 57, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_agentic_premature_release_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2879, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "52d227f4217f8826745e0bcdc1beeb162b09e328a4d38ab827e1be187729836a", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "stage_00_premature_release", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": 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-0,0 +1,421 @@ +{ + "authorship": "known_library_candidate", + "causal_pair": { + "canonical_replay_rgb_prefix_exact": true, + "canonical_splice_step": null, + "comparison_input_camera_regions_prefix_exact": true, + "comparison_prefix_mode": "natural_exact", + "decoded_mp4_first_different_frame": 24, + "decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 24, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 24, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2304, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "3816ddb13e6a462991788a2a447b7b18087328f15a1a2f064f92363879fc4eae", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + 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"source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2305, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": 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a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are 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"source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2306, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": 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a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are 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proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & 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a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + 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a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + 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"proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" + }, + "id": "hybrid_regrasp_servo", + "kind": "legacy_config", + "metric_estimators_used": false, + "sha256": "ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0", + 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b/data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/metadata.json @@ -0,0 +1,415 @@ +{ + "authorship": "known_library_candidate", + "causal_pair": { + "canonical_replay_rgb_prefix_exact": true, + "canonical_splice_step": null, + "comparison_input_camera_regions_prefix_exact": true, + "comparison_prefix_mode": "natural_exact", + "decoded_mp4_first_different_frame": 30, + "decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 30, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 30, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2323, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "8044ab17300f2b68ac9a7ccc0c6cf5e01fe61f5a6658129f362afa1610f591a5", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": 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"dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2324, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "07310c441ce8cb314a6a79803746e9c2634c9b72836051def430dc08988692f2", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): 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"source_telemetry_prefix_differences": [ + "source_angular_velocity", + "source_linear_velocity", + "source_pixel_centroid_xy", + "source_position", + "source_quaternion_wxyz", + "source_target_contact_force", + "source_visible_pixels", + "target_pixel_centroid_xy", + "target_visible_pixels" + ], + "source_telemetry_prefix_exact": false + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2325, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "cbf86883e31daddea3e108a7cb1d5f3b737d0c7c21d45f83177db99c1f40943f", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + 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"source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "c709da1805ea4f507c9811dc167d5b4dea1503b1ce8871078eebb38b2419a96c", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + 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towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "632957aa757901bf027c422a1d45a77fc6e0addc47c2ecd9aaf8ccd67d49c1bc", + 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< 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + 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a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are 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"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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & 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"deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" + }, + "id": "hybrid_regrasp_servo", + "kind": "legacy_config", + "metric_estimators_used": false, + "sha256": "ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0", + 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"comparison_prefix_mode": "natural_exact", + "decoded_mp4_first_different_frame": 43, + "decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 43, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 43, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2333, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "6807e9aa76051603d29250653eebf918119317963d203170f63d174938747c7d", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" + }, + "id": "hybrid_regrasp_servo", + "kind": "legacy_config", + "metric_estimators_used": false, + "sha256": "ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0", + "simulator_oracle": true + }, + "patch_status": "accepted", + "protocol_kind": "fixed_candidate_search_with_automatic_selection", + "replay": { + "baseline_final_state_sha256": 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"comparison_prefix_mode": "natural_exact", + "decoded_mp4_first_different_frame": 22, + "decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 22, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 22, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2335, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "33a48f7b917dc0be5b2f1ea2ab5bde9c24c5ae2de86ac4d19bb26e3d7122d341", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & 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"right_finger_position", + "right_finger_quaternion_wxyz", + "right_finger_source_contact_force", + "robot_qpos", + "robot_qvel", + "source_angular_velocity", + "source_linear_velocity", + "source_pixel_centroid_xy", + "source_position", + "source_quaternion_wxyz", + "source_visible_pixels" + ], + "source_telemetry_prefix_exact": false + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2339, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + 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AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": 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consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND 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"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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & 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target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + 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"proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" + }, + "id": "hybrid_regrasp_servo", + "kind": "legacy_config", + "metric_estimators_used": false, + "sha256": "ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0", + 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"canonical_replay_rgb_prefix_exact": true, + "canonical_splice_step": null, + "comparison_input_camera_regions_prefix_exact": true, + "comparison_prefix_mode": "natural_exact", + "decoded_mp4_first_different_frame": 18, + "decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 18, + "natural_rgb_prefix_exact": true, + "pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 18, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2346, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "969a8837d10cda3b63c7d70413025bde027c6e713f98a3c0e525ce649232d03e", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" + }, + "id": "hybrid_regrasp_servo", + "kind": "legacy_config", + "metric_estimators_used": false, + "sha256": "ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0", + 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"source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2348, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "44764ef9a2b8450941c9db97f940c26248324c1f9de08d3ab8fcf5dd78fae048", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", 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"source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2349, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "correction", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "1090a900c2c4562ecf4a9665268b93cf59059602608b5f1b05827501fbe18b12", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + 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a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are 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"moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "710b1f1913472afd527e070b00c6eae724be2c939eb83ac3c0f0c28e519e0100", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 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target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": 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proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & 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transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + 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+ "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" + }, + "id": "hybrid_regrasp_servo", + "kind": "legacy_config", + "metric_estimators_used": false, + "sha256": "ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0", + "simulator_oracle": true + }, + "patch_status": "accepted", + "protocol_kind": "fixed_candidate_search_with_automatic_selection", + "replay": { + "baseline_final_state_sha256": "008b4d1455926ba930ca8f6bb2feac7e4c3d483e553970b3ba77d01d86e67ac5", + "baseline_full_initial_state_sha256": "d15e15fb5da03e7239ecad027cb0736205cfef35b7fb5d54fed14462cde1e068", + 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'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]", + "reason_type": "BridgeObjectResetError", + "recreation_number": 1, + "repeat": 1 + } + ] + }, + "input": "sealed_executed_float32_action_traces", + "policy_inference_used": false, + "published_action_prefix_matches_baseline": true, + "published_action_suffix_matches_source_intervention": true, + "published_intervention_action_sha256": "d69daf4dbb8b3a6e6e7a8ba239830dd887a06aca4feb4a4644451a63af5d40a1", + "published_intervention_final_state_sha256": "e58ab016bab52dd3d6a1e324c6eee8b63ec7f963b1cce3eac44aa9161d51a6b8", + "source_intervention_final_state_sha256": "e58ab016bab52dd3d6a1e324c6eee8b63ec7f963b1cce3eac44aa9161d51a6b8", + "source_intervention_full_initial_state_sha256": "d15e15fb5da03e7239ecad027cb0736205cfef35b7fb5d54fed14462cde1e068", + "source_intervention_initial_state_sha256": "0e4da5fe90977528d1c343dcfa28567e92227c7a74e1c89443f0d30ada03b102", + 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"pixel_canonicalized_frame_indices": null, + "pixel_prefix_canonicalized": false, + "published_first_different_frame": 49, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [], + "source_telemetry_prefix_exact": true + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2359, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_failure", + "published_intervention_success": false, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_baseline_success": false, + "source_baseline_terminal_metrics": { + "consecutive_grasp": false, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "unchanged_failure", + "source_intervention_success": false, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + } + }, + "pair_id": "986c6778d8d7abc7f2957a33cf57dce41e05624217139a22efc793d797026ac5", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" + }, + "id": "hybrid_regrasp_servo", + "kind": "legacy_config", + "metric_estimators_used": false, + "sha256": "ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0", + "simulator_oracle": true + }, + "patch_status": "accepted", + "protocol_kind": "fixed_candidate_search_with_automatic_selection", + "replay": { + "baseline_final_state_sha256": "03e4fd57f103ecae185cc9a67c8b74ad96d768c021b95bbfb0546272853ab508", + "baseline_full_initial_state_sha256": 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a/data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/metadata.json b/data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ec137719ac9b69f936bb444052e2025f996e873f --- /dev/null +++ b/data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/metadata.json @@ -0,0 +1,428 @@ +{ + "authorship": "known_library_candidate", + "causal_pair": { + "canonical_replay_rgb_prefix_exact": false, + "canonical_splice_step": null, + "comparison_input_camera_regions_prefix_exact": true, + "comparison_prefix_mode": "natural_exact+transparent_pixel_prefix_canonicalization", + "decoded_mp4_first_different_frame": 30, + "decoded_mp4_prefix_exact": true, + "natural_first_different_frame": 29, + "natural_rgb_prefix_exact": false, + "pixel_canonicalized_frame_indices": [ + 0, + 29 + ], + "pixel_prefix_canonicalized": true, + "published_first_different_frame": 30, + "published_rgb_prefix_exact": true, + "published_trace_kind": "source_intervention", + "source_causal_pair_clean": true, + "source_preintervention_action_exact": true, + "source_telemetry_prefix_differences": [ + "source_angular_velocity", + "source_linear_velocity", + "source_pixel_centroid_xy", + "source_position", + "source_quaternion_wxyz", + "source_target_contact_force", + "source_visible_pixels", + "target_pixel_centroid_xy", + "target_visible_pixels" + ], + "source_telemetry_prefix_exact": false + }, + "dataset_edition": "simulator_oracle", + "dataset_task_key": "spoon_cloth", + "entry_id": "spoon_hybrid_regrasp_servo_validation_v1", + "env_id": "PutSpoonOnTableClothInScene-v1", + "episode_id": 2362, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "9557f94e7ed9c736c24ffcff6136d91fc06e65a38c17550e44267aa03544706f", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" + }, + "id": "hybrid_regrasp_servo", + "kind": "legacy_config", + "metric_estimators_used": false, + "sha256": "ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0", + "simulator_oracle": true + }, + "patch_status": "accepted", + "protocol_kind": "fixed_candidate_search_with_automatic_selection", + "replay": { + "baseline_final_state_sha256": 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2363, + "instruction": "put the spoon on the towel", + "outcomes": { + "published_effect": "unchanged_success", + "published_intervention_success": true, + "published_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_baseline_success": true, + "source_baseline_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + }, + "source_effect": "unchanged_success", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "42ea47a443d76276c13bae6fed69f06a5690755d97393da0cb708b3dea0cbdc6", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + 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"moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": false, + "success": false + }, + "source_effect": "correction", + "source_intervention_success": true, + "source_intervention_terminal_metrics": { + "consecutive_grasp": true, + "elapsed_steps": 60, + "is_src_obj_grasped": true, + "moved_correct_obj": false, + "moved_wrong_obj": false, + "src_on_target": true, + "success": true + } + }, + "pair_id": "ff1443f72b764922bff954d9530eb58af36fe93d32020ee4daceeadc23110855", + "patch": { + "deployment_eligible": false, + "formula": { + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + 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:= clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + 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runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": 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diff --git a/formulas/cube_any_grasp_gentle_validation_v1.json b/formulas/cube_any_grasp_gentle_validation_v1.json new file mode 100644 index 0000000000000000000000000000000000000000..2e57234fe8a3064b5f086842cf2f214eddccd607 --- /dev/null +++ b/formulas/cube_any_grasp_gentle_validation_v1.json @@ -0,0 +1,75 @@ +{ + "canonical_patch": { + "activation_planar_distance_m": 0.025, + "close_command": -1.0, + "descend_steps": 4, + "end_step_exclusive": 42, + "id": "cube_any_grasp_gentle", + "latch_oracle_success": true, + "lift_steps": 4, + "max_interventions_per_episode": 24, + "max_planar_action_m": 0.018, + "minimum_source_lift_m": 0.03, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 0.8, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.03, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.008, + "release_steps": 2, + "required_grasp_steps": 3, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 9, + "start_step": 8, + "trigger_on_grasp": true, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.05, + "vertical_action_m": 0.01 + }, + "display_lines": [ + "window(t) := 8 <= t < 42", + "budget(t) := interventions(t) < 24", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 3", + "transport_request(t) := proposed_open(t) OR true", + "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", + "servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)", + "lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 4 OR source_lift >= 0.03", + "servo -> descend after age >= 9 OR d_xy <= 0.008", + "descend -> release after age >= 4; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 8 <= t < 42; budget: N_edit < 24", + "trigger=[open OR true] & grasp[3] & d_xy>=0.025", + "servo_xy=clip_norm(-0.8*(target-source)_xy,0.018)", + "phases: lift(4) -> servo(9) -> descend(4) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "cube_any_grasp_gentle", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" +} diff --git a/formulas/cube_any_grasp_gentle_validation_v1.txt b/formulas/cube_any_grasp_gentle_validation_v1.txt new file mode 100644 index 0000000000000000000000000000000000000000..64a306e37fb39cfeddf9716cbec3926c1d26fb6e --- /dev/null +++ b/formulas/cube_any_grasp_gentle_validation_v1.txt @@ -0,0 +1,22 @@ +window(t) := 8 <= t < 42 +budget(t) := interventions(t) < 24 +proposed_open(t) := a_policy[6](t) > 0.0 +target_vector_xy(t) := target_xy(t) - source_xy(t) +d_xy(t) := ||target_vector_xy(t)||_2 +a_exec(t) := a_policy(t), then apply the active mode branch below +stable_grasp(t) := consecutive(grasped(t)) >= 3 +transport_request(t) := proposed_open(t) OR true +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 +servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018) +lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0 +servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0 +descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0 +release: a_exec[:6]=0; a_exec[6]=1.0 +lift -> servo after age >= 4 OR source_lift >= 0.03 +servo -> descend after age >= 9 OR d_xy <= 0.008 +descend -> release after age >= 4; release -> done after age >= 2 +lost := active transport AND not grasped AND phase_age > 0; lost -> done +a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t)) +interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)] +success_latch(t) := OR_{k<=t} physical_success(k) +if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization) diff --git a/formulas/cube_open_autonomous_validation_v1.json b/formulas/cube_open_autonomous_validation_v1.json new file mode 100644 index 0000000000000000000000000000000000000000..9235fa4f3443c5dcb9b4df9bf466d0e96977be53 --- /dev/null +++ b/formulas/cube_open_autonomous_validation_v1.json @@ -0,0 +1,200 @@ +{ + "canonical_patch": { + "action_space": { + "dimension": 7, + "lower": [ + -0.03, + -0.03, + -0.03, + -0.1, + -0.1, + -0.1, + -1.0 + ], + "upper": [ + 0.03, + 0.03, + 0.03, + 0.1, + 0.1, + 0.1, + 1.0 + ] + }, + "authored_from": { + "category_digest": "ff1468fd83f715d0da53394dd2a00d126719c504278322721733b0d9880febc2", + "category_id": "discovered_event_ever_true_16001350a973", + "gain_scale": 0.5, + "relation_ids": [ + "correct_held_planar_error", + "correct_held_vertical_error", + "retain_current_grasp" + ], + "semantics_digest": "b13b16edadec42509544feff52babe3482fe3c664caf3ba64ed21df144276caa" + }, + "description": "Autonomously synthesized bounded correction from declared online oracle signals and controllability relations.", + "id": "auth_discovered_event_ever_true_16001350a973_01", + "initial_phase": "watch", + "limits": { + "active_window": { + "end_exclusive": 52, + "start": 8 + }, + "max_action_delta": [ + 0.02, + 0.02, + 0.01, + 0.0, + 0.0, + 0.0, + 2.0 + ], + "max_interventions": 24, + "max_phase_transitions": 1, + "max_program_steps": 60 + }, + "phases": [ + { + "name": "watch", + "transforms": [], + "transitions": [ + { + "to": "repair", + "when": { + "id": "diagnostic_00", + "op": "latch", + "value": { + "name": "source_grasped", + "op": "signal" + } + } + } + ] + }, + { + "name": "repair", + "transforms": [ + { + "indices": [ + 0, + 1 + ], + "op": "add", + "value": { + "maximum": 0.02, + "op": "clip_norm", + "value": { + "factor": { + "op": "constant", + "value": 0.5 + }, + "op": "scale", + "value": { + "matrix": [ + [ + 1.0, + 0.0 + ], + [ + 0.0, + 1.0 + ] + ], + "op": "linear", + "value": { + "name": "held_source_planar_error_xy", + "op": "signal" + } + } + } + } + }, + { + "indices": [ + 2 + ], + "op": "add", + "value": { + "maximum": 0.01, + "op": "clip_norm", + "value": { + "factor": { + "op": "constant", + "value": 0.25 + }, + "op": "scale", + "value": { + "matrix": [ + [ + -1.0 + ] + ], + "op": "linear", + "value": { + "name": "held_source_vertical_error", + "op": "signal" + } + } + } + } + }, + { + "indices": [ + 6 + ], + "op": "set", + "value": { + "op": "constant", + "value": [ + -1.0 + ] + } + } + ], + "transitions": [] + } + ], + "schema_version": "sim_oracle_patch_program.v1", + "signals": { + "held_source_planar_error_xy": { + "value_type": "vector", + "width": 2 + }, + "held_source_vertical_error": { + "value_type": "scalar" + }, + "source_grasped": { + "value_type": "boolean" + } + } + }, + "compiler_source": { + "path": "oracle_patching/program.py", + "provenance": "current_compiler_reconstruction; canonical program SHA is authoritative", + "sealed_by_source_manifest": false, + "sha256": "ad8c56a2068ce4a0db40901fc4055bcad09e53f097b31ade3164ebfc27b60621" + }, + "display_lines": [ + "phase watch -> repair if latch(oracle.source_grasped)", + "phase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)", + "phase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)", + "phase repair: a_exec[6] := [-1.0]" + ], + "formula_sha256": "dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493", + "mechanical_derivation": "compiled oracle_patching.program AST", + "overlay_lines": [ + "phase watch -> repair if latch(oracle.source_grasped)", + "phase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)", + "phase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)", + "phase repair: a_exec[6] := [-1.0]" + ], + "patch_id": "auth_discovered_event_ever_true_16001350a973_01", + "patch_kind": "program", + "runtime_source": { + "path": "oracle_patching/program_runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "85bae6bc03acaf7bc214cb67af80166499fec0f636a1fcf2ef4e7827460449e7" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" +} diff --git a/formulas/cube_open_autonomous_validation_v1.txt b/formulas/cube_open_autonomous_validation_v1.txt new file mode 100644 index 0000000000000000000000000000000000000000..988a2f7dfddedebbdb75b1ccb6caa1b65b60b21a --- /dev/null +++ b/formulas/cube_open_autonomous_validation_v1.txt @@ -0,0 +1,4 @@ +phase watch -> repair if latch(oracle.source_grasped) +phase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02) +phase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01) +phase repair: a_exec[6] := [-1.0] diff --git a/formulas/spoon_agentic_premature_release_validation_v1.json b/formulas/spoon_agentic_premature_release_validation_v1.json new file mode 100644 index 0000000000000000000000000000000000000000..a14b95447d84fe7d9a35c02174272b5faa80461f --- /dev/null +++ b/formulas/spoon_agentic_premature_release_validation_v1.json @@ -0,0 +1,75 @@ +{ + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "stage_00_premature_release", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "transport_servo", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "stage_00_premature_release", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" +} diff --git a/formulas/spoon_agentic_premature_release_validation_v1.txt b/formulas/spoon_agentic_premature_release_validation_v1.txt new file mode 100644 index 0000000000000000000000000000000000000000..20f10bcf8cbafe0d69a491a69b7c1a39e57b6c9e --- /dev/null +++ b/formulas/spoon_agentic_premature_release_validation_v1.txt @@ -0,0 +1,22 @@ +window(t) := 12 <= t < 56 +budget(t) := interventions(t) < 18 +proposed_open(t) := a_policy[6](t) > 0.0 +target_vector_xy(t) := target_xy(t) - source_xy(t) +d_xy(t) := ||target_vector_xy(t)||_2 +a_exec(t) := a_policy(t), then apply the active mode branch below +stable_grasp(t) := consecutive(grasped(t)) >= 2 +transport_request(t) := proposed_open(t) OR false +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) >= 0.07 +servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03) +lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0 +servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0 +descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0 +release: a_exec[:6]=0; a_exec[6]=1.0 +lift -> servo after age >= 3 OR source_lift >= 0.02 +servo -> descend after age >= 7 OR d_xy <= 0.022 +descend -> release after age >= 3; release -> done after age >= 2 +lost := active transport AND not grasped AND phase_age > 0; lost -> done +a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t)) +interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)] +success_latch(t) := OR_{k<=t} physical_success(k) +if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization) diff --git a/formulas/spoon_hybrid_regrasp_servo_validation_v1.json b/formulas/spoon_hybrid_regrasp_servo_validation_v1.json new file mode 100644 index 0000000000000000000000000000000000000000..edb2adb94dab5d5f600fea99c23348de41729eca --- /dev/null +++ b/formulas/spoon_hybrid_regrasp_servo_validation_v1.json @@ -0,0 +1,80 @@ +{ + "canonical_patch": { + "activation_planar_distance_m": 0.07, + "close_command": -1.0, + "descend_steps": 3, + "end_step_exclusive": 56, + "id": "hybrid_regrasp_servo", + "latch_oracle_success": true, + "lift_steps": 3, + "max_interventions_per_episode": 18, + "max_planar_action_m": 0.03, + "minimum_source_lift_m": 0.02, + "mode": "hybrid", + "open_command": 1.0, + "open_threshold": 0.0, + "planar_gain": 1.0, + "regrasp_close_steps": 1, + "regrasp_finger_qpos_max": 0.025, + "regrasp_open_steps": 1, + "release_planar_distance_m": 0.022, + "release_steps": 2, + "required_grasp_steps": 2, + "schema_version": "sim_oracle_action_patch.v1", + "servo_steps": 7, + "start_step": 12, + "trigger_on_grasp": false, + "unilateral_consecutive_steps": 4, + "unilateral_force_min_n": 0.5, + "unilateral_other_force_max_n": 0.02, + "vertical_action_m": 0.012 + }, + "display_lines": [ + "window(t) := 12 <= t < 56", + "budget(t) := interventions(t) < 18", + "proposed_open(t) := a_policy[6](t) > 0.0", + "target_vector_xy(t) := target_xy(t) - source_xy(t)", + "d_xy(t) := ||target_vector_xy(t)||_2", + "a_exec(t) := a_policy(t), then apply the active mode branch below", + "stable_grasp(t) := consecutive(grasped(t)) >= 2", + "transport_request(t) := proposed_open(t) OR false", + "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) >= 0.07", + "servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)", + "lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0", + "servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0", + "descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0", + "release: a_exec[:6]=0; a_exec[6]=1.0", + "lift -> servo after age >= 3 OR source_lift >= 0.02", + "servo -> descend after age >= 7 OR d_xy <= 0.022", + "descend -> release after age >= 3; release -> done after age >= 2", + "lost := active transport AND not grasped AND phase_age > 0; lost -> done", + "unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)", + "regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)", + "regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps", + "regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle", + "a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))", + "interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]", + "success_latch(t) := OR_{k<=t} physical_success(k)", + "if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)" + ], + "formula_sha256": "fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f", + "mechanical_derivation": "reconstructed_from_canonical_config_and_current_runtime", + "overlay_lines": [ + "mode=hybrid; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))", + "window: 12 <= t < 56; budget: N_edit < 18", + "trigger=[open OR false] & grasp[2] & d_xy>=0.07", + "servo_xy=clip_norm(-1.0*(target-source)_xy,0.03)", + "phases: lift(3) -> servo(7) -> descend(3) -> release(2)", + "unilateral[4] & !grasped -> open(1) -> close(1)", + "latch(success) -> [0,0,0,0,0,0,1.0]" + ], + "patch_id": "hybrid_regrasp_servo", + "patch_kind": "legacy_config", + "runtime_source": { + "path": "oracle_patching/runtime.py", + "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", + "sealed_by_source_manifest": false, + "sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + "schema_version": "sim_oracle_action_patch_formula.v1" +} diff --git a/formulas/spoon_hybrid_regrasp_servo_validation_v1.txt b/formulas/spoon_hybrid_regrasp_servo_validation_v1.txt new file mode 100644 index 0000000000000000000000000000000000000000..412f1e7ae5a4f9f4f3b2beb672b4d9b6dda70f7d --- /dev/null +++ b/formulas/spoon_hybrid_regrasp_servo_validation_v1.txt @@ -0,0 +1,26 @@ +window(t) := 12 <= t < 56 +budget(t) := interventions(t) < 18 +proposed_open(t) := a_policy[6](t) > 0.0 +target_vector_xy(t) := target_xy(t) - source_xy(t) +d_xy(t) := ||target_vector_xy(t)||_2 +a_exec(t) := a_policy(t), then apply the active mode branch below +stable_grasp(t) := consecutive(grasped(t)) >= 2 +transport_request(t) := proposed_open(t) OR false +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) >= 0.07 +servo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03) +lift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0 +servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0 +descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0 +release: a_exec[:6]=0; a_exec[6]=1.0 +lift -> servo after age >= 3 OR source_lift >= 0.02 +servo -> descend after age >= 7 OR d_xy <= 0.022 +descend -> release after age >= 3; release -> done after age >= 2 +lost := active transport AND not grasped AND phase_age > 0; lost -> done +unilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02) +regrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025) +regrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps +regrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle +a_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t)) +interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)] +success_latch(t) := OR_{k<=t} physical_success(k) +if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization) diff --git a/interventions.jsonl b/interventions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..470515a3a8e188106f7bda7da9dff32e817f150b --- /dev/null +++ b/interventions.jsonl @@ -0,0 +1,132 @@ +{"authorship":"known_library_candidate","causal_pair":{"canonical_replay_rgb_prefix_exact":true,"canonical_splice_step":null,"comparison_input_camera_regions_prefix_exact":true,"comparison_prefix_mode":"natural_exact","decoded_mp4_first_different_frame":19,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":19,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":19,"published_rgb_prefix_exact":true,"published_trace_kind":"source_intervention","source_causal_pair_clean":true,"source_preintervention_action_exact":true,"source_telemetry_prefix_differences":[],"source_telemetry_prefix_exact":true},"dataset_edition":"simulator_oracle","dataset_task_key":"cube_stack","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2562,"instruction":"stack the green block on the yellow block","outcomes":{"published_effect":"unchanged_failure","published_intervention_success":false,"published_intervention_terminal_metrics":{"consecutive_grasp":true,"elapsed_steps":60,"is_src_obj_grasped":true,"moved_correct_obj":false,"moved_wrong_obj":false,"src_on_target":false,"success":false},"source_baseline_success":false,"source_baseline_terminal_metrics":{"consecutive_grasp":true,"elapsed_steps":60,"is_src_obj_grasped":true,"moved_correct_obj":false,"moved_wrong_obj":false,"src_on_target":false,"success":false},"source_effect":"unchanged_failure","source_intervention_success":false,"source_intervention_terminal_metrics":{"consecutive_grasp":true,"elapsed_steps":60,"is_src_obj_grasped":true,"moved_correct_obj":false,"moved_wrong_obj":false,"src_on_target":false,"success":false}},"pair_id":"5643c1250c292cfffb0f1e2f711e6aa7c5b3db3830c74f173d0037a2e239f930","patch":{"deployment_eligible":false,"formula":{"canonical_patch":{"activation_planar_distance_m":0.025,"close_command":-1.0,"descend_steps":4,"end_step_exclusive":42,"id":"cube_any_grasp_gentle","latch_oracle_success":true,"lift_steps":4,"max_interventions_per_episode":24,"max_planar_action_m":0.018,"minimum_source_lift_m":0.03,"mode":"transport_servo","open_command":1.0,"open_threshold":0.0,"planar_gain":0.8,"regrasp_close_steps":1,"regrasp_finger_qpos_max":0.03,"regrasp_open_steps":1,"release_planar_distance_m":0.008,"release_steps":2,"required_grasp_steps":3,"schema_version":"sim_oracle_action_patch.v1","servo_steps":9,"start_step":8,"trigger_on_grasp":true,"unilateral_consecutive_steps":4,"unilateral_force_min_n":0.5,"unilateral_other_force_max_n":0.05,"vertical_action_m":0.01},"display_lines":["window(t) := 8 <= t < 42","budget(t) := interventions(t) < 24","proposed_open(t) := a_policy[6](t) > 0.0","target_vector_xy(t) := target_xy(t) - source_xy(t)","d_xy(t) := ||target_vector_xy(t)||_2","a_exec(t) := a_policy(t), then apply the active mode branch below","stable_grasp(t) := consecutive(grasped(t)) >= 3","transport_request(t) := proposed_open(t) OR true","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","servo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)","lift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0","servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0","descend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0","release: a_exec[:6]=0; a_exec[6]=1.0","lift -> servo after age >= 4 OR source_lift >= 0.03","servo -> descend after age >= 9 OR d_xy <= 0.008","descend -> release after age >= 4; release -> done after age >= 2","lost := active transport AND not grasped AND phase_age > 0; lost -> done","a_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))","interventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]","success_latch(t) := OR_{k<=t} physical_success(k)","if success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)"],"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","mechanical_derivation":"reconstructed_from_canonical_config_and_current_runtime","overlay_lines":["mode=transport_servo; a_exec(t)=runtime_mode(a_policy(t), oracle(t), phase(t))","window: 8 <= t < 42; budget: N_edit < 24","trigger=[open OR true] & grasp[3] & d_xy>=0.025","servo_xy=clip_norm(-0.8*(target-source)_xy,0.018)","phases: lift(4) -> servo(9) -> descend(4) -> release(2)","latch(success) -> [0,0,0,0,0,0,1.0]"],"patch_id":"cube_any_grasp_gentle","patch_kind":"legacy_config","runtime_source":{"path":"oracle_patching/runtime.py","provenance":"current_runtime_reconstruction; sealed executed actions are 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diff --git a/provenance/runtime/389d8f1236790331_runtime.py b/provenance/runtime/389d8f1236790331_runtime.py new file mode 100644 index 0000000000000000000000000000000000000000..f15fc068da5cb9ac2ebf434420ed0ce289497921 --- /dev/null +++ b/provenance/runtime/389d8f1236790331_runtime.py @@ -0,0 +1,632 @@ +"""Small vectorized controllers that intentionally consume simulator truth. + +The goal of this module is practical: rapidly test whether a failure can be +repaired when perception is perfect. It has no MetricCards, estimators, +certificates, or deployment claims. Every provenance record loudly marks the +controller as simulator-only. +""" + +from __future__ import annotations + +from collections.abc import Mapping +from dataclasses import asdict, dataclass +import hashlib +import json +import math +from pathlib import Path +import re +from typing import Any + +import torch + +from rollout_bank.task_adapters import get_task_adapter + + +ORACLE_PATCH_SCHEMA = "sim_oracle_action_patch.v1" +ORACLE_SEARCH_SCHEMA = "sim_oracle_patch_candidates.v1" +_MODES = { + "success_latch", + "defer_release", + "transport_servo", + "unilateral_regrasp", + "hybrid", +} +_ID = re.compile(r"[a-z][a-z0-9_]{0,63}") + + +class OraclePatchError(ValueError): + """Raised when a simulator-oracle patch is malformed or misused.""" + + +def _canonical_sha256(value: Any) -> str: + return hashlib.sha256( + json.dumps( + value, + sort_keys=True, + separators=(",", ":"), + allow_nan=False, + ).encode("utf-8") + ).hexdigest() + + +def _number(value: Any, name: str, *, minimum: float, maximum: float) -> float: + if isinstance(value, bool) or not isinstance(value, (int, float)): + raise OraclePatchError(f"{name} must be numeric") + result = float(value) + if not math.isfinite(result) or not minimum <= result <= maximum: + raise OraclePatchError(f"{name} must be in [{minimum}, {maximum}]") + return result + + +def _integer(value: Any, name: str, *, minimum: int, maximum: int) -> int: + if isinstance(value, bool) or not isinstance(value, int): + raise OraclePatchError(f"{name} must be an integer") + if not minimum <= value <= maximum: + raise OraclePatchError(f"{name} must be in [{minimum}, {maximum}]") + return int(value) + + +@dataclass(frozen=True) +class OraclePatchConfig: + """Bounded configuration for one simulator-only controller.""" + + id: str + mode: str + start_step: int = 10 + end_step_exclusive: int = 60 + open_threshold: float = 0.0 + close_command: float = -1.0 + open_command: float = 1.0 + max_interventions_per_episode: int = 16 + trigger_on_grasp: bool = False + required_grasp_steps: int = 1 + activation_planar_distance_m: float = 0.08 + release_planar_distance_m: float = 0.04 + planar_gain: float = 1.0 + max_planar_action_m: float = 0.03 + vertical_action_m: float = 0.015 + minimum_source_lift_m: float = 0.0 + lift_steps: int = 0 + servo_steps: int = 5 + descend_steps: int = 2 + release_steps: int = 2 + latch_oracle_success: bool = True + unilateral_force_min_n: float = 0.5 + unilateral_other_force_max_n: float = 0.05 + unilateral_consecutive_steps: int = 4 + regrasp_finger_qpos_max: float = 0.03 + regrasp_open_steps: int = 1 + regrasp_close_steps: int = 1 + + @classmethod + def from_mapping(cls, raw: Mapping[str, Any]) -> "OraclePatchConfig": + if not isinstance(raw, Mapping): + raise OraclePatchError("oracle patch must be an object") + allowed = { + "schema_version", + *cls.__dataclass_fields__, + } + unknown = set(raw) - allowed + if unknown: + raise OraclePatchError(f"unknown oracle-patch fields: {sorted(unknown)}") + if raw.get("schema_version", ORACLE_PATCH_SCHEMA) != ORACLE_PATCH_SCHEMA: + raise OraclePatchError(f"schema_version must be {ORACLE_PATCH_SCHEMA!r}") + patch_id = raw.get("id") + mode = raw.get("mode") + if not isinstance(patch_id, str) or _ID.fullmatch(patch_id) is None: + raise OraclePatchError("id must match [a-z][a-z0-9_]{0,63}") + if mode not in _MODES: + raise OraclePatchError(f"mode must be one of {sorted(_MODES)}") + + defaults = cls(id=patch_id, mode=str(mode)) + values = asdict(defaults) + values.update({key: value for key, value in raw.items() if key in values}) + for name in ("latch_oracle_success", "trigger_on_grasp"): + if not isinstance(values[name], bool): + raise OraclePatchError(f"{name} must be a boolean") + values["start_step"] = _integer( + values["start_step"], "start_step", minimum=0, maximum=511 + ) + values["end_step_exclusive"] = _integer( + values["end_step_exclusive"], + "end_step_exclusive", + minimum=1, + maximum=512, + ) + if values["end_step_exclusive"] <= values["start_step"]: + raise OraclePatchError("end_step_exclusive must exceed start_step") + for name, minimum, maximum in ( + ("max_interventions_per_episode", 1, 512), + ("required_grasp_steps", 1, 60), + ("lift_steps", 0, 30), + ("servo_steps", 1, 60), + ("descend_steps", 0, 30), + ("release_steps", 1, 30), + ("unilateral_consecutive_steps", 1, 30), + ("regrasp_open_steps", 1, 10), + ("regrasp_close_steps", 1, 10), + ): + values[name] = _integer(values[name], name, minimum=minimum, maximum=maximum) + for name, minimum, maximum in ( + ("open_threshold", -1.0, 1.0), + ("close_command", -1.0, 1.0), + ("open_command", -1.0, 1.0), + ("activation_planar_distance_m", 0.0, 2.0), + ("release_planar_distance_m", 0.0, 2.0), + ("planar_gain", 0.0, 10.0), + ("max_planar_action_m", 0.0, 0.03), + ("vertical_action_m", 0.0, 0.03), + ("minimum_source_lift_m", 0.0, 0.20), + ("unilateral_force_min_n", 0.0, 10000.0), + ("unilateral_other_force_max_n", 0.0, 10000.0), + ("regrasp_finger_qpos_max", 0.0, 1.0), + ): + values[name] = _number(values[name], name, minimum=minimum, maximum=maximum) + if values["close_command"] >= values["open_command"]: + raise OraclePatchError("close_command must be smaller than open_command") + if ( + values["release_planar_distance_m"] + > values["activation_planar_distance_m"] + ): + raise OraclePatchError( + "release_planar_distance_m cannot exceed activation distance" + ) + if mode in {"transport_servo", "hybrid"} and values["planar_gain"] <= 0: + raise OraclePatchError("transport modes require a positive planar_gain") + if values["unilateral_other_force_max_n"] >= values["unilateral_force_min_n"]: + raise OraclePatchError( + "unilateral_other_force_max_n must be smaller than the contact minimum" + ) + return cls(**values) + + def to_document(self) -> dict[str, Any]: + return {"schema_version": ORACLE_PATCH_SCHEMA, **asdict(self)} + + @property + def sha256(self) -> str: + return _canonical_sha256(self.to_document()) + + +class _OracleEstimatorSentinel: + """Compatibility shim for the evaluator's no-depth patcher interface.""" + + requires_policy_depth = False + direct_candidate_only = True + + +class SimOracleActionPatcher: + """Apply one privileged-state controller to a vectorized ManiSkill env. + + Phases are deliberately tiny and bounded: + + * success-latch freezes an already successful placement; + * defer-release holds the gripper closed while a grasped object is far; + * transport-servo takes over after the policy asks to release too early; + * unilateral-regrasp opens then recloses after persistent one-finger contact; + * hybrid enables both regrasp and transport behavior. + + WidowX Bridge planar action coordinates have the opposite sign from the + world-space ``target - source`` vector. Therefore the servo executes + ``source - target``, matching the existing trusted controller convention. + """ + + estimator = _OracleEstimatorSentinel() + + def __init__(self, config: OraclePatchConfig) -> None: + self.config = config + self._env: Any | None = None + self._batch_size: int | None = None + self._phase: torch.Tensor | None = None + self._phase_age: torch.Tensor | None = None + self._grasp_steps: torch.Tensor | None = None + self._unilateral_steps: torch.Tensor | None = None + self._interventions: torch.Tensor | None = None + self._transport_done: torch.Tensor | None = None + self._regrasp_done: torch.Tensor | None = None + self._success_latched: torch.Tensor | None = None + self._trace: list[dict[str, torch.Tensor]] = [] + self._source_bbox: Any | None = None + self._target_bbox: Any | None = None + self._success_adapter: Any | None = None + self._initial_source_z: torch.Tensor | None = None + + @property + def provenance(self) -> dict[str, Any]: + return { + "schema_version": ORACLE_PATCH_SCHEMA, + "patch_id": self.config.id, + "patch_sha256": self.config.sha256, + "configuration": self.config.to_document(), + "runtime": "simulator_oracle", + "sim_only": True, + "deployment_eligible": False, + "metric_estimators_used": False, + "oracle_inputs": [ + "source_position", + "target_position", + "is_source_grasped", + "left_finger_source_contact_force", + "right_finger_source_contact_force", + "source_target_contact_force", + "source_bbox_geometry", + "target_bbox_geometry", + "registered_task_success_contract", + ], + "intervention_budget_scope": ( + "repair phases only; exact-success stabilization is terminal " + "and deliberately exempt" + ), + } + + def bind_environment(self, env: Any) -> None: + self._env = env + unwrapped = env.unwrapped + self._source_bbox = unwrapped.episode_model_bbox_sizes[ + unwrapped.source_obj_name + ] + self._target_bbox = unwrapped.episode_model_bbox_sizes[ + unwrapped.target_obj_name + ] + self._success_adapter = get_task_adapter(env.spec.id).success + self._initial_source_z = unwrapped.objs[ + unwrapped.source_obj_name + ].pose.p[:, 2].detach().clone() + + def reset(self, batch_size: int) -> None: + if isinstance(batch_size, bool) or not isinstance(batch_size, int) or batch_size < 1: + raise OraclePatchError("batch_size must be a positive integer") + self._batch_size = batch_size + self._phase = None + self._phase_age = None + self._grasp_steps = None + self._unilateral_steps = None + self._interventions = None + self._transport_done = None + self._regrasp_done = None + self._success_latched = None + self._trace = [] + + def _ensure_state(self, proposed: torch.Tensor) -> None: + if proposed.ndim != 2 or proposed.shape[1] != 7: + raise OraclePatchError("proposed action must have shape [batch, 7]") + if self._batch_size != proposed.shape[0]: + raise OraclePatchError("action batch differs from reset batch_size") + if self._phase is not None: + return + width = proposed.shape[0] + device = proposed.device + self._phase = torch.zeros(width, dtype=torch.int64, device=device) + self._phase_age = torch.zeros_like(self._phase) + self._grasp_steps = torch.zeros_like(self._phase) + self._unilateral_steps = torch.zeros_like(self._phase) + self._interventions = torch.zeros_like(self._phase) + self._transport_done = torch.zeros(width, dtype=torch.bool, device=device) + self._regrasp_done = torch.zeros(width, dtype=torch.bool, device=device) + self._success_latched = torch.zeros(width, dtype=torch.bool, device=device) + + def _oracle(self, proposed: torch.Tensor) -> tuple[torch.Tensor, ...]: + if self._env is None: + raise OraclePatchError("oracle patcher has no bound environment") + unwrapped = self._env.unwrapped + source = unwrapped.objs[unwrapped.source_obj_name] + target = unwrapped.objs[unwrapped.target_obj_name] + left = unwrapped.agent.finger1_link + right = unwrapped.agent.finger2_link + scene = unwrapped.scene + device = proposed.device + dtype = proposed.dtype + + source_position = source.pose.p.to(device=device, dtype=dtype) + target_position = target.pose.p.to(device=device, dtype=dtype) + grasped = unwrapped.agent.is_grasping(source).to(device=device, dtype=torch.bool) + left_force = torch.linalg.vector_norm( + scene.get_pairwise_contact_forces(left, source).to(device=device, dtype=dtype), + dim=1, + ) + right_force = torch.linalg.vector_norm( + scene.get_pairwise_contact_forces(right, source).to(device=device, dtype=dtype), + dim=1, + ) + source_target_force = torch.linalg.vector_norm( + scene.get_pairwise_contact_forces(source, target).to( + device=device, dtype=dtype + ), + dim=1, + ) + target_vector = target_position[:, :2] - source_position[:, :2] + planar_distance = torch.linalg.vector_norm(target_vector, dim=1) + if self._source_bbox is None or self._target_bbox is None or self._success_adapter is None: + raise OraclePatchError("oracle success geometry was not bound") + + def geometry(value: Any) -> torch.Tensor: + result = torch.as_tensor(value, device=device, dtype=dtype) + if result.ndim == 1: + result = result.unsqueeze(0).expand(proposed.shape[0], -1) + if result.shape != (proposed.shape[0], 3): + raise OraclePatchError("task bbox geometry has the wrong shape") + return result + + source_bbox = geometry(self._source_bbox) + target_bbox = geometry(self._target_bbox) + xy_limit = torch.linalg.vector_norm(target_bbox[:, :2] / 2.0, dim=1) + float( + self._success_adapter.xy_target_radius_margin_m + ) + vertical_offset = source_position[:, 2] - target_position[:, 2] + expected_vertical = (source_bbox[:, 2] + target_bbox[:, 2]) / 2.0 + physical_success = ( + (planar_distance <= xy_limit) + & (vertical_offset > 0.0) + & ( + vertical_offset - expected_vertical + <= float( + self._success_adapter.vertical_excess_over_half_heights_max_m + ) + ) + ) + if self._success_adapter.requires_source_target_contact: + physical_success &= source_target_force >= float( + self._success_adapter.source_target_contact_force_min_n + ) + if self._initial_source_z is None: + raise OraclePatchError("initial source height was not bound") + source_lift = source_position[:, 2] - self._initial_source_z.to( + device=device, dtype=dtype + ) + return ( + grasped, + left_force, + right_force, + target_vector, + planar_distance, + physical_success, + source_lift, + ) + + @staticmethod + def _clip_planar(vector: torch.Tensor, maximum_norm: float) -> torch.Tensor: + norm = torch.linalg.vector_norm(vector, dim=1, keepdim=True) + scale = torch.clamp( + torch.full_like(norm, maximum_norm) / torch.clamp_min(norm, 1e-8), + max=1.0, + ) + return vector * scale + + def apply( + self, + *, + proposed_policy_action: torch.Tensor, + robot_qpos: torch.Tensor | None = None, + step: int, + **_: Any, + ) -> torch.Tensor: + self._ensure_state(proposed_policy_action) + assert self._phase is not None + assert self._phase_age is not None + assert self._grasp_steps is not None + assert self._unilateral_steps is not None + assert self._interventions is not None + assert self._transport_done is not None + assert self._regrasp_done is not None + assert self._success_latched is not None + + config = self.config + ( + grasped, + left_force, + right_force, + target_vector, + distance, + physical_success, + source_lift, + ) = self._oracle(proposed_policy_action) + if config.latch_oracle_success: + self._success_latched |= physical_success + self._grasp_steps = torch.where( + grasped, self._grasp_steps + 1, torch.zeros_like(self._grasp_steps) + ) + left_only = (left_force >= config.unilateral_force_min_n) & ( + right_force <= config.unilateral_other_force_max_n + ) + right_only = (right_force >= config.unilateral_force_min_n) & ( + left_force <= config.unilateral_other_force_max_n + ) + unilateral = left_only | right_only + self._unilateral_steps = torch.where( + unilateral & ~grasped, + self._unilateral_steps + 1, + torch.zeros_like(self._unilateral_steps), + ) + within_window = config.start_step <= int(step) < config.end_step_exclusive + proposed_open = proposed_policy_action[:, 6] > config.open_threshold + budget = self._interventions < config.max_interventions_per_episode + finger_closed = torch.ones_like(grasped) + if robot_qpos is not None: + if robot_qpos.ndim != 2 or robot_qpos.shape[0] != grasped.shape[0]: + raise OraclePatchError("robot_qpos has the wrong batch shape") + finger_closed = ( + robot_qpos[:, -2:].to(device=grasped.device) + <= config.regrasp_finger_qpos_max + ).all(dim=1) + + if config.mode in {"unilateral_regrasp", "hybrid"} and within_window: + regrasp_trigger = ( + (self._phase == 0) + & ~self._regrasp_done + & ~grasped + & (self._unilateral_steps >= config.unilateral_consecutive_steps) + & ~proposed_open + & finger_closed + & budget + ) + self._phase = torch.where( + regrasp_trigger, torch.full_like(self._phase, 6), self._phase + ) + self._phase_age = torch.where( + regrasp_trigger, torch.zeros_like(self._phase_age), self._phase_age + ) + self._regrasp_done |= regrasp_trigger + + if config.mode in {"transport_servo", "hybrid"} and within_window: + transport_request = proposed_open | torch.full_like( + proposed_open, config.trigger_on_grasp + ) + transport_trigger = ( + (self._phase == 0) + & ~self._transport_done + & transport_request + & (self._grasp_steps >= config.required_grasp_steps) + & (distance >= config.activation_planar_distance_m) + & budget + ) + first_phase = 1 if config.lift_steps else 2 + self._phase = torch.where( + transport_trigger, + torch.full_like(self._phase, first_phase), + self._phase, + ) + self._phase_age = torch.where( + transport_trigger, torch.zeros_like(self._phase_age), self._phase_age + ) + + executed = proposed_policy_action.clone() + phase = self._phase.clone() + + if config.mode == "defer_release": + hold = ( + torch.full_like(grasped, within_window) + & proposed_open + & grasped + & (distance >= config.release_planar_distance_m) + & budget + ) + executed[hold, 6] = config.close_command + phase = torch.where(hold, torch.full_like(phase, 8), phase) + else: + # If the object has already been lost during an active transport, + # stop commanding privileged motion instead of chasing it. + lost = (phase >= 1) & (phase <= 3) & ~grasped & (self._phase_age > 0) + self._phase = torch.where(lost, torch.full_like(self._phase, 5), self._phase) + self._transport_done |= lost + phase = self._phase.clone() + + lift = (phase == 1) & budget + servo = (phase == 2) & budget + descend = (phase == 3) & budget + release = (phase == 4) & budget + regrasp_open = (phase == 6) & budget + regrasp_close = (phase == 7) & budget + + # Existing WidowX Bridge control uses the opposite planar sign + # from target-source world geometry. + planar = self._clip_planar( + -target_vector * config.planar_gain, + config.max_planar_action_m, + ) + transport = lift | servo | descend + executed[transport, :3] = 0.0 + executed[transport, 3:6] = 0.0 + executed[lift, 2] = config.vertical_action_m + executed[servo, :2] = planar[servo] + executed[descend, :2] = 0.5 * planar[descend] + executed[descend, 2] = -config.vertical_action_m + executed[transport, 6] = config.close_command + executed[release, :3] = 0.0 + executed[release, 3:6] = 0.0 + executed[release, 6] = config.open_command + executed[regrasp_open | regrasp_close, :3] = 0.0 + executed[regrasp_open | regrasp_close, 3:6] = 0.0 + executed[regrasp_open, 6] = config.open_command + executed[regrasp_close, 6] = config.close_command + + # Advance each finite-state controller for the next observation. + next_age = self._phase_age + 1 + lift_done = (phase == 1) & ( + (next_age >= config.lift_steps) + | (source_lift >= config.minimum_source_lift_m) + ) + servo_done = (phase == 2) & ( + (next_age >= config.servo_steps) + | (distance <= config.release_planar_distance_m) + ) + descend_done = (phase == 3) & (next_age >= config.descend_steps) + release_done = (phase == 4) & (next_age >= config.release_steps) + regrasp_open_done = (phase == 6) & ( + next_age >= config.regrasp_open_steps + ) + regrasp_close_done = (phase == 7) & ( + next_age >= config.regrasp_close_steps + ) + self._phase_age = torch.where( + (phase != 0) & (phase != 5), next_age, self._phase_age + ) + self._phase = torch.where(lift_done, torch.full_like(self._phase, 2), self._phase) + next_after_servo = 3 if config.descend_steps else 4 + self._phase = torch.where( + servo_done, + torch.full_like(self._phase, next_after_servo), + self._phase, + ) + self._phase = torch.where(descend_done, torch.full_like(self._phase, 4), self._phase) + self._phase = torch.where(release_done, torch.full_like(self._phase, 5), self._phase) + self._phase = torch.where(regrasp_open_done, torch.full_like(self._phase, 7), self._phase) + self._phase = torch.where(regrasp_close_done, torch.zeros_like(self._phase), self._phase) + changed_phase = lift_done | servo_done | descend_done | regrasp_open_done | regrasp_close_done + self._phase_age = torch.where( + changed_phase, torch.zeros_like(self._phase_age), self._phase_age + ) + self._transport_done |= release_done + + success_hold = self._success_latched if config.latch_oracle_success else torch.zeros_like(grasped) + executed[success_hold, :] = 0.0 + executed[success_hold, 6] = config.open_command + phase = torch.where(success_hold, torch.full_like(phase, 9), phase) + + modified = torch.any(executed != proposed_policy_action, dim=1) + self._interventions += modified.to(torch.int64) + self._trace.append( + { + "modified": modified.detach().clone(), + "phase": phase.detach().clone(), + "oracle_source_grasped": grasped.detach().clone(), + "oracle_left_contact_force_n": left_force.detach().clone(), + "oracle_right_contact_force_n": right_force.detach().clone(), + "oracle_planar_distance_m": distance.detach().clone(), + "oracle_source_lift_m": source_lift.detach().clone(), + "oracle_physical_success": physical_success.detach().clone(), + "oracle_success_latched": self._success_latched.detach().clone(), + "oracle_target_minus_source_xy": target_vector.detach().clone(), + "proposed_action": proposed_policy_action.detach().clone(), + "executed_action": executed.detach().clone(), + "intervention_count": self._interventions.detach().clone(), + } + ) + return executed + + def stacked_trace(self) -> dict[str, torch.Tensor]: + if not self._trace: + raise OraclePatchError("no oracle patch trace has been recorded") + return { + key: torch.stack([sample[key] for sample in self._trace], dim=0) + for key in self._trace[0] + } + + +def load_oracle_patch_candidates(path: Path) -> list[OraclePatchConfig]: + """Load a small immutable candidate set used by the paired search loop.""" + + try: + raw = json.loads(path.read_text(encoding="utf-8")) + except (OSError, UnicodeDecodeError, json.JSONDecodeError) as exc: + raise OraclePatchError(f"cannot read oracle candidate set: {exc}") from exc + if not isinstance(raw, Mapping) or set(raw) != {"schema_version", "candidates"}: + raise OraclePatchError("candidate set must contain schema_version and candidates") + if raw["schema_version"] != ORACLE_SEARCH_SCHEMA: + raise OraclePatchError(f"candidate-set schema must be {ORACLE_SEARCH_SCHEMA!r}") + candidates = raw["candidates"] + if not isinstance(candidates, list) or not 1 <= len(candidates) <= 16: + raise OraclePatchError("candidate set must contain 1-16 patches") + result = [OraclePatchConfig.from_mapping(item) for item in candidates] + ids = [item.id for item in result] + if len(set(ids)) != len(ids): + raise OraclePatchError("candidate ids must be unique") + return result diff --git a/provenance/runtime/85bae6bc03acaf7b_program_runtime.py b/provenance/runtime/85bae6bc03acaf7b_program_runtime.py new file mode 100644 index 0000000000000000000000000000000000000000..eaf805e461342566b85733d9b8ad05bd2580c8d7 --- /dev/null +++ b/provenance/runtime/85bae6bc03acaf7b_program_runtime.py @@ -0,0 +1,650 @@ +"""Evaluator bridge for declarative simulator-oracle patch programs. + +The patch program is task-independent. A task adapter supplies only typed, +batched oracle signals; it does not choose a failure category, candidate, or +promotion outcome. This keeps environment plumbing separate from the open +category/program search. +""" + +from __future__ import annotations + +from collections.abc import Mapping +import copy +import math +import re +from typing import Any, Protocol, runtime_checkable + +import torch + +from .program import CompiledPatchProgram, PatchProgramError, compile_patch_program + + +class OracleProgramRuntimeError(RuntimeError): + """Raised when an adapter or declarative program violates its contract.""" + + +@runtime_checkable +class OracleSignalProvider(Protocol): + """Minimal task-adapter surface required by the generic runtime.""" + + @property + def signal_specs(self) -> Mapping[str, Mapping[str, Any]]: ... + + @property + def action_space(self) -> Mapping[str, Any]: ... + + @property + def maximum_action_delta(self) -> tuple[float, ...]: ... + + @property + def component_norms(self) -> tuple[Mapping[str, Any], ...]: ... + + @property + def semantics_digest(self) -> str: ... + + @property + def provenance(self) -> Mapping[str, Any]: ... + + def bind_environment(self, env: Any) -> None: ... + + def reset(self, batch_size: int) -> None: ... + + def observe( + self, + *, + proposed_policy_action: torch.Tensor, + robot_qpos: torch.Tensor | None, + robot_qvel: torch.Tensor | None, + step: int, + ) -> Mapping[str, torch.Tensor]: ... + + +class _OracleEstimatorSentinel: + """Compatibility marker: this edition never instantiates an estimator.""" + + requires_policy_depth = False + direct_candidate_only = True + + +class SimOracleProgramPatcher: + """Run one compiled finite program over a vectorized simulator batch.""" + + estimator = _OracleEstimatorSentinel() + + def __init__( + self, + program: CompiledPatchProgram | Mapping[str, Any], + signal_provider: OracleSignalProvider, + ) -> None: + if not isinstance(signal_provider, OracleSignalProvider): + raise OracleProgramRuntimeError( + "signal_provider does not implement OracleSignalProvider" + ) + try: + # Always create a fresh immutable compilation bound to the exact + # live adapter. Never retain caller-owned compiled mappings. + self.program = compile_patch_program( + ( + program.to_document() + if isinstance(program, CompiledPatchProgram) + else program + ), + adapter_signal_specs=signal_provider.signal_specs, + ) + except PatchProgramError as exc: + raise OracleProgramRuntimeError(str(exc)) from exc + expected_action_space = self.program.action_space.to_document() + if dict(signal_provider.action_space) != expected_action_space: + raise OracleProgramRuntimeError( + "program action space does not match the live task adapter" + ) + maximum_action_delta = tuple(signal_provider.maximum_action_delta) + if ( + len(maximum_action_delta) != self.program.action_space.dimension + or any( + isinstance(value, bool) or not isinstance(value, (int, float)) + for value in maximum_action_delta + ) + or any( + not math.isfinite(float(value)) or float(value) < 0.0 + for value in maximum_action_delta + ) + or any( + candidate > allowed + for candidate, allowed in zip( + self.program.limits.max_action_delta, maximum_action_delta + ) + ) + ): + raise OracleProgramRuntimeError( + "program action-delta authority exceeds the live task adapter" + ) + authored_from = self.program.to_document().get("authored_from") + if ( + not isinstance(authored_from, Mapping) + or authored_from.get("semantics_digest") + != signal_provider.semantics_digest + ): + raise OracleProgramRuntimeError( + "program semantics identity does not match the live task adapter" + ) + self._component_norms = tuple( + copy.deepcopy(dict(item)) for item in signal_provider.component_norms + ) + for item in self._component_norms: + if set(item) != {"id", "indices", "maximum"}: + raise OracleProgramRuntimeError("live component norm schema is invalid") + indices = item["indices"] + maximum = item["maximum"] + if ( + not isinstance(indices, (list, tuple)) + or not indices + or tuple(sorted(indices)) != tuple(indices) + or len(set(indices)) != len(indices) + or any( + isinstance(index, bool) + or not isinstance(index, int) + or index < 0 + or index >= self.program.action_space.dimension + for index in indices + ) + or isinstance(maximum, bool) + or not isinstance(maximum, (int, float)) + or not math.isfinite(float(maximum)) + or maximum <= 0 + or not isinstance(item["id"], str) + or re.fullmatch(r"[A-Za-z][A-Za-z0-9_.-]{0,127}", item["id"]) + is None + ): + raise OracleProgramRuntimeError("live component norm schema is invalid") + self.signal_provider = signal_provider + self._batch_size: int | None = None + self._runtimes: list[Any] = [] + self._trace: list[dict[str, torch.Tensor]] = [] + self._phase_indices = { + name: index for index, name in enumerate(self.program.phases) + } + + @property + def provenance(self) -> dict[str, Any]: + return { + "schema_version": "sim_oracle_program_runtime.v1", + "runtime": "simulator_oracle", + "sim_only": True, + "deployment_eligible": False, + "metric_estimators_used": False, + "arbitrary_authored_code": False, + "program_id": self.program.id, + "program_sha256": self.program.sha256, + "program": self.program.to_document(), + "signal_provider": dict(self.signal_provider.provenance), + } + + def bind_environment(self, env: Any) -> None: + self.signal_provider.bind_environment(env) + + def reset(self, batch_size: int) -> None: + if isinstance(batch_size, bool) or not isinstance(batch_size, int) or batch_size < 1: + raise OracleProgramRuntimeError("batch_size must be a positive integer") + self._batch_size = None + self._runtimes = [] + self._trace = [] + self.signal_provider.reset(batch_size) + runtimes = [self.program.start_episode() for _ in range(batch_size)] + self._batch_size = batch_size + self._runtimes = runtimes + + def _normalize_signals( + self, + signals: Mapping[str, torch.Tensor], + *, + batch_size: int, + ) -> dict[str, torch.Tensor]: + if not isinstance(signals, Mapping): + raise OracleProgramRuntimeError("signal provider returned a non-mapping") + result: dict[str, torch.Tensor] = {} + for name, spec in self.program.signals.items(): + value = signals.get(name) + if not isinstance(value, torch.Tensor): + raise OracleProgramRuntimeError( + f"signal provider did not return tensor {name!r}" + ) + expected = (batch_size,) if spec.width == 1 else (batch_size, spec.width) + if tuple(value.shape) != expected: + raise OracleProgramRuntimeError( + f"signal {name!r} has shape {tuple(value.shape)}, expected {expected}" + ) + if spec.value_type == "boolean": + if value.dtype != torch.bool: + raise OracleProgramRuntimeError( + f"signal {name!r} must have Boolean dtype" + ) + elif not value.dtype.is_floating_point or not torch.isfinite(value).all(): + raise OracleProgramRuntimeError( + f"signal {name!r} must have finite floating dtype" + ) + result[name] = value + return result + + def apply( + self, + *, + proposed_policy_action: torch.Tensor, + robot_qpos: torch.Tensor | None = None, + robot_qvel: torch.Tensor | None = None, + step: int, + **_: Any, + ) -> torch.Tensor: + if self._batch_size is None or len(self._runtimes) != self._batch_size: + raise OracleProgramRuntimeError("program patcher must be reset before apply") + if ( + proposed_policy_action.ndim != 2 + or proposed_policy_action.shape[0] != self._batch_size + or proposed_policy_action.shape[1] != self.program.action_space.dimension + or not proposed_policy_action.dtype.is_floating_point + or not torch.isfinite(proposed_policy_action).all() + ): + raise OracleProgramRuntimeError( + "proposed action does not match the compiled action space" + ) + observed = self.signal_provider.observe( + proposed_policy_action=proposed_policy_action, + robot_qpos=robot_qpos, + robot_qvel=robot_qvel, + step=step, + ) + signals = self._normalize_signals(observed, batch_size=self._batch_size) + policy_cpu = proposed_policy_action.detach().cpu().numpy() + signal_cpu = { + name: value.detach().cpu().numpy() for name, value in signals.items() + } + results = [] + try: + for row_index, runtime in enumerate(self._runtimes): + row_signals = { + name: value[row_index] for name, value in signal_cpu.items() + } + results.append( + runtime.step( + policy_cpu[row_index], + row_signals, + step_index=step, + ) + ) + except PatchProgramError as exc: + raise OracleProgramRuntimeError(str(exc)) from exc + executed = torch.as_tensor( + [result.action.tolist() for result in results], + device=proposed_policy_action.device, + dtype=proposed_policy_action.dtype, + ) + additive_selected = torch.as_tensor( + [result.trace["additive_selected"] for result in results], + device=executed.device, + dtype=torch.bool, + ) + replacement_selected = torch.as_tensor( + [result.trace["replacement_selected"] for result in results], + device=executed.device, + dtype=torch.bool, + ) + replacement_owned = torch.as_tensor( + [result.trace["replacement_owned"] for result in results], + device=executed.device, + dtype=torch.bool, + ) + if torch.any(replacement_owned & ~replacement_selected): + raise OracleProgramRuntimeError( + "program trace owns a replacement without selecting one" + ) + canonical_lower = torch.as_tensor( + self.program.action_space.lower, + device=executed.device, + dtype=torch.float64, + ) + canonical_upper = torch.as_tensor( + self.program.action_space.upper, + device=executed.device, + dtype=torch.float64, + ) + canonical_max_delta = torch.as_tensor( + self.program.limits.max_action_delta, + device=executed.device, + dtype=torch.float64, + ) + replacement_anchor = ( + (canonical_lower + canonical_upper) * 0.5 + ).to(dtype=executed.dtype) + requested_coordinates = additive_selected | replacement_selected + additive_owned = additive_selected & ~replacement_owned + + def authority_values(current: torch.Tensor) -> torch.Tensor: + delta = current.to(dtype=torch.float64) - proposed_policy_action.to( + dtype=torch.float64 + ) + return torch.where( + replacement_owned, + current.to(dtype=torch.float64), + torch.where(additive_owned, delta, torch.zeros_like(delta)), + ) + + # The scalar interpreter computes in float64. Casting either an + # additive delta or an explicit replacement endpoint back to float32 + # can round one ULP outside the canonical authority interval. Move + # only patch-owned coordinates inward. Additive edits move toward the + # incumbent action; replacements move toward the envelope midpoint. + for _ in range(8): + executed_canonical = executed.to(dtype=torch.float64) + proposed_canonical = proposed_policy_action.to(dtype=torch.float64) + authority = authority_values(executed) + value_excess = requested_coordinates & ( + (authority < canonical_lower) | (authority > canonical_upper) + ) + delta_excess = additive_owned & ( + torch.abs(executed_canonical - proposed_canonical) + > canonical_max_delta + ) + rounded_excess = value_excess | delta_excess + if not torch.any(rounded_excess): + break + target = torch.where( + replacement_owned & value_excess, + replacement_anchor.expand_as(executed), + proposed_policy_action, + ) + executed = torch.where( + rounded_excess, + torch.nextafter(executed, target), + executed, + ) + executed_canonical = executed.to(dtype=torch.float64) + proposed_canonical = proposed_policy_action.to(dtype=torch.float64) + authority = authority_values(executed) + rounded_excess = requested_coordinates & ( + (authority < canonical_lower) + | (authority > canonical_upper) + | ( + additive_owned + & ( + torch.abs(executed_canonical - proposed_canonical) + > canonical_max_delta + ) + ) + ) + executed = torch.where( + rounded_excess, + proposed_policy_action, + executed, + ) + conversion_authority_clipped = torch.any(rounded_excess, dim=1) + # A failed conversion hands that coordinate back to the policy. A + # numerically unchanged but otherwise legal replacement retains + # ownership and remains part of its absolute component envelope. + replacement_owned &= ~rounded_excess + modified_coordinates = ( + executed != proposed_policy_action + ) & requested_coordinates + additive_owned &= modified_coordinates + authority_coordinates = replacement_owned | additive_owned + executed_canonical = executed.to(dtype=torch.float64) + proposed_canonical = proposed_policy_action.to(dtype=torch.float64) + authority = authority_values(executed) + if ( + not torch.isfinite(executed).all() + or torch.any(authority_coordinates & (authority < canonical_lower)) + or torch.any(authority_coordinates & (authority > canonical_upper)) + or torch.any( + additive_owned + & ( + torch.abs(executed_canonical - proposed_canonical) + > canonical_max_delta + ) + ) + ): + raise OracleProgramRuntimeError( + "executed action is invalid after conversion to the live action dtype" + ) + component_authority_clipped = torch.zeros( + executed.shape[0], device=executed.device, dtype=torch.bool + ) + for item in self._component_norms: + indices = torch.as_tensor(item["indices"], device=executed.device) + component_active = torch.any( + authority_coordinates.index_select(1, indices), dim=1 + ) + # As with scalar endpoints, a vector exactly on a canonical norm + # boundary can round one ULP outward in the live dtype. Normalize + # representational excess inward along program-owned coordinates. + for _ in range(8): + authority = authority_values(executed) + norm_excess = component_active & ( + torch.linalg.vector_norm( + authority.index_select(1, indices), + dim=1, + ) + > float(item["maximum"]) + ) + if not torch.any(norm_excess): + break + current = executed.index_select(1, indices) + baseline = proposed_policy_action.index_select(1, indices) + owned = authority_coordinates.index_select(1, indices) + # Representation normalization may refine a real patch edit, + # but it must never turn a selected numerical no-op into a new + # intervention merely to shrink an absolute component vector. + modifiable = modified_coordinates.index_select(1, indices) + replacement = replacement_owned.index_select(1, indices) + inward_target = torch.where( + replacement, + replacement_anchor.index_select(0, indices).expand_as(current), + baseline, + ) + inward = torch.nextafter(current, inward_target) + inward_canonical = inward.to(dtype=torch.float64) + baseline_canonical = baseline.to(dtype=torch.float64) + inward_authority = torch.where( + replacement, + inward_canonical, + inward_canonical - baseline_canonical, + ) + scalar_conformant = (~owned) | ( + ( + inward_authority + >= canonical_lower.index_select(0, indices) + ) + & ( + inward_authority + <= canonical_upper.index_select(0, indices) + ) + & ( + replacement + | ( + torch.abs(inward_canonical - baseline_canonical) + <= canonical_max_delta.index_select(0, indices) + ) + ) + ) + current = torch.where( + norm_excess[:, None] & modifiable & scalar_conformant, + inward, + current, + ) + executed[:, indices] = current + modified_coordinates = ( + executed != proposed_policy_action + ) & requested_coordinates + additive_owned = ( + additive_selected & ~replacement_owned & modified_coordinates + ) + authority_coordinates = replacement_owned | additive_owned + component_active = torch.any( + authority_coordinates.index_select(1, indices), dim=1 + ) + + # Component envelopes may overlap. Abandoning a material edit in a + # later component can restore an out-of-envelope baseline coordinate + # and thereby invalidate a component checked earlier. Resolve that + # dependency to a fixed point. Every nonterminal pass removes at + # least one program-owned coordinate, so the action dimension is a + # strict deterministic convergence bound. + for _ in range(self.program.action_space.dimension): + modified_coordinates = ( + executed != proposed_policy_action + ) & requested_coordinates + additive_owned = ( + additive_selected & ~replacement_owned & modified_coordinates + ) + authority_coordinates = replacement_owned | additive_owned + authority = authority_values(executed) + abandon_coordinates = torch.zeros_like(authority_coordinates) + violating_rows = torch.zeros( + executed.shape[0], device=executed.device, dtype=torch.bool + ) + for item in self._component_norms: + indices = torch.as_tensor(item["indices"], device=executed.device) + owned = authority_coordinates.index_select(1, indices) + norm_excess = torch.any(owned, dim=1) & ( + torch.linalg.vector_norm( + authority.index_select(1, indices), + dim=1, + ) + > float(item["maximum"]) + ) + if torch.any(norm_excess): + violating_rows |= norm_excess + abandon_coordinates[:, indices] |= norm_excess[:, None] & owned + if not torch.any(violating_rows): + break + before = int(authority_coordinates.sum().item()) + executed = torch.where( + abandon_coordinates, + proposed_policy_action, + executed, + ) + replacement_owned &= ~abandon_coordinates + component_authority_clipped |= violating_rows + modified_after = ( + executed != proposed_policy_action + ) & requested_coordinates + additive_after = ( + additive_selected & ~replacement_owned & modified_after + ) + after = int((replacement_owned | additive_after).sum().item()) + if after >= before: + raise OracleProgramRuntimeError( + "component-norm fixed point made no conservative progress" + ) + + modified_coordinates = ( + executed != proposed_policy_action + ) & requested_coordinates + additive_owned = additive_selected & ~replacement_owned & modified_coordinates + authority_coordinates = replacement_owned | additive_owned + executed_canonical = executed.to(dtype=torch.float64) + proposed_canonical = proposed_policy_action.to(dtype=torch.float64) + authority = authority_values(executed) + if ( + torch.any(authority_coordinates & (authority < canonical_lower)) + or torch.any(authority_coordinates & (authority > canonical_upper)) + or torch.any( + additive_owned + & ( + torch.abs(executed_canonical - proposed_canonical) + > canonical_max_delta + ) + ) + ): + raise OracleProgramRuntimeError( + "component normalization violated canonical scalar authority" + ) + for item in self._component_norms: + indices = torch.as_tensor(item["indices"], device=executed.device) + remaining_excess = torch.any( + authority_coordinates.index_select(1, indices), dim=1 + ) & ( + torch.linalg.vector_norm( + authority.index_select(1, indices), + dim=1, + ) + > float(item["maximum"]) + ) + if torch.any(remaining_excess): + raise OracleProgramRuntimeError( + f"executed action violates live component norm {item['id']!r}" + ) + modified = torch.any(executed != proposed_policy_action, dim=1) + scalar_modified = torch.as_tensor( + [bool(result.intervened) for result in results], + device=executed.device, + dtype=torch.bool, + ) + if torch.any(modified & ~scalar_modified): + raise OracleProgramRuntimeError( + "live authority normalization created an undeclared intervention" + ) + for runtime, was_modified, remains_modified in zip( + self._runtimes, scalar_modified.tolist(), modified.tolist() + ): + if was_modified and not remains_modified: + if runtime.interventions < 1: + raise OracleProgramRuntimeError( + "runtime intervention accounting underflowed" + ) + runtime.interventions -= 1 + synchronized_counts = torch.as_tensor( + [runtime.interventions for runtime in self._runtimes], + device=executed.device, + dtype=torch.int64, + ) + self._trace.append( + { + "modified": modified.detach().clone(), + "safety_clipped": torch.as_tensor( + [bool(result.trace["safety_clipped"]) for result in results], + device=executed.device, + dtype=torch.bool, + ), + "authority_clipped": torch.as_tensor( + [bool(result.trace["authority_clipped"]) for result in results], + device=executed.device, + dtype=torch.bool, + ) | component_authority_clipped | conversion_authority_clipped, + "additive_selected": additive_selected.detach().clone(), + "replacement_selected": replacement_selected.detach().clone(), + "replacement_owned": replacement_owned.detach().clone(), + "phase_before": torch.as_tensor( + [self._phase_indices[result.phase_before] for result in results], + device=executed.device, + dtype=torch.int64, + ), + "phase_after": torch.as_tensor( + [self._phase_indices[result.phase_after] for result in results], + device=executed.device, + dtype=torch.int64, + ), + "transitioned": torch.as_tensor( + [result.transition is not None for result in results], + device=executed.device, + dtype=torch.bool, + ), + "intervention_count": synchronized_counts, + "proposed_action": proposed_policy_action.detach().clone(), + "executed_action": executed.detach().clone(), + } + ) + return executed + + def stacked_trace(self) -> dict[str, torch.Tensor]: + if not self._trace: + raise OracleProgramRuntimeError("no program trace has been recorded") + return { + name: torch.stack([row[name] for row in self._trace], dim=0) + for name in self._trace[0] + } + + +__all__ = [ + "OracleProgramRuntimeError", + "OracleSignalProvider", + "SimOracleProgramPatcher", +] diff --git a/provenance/runtime/ad8c56a2068ce4a0_program.py b/provenance/runtime/ad8c56a2068ce4a0_program.py new file mode 100644 index 0000000000000000000000000000000000000000..4b58a0259c2ab3b6e771fdd351710ea736d5fbe4 --- /dev/null +++ b/provenance/runtime/ad8c56a2068ce4a0_program.py @@ -0,0 +1,880 @@ +"""Strict declarative language for autonomously authored oracle patches. + +The language is deliberately compositional rather than a catalog of named +controllers. Programs may combine typed simulator signals, finite phases, +predicates, and bounded action transforms. They cannot execute Python, +import modules, allocate unbounded state, or write outside the declared action +space. +""" + +from __future__ import annotations + +from dataclasses import dataclass +import hashlib +import json +import math +import re +from types import MappingProxyType +from typing import Any, Mapping, Sequence + +import numpy as np + + +PROGRAM_SCHEMA = "sim_oracle_patch_program.v1" +_ID = re.compile(r"^[a-z][a-z0-9_]{0,127}$") +_SIGNAL_TYPES = frozenset(("boolean", "scalar", "vector")) +_NUMERIC_OPS = frozenset( + ( + "constant", + "signal", + "policy", + "add", + "scale", + "negate", + "norm", + "clip_norm", + "component", + "linear", + ) +) +_BOOLEAN_OPS = frozenset( + ( + "signal", + "compare", + "all", + "any", + "not", + "latch", + "phase_age_at_least", + "step_at_least", + ) +) + + +class PatchProgramError(ValueError): + """Raised when a program or runtime input is unsafe or malformed.""" + + +def _exact_keys(value: Mapping[str, Any], required: set[str], optional: set[str], label: str) -> None: + keys = set(value) + missing = required - keys + unknown = keys - required - optional + if missing or unknown: + raise PatchProgramError( + f"{label} has missing={sorted(missing)} unknown={sorted(unknown)}" + ) + + +def _finite(value: Any, label: str) -> float: + if isinstance(value, bool) or not isinstance(value, (int, float)): + raise PatchProgramError(f"{label} must be numeric") + result = float(value) + if not math.isfinite(result): + raise PatchProgramError(f"{label} must be finite") + return result + + +def _positive_int(value: Any, label: str, *, maximum: int) -> int: + if isinstance(value, bool) or not isinstance(value, int) or not 1 <= value <= maximum: + raise PatchProgramError(f"{label} must be an integer in [1, {maximum}]") + return value + + +def _plain_json_tree( + value: Any, *, _active: set[int] | None = None, _depth: int = 0 +) -> Any: + if _depth > 64: + raise PatchProgramError("program JSON exceeds the bounded size or depth") + active = set() if _active is None else _active + if isinstance(value, Mapping): + identity = id(value) + if identity in active: + raise PatchProgramError("program JSON contains a cycle") + active.add(identity) + try: + return { + str(key): _plain_json_tree( + item, _active=active, _depth=_depth + 1 + ) + for key, item in value.items() + } + finally: + active.remove(identity) + if isinstance(value, (list, tuple)): + identity = id(value) + if identity in active: + raise PatchProgramError("program JSON contains a cycle") + active.add(identity) + try: + return [ + _plain_json_tree(item, _active=active, _depth=_depth + 1) + for item in value + ] + finally: + active.remove(identity) + return value + + +def _canonical(value: Any) -> str: + try: + return json.dumps( + _plain_json_tree(value), + sort_keys=True, + separators=(",", ":"), + allow_nan=False, + ) + except PatchProgramError: + raise + except (TypeError, ValueError, RecursionError) as exc: + raise PatchProgramError("program is not canonical JSON") from exc + + +def _sha(value: Any) -> str: + return hashlib.sha256(_canonical(value).encode("utf-8")).hexdigest() + + +def _freeze(value: Any) -> Any: + if isinstance(value, Mapping): + return MappingProxyType({str(key): _freeze(item) for key, item in value.items()}) + if isinstance(value, list): + return tuple(_freeze(item) for item in value) + return value + + +def _thaw(value: Any) -> Any: + if isinstance(value, Mapping): + return {str(key): _thaw(item) for key, item in value.items()} + if isinstance(value, tuple): + return [_thaw(item) for item in value] + return value + + +def _check_document_budget(value: Any) -> None: + """Bound the full data tree so expressions cannot hide unbounded work.""" + + stack: list[tuple[Any, int]] = [(value, 0)] + nodes = 0 + while stack: + item, depth = stack.pop() + nodes += 1 + if nodes > 20_000 or depth > 64: + raise PatchProgramError("program JSON exceeds the bounded size or depth") + if isinstance(item, dict): + stack.extend((child, depth + 1) for child in item.values()) + elif isinstance(item, list): + stack.extend((child, depth + 1) for child in item) + + +@dataclass(frozen=True) +class SignalSpec: + id: str + value_type: str + width: int + + @classmethod + def from_mapping(cls, signal_id: str, value: Mapping[str, Any]) -> "SignalSpec": + if not _ID.fullmatch(signal_id): + raise PatchProgramError(f"invalid signal id: {signal_id!r}") + if not isinstance(value, Mapping): + raise PatchProgramError(f"signal {signal_id!r} must be an object") + _exact_keys(value, {"value_type"}, {"width"}, f"signal {signal_id}") + value_type = value["value_type"] + if value_type not in _SIGNAL_TYPES: + raise PatchProgramError(f"unsupported signal type: {value_type!r}") + width = value.get("width", 1) + if value_type != "vector" and width != 1: + raise PatchProgramError("boolean/scalar signals must have width 1") + width = _positive_int(width, f"signal {signal_id} width", maximum=64) + return cls(id=signal_id, value_type=value_type, width=width) + + def to_document(self) -> dict[str, Any]: + value: dict[str, Any] = {"value_type": self.value_type} + if self.value_type == "vector": + value["width"] = self.width + return value + + +@dataclass(frozen=True) +class ActionSpace: + dimension: int + lower: tuple[float, ...] + upper: tuple[float, ...] + + @classmethod + def from_mapping(cls, value: Mapping[str, Any]) -> "ActionSpace": + if not isinstance(value, Mapping): + raise PatchProgramError("action_space must be an object") + _exact_keys(value, {"dimension", "lower", "upper"}, set(), "action_space") + dimension = _positive_int(value["dimension"], "action dimension", maximum=64) + lower_raw, upper_raw = value["lower"], value["upper"] + if ( + not isinstance(lower_raw, list) + or not isinstance(upper_raw, list) + or len(lower_raw) != dimension + or len(upper_raw) != dimension + ): + raise PatchProgramError("action bounds must match action dimension") + lower = tuple(_finite(item, "action lower") for item in lower_raw) + upper = tuple(_finite(item, "action upper") for item in upper_raw) + if any(left >= right for left, right in zip(lower, upper)): + raise PatchProgramError("each action lower bound must be below upper") + return cls(dimension=dimension, lower=lower, upper=upper) + + def to_document(self) -> dict[str, Any]: + return { + "dimension": self.dimension, + "lower": list(self.lower), + "upper": list(self.upper), + } + + +@dataclass(frozen=True) +class ProgramLimits: + max_program_steps: int + active_start: int + active_end_exclusive: int + max_interventions: int + max_phase_transitions: int + max_action_delta: tuple[float, ...] + + @classmethod + def from_mapping( + cls, value: Mapping[str, Any], *, action_space: ActionSpace + ) -> "ProgramLimits": + if not isinstance(value, Mapping): + raise PatchProgramError("limits must be an object") + _exact_keys( + value, + { + "max_program_steps", + "active_window", + "max_interventions", + "max_phase_transitions", + "max_action_delta", + }, + set(), + "limits", + ) + maximum = _positive_int(value["max_program_steps"], "max_program_steps", maximum=10_000) + window = value["active_window"] + if not isinstance(window, Mapping): + raise PatchProgramError("active_window must be an object") + _exact_keys(window, {"start", "end_exclusive"}, set(), "active_window") + start = window["start"] + end = window["end_exclusive"] + if ( + isinstance(start, bool) + or not isinstance(start, int) + or isinstance(end, bool) + or not isinstance(end, int) + or not 0 <= start < end <= maximum + ): + raise PatchProgramError("active window must satisfy 0 <= start < end <= max steps") + raw_delta = value["max_action_delta"] + if not isinstance(raw_delta, list) or len(raw_delta) != action_space.dimension: + raise PatchProgramError("max_action_delta must match the action dimension") + delta = tuple(_finite(item, "max_action_delta") for item in raw_delta) + widths = tuple( + high - low for low, high in zip(action_space.lower, action_space.upper) + ) + if any(item < 0.0 or item > width for item, width in zip(delta, widths)): + raise PatchProgramError( + "max_action_delta entries must lie within [0, action range]" + ) + if not any(item > 0.0 for item in delta): + raise PatchProgramError("max_action_delta must grant some bounded authority") + return cls( + max_program_steps=maximum, + active_start=start, + active_end_exclusive=end, + max_interventions=_positive_int(value["max_interventions"], "max_interventions", maximum=maximum), + max_phase_transitions=_positive_int( + value["max_phase_transitions"], "max_phase_transitions", maximum=maximum + ), + max_action_delta=delta, + ) + + def to_document(self) -> dict[str, Any]: + return { + "max_program_steps": self.max_program_steps, + "active_window": { + "start": self.active_start, + "end_exclusive": self.active_end_exclusive, + }, + "max_interventions": self.max_interventions, + "max_phase_transitions": self.max_phase_transitions, + "max_action_delta": list(self.max_action_delta), + } + + +@dataclass(frozen=True) +class _NumericType: + width: int + + +def _indices(value: Any, dimension: int, label: str) -> tuple[int, ...]: + if not isinstance(value, list) or not value: + raise PatchProgramError(f"{label} indices must be a non-empty list") + result: list[int] = [] + for item in value: + if isinstance(item, bool) or not isinstance(item, int) or not 0 <= item < dimension: + raise PatchProgramError(f"{label} index is outside the action space") + if item in result: + raise PatchProgramError(f"{label} indices must be unique") + result.append(item) + return tuple(result) + + +def _numeric_type(expr: Any, signals: Mapping[str, SignalSpec], action: ActionSpace) -> _NumericType: + if not isinstance(expr, Mapping): + raise PatchProgramError("numeric expression must be an object") + op = expr.get("op") + if op not in _NUMERIC_OPS: + raise PatchProgramError(f"unsupported numeric op: {op!r}") + if op == "constant": + _exact_keys(expr, {"op", "value"}, set(), "constant expression") + value = expr["value"] + if isinstance(value, list): + if not value or len(value) > 64: + raise PatchProgramError("constant vector width must be in [1, 64]") + for item in value: + _finite(item, "constant vector") + return _NumericType(len(value)) + _finite(value, "constant") + return _NumericType(1) + if op == "signal": + _exact_keys(expr, {"op", "name"}, set(), "signal expression") + name = expr["name"] + spec = signals.get(name) + if spec is None or spec.value_type == "boolean": + raise PatchProgramError(f"numeric signal is unavailable: {name!r}") + return _NumericType(spec.width) + if op == "policy": + _exact_keys(expr, {"op", "indices"}, set(), "policy expression") + return _NumericType(len(_indices(expr["indices"], action.dimension, "policy"))) + if op == "component": + _exact_keys(expr, {"op", "value", "index"}, set(), "component expression") + child = _numeric_type(expr["value"], signals, action) + index = expr["index"] + if isinstance(index, bool) or not isinstance(index, int) or not 0 <= index < child.width: + raise PatchProgramError("component index is outside its numeric vector") + return _NumericType(1) + if op == "linear": + _exact_keys(expr, {"op", "value", "matrix"}, set(), "linear expression") + child = _numeric_type(expr["value"], signals, action) + matrix = expr["matrix"] + if not isinstance(matrix, list) or not 1 <= len(matrix) <= 64: + raise PatchProgramError("linear matrix must have 1..64 rows") + for row in matrix: + if not isinstance(row, list) or len(row) != child.width: + raise PatchProgramError("linear matrix width must match its input") + for item in row: + _finite(item, "linear matrix coefficient") + return _NumericType(len(matrix)) + if op in {"negate", "norm", "clip_norm"}: + required = {"op", "value"} + optional = {"maximum"} if op == "clip_norm" else set() + _exact_keys(expr, required | ({"maximum"} if op == "clip_norm" else set()), set(), f"{op} expression") + child = _numeric_type(expr["value"], signals, action) + if op == "norm": + return _NumericType(1) + if op == "clip_norm": + if _finite(expr["maximum"], "clip_norm maximum") <= 0: + raise PatchProgramError("clip_norm maximum must be positive") + return child + if op == "scale": + _exact_keys(expr, {"op", "value", "factor"}, set(), "scale expression") + child = _numeric_type(expr["value"], signals, action) + factor = _numeric_type(expr["factor"], signals, action) + if factor.width != 1: + raise PatchProgramError("scale factor must be scalar") + return child + _exact_keys(expr, {"op", "values"}, set(), "add expression") + values = expr["values"] + if not isinstance(values, list) or len(values) < 2 or len(values) > 16: + raise PatchProgramError("add requires 2..16 operands") + types = [_numeric_type(item, signals, action) for item in values] + if len({item.width for item in types}) != 1: + raise PatchProgramError("add operands must have equal widths") + return types[0] + + +def _boolean_expr(expr: Any, signals: Mapping[str, SignalSpec], action: ActionSpace) -> None: + if not isinstance(expr, Mapping): + raise PatchProgramError("boolean expression must be an object") + op = expr.get("op") + if op not in _BOOLEAN_OPS: + raise PatchProgramError(f"unsupported boolean op: {op!r}") + if op == "signal": + _exact_keys(expr, {"op", "name"}, set(), "boolean signal") + spec = signals.get(expr["name"]) + if spec is None or spec.value_type != "boolean": + raise PatchProgramError(f"boolean signal is unavailable: {expr['name']!r}") + return + if op == "compare": + _exact_keys(expr, {"op", "left", "comparator", "right"}, set(), "compare") + if expr["comparator"] not in {"<", "<=", ">", ">=", "==", "!="}: + raise PatchProgramError("unsupported comparator") + if _numeric_type(expr["left"], signals, action).width != 1 or _numeric_type( + expr["right"], signals, action + ).width != 1: + raise PatchProgramError("comparisons require scalar operands") + return + if op in {"all", "any"}: + _exact_keys(expr, {"op", "values"}, set(), f"{op} expression") + values = expr["values"] + if not isinstance(values, list) or not 1 <= len(values) <= 16: + raise PatchProgramError(f"{op} requires 1..16 operands") + for item in values: + _boolean_expr(item, signals, action) + return + if op == "not": + _exact_keys(expr, {"op", "value"}, set(), "not expression") + _boolean_expr(expr["value"], signals, action) + return + if op == "latch": + _exact_keys(expr, {"op", "id", "value"}, set(), "latch expression") + if not isinstance(expr["id"], str) or not _ID.fullmatch(expr["id"]): + raise PatchProgramError("latch id must be a portable identifier") + _boolean_expr(expr["value"], signals, action) + return + _exact_keys(expr, {"op", "value"}, set(), f"{op} expression") + _positive_int(expr["value"], f"{op} value", maximum=10_000) + + +@dataclass(frozen=True) +class CompiledPatchProgram: + document: Mapping[str, Any] + id: str + action_space: ActionSpace + signals: Mapping[str, SignalSpec] + limits: ProgramLimits + initial_phase: str + phases: Mapping[str, Mapping[str, Any]] + sha256: str + + def start_episode(self) -> "PatchProgramRuntime": + return PatchProgramRuntime(self) + + def to_document(self) -> dict[str, Any]: + return _thaw(self.document) + + +def compile_patch_program( + document: Mapping[str, Any], + *, + adapter_signal_specs: Mapping[str, Mapping[str, Any]] | None = None, +) -> CompiledPatchProgram: + """Validate and compile a canonical program without executing code.""" + + if not isinstance(document, Mapping): + raise PatchProgramError("patch program must be an object") + # Canonicalize before walking the tree. Besides enforcing JSON-only input, + # this severs references to caller-owned dictionaries and rejects cycles. + canonical = json.loads(_canonical(document)) + _check_document_budget(canonical) + document = canonical + _exact_keys( + document, + {"schema_version", "id", "action_space", "signals", "limits", "initial_phase", "phases"}, + {"description", "authored_from"}, + "patch program", + ) + if document["schema_version"] != PROGRAM_SCHEMA: + raise PatchProgramError("unsupported patch program schema") + program_id = document["id"] + if not isinstance(program_id, str) or not _ID.fullmatch(program_id): + raise PatchProgramError("invalid patch program id") + action = ActionSpace.from_mapping(document["action_space"]) + raw_signals = document["signals"] + if not isinstance(raw_signals, Mapping) or not raw_signals or len(raw_signals) > 256: + raise PatchProgramError("signals must be a non-empty bounded object") + signals = { + name: SignalSpec.from_mapping(name, spec) + for name, spec in raw_signals.items() + } + if adapter_signal_specs is not None: + adapter = { + name: SignalSpec.from_mapping(name, spec) + for name, spec in adapter_signal_specs.items() + } + for name, spec in signals.items(): + if adapter.get(name) != spec: + raise PatchProgramError(f"program signal {name!r} does not match adapter") + limits = ProgramLimits.from_mapping(document["limits"], action_space=action) + raw_phases = document["phases"] + if not isinstance(raw_phases, list) or not 1 <= len(raw_phases) <= 32: + raise PatchProgramError("phases must contain 1..32 entries") + phases: dict[str, Mapping[str, Any]] = {} + for phase in raw_phases: + if not isinstance(phase, Mapping): + raise PatchProgramError("phase must be an object") + _exact_keys(phase, {"name", "transitions", "transforms"}, set(), "phase") + name = phase["name"] + if not isinstance(name, str) or not _ID.fullmatch(name) or name in phases: + raise PatchProgramError("phase names must be unique identifiers") + transitions = phase["transitions"] + transforms = phase["transforms"] + if not isinstance(transitions, list) or len(transitions) > 16: + raise PatchProgramError("phase transitions must be a bounded list") + if not isinstance(transforms, list) or len(transforms) > 16: + raise PatchProgramError("phase transforms must be a bounded list") + for transition in transitions: + if not isinstance(transition, Mapping): + raise PatchProgramError("transition must be an object") + _exact_keys(transition, {"when", "to"}, set(), "transition") + _boolean_expr(transition["when"], signals, action) + if not isinstance(transition["to"], str) or not _ID.fullmatch(transition["to"]): + raise PatchProgramError("transition target must be an identifier") + for transform in transforms: + if not isinstance(transform, Mapping): + raise PatchProgramError("transform must be an object") + _exact_keys(transform, {"op", "indices", "value"}, {"when"}, "transform") + if transform["op"] not in {"set", "add"}: + raise PatchProgramError("transform op must be set or add") + indices = _indices(transform["indices"], action.dimension, "transform") + expression_type = _numeric_type(transform["value"], signals, action) + if expression_type.width not in {1, len(indices)}: + raise PatchProgramError("transform value width must be 1 or match indices") + if "when" in transform: + _boolean_expr(transform["when"], signals, action) + phases[name] = phase + if document["initial_phase"] not in phases: + raise PatchProgramError("initial_phase is not declared") + for phase in phases.values(): + for transition in phase["transitions"]: + if transition["to"] not in phases: + raise PatchProgramError("transition references an unknown phase") + # Keep runtime phase objects independent of the public canonical document: + # mutating a returned document must never change already-compiled behavior. + runtime_phases = MappingProxyType( + { + phase["name"]: _freeze(phase) + for phase in json.loads(_canonical(canonical["phases"])) + } + ) + return CompiledPatchProgram( + document=_freeze(canonical), + id=program_id, + action_space=action, + signals=MappingProxyType(signals), + limits=limits, + initial_phase=document["initial_phase"], + phases=runtime_phases, + sha256=_sha(canonical), + ) + + +def _numeric(expr: Mapping[str, Any], policy: np.ndarray, signals: Mapping[str, Any]) -> np.ndarray: + op = expr["op"] + if op == "constant": + return np.asarray(expr["value"], dtype=np.float64).reshape(-1) + if op == "signal": + return np.asarray(signals[expr["name"]], dtype=np.float64).reshape(-1) + if op == "policy": + return policy[np.asarray(expr["indices"], dtype=np.int64)] + if op == "component": + return _numeric(expr["value"], policy, signals)[[expr["index"]]] + if op == "linear": + matrix = np.asarray(expr["matrix"], dtype=np.float64) + return matrix @ _numeric(expr["value"], policy, signals) + if op == "negate": + return -_numeric(expr["value"], policy, signals) + if op == "norm": + return np.asarray([np.linalg.norm(_numeric(expr["value"], policy, signals))]) + if op == "scale": + return _numeric(expr["value"], policy, signals) * float( + _numeric(expr["factor"], policy, signals)[0] + ) + if op == "add": + values = [_numeric(value, policy, signals) for value in expr["values"]] + return np.sum(np.stack(values, axis=0), axis=0) + value = _numeric(expr["value"], policy, signals) + norm = float(np.linalg.norm(value)) + maximum = float(expr["maximum"]) + return value if norm <= maximum or norm == 0.0 else value * (maximum / norm) + + +def _boolean( + expr: Mapping[str, Any], + policy: np.ndarray, + signals: Mapping[str, Any], + *, + step: int, + phase_age: int, + latches: dict[str, bool], +) -> bool: + op = expr["op"] + if op == "signal": + return bool(np.asarray(signals[expr["name"]]).reshape(-1)[0]) + if op == "compare": + left = float(_numeric(expr["left"], policy, signals)[0]) + right = float(_numeric(expr["right"], policy, signals)[0]) + return { + "<": left < right, + "<=": left <= right, + ">": left > right, + ">=": left >= right, + "==": left == right, + "!=": left != right, + }[expr["comparator"]] + if op == "all": + values = [ + _boolean( + item, + policy, + signals, + step=step, + phase_age=phase_age, + latches=latches, + ) + for item in expr["values"] + ] + return all(values) + if op == "any": + values = [ + _boolean( + item, + policy, + signals, + step=step, + phase_age=phase_age, + latches=latches, + ) + for item in expr["values"] + ] + return any(values) + if op == "not": + return not _boolean( + expr["value"], + policy, + signals, + step=step, + phase_age=phase_age, + latches=latches, + ) + if op == "latch": + value = latches.get(expr["id"], False) or _boolean( + expr["value"], + policy, + signals, + step=step, + phase_age=phase_age, + latches=latches, + ) + latches[expr["id"]] = value + return value + if op == "phase_age_at_least": + return phase_age >= expr["value"] + return step >= expr["value"] + + +@dataclass(frozen=True) +class PatchStepResult: + action: np.ndarray + intervened: bool + phase_before: str + phase_after: str + transition: str | None + trace: Mapping[str, Any] + + +class PatchProgramRuntime: + """One bounded state-machine instance for one episode.""" + + def __init__(self, program: CompiledPatchProgram) -> None: + self.program = program + self.phase = program.initial_phase + self.phase_age = 0 + self.steps = 0 + self.interventions = 0 + self.phase_transitions = 0 + self.boolean_latches: dict[str, bool] = {} + + def step( + self, + policy_action: Sequence[float] | np.ndarray, + signals: Mapping[str, Any], + *, + step_index: int | None = None, + ) -> PatchStepResult: + action = np.asarray(policy_action, dtype=np.float64) + if action.shape != (self.program.action_space.dimension,) or not np.isfinite(action).all(): + raise PatchProgramError("policy action has the wrong shape or is non-finite") + lower = np.asarray(self.program.action_space.lower) + upper = np.asarray(self.program.action_space.upper) + if step_index is None: + step_index = self.steps + if isinstance(step_index, bool) or not isinstance(step_index, int) or step_index != self.steps: + raise PatchProgramError("step_index must equal the next sequential step") + if self.steps >= self.program.limits.max_program_steps: + raise PatchProgramError("program exceeded max_program_steps") + normalized_signals: dict[str, Any] = {} + if not isinstance(signals, Mapping): + raise PatchProgramError("runtime signals must be a mapping") + for name, spec in self.program.signals.items(): + if name not in signals: + raise PatchProgramError(f"runtime signal is missing: {name!r}") + raw = np.asarray(signals[name]) + if spec.value_type == "boolean": + item = raw.reshape(-1)[0] if raw.size == 1 else None + if raw.size != 1 or not isinstance(item, (bool, np.bool_)): + raise PatchProgramError(f"runtime signal {name!r} must be boolean") + normalized_signals[name] = bool(item) + else: + numeric = np.asarray(signals[name], dtype=np.float64).reshape(-1) + if numeric.size != spec.width or not np.isfinite(numeric).all(): + raise PatchProgramError(f"runtime signal {name!r} has the wrong width or is non-finite") + normalized_signals[name] = numeric + before = self.phase + transition_name: str | None = None + within = ( + self.program.limits.active_start + <= self.steps + < self.program.limits.active_end_exclusive + ) + # Historical trigger latches observe from step zero. The active + # window gates only phase changes and action edits, not diagnosis. + evaluated_transitions = [] + for transition in self.program.phases[self.phase]["transitions"]: + evaluated_transitions.append( + ( + transition, + _boolean( + transition["when"], + action, + normalized_signals, + step=self.steps, + phase_age=self.phase_age, + latches=self.boolean_latches, + ), + ) + ) + if within: + for transition, matched in evaluated_transitions: + if matched: + if self.phase_transitions >= self.program.limits.max_phase_transitions: + raise PatchProgramError("program exceeded max_phase_transitions") + self.phase = transition["to"] + self.phase_age = 0 + self.phase_transitions += 1 + transition_name = f"{before}->{self.phase}" + break + executed = action.copy() + # Authority is mode-sensitive. An ``add`` owns only its cumulative + # delta from the incoming policy action, while a ``set`` owns the + # explicit replacement value. The frozen policy may legitimately + # propose a wider action than this patch is allowed to contribute; + # never charge or normalize that baseline as patch authority. + additive_selected = np.zeros(action.shape, dtype=np.bool_) + replacement_selected = np.zeros(action.shape, dtype=np.bool_) + replacement_owned = np.zeros(action.shape, dtype=np.bool_) + max_delta = np.asarray(self.program.limits.max_action_delta) + safety_clipped = False + authority_clipped = False + budget_available = self.interventions < self.program.limits.max_interventions + if within and budget_available: + for transform in self.program.phases[self.phase]["transforms"]: + if "when" in transform and not _boolean( + transform["when"], + action, + normalized_signals, + step=self.steps, + phase_age=self.phase_age, + latches=self.boolean_latches, + ): + continue + indices = np.asarray(transform["indices"], dtype=np.int64) + value = _numeric(transform["value"], action, normalized_signals) + if value.size == 1: + value = np.repeat(value, indices.size) + if not np.isfinite(value).all(): + raise PatchProgramError("transform produced a non-finite action") + for local_index, index in enumerate(indices.tolist()): + increment = float(value[local_index]) + if transform["op"] == "set" or replacement_owned[index]: + requested_value = ( + increment + if transform["op"] == "set" + else float(executed[index]) + increment + ) + after_envelope = float( + np.clip(requested_value, lower[index], upper[index]) + ) + safety_clipped = bool( + safety_clipped or after_envelope != requested_value + ) + executed[index] = after_envelope + if transform["op"] == "set": + replacement_selected[index] = True + replacement_owned[index] = True + else: + additive_selected[index] = True + requested_delta = ( + float(executed[index]) - float(action[index]) + increment + ) + after_envelope = float( + np.clip(requested_delta, lower[index], upper[index]) + ) + safety_clipped = bool( + safety_clipped or after_envelope != requested_delta + ) + bounded_delta = float( + np.clip( + after_envelope, + -max_delta[index], + max_delta[index], + ) + ) + authority_clipped = bool( + authority_clipped or bounded_delta != after_envelope + ) + executed[index] = action[index] + bounded_delta + if transform["op"] == "add": + additive_selected[index] = True + modified_coordinates = executed != action + intervened = bool(np.any(modified_coordinates)) + if intervened: + self.interventions += 1 + self.steps += 1 + self.phase_age += 1 + trace = { + "program_id": self.program.id, + "program_sha256": self.program.sha256, + "step": step_index, + "phase_before": before, + "phase_after": self.phase, + "transition": transition_name, + "intervened": intervened, + "intervention_count": self.interventions, + "phase_transition_count": self.phase_transitions, + "budget_available": budget_available, + "safety_clipped": safety_clipped, + "authority_clipped": authority_clipped, + "policy_action": action.tolist(), + "executed_action": executed.tolist(), + "additive_selected": additive_selected.tolist(), + "replacement_selected": replacement_selected.tolist(), + "replacement_owned": replacement_owned.tolist(), + } + return PatchStepResult( + action=executed, + intervened=intervened, + phase_before=before, + phase_after=self.phase, + transition=transition_name, + trace=trace, + ) + + +__all__ = [ + "PROGRAM_SCHEMA", + "ActionSpace", + "CompiledPatchProgram", + "PatchProgramError", + "PatchProgramRuntime", + "PatchStepResult", + "ProgramLimits", + "SignalSpec", + "compile_patch_program", +] diff --git a/validation_report.json b/validation_report.json new file mode 100644 index 0000000000000000000000000000000000000000..4be2440d535e0178732ccebbf71f221a2501aba0 --- /dev/null +++ b/validation_report.json @@ -0,0 +1,116 @@ +{ + "all_published_prefixes_exact": true, + "all_source_outcomes_verified": true, + "all_source_state_hashes_verified": true, + "canonical_action_splice_pairs": 1, + "complete": true, + "created_utc": "2026-08-17T04:04:34.041097+00:00", + "dataset_id": "sim-oracle-working-interventions-v1", + "effect_distribution": { + "correction": 69, + "regression": 2, + "unchanged_failure": 20, + "unchanged_success": 41 + }, + "entry_counts": { + "cube_any_grasp_gentle_validation_v1": 22, + "cube_open_autonomous_validation_v1": 21, + "spoon_agentic_premature_release_validation_v1": 47, + "spoon_hybrid_regrasp_servo_validation_v1": 42 + }, + "errors": [], + "expected_effect_distribution": { + "correction": 69, + "regression": 2, + "unchanged_failure": 20, + "unchanged_success": 41 + }, + "expected_mp4s": 396, + "expected_pairs": 132, + "expected_patch_distribution": { + "0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a": 47, + "112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699": 21, + "ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0": 42, + "b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c": 22 + }, + "expected_task_distribution": { + "cube_stack": 43, + "spoon_cloth": 89 + }, + "gates": { + "exact_decoded_prefix": true, + "expected_distributions": true, + "formula_overlay_nonempty": true, + "pair_count": true, + "patch_accounting": true, + "size_below_ceiling": true, + "source_effect_accounting": true, + "source_inventory_and_hashes": true, + "task_accounting": true, + "three_mp4s_per_pair": true + }, + "maximum_dataset_bytes": 4831838208, + "observed_mp4s": 396, + "observed_pairs": 132, + "patch_distribution": { + "0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a": 47, + "112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699": 21, + "ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0": 42, + "b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c": 22 + }, + "pixel_prefix_canonicalized_pairs": 3, + "prefix_mode_distribution": { + "canonical_action_splice+transparent_pixel_prefix_canonicalization": 1, + "natural_exact": 129, + "natural_exact+transparent_pixel_prefix_canonicalization": 2 + }, + "registry_path": "configs/oracle_patching/intervention_dataset_v1.json", + "registry_sha256": "5662f3d8ff632aa9a2175bf63a6095310ce5bec2bb85cdc8b1a3912842922a69", + "runtime_provenance_files": [ + { + "dataset_path": "provenance/runtime/389d8f1236790331_runtime.py", + "source_kind": "runtime_source", + "source_path": "oracle_patching/runtime.py", + "source_sha256": "389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb" + }, + { + "dataset_path": "provenance/runtime/85bae6bc03acaf7b_program_runtime.py", + "source_kind": "runtime_source", + "source_path": "oracle_patching/program_runtime.py", + "source_sha256": "85bae6bc03acaf7bc214cb67af80166499fec0f636a1fcf2ef4e7827460449e7" + }, + { + "dataset_path": "provenance/runtime/ad8c56a2068ce4a0_program.py", + "source_kind": "compiler_source", + "source_path": "oracle_patching/program.py", + "source_sha256": 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