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