{"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":"dfa4ef93b8392c9f56a397d4d852e3b503c44bc0af740dfe4567480bfc4c9d5a","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"e4b3f7fdbc1efcdebca45992717aa304441b07ab94be2d8a7a555111970c6d81","published_intervention_final_state_sha256":"95ebf2c217ac9e255a57e9222f359d112a46cad0ccf5ecdee3c433378f7abd6f","source_intervention_final_state_sha256":"95ebf2c217ac9e255a57e9222f359d112a46cad0ccf5ecdee3c433378f7abd6f","source_intervention_full_initial_state_sha256":"10b8b7cef704f3b061b9d617af0059bb6912c6c3cb0501a8c7f8e0ba5bf87c37","source_intervention_initial_state_sha256":"dfa4ef93b8392c9f56a397d4d852e3b503c44bc0af740dfe4567480bfc4c9d5a","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"704ef3857ac8d9e5f5765d3e06a96182d4901e960aa40d2f42838e8f07297a55","batch_index":160,"batch_slot":2,"environment_seed":2562,"episode_id":2562,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"e4b3f7fdbc1efcdebca45992717aa304441b07ab94be2d8a7a555111970c6d81","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"133aa9901e5558f62a10114acf20d04190f4cd43e5e134e5d132be9643324bfd","policy_batch_seed":1138182910,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000160.npz","baseline_telemetry":"telemetry/batch_000160.npz","intervention_telemetry":"telemetry_adaptor/batch_000160.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":18,"first_possible_physical_divergence_frame":19,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":19,"last_modified_step":36,"modified_steps":[18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","descend","descend","release","release","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done"]},"videos":{"baseline":{"audio_streams":0,"bytes":270917,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"19f2b0c1f5c4eff1687439c5342e2dfc1242d18a826a89803ed96d66cb284759","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"09e4bed2b51c537c42cd6365e72a1ced30a09916c87933f3c651aedfc0e871c0","width":640},"comparison":{"audio_streams":0,"bytes":635701,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"2037b873cb5ab7847a1d997a1e129b84bf32a82c774fcee3f0042039308958ee","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ce656b7585cc3bdfd04f98b55ce77371f5a632018fdb04c586a9f95c87c5ced3","width":1280},"intervention":{"audio_streams":0,"bytes":301517,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"642d796a72e575d03edebad0de62ea9882b730e9c7883fffc3d85c8620e412a5","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"70fedd4756c636c1969393cd768a201743b0a22e2fde765656b5fff784c32f51","width":640}}}
{"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":38,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":38,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":38,"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":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,"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":"4f379feb55debca94e70d6d8354827d2f4ef1363d5f1b8005db5dc97ef26e8ac","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":"f3f61f458ec184fb8ba94b216a31859322d0e7e6608472c239700f25b3a1c668","baseline_full_initial_state_sha256":"d3ee90861ac7122b42c4d96e015d8376453c536691280ad69293bc1a0c3b5de7","baseline_initial_state_sha256":"45ecaf5af9c3b48452c4aa3eaab7109d2942ee7fb6c5db17da56e14d6bc56c8e","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"6712423a97c848c9f7c4cfb717c82c66fcc12599b262c74401bbfea4ecf26267","published_intervention_final_state_sha256":"4a7435e9191518a90fd726a7689309815c88685da7a21727804f16563c4e8594","source_intervention_final_state_sha256":"4a7435e9191518a90fd726a7689309815c88685da7a21727804f16563c4e8594","source_intervention_full_initial_state_sha256":"d3ee90861ac7122b42c4d96e015d8376453c536691280ad69293bc1a0c3b5de7","source_intervention_initial_state_sha256":"45ecaf5af9c3b48452c4aa3eaab7109d2942ee7fb6c5db17da56e14d6bc56c8e","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"7ded52ae3c8aae0b6854adda4e6424e1ed0f23c3e5f16b8b1de0ec4f8968c4e4","batch_index":160,"batch_slot":3,"environment_seed":2563,"episode_id":2563,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"6712423a97c848c9f7c4cfb717c82c66fcc12599b262c74401bbfea4ecf26267","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"54194f256e28c51647682fed652934dab9b7d3afd2ff06d9b9dfe85f2ef395fb","policy_batch_seed":1138182910,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000160.npz","baseline_telemetry":"telemetry/batch_000160.npz","intervention_telemetry":"telemetry_adaptor/batch_000160.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":37,"first_possible_physical_divergence_frame":38,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":19,"last_modified_step":55,"modified_steps":[37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","descend","descend","release","release","done","done","done","done"]},"videos":{"baseline":{"audio_streams":0,"bytes":305093,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"34049bb77a825b6709ecff7ade4930be56991849eb26c0ad7fe2f976c61c0870","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"43f6ca985c5919aa7c38e8bf40a9465e1e9b576d1b9f9a3c382d8ce9014159cb","width":640},"comparison":{"audio_streams":0,"bytes":723439,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"042f80ad47af08fbf0ce9e634137df5a0676a3ecd6c407b2e45394060b7823bd","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"c1db257e2aaf047cf67bf8c71666f7285007fce178fdf6c61e14541aba391833","width":1280},"intervention":{"audio_streams":0,"bytes":332850,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"e869d83ed3aa8463a1e21ffccf2f2389d87af54654ea2f78be3247b889dd5b85","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"25d08976698f5d7e8d3ca0a1148cd806baed6145528a3f6c2ec5368b156759e2","width":640}}}
{"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":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":"cube_stack","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2564,"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":"5782747a170e14e74aa00afa8e76f464769d52cf74ce2ba4b3dc027c4d41111f","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":"66749e10b5e2c3e472292946cf09aa0d51b7e7f1bd88f652c6f895feb9d90869","baseline_full_initial_state_sha256":"f528fcfb824ec831e8d02dd1f472153f5373b71f4ddc4744b9bdebbae1e30fb1","baseline_initial_state_sha256":"fa49890019d5a3ec964f339e43158da5c23631209a8f62e266f323d842278334","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"bf22ad9b3fbd35b5ff6ab86df0ec01b5116b947ec2be0ffd0f42b20275ff92cc","published_intervention_final_state_sha256":"f561bb6bb410ac39b53983836d729ba30f78fcb3f3a305e8e28307ae8f17b609","source_intervention_final_state_sha256":"f561bb6bb410ac39b53983836d729ba30f78fcb3f3a305e8e28307ae8f17b609","source_intervention_full_initial_state_sha256":"f528fcfb824ec831e8d02dd1f472153f5373b71f4ddc4744b9bdebbae1e30fb1","source_intervention_initial_state_sha256":"fa49890019d5a3ec964f339e43158da5c23631209a8f62e266f323d842278334","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"22396ddb4bb7892679d92384ca09ab007666eb28e4516d067c2971f1227ac725","batch_index":160,"batch_slot":4,"environment_seed":2564,"episode_id":2564,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"bf22ad9b3fbd35b5ff6ab86df0ec01b5116b947ec2be0ffd0f42b20275ff92cc","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"8aea52be01d9cc1cdbf44f4d92d4e71d5a5576bb861ca8fd95d6b1e77e50dbc5","policy_batch_seed":1138182910,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000160.npz","baseline_telemetry":"telemetry/batch_000160.npz","intervention_telemetry":"telemetry_adaptor/batch_000160.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":21,"first_possible_physical_divergence_frame":22,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":39,"last_modified_step":59,"modified_steps":[21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":327563,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f0764dd2e95f5a3dee798f4ebaf0ebdf652a4e082f735cc1cc1bfc26447dc465","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ef63609de7f854ad60fd830d3a95c05735cf796e0764d845fcc0e6e68b5a2546","width":640},"comparison":{"audio_streams":0,"bytes":734709,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ed4d060492568b19cc19e645ced77b142024843b92458ceb004f432a5108ba56","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"943b890fe35fc908ad5784b1d1d42b728962f5860cd0d3f7497eb352d9055743","width":1280},"intervention":{"audio_streams":0,"bytes":344513,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"cf048779842413b04e1617855da4adfe2182f4d39fecaf76ce330e195bd0c925","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"7da471c9f1d90970196ae73773a07782c3a5dd1af4c0ea0f286a1ef82c81ef01","width":640}}}
{"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":21,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":21,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":21,"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":2567,"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":"c11ae20c1c2d60f883519a956aa652e6bb5c95c6d6113c17058c3079910a0e62","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":"b63726a11ce474c61082ae898e1c67be924b54989a4d82db27e21df1a3687dc5","baseline_full_initial_state_sha256":"8e9cb7c3d4593252da1713618d8e6c4ab94ec48a51de99856629026d8029ebaa","baseline_initial_state_sha256":"7861dedf9fda4e02a91e374dedfa71713c51c660137b574ee0daf8d0a2aaabff","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"57e1cb15f3f6d11f83efafe2c0ade0a5e3845b1d1a12eefac4389c10d0941742","published_intervention_final_state_sha256":"e7132daefad48419a85fa9d3796ab1b926c48b78889d69cda36e4cd32b4e165c","source_intervention_final_state_sha256":"e7132daefad48419a85fa9d3796ab1b926c48b78889d69cda36e4cd32b4e165c","source_intervention_full_initial_state_sha256":"8e9cb7c3d4593252da1713618d8e6c4ab94ec48a51de99856629026d8029ebaa","source_intervention_initial_state_sha256":"7861dedf9fda4e02a91e374dedfa71713c51c660137b574ee0daf8d0a2aaabff","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"e7590ce5b350d37a58dd5dc21be932da0fdd53b2e631f7d6812ea07f076028df","batch_index":160,"batch_slot":7,"environment_seed":2567,"episode_id":2567,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"57e1cb15f3f6d11f83efafe2c0ade0a5e3845b1d1a12eefac4389c10d0941742","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"c66e23d6b11a71cc240439e7c73a75d8c462dbb1f1f2ebb1d206f9f1696ede3d","policy_batch_seed":1138182910,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000160.npz","baseline_telemetry":"telemetry/batch_000160.npz","intervention_telemetry":"telemetry_adaptor/batch_000160.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":20,"first_possible_physical_divergence_frame":21,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":40,"last_modified_step":59,"modified_steps":[20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":368162,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"43bda9d0e19ecd63c4185e82e2bf3330f2a3d618cf7459e42279518a0d8260d0","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0fb6b45a47b954d1c30e670264b39ead9d95d6d6590009c7c83b971c2970fac4","width":640},"comparison":{"audio_streams":0,"bytes":807032,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"22148b834d2ea010da136fbc0363b490dd239535fc11bbf3b961c0a233b6c843","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ed50c05ce30ebc0d733bc8b42425d48b96ed23e9826b95a1b70308b16fc24ace","width":1280},"intervention":{"audio_streams":0,"bytes":388649,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9307ed6e454a6ae6a692020c7aa57ce8197040c3ee8bd0168cff6e02583c99fa","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b3746d39593a797cc69cb6f2ece72a9fbfceea4059f5dff2257c3339476537b0","width":640}}}
{"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":17,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":17,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":17,"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":2568,"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":"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,"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":"58feb688c240f77b7bcf5517950957546f782fd519232c41e989e82d06bf467b","baseline_full_initial_state_sha256":"1728739b5e5411251230c14958cef391348e6f1b5cbe6ff1b807f7cc59785930","baseline_initial_state_sha256":"79fda7297685c1c834ee829acc5725a3792e04aebea6ab566197bb53acc76170","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"e1a09cdb32084c30624564590fb6207c557c048041ca02db6a4e94dfc9a43625","published_intervention_final_state_sha256":"5d47287566c164325c0a969d5af8acd73ef12abbe58559f600d7e533b3eea6bc","source_intervention_final_state_sha256":"5d47287566c164325c0a969d5af8acd73ef12abbe58559f600d7e533b3eea6bc","source_intervention_full_initial_state_sha256":"1728739b5e5411251230c14958cef391348e6f1b5cbe6ff1b807f7cc59785930","source_intervention_initial_state_sha256":"79fda7297685c1c834ee829acc5725a3792e04aebea6ab566197bb53acc76170","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"49bae6a80bea695979d8271945bdbff4c53bdfb6065cdc9c63568fd8f013d84b","batch_index":160,"batch_slot":8,"environment_seed":2568,"episode_id":2568,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"e1a09cdb32084c30624564590fb6207c557c048041ca02db6a4e94dfc9a43625","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"7fefb733044dfa7c97accd0706b0320c0d627f2f972efc6a099415fcba043681","policy_batch_seed":1138182910,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000160.npz","baseline_telemetry":"telemetry/batch_000160.npz","intervention_telemetry":"telemetry_adaptor/batch_000160.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":16,"first_possible_physical_divergence_frame":17,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":44,"last_modified_step":59,"modified_steps":[16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":279320,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"55aba79f55d79e0c59865671c75f0a3b897cc29a46f46eccecc33ce1a00ec9b6","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f9c11c09f4df50ffbe1fd027ae47f021add4a74e650eb1b012b6d22650009b55","width":640},"comparison":{"audio_streams":0,"bytes":596382,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"bd7da93743cfc49879f68c9b232e7d8bcb394be456f99ef320728c6d7bce49a3","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f8f787e6f930d668171e65e5c37ae93103fa09ceb55d850b065c4b6b08d73795","width":1280},"intervention":{"audio_streams":0,"bytes":276411,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"1177ea404f7c3ea7a694752666bbd579a8e1911c1612bb9a47b799a20d76f538","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"1ef1291ebb712179ac9b59e0b2879f800554e6085e73eaebd46a6ecbb50726a6","width":640}}}
{"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":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":{"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":"ee32129fc1c6736bdf51c59ae019a7fd2064fbafc24ed6ab0658d03e3f42bde1","baseline_full_initial_state_sha256":"687ab7c7d2da0b004298c7bed01e7478410ae29e47726e870152eb52911036dc","baseline_initial_state_sha256":"c3dc4233f17eadcb3e0fc2202e70460c6e84e11b171ba829f04e33bdd87d9bbc","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"324ad080d22eb47d744e91ce033e30ce18f56040e26564a91970eb4979737dc7","published_intervention_final_state_sha256":"284e2b6dfc333a734eea6a39db66f4c827197def4b50fdf980d1214d55242146","source_intervention_final_state_sha256":"284e2b6dfc333a734eea6a39db66f4c827197def4b50fdf980d1214d55242146","source_intervention_full_initial_state_sha256":"687ab7c7d2da0b004298c7bed01e7478410ae29e47726e870152eb52911036dc","source_intervention_initial_state_sha256":"c3dc4233f17eadcb3e0fc2202e70460c6e84e11b171ba829f04e33bdd87d9bbc","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"e5c73b92ca262b923de10ebe7a2f5cabeae39a4b7e9f65cf02594a81d0176b56","batch_index":160,"batch_slot":11,"environment_seed":2571,"episode_id":2571,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"324ad080d22eb47d744e91ce033e30ce18f56040e26564a91970eb4979737dc7","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"85ead98046507e0f73f3d552adb485ac23f49e776a80798f6cb90fe2fd6a9622","policy_batch_seed":1138182910,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000160.npz","baseline_telemetry":"telemetry/batch_000160.npz","intervention_telemetry":"telemetry_adaptor/batch_000160.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":40,"first_possible_physical_divergence_frame":41,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":20,"last_modified_step":59,"modified_steps":[40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":290786,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"1029f5234c91200a175b24a01165f49b87c575c5f07a8ac69fdfc111c3323863","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"84a0c1b5b51bf6b1aa61359764e5889347255a7c3fc76d1527d218f533150ecb","width":640},"comparison":{"audio_streams":0,"bytes":661675,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"c5b8a6149142f59faaf7360b2ac20143dc680d735348343612f16e478bf22103","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"deb8c6aee2fcccd4480d9281a0a10cc0a94cef0834ec900b2967f4a4ad053307","width":1280},"intervention":{"audio_streams":0,"bytes":307959,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"173567c4cd5a32b11a42a3b8a2e1ef0c96079915af65b4ca699867552a921a67","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3786712acc8d11d1d1e60761b06280c1c93523694eb82ebd94a26ce5ac725657","width":640}}}
{"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":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":"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":"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":"e2407201d05d645b0f915acaca472904e9129c8dc762e4a768c2dab586c300e5","baseline_full_initial_state_sha256":"92054d2bc5444d58c07915b7acf0984178a3ba9bdac9bbe2b985123068996452","baseline_initial_state_sha256":"c53244042b3a96173a1d67211591ab044b0382db788497c399d1ff9c33d15ba4","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"83a946117ea4d59e197567c3576ff831e85e9c8d1caed1847e38a2f6fce492ad","published_intervention_final_state_sha256":"421264d37bc96b0e2c65167016c38d28ae05548e90b5af2ad862979eec25e9c8","source_intervention_final_state_sha256":"421264d37bc96b0e2c65167016c38d28ae05548e90b5af2ad862979eec25e9c8","source_intervention_full_initial_state_sha256":"92054d2bc5444d58c07915b7acf0984178a3ba9bdac9bbe2b985123068996452","source_intervention_initial_state_sha256":"c53244042b3a96173a1d67211591ab044b0382db788497c399d1ff9c33d15ba4","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"b7598c89d543ff04892b9c9bc6def55f5f792e1dc30e957aaadbd6a4dbea846f","batch_index":160,"batch_slot":12,"environment_seed":2572,"episode_id":2572,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"83a946117ea4d59e197567c3576ff831e85e9c8d1caed1847e38a2f6fce492ad","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"9c0861b639192f0796b464746436b15d54d974a7f45d7cedce79b64dc17eb8f3","policy_batch_seed":1138182910,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000160.npz","baseline_telemetry":"telemetry/batch_000160.npz","intervention_telemetry":"telemetry_adaptor/batch_000160.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":17,"first_possible_physical_divergence_frame":18,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":43,"last_modified_step":59,"modified_steps":[17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":315922,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"5701f0edea6cab064a937b4121210788a5749d833a776279028aa041ad8eea67","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"debfd0d2e3396a507b2ab7b92cf083dbfdc49372b5d36ed382784aec7c28fb65","width":640},"comparison":{"audio_streams":0,"bytes":674164,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"22f8c2494316208afe567b89606b965cc86519c4727d1dce916823bf1abe192d","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"1ee1e532f662f7b3710268dfec43e6b3fa1196541787164d20faa28ff616403d","width":1280},"intervention":{"audio_streams":0,"bytes":308275,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7e6292b2ea5b762d9f6a522c6ba08b8484c361b2456d3a8675d4a9d7eb2ff871","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"fd9830fcd70c596605b07b55e2fd72d03564a42a2e8022112f8f6157b40d110b","width":640}}}
{"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":17,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":17,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":17,"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":2575,"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":"67a9e3a593cc68a67455c69b5f40124a6ea225faf5223a40f47d23672dc59e5f","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":"3bf3885c5e5791258268c3a7eee0fb83ec5356b9d6fd79c5b308f6da6ba9cbc0","baseline_full_initial_state_sha256":"cd4d66944b90a4b54db564d2d761a49ad53ca22acbfdef409ac71a95a900693b","baseline_initial_state_sha256":"bf8e2cfc4d6011df6b2eb3761662c391aeaf354620b8ffabb590a5e79589b13f","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"cf0191f92ebe4413cb7db45170ea6cb29dc6b158979c8332f5ac9873f403ea84","published_intervention_final_state_sha256":"884dfdfe7ca6f3938fff5b2cee2535ed0e8baf8fd7c164b993b702a9ba379496","source_intervention_final_state_sha256":"884dfdfe7ca6f3938fff5b2cee2535ed0e8baf8fd7c164b993b702a9ba379496","source_intervention_full_initial_state_sha256":"cd4d66944b90a4b54db564d2d761a49ad53ca22acbfdef409ac71a95a900693b","source_intervention_initial_state_sha256":"bf8e2cfc4d6011df6b2eb3761662c391aeaf354620b8ffabb590a5e79589b13f","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"4834a1dff1629d709101860b842157c77aae91bb7e1c4355c58327d0db71eccf","batch_index":160,"batch_slot":15,"environment_seed":2575,"episode_id":2575,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"cf0191f92ebe4413cb7db45170ea6cb29dc6b158979c8332f5ac9873f403ea84","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"c34741ab1cfd52e9d942775a5929771b8362a7b5219e499f6405e3921fd934e7","policy_batch_seed":1138182910,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000160.npz","baseline_telemetry":"telemetry/batch_000160.npz","intervention_telemetry":"telemetry_adaptor/batch_000160.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":16,"first_possible_physical_divergence_frame":17,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":44,"last_modified_step":59,"modified_steps":[16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":281827,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"e7e317c213a8b5ec5df12dd8fd8856ea9fd25a15468709b9338efca347c4bc2b","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"98fd663e0404338cbd4b555cb3966d71b5928003457ffa606ad77a005a33a547","width":640},"comparison":{"audio_streams":0,"bytes":649105,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9310ce56dbb401cfa516c9e428030f05badc85f114ddde420da96c8a0c39d38b","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b5b10b2d59c0c5e616c84d61ca331feb2c81a4153f196840fcfa479b9e8a1b4a","width":1280},"intervention":{"audio_streams":0,"bytes":316041,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9af202bb1022f0c5e9fa739cde5ba60bbb5bf25c779cdd385070bd2054283700","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e3e83b1b8cd568f188bd0e6e7582be2d4edcf5e55411254d3519099db62a5df7","width":640}}}
{"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":17,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":17,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":17,"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":2576,"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":"1f9b73dc5a2baafae315129db684db52d2f2077ecc0bd995504f7488d027065d","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":"fcc76cee818b2758475ba9c0fcade1bff0db0e3231bde589d7a0192411ffc759","baseline_full_initial_state_sha256":"acc785290ddc5dba15efabcab791ae86df4fd2847ea567a135b2e36b5805c05f","baseline_initial_state_sha256":"d308505dcd5b32dd45664f8b76ad7ba7b3ec2f162b1541b43498e8599e2faec0","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"ef2c32368d036a0ca0d1efd6f7b8dd9838e56d1bba4810f6f48adca791aa4585","published_intervention_final_state_sha256":"d9c300e99028835bf73ffbe634e264f2760a2a69f9402ebfc50115484e187ae8","source_intervention_final_state_sha256":"d9c300e99028835bf73ffbe634e264f2760a2a69f9402ebfc50115484e187ae8","source_intervention_full_initial_state_sha256":"acc785290ddc5dba15efabcab791ae86df4fd2847ea567a135b2e36b5805c05f","source_intervention_initial_state_sha256":"d308505dcd5b32dd45664f8b76ad7ba7b3ec2f162b1541b43498e8599e2faec0","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"797ad208cea8d530d4460f6ffb69734acf1308c71f4dda2d743483dc16e5a251","batch_index":161,"batch_slot":0,"environment_seed":2576,"episode_id":2576,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"ef2c32368d036a0ca0d1efd6f7b8dd9838e56d1bba4810f6f48adca791aa4585","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"6d8b0f6c9f17966bee1a660ab92926f2e2a6051875d7b8980de6bd91ee293e14","policy_batch_seed":606687013,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000161.npz","baseline_telemetry":"telemetry/batch_000161.npz","intervention_telemetry":"telemetry_adaptor/batch_000161.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":16,"first_possible_physical_divergence_frame":17,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":44,"last_modified_step":59,"modified_steps":[16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":311198,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"1d2c80bd5dadc10e765acfd14a63f0e5c03080cffbf23c233bbd53f178516086","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3318d0f48424ad690cc0ab526724468c453febdd80a9839661161b4804f279a4","width":640},"comparison":{"audio_streams":0,"bytes":672911,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"e5e18a7a1b51002c4ae2ca8b2f694d13092feef6068c8a39c593c0e43de4f2b7","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3adc1c0e50cee3b3b7450c2139dd01eedbcc36abcc247ebb0db3a561daa8f8f9","width":1280},"intervention":{"audio_streams":0,"bytes":310628,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0fd133a04d295a24b8bfc89233fd2ef2f66a6bb1433053bd812bc657dc54136e","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a0ecc1b8e3cb799b49a369142b74ebe0206af0ed6bea1b0c08a70fe7700ab315","width":640}}}
{"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":14,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":14,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":14,"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":2577,"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":"54ac49cb870dfdebc93b8014d2569eabd0d7c9097391ce68a34d62620346a2b1","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":"8dc205d51a83029670154a8eb6533750de5bcfee83e02038636d114de9d1c4f1","baseline_full_initial_state_sha256":"06da0332361faca34981bd73dbb3816f83946d1b98591e4c81b0f1e25ff7ff90","baseline_initial_state_sha256":"9b058ead5e4031f802e321c58708fe41cb00dc0c8c4628e7d0a6d420a5aaaa46","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"75b4e203d5bde90792732fba7e13b37a7ba58c84b7ff6c823ac6fc0aa73cf21b","published_intervention_final_state_sha256":"8a97df4d019b337e736bf0a3b3c2c0b11dfcf81857c31c415a106fbdc4ffddb0","source_intervention_final_state_sha256":"8a97df4d019b337e736bf0a3b3c2c0b11dfcf81857c31c415a106fbdc4ffddb0","source_intervention_full_initial_state_sha256":"06da0332361faca34981bd73dbb3816f83946d1b98591e4c81b0f1e25ff7ff90","source_intervention_initial_state_sha256":"9b058ead5e4031f802e321c58708fe41cb00dc0c8c4628e7d0a6d420a5aaaa46","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"d1030b9122417ecfafd81bafbb83c3a5a6cea700e7995af02685e5d14ca57551","batch_index":161,"batch_slot":1,"environment_seed":2577,"episode_id":2577,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"75b4e203d5bde90792732fba7e13b37a7ba58c84b7ff6c823ac6fc0aa73cf21b","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"3824252480660c3ca2299746e67a1b292c82f64d51cf1422d10971fe55e0dc59","policy_batch_seed":606687013,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000161.npz","baseline_telemetry":"telemetry/batch_000161.npz","intervention_telemetry":"telemetry_adaptor/batch_000161.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":13,"first_possible_physical_divergence_frame":14,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":47,"last_modified_step":59,"modified_steps":[13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":271274,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"af76ee0048ba7cc4256640fda6f23976ca5149fc4537c7b6a0a48919491aca33","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"2c993ae5c7e234245ffc62541866e58afbc391fe4c641862b2deeb28cb4a428b","width":640},"comparison":{"audio_streams":0,"bytes":611016,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f57eb555122198d2731ca20f3e4f93cf19da21b3ad5e2d8964adbd83616ff2d6","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9781405e06692871c11f1ab5d14965f367f854de37a3f0c5f5a885ee46f6ed6a","width":1280},"intervention":{"audio_streams":0,"bytes":294824,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7be1e5bb33d44a3758793bee73c7d0eed169bcc235191b90c10bd6a221b1bbcc","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a4a9529cb7e2202471a4db49ed4c81efc3b3fc5c35dca7371d483d68fd3d8138","width":640}}}
{"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":21,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":21,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":21,"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":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,"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":"f0a6539959896a32b3ef8967d7aae21d5678a510954da05af9c0bb1c774fa178","baseline_full_initial_state_sha256":"ecca74bd048090e7ef35e55faddceba5ed7cffea629cdb357b09a037a65ad02e","baseline_initial_state_sha256":"b4713ab8ab8f28e94e88a75b93379cceba9680bacec21c58962c06bdc435b1ed","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"cc21d611f3861c5a86976960b0dab740c689ef5c3288100b21afc3bc8b98c2b4","published_intervention_final_state_sha256":"e21ef9553cb8cc14b5f3ae28812e5a783ec2ced72ee28fd8b725674b10ac96d9","source_intervention_final_state_sha256":"e21ef9553cb8cc14b5f3ae28812e5a783ec2ced72ee28fd8b725674b10ac96d9","source_intervention_full_initial_state_sha256":"ecca74bd048090e7ef35e55faddceba5ed7cffea629cdb357b09a037a65ad02e","source_intervention_initial_state_sha256":"b4713ab8ab8f28e94e88a75b93379cceba9680bacec21c58962c06bdc435b1ed","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"1dcede5394a4972dbfffeb40da49fe1d214622c8f8b0fac8960a242a5dfbb9ca","batch_index":161,"batch_slot":11,"environment_seed":2587,"episode_id":2587,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":9.313225746154785e-10,"modified_mask_exact":true},"intervention_action_sha256":"cc21d611f3861c5a86976960b0dab740c689ef5c3288100b21afc3bc8b98c2b4","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"23fdae0a561297dfcca8e35e335767afb14d0e59b5ee79967f9ba54c3244b558","policy_batch_seed":606687013,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000161.npz","baseline_telemetry":"telemetry/batch_000161.npz","intervention_telemetry":"telemetry_adaptor/batch_000161.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":20,"first_possible_physical_divergence_frame":21,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":19,"last_modified_step":38,"modified_steps":[20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","descend","descend","release","release","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done","done"]},"videos":{"baseline":{"audio_streams":0,"bytes":310021,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"3de79fe6bfed792bf69eae849572552c8322266ab6fee05e083481e9e7095077","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"c40d227d085c25fb755cef0b2e44b1fcc4eaf876460166ad67a89836c76994bc","width":640},"comparison":{"audio_streams":0,"bytes":706839,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9179436fb5b4ed7fb18bbc7fedd2b98d38ed392c8e6c20bb23333369e15cc896","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5c7be96a347cf36e87ea5a27829af1420a78124fed9de9165016e57b9326c611","width":1280},"intervention":{"audio_streams":0,"bytes":315389,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"3ec8a284b14e39447a3f41410773749192b27c5791330f1bcce49bd376908ebc","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"85a227c3df24b5aabce0c448ca9aa43037454c1f8e4393dfd9d0e72fa9c9c972","width":640}}}
{"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":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":"cube_stack","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2592,"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":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,"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":"09a50fb3783a4c576a82a9cfaab67efff6204bb1a8511882338a3f6c52a32eca","baseline_full_initial_state_sha256":"6d78dead7776fbe38bb473088afb1e9cb5412ada4dc257e5bc3d06c03f921c23","baseline_initial_state_sha256":"2fb6051bd2eaf9284f7b9edcb9588b29dd76aa35fcd66cf0cb517d0c5a2d383d","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"2c96205617abe6e0e309b7b83a7ab42464365a6474306f440453ce470c0a0026","published_intervention_final_state_sha256":"c5e8520c041b1fdff61e042e5da8d862ba21b14140804e417b3d462423fb92b7","source_intervention_final_state_sha256":"c5e8520c041b1fdff61e042e5da8d862ba21b14140804e417b3d462423fb92b7","source_intervention_full_initial_state_sha256":"6d78dead7776fbe38bb473088afb1e9cb5412ada4dc257e5bc3d06c03f921c23","source_intervention_initial_state_sha256":"2fb6051bd2eaf9284f7b9edcb9588b29dd76aa35fcd66cf0cb517d0c5a2d383d","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"6250871f0f078150e638ac125761ee63c2226f3475b4868f89b704431076f7b3","batch_index":162,"batch_slot":0,"environment_seed":2592,"episode_id":2592,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"2c96205617abe6e0e309b7b83a7ab42464365a6474306f440453ce470c0a0026","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"08ae2cc2c50eb1557c123ab0d7a675dc0b948d4655fb26806630e2606c035a88","policy_batch_seed":1431957011,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000162.npz","baseline_telemetry":"telemetry/batch_000162.npz","intervention_telemetry":"telemetry_adaptor/batch_000162.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":17,"first_possible_physical_divergence_frame":18,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":43,"last_modified_step":59,"modified_steps":[17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":281941,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"26bfdc3d8a83fd77a4fd7f548ceee7a8fdbf55c3030c3524dbb69d40eccd0c15","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b386945c1f788ea005d5f6ca3b3e63cfdd485d15b193f100897aa731cc648373","width":640},"comparison":{"audio_streams":0,"bytes":591657,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"beb99e3afb72d210fc1be35520a5c7058c1dee5eb250f6de38ff00a9891dddf6","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"1e2ed9f68a0c3032e39eb6276ba02e7f788d882152d92d5821c5bd99485dc598","width":1280},"intervention":{"audio_streams":0,"bytes":284210,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"79032ac67264f2474455547128189b9a3b4bf392b2241aa07be2663b4370b817","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5b632f1a8498079089fbc1a55436563a1141705fbcc62b09cfbb630801df718e","width":640}}}
{"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":15,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":15,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":15,"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":2593,"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":"1f01ab4e958afe3ed74e047d6caaa3705941134286e0b86814dbb8213309173f","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":"450afe25712a73122be3acf1920014a76ef6cf3eebdc9fd2ba757b73ed507f3b","baseline_full_initial_state_sha256":"6ac0db458923cf3657736318367261cce3899157796dfa2b8e73ed64f5703d9d","baseline_initial_state_sha256":"5120625cf22b171cc36d207f2f061d8b2ab9a50d7d276a07bcb51025bce2cf93","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"7e836c120097827009f781992f85e3966e3711c1a8bc79053c6033a25a344b8b","published_intervention_final_state_sha256":"d560f6c4c6a7ea7ce64ac5eedbb1a5388bee605c5ce8bd3e3226d8d5fb94ea79","source_intervention_final_state_sha256":"d560f6c4c6a7ea7ce64ac5eedbb1a5388bee605c5ce8bd3e3226d8d5fb94ea79","source_intervention_full_initial_state_sha256":"6ac0db458923cf3657736318367261cce3899157796dfa2b8e73ed64f5703d9d","source_intervention_initial_state_sha256":"5120625cf22b171cc36d207f2f061d8b2ab9a50d7d276a07bcb51025bce2cf93","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"c7cf6915403622292bab417f1f1fa1d8e93ccfcff45e40e768b2d68969993bb9","batch_index":162,"batch_slot":1,"environment_seed":2593,"episode_id":2593,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"7e836c120097827009f781992f85e3966e3711c1a8bc79053c6033a25a344b8b","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"b17e81151d70c29eae895db147d11812f95f35cf766349ea80c9735b724d8de2","policy_batch_seed":1431957011,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000162.npz","baseline_telemetry":"telemetry/batch_000162.npz","intervention_telemetry":"telemetry_adaptor/batch_000162.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":14,"first_possible_physical_divergence_frame":15,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":46,"last_modified_step":59,"modified_steps":[14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":270283,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"44f94f123865f222ec26a5509bc1d9f74618442bdb66064fd87ffb326b127162","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002593/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b8f5c87b5d9085cd3ecde569c362edce34c19cd1303abeaff0154493ea8571ac","width":640},"comparison":{"audio_streams":0,"bytes":574728,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"22baa4f9a4ea21237b2b625c06ab71e3d4e893a6590df4ed137b14c59a67d08f","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002593/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"567b259bac657c447f80a69357eacfee3c312544b8f6b51776c221fa44b8c875","width":1280},"intervention":{"audio_streams":0,"bytes":267185,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"2b3ca8b5d04114819e6ca3a5073c03343466354908400cf6f6ea6fedee88f1d3","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002593/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"fb1bcef544d26d345882f8194e3f2beb986164fec59012822901cda838a1571c","width":640}}}
{"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":36,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":36,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":36,"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":2594,"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":"ace55c1280766fdfc775acf0d4e035a899f78da6a17550086986c7ac98373490","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":"4e57af4cd189012df0b994e94344c1c75b058e4458a323b67a77c08334c023dc","baseline_full_initial_state_sha256":"b9d73f85289251092d2e76ed206b7895f8459857e75b444f7b809ffbca82eb16","baseline_initial_state_sha256":"967503d9094c9a7beaaa0b9e3224b7623277ee7b4d228e50db5d7637ac5cbb2d","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"5897687c61f4876aaa5ad44a0cc4def29ca2b07659815394ec47f9bfc0d18cd1","published_intervention_final_state_sha256":"b1e0b40f0ae657adbc55dce48ca6fa57a4ba805c313a7a261da0e82a8bc0ceb0","source_intervention_final_state_sha256":"b1e0b40f0ae657adbc55dce48ca6fa57a4ba805c313a7a261da0e82a8bc0ceb0","source_intervention_full_initial_state_sha256":"b9d73f85289251092d2e76ed206b7895f8459857e75b444f7b809ffbca82eb16","source_intervention_initial_state_sha256":"967503d9094c9a7beaaa0b9e3224b7623277ee7b4d228e50db5d7637ac5cbb2d","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"13027b6fef4045b108a98c566fc89c8029844c00efad6fcef28386bbba2332b0","batch_index":162,"batch_slot":2,"environment_seed":2594,"episode_id":2594,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"5897687c61f4876aaa5ad44a0cc4def29ca2b07659815394ec47f9bfc0d18cd1","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"ee8b24440fa3b2de070f0b65437ad32133ecb1662b5cf3b89977a7f0489fbeaf","policy_batch_seed":1431957011,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000162.npz","baseline_telemetry":"telemetry/batch_000162.npz","intervention_telemetry":"telemetry_adaptor/batch_000162.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":35,"first_possible_physical_divergence_frame":36,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":19,"last_modified_step":53,"modified_steps":[35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","descend","descend","release","release","done","done","done","done","done","done"]},"videos":{"baseline":{"audio_streams":0,"bytes":273792,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7a4c92da3230ce1ff08db30d64f1760812ca0197369410f8bb425d67c83064b7","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002594/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"8cdecae2447519d7171f27f50cd3b94f1194a86733e5d0b51d6abfaace5e57d1","width":640},"comparison":{"audio_streams":0,"bytes":691317,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"6a5362b95dd0cb3a44125d59d7d656248086847ddce60f6c02586d0d38c6868d","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002594/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"80fa3ca8b1315724e31ff02bdac2a6cedfb2581058ed31d0aec494397526416d","width":1280},"intervention":{"audio_streams":0,"bytes":338215,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"530c42913f6cfdd993228a41b36267c0c4516f54bef16b102998085f1000e9f2","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002594/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"16ec544c1d96c48d807bdd33a634414daaad6e99ea95d0c6616414f5719fad55","width":640}}}
{"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":20,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":20,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":20,"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":2595,"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":"25a2a6ad3ff1c6d77123af431d65c26db47da997012ea2c942e87a9db4c35f47","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":"1bbf61f336afff955af7a87d573706c8a7b0cee4292993c33399661ac287f79d","baseline_full_initial_state_sha256":"f6407201ac76034f8666eaafd5073d857c035efae7a0412c85a1d1616d139a89","baseline_initial_state_sha256":"d9ac59751268f8ad802fdb9ecec76ae6d42f6c597ff5d139c6ce9b977011d66a","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"ca4f451e28e6d8687d0e7a1389e2772694d14421d809e64c6fa451f727209ceb","published_intervention_final_state_sha256":"5e68591e3e6561b653181327fb6a7760eff1e96a36e8d9a4965bb8e77ac68bad","source_intervention_final_state_sha256":"5e68591e3e6561b653181327fb6a7760eff1e96a36e8d9a4965bb8e77ac68bad","source_intervention_full_initial_state_sha256":"f6407201ac76034f8666eaafd5073d857c035efae7a0412c85a1d1616d139a89","source_intervention_initial_state_sha256":"d9ac59751268f8ad802fdb9ecec76ae6d42f6c597ff5d139c6ce9b977011d66a","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"31498333cc06190d6b799c1054f687ad32072497743cbb317e4f769619d6eac4","batch_index":162,"batch_slot":3,"environment_seed":2595,"episode_id":2595,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"ca4f451e28e6d8687d0e7a1389e2772694d14421d809e64c6fa451f727209ceb","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"3f2b79d3b5b6e39c8dba392eb9a30d71abaf0439dcee1bf265ba6b015747dfb1","policy_batch_seed":1431957011,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000162.npz","baseline_telemetry":"telemetry/batch_000162.npz","intervention_telemetry":"telemetry_adaptor/batch_000162.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":19,"first_possible_physical_divergence_frame":20,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":41,"last_modified_step":59,"modified_steps":[19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":281335,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4a300f398c4853b4108f0cc579c87e408c3dcbcb52dcf2cf5441e20284e974ba","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002595/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"fc5a828c2e26ef266115d1c963ec44f9844abca95c2d830cac46ea055193356d","width":640},"comparison":{"audio_streams":0,"bytes":600450,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"cdc818e03c51b19636f6d31a2d974d15f23a72ec287db49b77ca27437b8a5cf9","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002595/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"dfb8491a1a36d5c4709371658b1414219979ae484387fc95a306fc7654996264","width":1280},"intervention":{"audio_streams":0,"bytes":285343,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"b8ff642f0f018968238a8f443d4b8f8d607d1ce4f4d1ea71921314f740c034bc","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002595/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d3adc1045d1fb225d734748319f7b7742168e069d5028de618fc79f8d046f8d6","width":640}}}
{"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":16,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":16,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":16,"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":2596,"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":"21a6cdfecf50aed9e570510b9f906e53e5a4019536f9dd1d7b64b083c94bd44c","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":"979240730f533c5a446141cadcf82102367aef886c132aee5ed1c394a81209ca","baseline_full_initial_state_sha256":"92054d2bc5444d58c07915b7acf0984178a3ba9bdac9bbe2b985123068996452","baseline_initial_state_sha256":"c53244042b3a96173a1d67211591ab044b0382db788497c399d1ff9c33d15ba4","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"7026d34bc05022ad117e4a3307cb9a26bf865d16d94290251b6e5a550cc780d8","published_intervention_final_state_sha256":"c72bf2b9e8f72bdcb829ef11b3fe005122564e257e7d95946ab6eb4e4e0b456d","source_intervention_final_state_sha256":"c72bf2b9e8f72bdcb829ef11b3fe005122564e257e7d95946ab6eb4e4e0b456d","source_intervention_full_initial_state_sha256":"92054d2bc5444d58c07915b7acf0984178a3ba9bdac9bbe2b985123068996452","source_intervention_initial_state_sha256":"c53244042b3a96173a1d67211591ab044b0382db788497c399d1ff9c33d15ba4","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"4b0fbbbd7ead7c6793aac4df451967230d3bf0394fa518e44126ba879d7fd8e5","batch_index":162,"batch_slot":4,"environment_seed":2596,"episode_id":2596,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":9.313225746154785e-10,"modified_mask_exact":true},"intervention_action_sha256":"7026d34bc05022ad117e4a3307cb9a26bf865d16d94290251b6e5a550cc780d8","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"716127bcbef6f1c2f8787c4f98fa52c668ea8995674543b175df1195c50814f2","policy_batch_seed":1431957011,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000162.npz","baseline_telemetry":"telemetry/batch_000162.npz","intervention_telemetry":"telemetry_adaptor/batch_000162.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":15,"first_possible_physical_divergence_frame":16,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":45,"last_modified_step":59,"modified_steps":[15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":284508,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"a436dfa0644042a383e707ba21e275e4c044f91e807e9fd296f0fbcf7d0907e0","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002596/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"68b1efc4814d4ef38656764309cc3ce0e11e5c908e867a5bd1c553f832d08851","width":640},"comparison":{"audio_streams":0,"bytes":641052,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ee04dea768fce4e3cf32366adf251b6b0ba03cf91f7aa91637ca7148d99ef40d","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002596/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9133896f3cc3203d841e861e17765082bb24d482e52e58db1cb0f77d7bc7dfad","width":1280},"intervention":{"audio_streams":0,"bytes":304832,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"85c3c7e1bfe797cd7a9a32b4ab5fd460ce130cc02b50219d0eee228e1e3fc55a","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002596/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a74554dc9cb415fc566c6972baa2b4398000a3cef02868ad2bd562f1a237b35c","width":640}}}
{"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":37,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":37,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":37,"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":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","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":"c82f5459e4f07fa6487cebd994944e675898021a1fcbb6f8e194f33213a86ee7","baseline_full_initial_state_sha256":"cd4d66944b90a4b54db564d2d761a49ad53ca22acbfdef409ac71a95a900693b","baseline_initial_state_sha256":"bf8e2cfc4d6011df6b2eb3761662c391aeaf354620b8ffabb590a5e79589b13f","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"cea5a625a56bc5742a57dde4f9a997533a91bc2797d9b7c106418e3b11768846","published_intervention_final_state_sha256":"285c94abc7abe9b4608b402c9bc8c913ee393b8f1cceefc4edd4d5b18ca3d86a","source_intervention_final_state_sha256":"285c94abc7abe9b4608b402c9bc8c913ee393b8f1cceefc4edd4d5b18ca3d86a","source_intervention_full_initial_state_sha256":"cd4d66944b90a4b54db564d2d761a49ad53ca22acbfdef409ac71a95a900693b","source_intervention_initial_state_sha256":"bf8e2cfc4d6011df6b2eb3761662c391aeaf354620b8ffabb590a5e79589b13f","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"b4a6e87f5330f77469d503c4bc216084a650dd6a0cb04af681c18657aa282c23","batch_index":162,"batch_slot":7,"environment_seed":2599,"episode_id":2599,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"cea5a625a56bc5742a57dde4f9a997533a91bc2797d9b7c106418e3b11768846","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"78c0c05d4bc234dd0c568c7ced40dd3d2a192b494e43d9d6e5c1175d622dc790","policy_batch_seed":1431957011,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000162.npz","baseline_telemetry":"telemetry/batch_000162.npz","intervention_telemetry":"telemetry_adaptor/batch_000162.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":36,"first_possible_physical_divergence_frame":37,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":59,"modified_steps":[36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":318050,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"29ff7e98fb8a3cb4785121c8bbb2e4b49125b5b64d54dabc26b3738a92cbb326","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002599/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a146c3d0b1b9d50104c2debaf29d90d4a51924101ff83b83323b597b2691601e","width":640},"comparison":{"audio_streams":0,"bytes":731834,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"1e37863254aa3aac5da8da10d9e1d879c9cb25c2f9281ecf5dc44be3e9f37243","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002599/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"cef66a6f9d0506f368a4cb316e373c29282e4a8763e60739fb1f1a9e468c4b82","width":1280},"intervention":{"audio_streams":0,"bytes":360423,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9ad960a6c86565ef09dcdddad9fc91c76ab58f4f2e004ab99290bd85f3771af5","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002599/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"bec295d4365cec7a33ea4ca91c62f67d3ac1172fb1e20f7d28dabf7dd08dd21b","width":640}}}
{"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":"cube_stack","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2601,"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":"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,"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":"3bb39eccc1b6c7bf8edf467865a3762c13c4ad97f3d90f06e5c4064a8dac0cbe","baseline_full_initial_state_sha256":"dbcaaf28ac1d63074fc8e2c90590af9bd8bdf8dc0b8f4667acc034de50d37e42","baseline_initial_state_sha256":"97877259f4a6c3c2a6f77fd5f83f67ef11f7b20485fc6c950966eb0d26a6de4c","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"fef6448d3ca74c583b9384a3a131048b8d0a4161d8b7c85bb420845137714d8a","published_intervention_final_state_sha256":"8deee41ef3d7f75ca1d7afd8ca86fba218bc5a92cca11a938e5d92f0da118a81","source_intervention_final_state_sha256":"8deee41ef3d7f75ca1d7afd8ca86fba218bc5a92cca11a938e5d92f0da118a81","source_intervention_full_initial_state_sha256":"dbcaaf28ac1d63074fc8e2c90590af9bd8bdf8dc0b8f4667acc034de50d37e42","source_intervention_initial_state_sha256":"97877259f4a6c3c2a6f77fd5f83f67ef11f7b20485fc6c950966eb0d26a6de4c","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"50b4d8d6e53d0c719d7889e2ab8f770bd257f77c134f1468c614bce3cf2404a3","batch_index":162,"batch_slot":9,"environment_seed":2601,"episode_id":2601,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"fef6448d3ca74c583b9384a3a131048b8d0a4161d8b7c85bb420845137714d8a","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"f10aae78a2963f9427bf5337a806766d8e127c48f48d349a3621db7b7e5e7799","policy_batch_seed":1431957011,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000162.npz","baseline_telemetry":"telemetry/batch_000162.npz","intervention_telemetry":"telemetry_adaptor/batch_000162.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":23,"first_possible_physical_divergence_frame":24,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":37,"last_modified_step":59,"modified_steps":[23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":307324,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4c34b2f9e45d2a12652e55cc0f170a6399dcbfd1816b33cd8fea2cdff0188d78","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002601/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ae666182a5e974350c0e3efede18810ace46ee06de706f06a232d49743782bac","width":640},"comparison":{"audio_streams":0,"bytes":664785,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"82ef2aa9c602fb8e1902fe3ac5e996bf88ab1814445309a0edd03558d9011c40","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002601/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"6493543f2d68f36eb90433eb3c0439506ea3200e1cc0de7783d200cecccf66f6","width":1280},"intervention":{"audio_streams":0,"bytes":315148,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f3e92445163e4aca0585a384b168288c87f36d7943324595dae78efa1d656da6","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002601/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5d2d9a59d7096b15debe396ac9d9e5510a445a7ba4814734f8c7aedf5019585b","width":640}}}
{"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":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":"cube_stack","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2615,"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":"f5ef17dfa9fec79b8b90aca99bfc53f504d5f7b902f98beaaba8d0cc940404be","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":"bc804cd4ab6897f866b9e4cd6abf3e916fb4b042b217d2f75ef390facfbc6812","baseline_full_initial_state_sha256":"8e9cb7c3d4593252da1713618d8e6c4ab94ec48a51de99856629026d8029ebaa","baseline_initial_state_sha256":"7861dedf9fda4e02a91e374dedfa71713c51c660137b574ee0daf8d0a2aaabff","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"54ea16826536ec19897cbcd26f1a594511625ffba013814e95ed79b48a2a1f60","published_intervention_final_state_sha256":"d4300718b88c261b89de131d8863dbcde379bd590dc321c30832aeee6f07446f","source_intervention_final_state_sha256":"d4300718b88c261b89de131d8863dbcde379bd590dc321c30832aeee6f07446f","source_intervention_full_initial_state_sha256":"8e9cb7c3d4593252da1713618d8e6c4ab94ec48a51de99856629026d8029ebaa","source_intervention_initial_state_sha256":"7861dedf9fda4e02a91e374dedfa71713c51c660137b574ee0daf8d0a2aaabff","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"b680e0309c5dd44b597e0603d2be1f840ba535a6bc66a3a1f646deb1c60eb304","batch_index":163,"batch_slot":7,"environment_seed":2615,"episode_id":2615,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"54ea16826536ec19897cbcd26f1a594511625ffba013814e95ed79b48a2a1f60","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"b2e8fb9791ee2e0bb7b0246a68081611daef039359c70745cf1e28b0749fa186","policy_batch_seed":1771711989,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000163.npz","baseline_telemetry":"telemetry/batch_000163.npz","intervention_telemetry":"telemetry_adaptor/batch_000163.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":26,"first_possible_physical_divergence_frame":27,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":34,"last_modified_step":59,"modified_steps":[26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","servo","servo","descend","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":392663,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"bd5d72baeeca58218c078a2c68f7e5aa000c8484bee6df320128dc6c3f4305df","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002615/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"21cbb104f32390e6c3cc95a7915b9ab845c7cbb3a1466477cbe724b8b54bc202","width":640},"comparison":{"audio_streams":0,"bytes":881722,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"871a730e3a9b19b6747ec9e798cd138a622f88cc53e5cd3c7d1aa403c50a56df","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002615/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"01518f7be332c897f823a033e966a0def6d564b2eae51b64f82bedfdc02e29d1","width":1280},"intervention":{"audio_streams":0,"bytes":440069,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8b8881127853b4ba6c55f14dabb71af545b697ed0df0bbefd783c5d7fe5fc7e2","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002615/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"327920c50ef7f9f39544405181aab8b4a6dbd1d8d66d1687f5bb288e1299da9a","width":640}}}
{"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":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":"cube_stack","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2617,"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":"6aab094e6f4d3d6c7262b62e9e279f5313fa554d0b643ca26f41e657591c5f43","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":"7350f710624c5b83b061f3119ec9436eb738b99dcbe5f3b4ddd72927226606b4","baseline_full_initial_state_sha256":"9a307b61190ebf7f8fdb0a14be6b090c38f4c65af4539e073bea56884ecf1541","baseline_initial_state_sha256":"427c35bf082d0f9684cf408ef86dd9d72abcf608887ffba8f85d73f9686d605c","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"a727d903c3af4624ca40e685fbc1fb10cf0a6a9e33fb8c8f3201edfae239d003","published_intervention_final_state_sha256":"4ec62b47e739b1963287e336a85e2092581aacfabba8fc0a790edd6d2d877e92","source_intervention_final_state_sha256":"4ec62b47e739b1963287e336a85e2092581aacfabba8fc0a790edd6d2d877e92","source_intervention_full_initial_state_sha256":"9a307b61190ebf7f8fdb0a14be6b090c38f4c65af4539e073bea56884ecf1541","source_intervention_initial_state_sha256":"427c35bf082d0f9684cf408ef86dd9d72abcf608887ffba8f85d73f9686d605c","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"e9194a2e75d81c65b2790aec64ff80475d0a7acad766d44ab6192c8065318b0c","batch_index":163,"batch_slot":9,"environment_seed":2617,"episode_id":2617,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"a727d903c3af4624ca40e685fbc1fb10cf0a6a9e33fb8c8f3201edfae239d003","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"61839df073c73c7618ab63ba19bdc839a8a243a5969fd1aaca4a6606d1985c36","policy_batch_seed":1771711989,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000163.npz","baseline_telemetry":"telemetry/batch_000163.npz","intervention_telemetry":"telemetry_adaptor/batch_000163.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":21,"first_possible_physical_divergence_frame":22,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":39,"last_modified_step":59,"modified_steps":[21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","descend","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":276910,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8db0ba1ce8290a7767f29378872333a8760dec05fac6bb930e8b4d32de2633c1","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002617/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"428ddeb236137435a2ca14cfe22aac7fc3297fbbc145c04399bba75ffce79c20","width":640},"comparison":{"audio_streams":0,"bytes":622017,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"c49030f3bec38efd733d5ccda7f76e01f7e48ecf9dd1a0fb5732c80f64f2fc10","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002617/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a30c12e10f784924aa9f2c21b98f6ed9c3f388fd17720e14ec8d11acf5ca4481","width":1280},"intervention":{"audio_streams":0,"bytes":305593,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"cde3bf72498dec76c2e0b746f2ba6f0204c6020c78a2f71b76320c0780b67993","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002617/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"79d25313a1bbd5ef7586a10bee8dfb5ce7aab14f5c73f7e16ba2f3521855964f","width":640}}}
{"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":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":"cube_stack","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2619,"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":"69c4e8373a51bf6c1aefdedb774b412fbf6e9e08eb23d9ffd0229e04a5b5cf90","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":"68ebe7225408bd2f06f3449704d731aab7abea9d1d74c86d5b0cc2256a1df3dc","baseline_full_initial_state_sha256":"687ab7c7d2da0b004298c7bed01e7478410ae29e47726e870152eb52911036dc","baseline_initial_state_sha256":"c3dc4233f17eadcb3e0fc2202e70460c6e84e11b171ba829f04e33bdd87d9bbc","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"cfcb6377bec28ace1b1fa184625cc2acec842ea1192d247e17b88267d8b619a5","published_intervention_final_state_sha256":"eeed8e86deddc07f9508e121299972704bd646eb102eb94831f2d19a76562bf2","source_intervention_final_state_sha256":"eeed8e86deddc07f9508e121299972704bd646eb102eb94831f2d19a76562bf2","source_intervention_full_initial_state_sha256":"687ab7c7d2da0b004298c7bed01e7478410ae29e47726e870152eb52911036dc","source_intervention_initial_state_sha256":"c3dc4233f17eadcb3e0fc2202e70460c6e84e11b171ba829f04e33bdd87d9bbc","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"5706f740faf82bb68674c7b623fa2b92bd216c60eb8eb37d1911970566e8aa7d","batch_index":163,"batch_slot":11,"environment_seed":2619,"episode_id":2619,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"cfcb6377bec28ace1b1fa184625cc2acec842ea1192d247e17b88267d8b619a5","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"fa319fbc789df1f9c8d5d2d5142983fa97827f00d344bf7788a2427557cbfda8","policy_batch_seed":1771711989,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000163.npz","baseline_telemetry":"telemetry/batch_000163.npz","intervention_telemetry":"telemetry_adaptor/batch_000163.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":17,"first_possible_physical_divergence_frame":18,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":43,"last_modified_step":59,"modified_steps":[17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","descend","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":283613,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"5dc4544bc37d0f857728d50510a0b2d6778d1668761b7528e7583f9092805c11","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002619/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e4f335fb3967f99c8e90132cf53defba6aebf4167c9e40b5f8bbf621e70ecf1d","width":640},"comparison":{"audio_streams":0,"bytes":610267,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"19693663fe47768f5e68ef5b9fe84b76a7f5368c7e261b3ef380558e94f3e4cb","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002619/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d467927a11e03d3d94dcba3f495cfbc00e53f6e5c7bd449ed1478d9f60078cce","width":1280},"intervention":{"audio_streams":0,"bytes":283971,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"066fc2e84560b99aa2bff705feda188fec6f4f94130c70b05de68c074d616ecd","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002619/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"cfa3fa43c34f164fe4363d1f62a641e733856443db7a064b4159856522507e99","width":640}}}
{"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":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":"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 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":"24b40ead8533ae57d701496dffa741a7c3ab0a4331a87cbacb1956aea684d8ea","baseline_full_initial_state_sha256":"d9fbad39da8eb19b49dbf9e59be953a6eb8eb499f50ced1ada43435b60ce1faf","baseline_initial_state_sha256":"308ef328bff92451da769d1b467b4c1c74ce47f481c22b8b2ab97c52ddbbfa9d","environment_recovery_events":{"baseline":[],"published_intervention":[],"source_intervention":[]},"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":"feba6006433ea0df9c0ec61d435b4e1a0f89166038b4fa9350de40d495fec705","published_intervention_final_state_sha256":"bf48126aff5e6a0ba871dc7b70696063733661f157afae3e603df4ec1a4d28c6","source_intervention_final_state_sha256":"bf48126aff5e6a0ba871dc7b70696063733661f157afae3e603df4ec1a4d28c6","source_intervention_full_initial_state_sha256":"d9fbad39da8eb19b49dbf9e59be953a6eb8eb499f50ced1ada43435b60ce1faf","source_intervention_initial_state_sha256":"308ef328bff92451da769d1b467b4c1c74ce47f481c22b8b2ab97c52ddbbfa9d","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"ee983ee633ed22d7801031c2aae85317064c873391a0e0d41bc9f1f58ca524dc","batch_index":163,"batch_slot":14,"environment_seed":2622,"episode_id":2622,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"feba6006433ea0df9c0ec61d435b4e1a0f89166038b4fa9350de40d495fec705","manifest_sha256":"e52ea1a904d0b02394c3a2e73de92ad83a3b67a95aef214c09e3853e750db3db","patch_trace_sha256":"aa7001af52aeb8662a1754ae99c4735a9822954a1ea8487af14fc95a219e0b2c","policy_batch_seed":1771711989,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-oracle-validation-20260816a.json","result_sha256":"007f5e2919af1b2412faa6c9c31fad5038864e405a005bc09f5fb6b6b738988d","run_dir":"outputs/oracle/runs/cube-oracle-validation-20260816a-00-cube_any_grasp_gentle","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000163.npz","baseline_telemetry":"telemetry/batch_000163.npz","intervention_telemetry":"telemetry_adaptor/batch_000163.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":17,"first_possible_physical_divergence_frame":18,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":43,"last_modified_step":59,"modified_steps":[17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":285502,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"22877f44a243e99c38c1d4f226c36ecbb236ec3fe0ee08eb82693cdee19e81a0","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002622/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ff237228e7f7718aa7e424f69d1fac764a81daff695497a922b3560d2f7d4d03","width":640},"comparison":{"audio_streams":0,"bytes":619604,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0fae687d4d9faf20ee6819edd1a177768ec035049f47fe678b45f85c3a9e42f8","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002622/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"c9e9d6c8bdc0d65649f12876d5c53595ca67e13641848e78d90ab93b5c81daf3","width":1280},"intervention":{"audio_streams":0,"bytes":290577,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"51f019e53bee30ebbde0b4ac930ea8c2afced50c8143bb1fdd13d3515bed378d","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002622/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"07430bc4dccf66a3c26b491fea6acd6aeb8dbd0ee53c7d13df786cc3b7ae9f44","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":16,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":16,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":16,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3264,"instruction":"stack the green block on the yellow block","outcomes":{"published_effect":"unchanged_failure","published_intervention_success":false,"published_intervention_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_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":false,"elapsed_steps":60,"is_src_obj_grasped":true,"moved_correct_obj":false,"moved_wrong_obj":false,"src_on_target":false,"success":false}},"pair_id":"f540336bd20975a02bd5db8b54275723a7cc252ffd548bea80f378b22fa2d2dc","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"86d0fe2dae1e1a201cfc8278724eefff7b4861541ca9d74f7002c48adbf3ddcc","baseline_full_initial_state_sha256":"df859afe2b6f8c389813c2c34ed2ef3dc1fab6c4d6b5e8ec0b81995cdc23cacb","baseline_initial_state_sha256":"93d4f63b1deb60e2b911d450df0b82be3acf6e4636e859d3d146f965c48d08a9","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"0a6f8961c02060db72467640d90f13f20de71a0e67fa9e9d3733d956fa93ec87","published_intervention_final_state_sha256":"c2ab9f8f2221cdb30dd5b4f056f99f60e398494d4f550dd7fae453c4d44f8234","source_intervention_final_state_sha256":"c2ab9f8f2221cdb30dd5b4f056f99f60e398494d4f550dd7fae453c4d44f8234","source_intervention_full_initial_state_sha256":"df859afe2b6f8c389813c2c34ed2ef3dc1fab6c4d6b5e8ec0b81995cdc23cacb","source_intervention_initial_state_sha256":"93d4f63b1deb60e2b911d450df0b82be3acf6e4636e859d3d146f965c48d08a9","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"15f51740e7782e6f0db24b3569ec7c111f858e410cba4d59012f7b94590222ef","batch_index":408,"batch_slot":0,"environment_seed":3264,"episode_id":3264,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"0a6f8961c02060db72467640d90f13f20de71a0e67fa9e9d3733d956fa93ec87","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"afe50059fe203c9fcd7ea831c1071f75a1297a0a4d6eea0885c02954a087aca4","policy_batch_seed":545008358,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000408.npz","baseline_telemetry":"telemetry/batch_000408.npz","intervention_telemetry":"telemetry_adaptor/batch_000408.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":15,"first_possible_physical_divergence_frame":16,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":22,"last_modified_step":51,"modified_steps":[15,22,23,24,25,26,28,29,30,31,32,33,34,35,36,37,38,39,40,41,48,51],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":284257,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7fb644680f395ad5d44c8d5db20a2eba69b61cd9fd49271449af48b447c17d64","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003264/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"7a2bcd99c472c1272730e653949096bc3077472f70874782afd629c633c595fb","width":640},"comparison":{"audio_streams":0,"bytes":642558,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"1ab590cc691c7b84571763cb114a883b9b976dca78de8ed01a0a85b9fda6b796","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003264/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"4874a4ac4b67f2612739a19078fc77d938ccd94d3f717dfcf548c37b1718923e","width":1280},"intervention":{"audio_streams":0,"bytes":284690,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d1caff6104bc770b2bf05b34028730232ece049e8d600bcd1fa10c05e477727b","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003264/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d83d69b21d54b14df943d201c56f0f65312a7d892fd33043f9691b66839a7c4b","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":16,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":16,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":16,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3265,"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":"b11e2863625e8ca3867fcba1c3dfabb723f35fe42c83b3be24c7df9baa35dfb6","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"bc90f669407c1d8c5f392856886ef6b1ba0ffc359c051f727fb619e46e328a73","baseline_full_initial_state_sha256":"01e7d16f7630b8e58f1c1afacbcd177d6888c1a0a38c225340552399ececf3b6","baseline_initial_state_sha256":"a27234dfef66a14723bb3529444ca829573e1cf3cb49d0b7880bfe4ec46da63d","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"ec66483e6e253193c7b33a5e5f98edd9fd133c00bc57e3813f8e92ec0ff357b8","published_intervention_final_state_sha256":"56f80bb6c99f2c4ddaeb172954e6005c3c6992a4912e097f070d69ad67046eec","source_intervention_final_state_sha256":"56f80bb6c99f2c4ddaeb172954e6005c3c6992a4912e097f070d69ad67046eec","source_intervention_full_initial_state_sha256":"01e7d16f7630b8e58f1c1afacbcd177d6888c1a0a38c225340552399ececf3b6","source_intervention_initial_state_sha256":"a27234dfef66a14723bb3529444ca829573e1cf3cb49d0b7880bfe4ec46da63d","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"a79c89224e9dd2f5a1754e6718460b15d6c2eaa2ac3e3b6b4da71ccaf460b138","batch_index":408,"batch_slot":1,"environment_seed":3265,"episode_id":3265,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"ec66483e6e253193c7b33a5e5f98edd9fd133c00bc57e3813f8e92ec0ff357b8","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"49c72f5b51cde078cb656858650a941a0f8b78cb4be2007defefb7ecab28a6e3","policy_batch_seed":545008358,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000408.npz","baseline_telemetry":"telemetry/batch_000408.npz","intervention_telemetry":"telemetry_adaptor/batch_000408.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":15,"first_possible_physical_divergence_frame":16,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":38,"modified_steps":[15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":273973,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9e1588fc9175e0095289bea847566c6c69d98c08b6a50b85118fc7c171d54945","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003265/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5f785881bc29f0196bf7bd98be4063fbf0a088bbb21da25ab28c53e0027b6155","width":640},"comparison":{"audio_streams":0,"bytes":615022,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ab1e2f3971367dbef207b8c32efa1a46dcbf836c44ecbc0d3948669d03fc46bb","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003265/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"8f8f86eaacd28acdc6267bd0a455310a53497aa35993688acffee3175b96eeb1","width":1280},"intervention":{"audio_streams":0,"bytes":276325,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4f8c49887f42ad0e082820685fb42545b4979a82b8c271ec832c37525841ed6a","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003265/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"86af2996c3af747383649d5979c5602f5e54f0a4ab838ade1178c235f31323d6","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":42,"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":"cube_stack","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3282,"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,"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":"b4f136144f6774a17711c9b5498ccd5225dd6c65310e4a3a1fbcd3d1480b8a16","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"c1d352565719743b7d34d40df19e446d3c79e36eb90186205b2df046bd1b79d5","baseline_full_initial_state_sha256":"d616940441e27df1eadf520d8027ab37a88ac18bddac5692643db713f3d844c4","baseline_initial_state_sha256":"5fe50dd693ad5f23e1c5e8b1f53c0ea531e58a3cb0743a7edaf498f9a10369b7","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"4d3e8a6f94cfc0ba00b41ef0b94f54d9f03cabd49e9d026bbbdd43c3fcbbe798","published_intervention_final_state_sha256":"17c9acb398d711b0d2274396b75b8d1c053b03cf87c7ee26f14f1d285091cf04","source_intervention_final_state_sha256":"17c9acb398d711b0d2274396b75b8d1c053b03cf87c7ee26f14f1d285091cf04","source_intervention_full_initial_state_sha256":"d616940441e27df1eadf520d8027ab37a88ac18bddac5692643db713f3d844c4","source_intervention_initial_state_sha256":"5fe50dd693ad5f23e1c5e8b1f53c0ea531e58a3cb0743a7edaf498f9a10369b7","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"c1ad4bc09098756d12376634746a0de7631a8a234b21100f1090db10a073816b","batch_index":410,"batch_slot":2,"environment_seed":3282,"episode_id":3282,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"4d3e8a6f94cfc0ba00b41ef0b94f54d9f03cabd49e9d026bbbdd43c3fcbbe798","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"67cc6522a314e30a8587656d2a1ab3b95ff5a133cc0be672cc35e091574f9020","policy_batch_seed":1022085293,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000410.npz","baseline_telemetry":"telemetry/batch_000410.npz","intervention_telemetry":"telemetry_adaptor/batch_000410.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":41,"first_possible_physical_divergence_frame":42,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":11,"last_modified_step":51,"modified_steps":[41,42,43,44,45,46,47,48,49,50,51],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":306995,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"94cceec0c280538dfa1a10a9f9fd9472134b3fa62902f50d00aa7648f12e5520","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003282/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0a2e7735673b1961b5a1555a7d70f11bdd83e4477ec9a1e59f17984e864020f9","width":640},"comparison":{"audio_streams":0,"bytes":714185,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"31855a5d79753682a9ee5d63035d6674f9d6ccc5ea81d8f41273e0a12ee1d5eb","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003282/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9e516472f7611e9b2c439cd42b56a77f37483e9604fcabe451c445b4cca06bfb","width":1280},"intervention":{"audio_streams":0,"bytes":327401,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"97d7ee0d235a02891774ca07f0353a4ea562ad7c859d1a255a07fdc6cd0577ae","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003282/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5229b7d293181780b41a31c1b023e839fa1bce0a1a187a76ce97194189a7f9b0","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3288,"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":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":"9a8ca8059fef0d53bbd0fd5a3ca9e1e6d324288017e7fee1f5177b4af8fec3fe","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"fb399bd2ddd9bfc302db2c1d9f8cd1487c092939fb45d5dd7ca3217d53fe7344","baseline_full_initial_state_sha256":"df859afe2b6f8c389813c2c34ed2ef3dc1fab6c4d6b5e8ec0b81995cdc23cacb","baseline_initial_state_sha256":"93d4f63b1deb60e2b911d450df0b82be3acf6e4636e859d3d146f965c48d08a9","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"c48f3ec80ba1bebde273369ad363a26c9d2cb74881fcee53b71bae0b6baed920","published_intervention_final_state_sha256":"c2efa245fabc0a57553c023b3513994e496147f43578569cb17ef16274dd6f40","source_intervention_final_state_sha256":"c2efa245fabc0a57553c023b3513994e496147f43578569cb17ef16274dd6f40","source_intervention_full_initial_state_sha256":"df859afe2b6f8c389813c2c34ed2ef3dc1fab6c4d6b5e8ec0b81995cdc23cacb","source_intervention_initial_state_sha256":"93d4f63b1deb60e2b911d450df0b82be3acf6e4636e859d3d146f965c48d08a9","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"4815eea90f09ef4038f6c1aa218598b05971afa9292784760b82e2c085ea502d","batch_index":411,"batch_slot":0,"environment_seed":3288,"episode_id":3288,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"c48f3ec80ba1bebde273369ad363a26c9d2cb74881fcee53b71bae0b6baed920","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"32f81f142c08247e5c1af33e61fce704d29c07b08d5fd6822a1ef789eefc8756","policy_batch_seed":491578927,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000411.npz","baseline_telemetry":"telemetry/batch_000411.npz","intervention_telemetry":"telemetry_adaptor/batch_000411.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":18,"first_possible_physical_divergence_frame":19,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":41,"modified_steps":[18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":272375,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"eaa7b865bac28df3764ca204f75a82828c30a47ea456ac5243741c8359b5827c","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003288/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"80e9bd90429eae84599e5afc3dfe77f0abe2050bd15ceff5681d5282d2569f89","width":640},"comparison":{"audio_streams":0,"bytes":636366,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"acd7e6f6d1e05afd3843ba9d87ee0c631f7d07e85634b4aac3521356c25c048f","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003288/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"45a5e9517e6ce7d40e24430ea964671417dd7431b24da1b1569307fc82bf0bc1","width":1280},"intervention":{"audio_streams":0,"bytes":290887,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"27a0feb47c54a7d20acfb4752d274842a9c53b9cb97b73161a387ee85fd09af2","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003288/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e76c0628be4ba796a6669ea1f946332c83ca0b965f83cfcab62265e0b341b422","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":17,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":17,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":17,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3289,"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":"8eb20acd616525f1dc9601e592903314070f7a708f73ffad5a2c67353937b15d","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"2c0b9a3fff23a023efeddda28911711c1450ae94045ea1479e6154da61bfa41b","baseline_full_initial_state_sha256":"01e7d16f7630b8e58f1c1afacbcd177d6888c1a0a38c225340552399ececf3b6","baseline_initial_state_sha256":"a27234dfef66a14723bb3529444ca829573e1cf3cb49d0b7880bfe4ec46da63d","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"648c937789beccf6307500e417565a04acf28b21f6722417cee9a27421661199","published_intervention_final_state_sha256":"5ea87f6ef1b848bea77b009865ff415834649c2e3567bb706eaceee268d38383","source_intervention_final_state_sha256":"5ea87f6ef1b848bea77b009865ff415834649c2e3567bb706eaceee268d38383","source_intervention_full_initial_state_sha256":"01e7d16f7630b8e58f1c1afacbcd177d6888c1a0a38c225340552399ececf3b6","source_intervention_initial_state_sha256":"a27234dfef66a14723bb3529444ca829573e1cf3cb49d0b7880bfe4ec46da63d","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"08ad3931f5c86aae490027c4dd3e7d594b43c8d9b825ede013d37b428083ed03","batch_index":411,"batch_slot":1,"environment_seed":3289,"episode_id":3289,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"648c937789beccf6307500e417565a04acf28b21f6722417cee9a27421661199","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"26c25400bcbe19efaed4a161419717c562d008b0a9bf85d6889d8fb5fba60fe6","policy_batch_seed":491578927,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000411.npz","baseline_telemetry":"telemetry/batch_000411.npz","intervention_telemetry":"telemetry_adaptor/batch_000411.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":16,"first_possible_physical_divergence_frame":17,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":39,"modified_steps":[16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":283849,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d07f3ecf0c0c7c440a9cbcbee6704da01a94527a7f8f6bbbd4b4e1ae5f016955","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003289/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f297487d233bc7507c520e5c49abaf8fcf04e234c30b477d3fb3bcd4db77011b","width":640},"comparison":{"audio_streams":0,"bytes":663537,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4d9aa909e8901e2964c975384f0b35a92126aa897fb588718acaa1557af20fe6","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003289/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"216629a0299d6209a6cdbf3f6f68fc9c47ccb5a9915d662fa5a45de55d1bf706","width":1280},"intervention":{"audio_streams":0,"bytes":304450,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"e4a779e9417a98b75a37274cdb1bda0a989b9ec3c566468ec57c7248ec065f2f","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003289/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d368b5712efced420ea6b8b1a5cce6a553a1d4f628abbabbe507f38a735eef00","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":26,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":26,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":26,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3290,"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":"5c07af250ea04ece1368d9417a3d72dbb7c696b6b2f94b25753f610f248c2a62","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"a417c975fb79a670082fbbe5d8f7f648130071536217a3fce75cb442c7da6b3d","baseline_full_initial_state_sha256":"ce40a16ad204306700ba6326c839c114d238b71f8adc4f61449e26c9d90e0294","baseline_initial_state_sha256":"82544cdf13c445a928a9877b81fe219df3ea71bf3aa410f3d4ef86c27247bb0b","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"2b0c9ebd4ecc8a3ab3484fcc79e47194ac65528282d9e752602e8652433ee32b","published_intervention_final_state_sha256":"a158c0e3e6e15d60672dead68151ad142ba823ce9bea8eff19f7451a7248abd0","source_intervention_final_state_sha256":"a158c0e3e6e15d60672dead68151ad142ba823ce9bea8eff19f7451a7248abd0","source_intervention_full_initial_state_sha256":"ce40a16ad204306700ba6326c839c114d238b71f8adc4f61449e26c9d90e0294","source_intervention_initial_state_sha256":"82544cdf13c445a928a9877b81fe219df3ea71bf3aa410f3d4ef86c27247bb0b","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"ccc37d35148b01da20aa340c4b6e01ff774ecb2184374beb3e6318f02742897f","batch_index":411,"batch_slot":2,"environment_seed":3290,"episode_id":3290,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"2b0c9ebd4ecc8a3ab3484fcc79e47194ac65528282d9e752602e8652433ee32b","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"c2970c5ee4fa7b21a1b5a08a345be47a574d383e4b83bbed506e52db84093a5e","policy_batch_seed":491578927,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000411.npz","baseline_telemetry":"telemetry/batch_000411.npz","intervention_telemetry":"telemetry_adaptor/batch_000411.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":25,"first_possible_physical_divergence_frame":26,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":48,"modified_steps":[25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":289982,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"efc64b673e3e52fdcd177e4cc62b6d8b9032eb0616f3a5815070b8bbbbc7dc3f","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003290/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"2b92bbb61174d29380a05803dfb8e15d3a1b9f7ea873c7f3d84902101a9ceb10","width":640},"comparison":{"audio_streams":0,"bytes":703397,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7bbb092e1539ba848e23cb35f9d7bcb2a57ff058c39555082820e542b8f6c0b5","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003290/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"487acc0170ef2f0015441d6fa9bc62920119d17983564e4be08718b7a50bf90c","width":1280},"intervention":{"audio_streams":0,"bytes":333484,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9fbb1c1d01f181140f66237083e3170ca19ab1b4ef6e18137c04a2313741556c","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003290/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b9668f5af2413a88bdc02fdc29230fa6193aa32ddd5cbb0072bb9c6244d2ad2b","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":33,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":33,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":33,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3292,"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":"658be1cafe23c291df18b5922f2a2cc436295448fe461bcee4634a06afefe209","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"409354f2fa7196f8fe81b7782da84a8ce27ce9393633e28a92ab849fbaaa2d0a","baseline_full_initial_state_sha256":"cc4840a9917e5e6e17adb6bc6bacc9a6898bdb64774fac715b1f3f1cf9709c05","baseline_initial_state_sha256":"cd5fddf6c763e79f5ac160fc9c10c85f842853d7ee7206b9a0b1ad994dbbc3d0","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"37c5cec26410dc1e6727323e30c5cda2fd693a48f300dbe08a184f1474a011ae","published_intervention_final_state_sha256":"db1a130af620c41e2a278cb2e49d020554257f8b2fa587533548668f0349d2fe","source_intervention_final_state_sha256":"db1a130af620c41e2a278cb2e49d020554257f8b2fa587533548668f0349d2fe","source_intervention_full_initial_state_sha256":"cc4840a9917e5e6e17adb6bc6bacc9a6898bdb64774fac715b1f3f1cf9709c05","source_intervention_initial_state_sha256":"cd5fddf6c763e79f5ac160fc9c10c85f842853d7ee7206b9a0b1ad994dbbc3d0","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"b496263fd3e170d896c055dd68a080fb9bc23fd3c7505772c5faa1e09b968c26","batch_index":411,"batch_slot":4,"environment_seed":3292,"episode_id":3292,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"37c5cec26410dc1e6727323e30c5cda2fd693a48f300dbe08a184f1474a011ae","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"a49fa30e00236743ac2d16a8426e9b9af13ae1a43a7608ae52309dca122adc0b","policy_batch_seed":491578927,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000411.npz","baseline_telemetry":"telemetry/batch_000411.npz","intervention_telemetry":"telemetry_adaptor/batch_000411.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":32,"first_possible_physical_divergence_frame":33,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":20,"last_modified_step":51,"modified_steps":[32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":303206,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"fb8d31a509e7d97733ed1d0793c801b7c0691d18df45f0a87f36ace4a2857a5c","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003292/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0bf09bc52142c7c4dd199b97d16759fd7a43a5367e0eec973e33cb82e9ed56c1","width":640},"comparison":{"audio_streams":0,"bytes":683598,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"bd1bf5eaee8146819293b0bf248b47bdb71000e567e9c874640634ad8dba3427","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003292/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0c4f0f43fe15cc8e02af1b55f9f2916c080c9e2e56131873fc38884c3de26fed","width":1280},"intervention":{"audio_streams":0,"bytes":307450,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d5d02cc8f5ef97dca5b08abb4bbdc90840f6e201dbb13afbed13735e70c1758d","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003292/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d6402e3f8e34548404f4c7613a19a0cc677209fd7f105e5b67aae4e1b6081b60","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":13,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":13,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":13,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3293,"instruction":"stack the green block on the yellow block","outcomes":{"published_effect":"regression","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":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":"regression","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":"0f86f2fbae3be959cca4f541851183c1d2f17aced17b35ad3e38f73865a47a9b","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"de19f9af6915f9903971d17d6ffc5a308286b4a34ca0f20346317c722706e3cd","baseline_full_initial_state_sha256":"5964b7175f150f1cd6fcd2e7c8a75e0b4a79844753ef0dbcba51b6b2ce93a92b","baseline_initial_state_sha256":"2db08d2aed1068d7546c688ebae822f3675b3f73501f3d7c0309a9c8c56951c4","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"61f1678c1c5c2a254bb71ca2f949eb0a77a86700723f7a07ee3bab1b7cf4fc23","published_intervention_final_state_sha256":"86abd8347f6dd82b367a9342713e39c7cc9efad71851696e0bdea65e718bd4df","source_intervention_final_state_sha256":"86abd8347f6dd82b367a9342713e39c7cc9efad71851696e0bdea65e718bd4df","source_intervention_full_initial_state_sha256":"5964b7175f150f1cd6fcd2e7c8a75e0b4a79844753ef0dbcba51b6b2ce93a92b","source_intervention_initial_state_sha256":"2db08d2aed1068d7546c688ebae822f3675b3f73501f3d7c0309a9c8c56951c4","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"07b8217468f4a8c823fe7bbee7735e36fceddc4d93cae0c502092ed8e10e587e","batch_index":411,"batch_slot":5,"environment_seed":3293,"episode_id":3293,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"61f1678c1c5c2a254bb71ca2f949eb0a77a86700723f7a07ee3bab1b7cf4fc23","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"b19b6c17982d1d03ea1910272f4a225ae2c1066e38120958850918dff61b1e7e","policy_batch_seed":491578927,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000411.npz","baseline_telemetry":"telemetry/batch_000411.npz","intervention_telemetry":"telemetry_adaptor/batch_000411.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":12,"first_possible_physical_divergence_frame":13,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":35,"modified_steps":[12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":307980,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"1235d4749b29483cd1df2c62a222759d8003a4b928c3aa2b1c26cc36027919bd","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003293/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"80e69f3671992b40ea99d2c4075d512339a41f8a66d55ca16daf64ed51ea12c4","width":640},"comparison":{"audio_streams":0,"bytes":730975,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"018ea0e476ea6824c348842d991e05b47cb413dcdb319d9d81f402fa89b4b8c3","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003293/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"4f9df6c9c9e68ca6cb3a58a1cf15697569f02a5835cca1e1de45320d26008dce","width":1280},"intervention":{"audio_streams":0,"bytes":346344,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"72be82d3d437949483a20b81dfe07fa09d4c61dc10bb22247635f463ce3f02de","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003293/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"77e0244baa5c222150133a1080eca2397e51d0800838dee39a0533f3823502fc","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":52,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":52,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":52,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3295,"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":"10a45e8c349224881b24fb9363222d75e81b373fd1cb904149050c83ec57e057","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"43e30ca8bcaf21b19a287c2003876de77f5f42864458dd3708d2339aa9c75482","baseline_full_initial_state_sha256":"45d7352d593534f0ae7b9e05feae19071f12c2c574d659c99c3d60235132bf22","baseline_initial_state_sha256":"c8b72453743156362900f716c0866814b590a53ebbdae6b94d1c24f4252272b1","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"b0498485bc923c633f5b480ad94f3d9682e9af15c60fa7737da7bc1f8d0f3626","published_intervention_final_state_sha256":"53a25af79a610f7a6e2fbe0a83403e15d3947e11ab4c4409742bb90285d8c79f","source_intervention_final_state_sha256":"53a25af79a610f7a6e2fbe0a83403e15d3947e11ab4c4409742bb90285d8c79f","source_intervention_full_initial_state_sha256":"45d7352d593534f0ae7b9e05feae19071f12c2c574d659c99c3d60235132bf22","source_intervention_initial_state_sha256":"c8b72453743156362900f716c0866814b590a53ebbdae6b94d1c24f4252272b1","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"52af34850af97275811bdfb240b6ad37a2aaef34744e40f6cada0051963ced52","batch_index":411,"batch_slot":7,"environment_seed":3295,"episode_id":3295,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"b0498485bc923c633f5b480ad94f3d9682e9af15c60fa7737da7bc1f8d0f3626","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"01e142f678c56858684925db7843e4e30656b0b9c472fa1ba1eabeb34229c4a1","policy_batch_seed":491578927,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000411.npz","baseline_telemetry":"telemetry/batch_000411.npz","intervention_telemetry":"telemetry_adaptor/batch_000411.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":51,"first_possible_physical_divergence_frame":52,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":1,"last_modified_step":51,"modified_steps":[51],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":305568,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"fde7cc8cee603a7128f5fd4cfad296b520b21939de7a32885cd4e8e5d1bd5add","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003295/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"965aea7995a2208c8e7095c50d31b6d8f37b52e1dfcdb81e65ca9bf6665d9ff1","width":640},"comparison":{"audio_streams":0,"bytes":696983,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"e6f739169e16d82bbcda573e839b128c72883db7d9a6b1da8fb66b01df377292","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003295/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e8b14bb14d78221e26417abbd7bf7b05a7de3d56fa4000a226694ecbf2b00689","width":1280},"intervention":{"audio_streams":0,"bytes":304924,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"5bf8fffae2ac6b4f80172507ce6c53ea5d65582dddabbb81108636f5892e27c4","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003295/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"db62bc67e2779fdfffb2cc3b42f56476843799fea37fcc54503411e6e4fed821","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":35,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":35,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":35,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3296,"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":"bada46692256d373136e31442524b4ff98a88e47f57ce62122e396d75bdf4578","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"93b57d22a922328360ff95f513ac21dbb39c098ddf2bbeb31d3a5a40c6156698","baseline_full_initial_state_sha256":"1e599d6a1e03ad6f88d35b14bade4375f46e50980e01180faad464a80ebc274e","baseline_initial_state_sha256":"285727152fc70c277077d4cbaec91142c47f1506517de79217a762d8e1ca3200","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"dfa4379a7c25079c2300432000299e3fa1664df62e5098c68ff435dd0e73b7ac","published_intervention_final_state_sha256":"49c4dcba9d6a1cb789277c66edf70b7fa79ea71a214d672ada2c4de6ef43a9f8","source_intervention_final_state_sha256":"49c4dcba9d6a1cb789277c66edf70b7fa79ea71a214d672ada2c4de6ef43a9f8","source_intervention_full_initial_state_sha256":"1e599d6a1e03ad6f88d35b14bade4375f46e50980e01180faad464a80ebc274e","source_intervention_initial_state_sha256":"285727152fc70c277077d4cbaec91142c47f1506517de79217a762d8e1ca3200","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"5c200408bc68644f883b4432ded4bf753ee7b9dd08990e8f85c955f86ee6fabf","batch_index":412,"batch_slot":0,"environment_seed":3296,"episode_id":3296,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"dfa4379a7c25079c2300432000299e3fa1664df62e5098c68ff435dd0e73b7ac","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"e1f73eb0a56c4814ae56456cf3521ef559132b7214046ceb140d7fd084e0dc57","policy_batch_seed":138301330,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000412.npz","baseline_telemetry":"telemetry/batch_000412.npz","intervention_telemetry":"telemetry_adaptor/batch_000412.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":34,"first_possible_physical_divergence_frame":35,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":18,"last_modified_step":51,"modified_steps":[34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":310383,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4fc522caca7c1e7a26584cc9bffe586e3e42927058bdc4f67dfb5e05b5900a33","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003296/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"05a575c501d25d1b8ea8595251c96ed78203984d1b919849cde25a75f38530a6","width":640},"comparison":{"audio_streams":0,"bytes":734610,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f53634bd62ae6bb74d1415be892b7119bee40cf57e8019f495a8f05c67276e80","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003296/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"2cfb62858cd3a7268fd8cd3f94f7add5d63e0c5c9950753506e382e52d9ae4e5","width":1280},"intervention":{"audio_streams":0,"bytes":341858,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"09960f5f75f8833d0126212a2ff4bd2fd68428b84ffd129d663642853aab4bbc","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003296/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b137188e51f327c5c9771007a25cd45dc0b461c98a5b841ccf0d836c72074716","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":50,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":50,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":50,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3301,"instruction":"stack the green block on the yellow block","outcomes":{"published_effect":"unchanged_failure","published_intervention_success":false,"published_intervention_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_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":false,"elapsed_steps":60,"is_src_obj_grasped":true,"moved_correct_obj":false,"moved_wrong_obj":false,"src_on_target":false,"success":false}},"pair_id":"98bb4ba698665a23acafd94e708ace5abcce75abe90a9947d5d46a977a898f3f","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"fe78363bade2a85b147aebd5afa5e96a06ca35f19ad6a3d8fb345c5ff36c552c","baseline_full_initial_state_sha256":"3d9c739cf6f5d51c25ed8e6b2374aba1cdc47541952959e86d4998b186fed90e","baseline_initial_state_sha256":"263cfaa8c3d440a479cff31e0b18cf1535b2670c6058c2fc2bcffd8bcc8ae859","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"6a1712d0bfdca4f61f9de429c1131bbb3b17081d216a9cf88b54fc28178338c2","published_intervention_final_state_sha256":"39f0d206a5ea5878afcb4b7b659b085bdd6270ff7318078e15c33866162c77f7","source_intervention_final_state_sha256":"39f0d206a5ea5878afcb4b7b659b085bdd6270ff7318078e15c33866162c77f7","source_intervention_full_initial_state_sha256":"3d9c739cf6f5d51c25ed8e6b2374aba1cdc47541952959e86d4998b186fed90e","source_intervention_initial_state_sha256":"263cfaa8c3d440a479cff31e0b18cf1535b2670c6058c2fc2bcffd8bcc8ae859","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"615a48c3d87e9d64526e21784d6338e41c1fb987f410ce40c3161790fa3d19cc","batch_index":412,"batch_slot":5,"environment_seed":3301,"episode_id":3301,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"6a1712d0bfdca4f61f9de429c1131bbb3b17081d216a9cf88b54fc28178338c2","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"1575543bebc3cf03a168cd7289ce992967206cfc777feef8ea240eb2411da0e6","policy_batch_seed":138301330,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000412.npz","baseline_telemetry":"telemetry/batch_000412.npz","intervention_telemetry":"telemetry_adaptor/batch_000412.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":49,"first_possible_physical_divergence_frame":50,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":2,"last_modified_step":50,"modified_steps":[49,50],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":241966,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"44d079616a78892bb087ca933cf5f11fadf469a6a45365c4e8ed04c3a4724a8c","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003301/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"17420522371592e560c1a66352b2ac24866f4e60799e1f75c2fc56e189a2c501","width":640},"comparison":{"audio_streams":0,"bytes":549943,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8522f71f8538e61e210eb5be045d522b311c02f481600ccf4cdfde8fa948f153","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003301/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"c004c7b4acd6cb03d1b71f0024a664184125d4ff6e52faf0ef36636b8072a092","width":1280},"intervention":{"audio_streams":0,"bytes":242786,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"be5b5df8da0692a586d5429c40fd68e11758892c4479f534c1471cec79f24097","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003301/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b7ab2e84091a4b062a6b4e9dc8b04e326158891ffae45cfce63685f2c4a2e37d","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":34,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":34,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":34,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3302,"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":"3390b072a010cd9a4606a4f97a1b66179bf25c499efc9ddb63f8f26c664a68a1","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"fce557bce77a202dc38da5add280cd21fbaeabb87b9090aa0dadae295a74d839","baseline_full_initial_state_sha256":"0da5c197aa23a9fbe772c31a2d735074ddeba74919ccfacfe3f007beaf15b0c9","baseline_initial_state_sha256":"0385de3fcb63f01a6c7fff0e2310686c900e46135f54416b1bee4a26e3345ee5","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"93d7d0ca39ac1f8f88cf7fc260b72508d2033ba7991f99c41ae14f029c8f70ba","published_intervention_final_state_sha256":"d081fa2c5a5c0f9d34d2ee12f77306dbeb870de2169c2c59deb155a6867eb849","source_intervention_final_state_sha256":"d081fa2c5a5c0f9d34d2ee12f77306dbeb870de2169c2c59deb155a6867eb849","source_intervention_full_initial_state_sha256":"0da5c197aa23a9fbe772c31a2d735074ddeba74919ccfacfe3f007beaf15b0c9","source_intervention_initial_state_sha256":"0385de3fcb63f01a6c7fff0e2310686c900e46135f54416b1bee4a26e3345ee5","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"3043dc9f59c0463336389bbdf74bf2452cdf2dffd1a1a49a3dfc90087d7a4841","batch_index":412,"batch_slot":6,"environment_seed":3302,"episode_id":3302,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"93d7d0ca39ac1f8f88cf7fc260b72508d2033ba7991f99c41ae14f029c8f70ba","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"ce43509c36610b5f4bd692fed71e34089837b44e0d41b97e02a2e9361d1b2dbd","policy_batch_seed":138301330,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000412.npz","baseline_telemetry":"telemetry/batch_000412.npz","intervention_telemetry":"telemetry_adaptor/batch_000412.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":33,"first_possible_physical_divergence_frame":34,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":19,"last_modified_step":51,"modified_steps":[33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":270286,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"282fdcd30741d1ee446c3ed057268f42d13d077310dcc878f62a9e5adbb5baa5","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003302/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5a958ea3d03d46021f67fef612b164659a8d2f95872991db8ea6266f9f873ec7","width":640},"comparison":{"audio_streams":0,"bytes":675275,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"730fe8f41121bd980f1536081cb3771310d0dc4f37779ab85c039b5fb629eede","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003302/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"05b290927241a40ff960ea65da896e48c7efb4353838d414a360024e76bd1760","width":1280},"intervention":{"audio_streams":0,"bytes":335567,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0d33a5ff25f68ccf42a469c6c70f626fc966febc732f0d8ae91eafc248357bbd","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003302/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a21762983f92b2a9e7b09176cd05d39927d2c2ab955af772ff1f824719d3dd7c","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":50,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":50,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":50,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3306,"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":"223015d8a19b9b8067fa826482396c4d811193255e462409844c5e6bb569a561","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"7d7fb2780aca3aad8694b8432e46cef5948aa698e75c6e0b4a45fe69e0b3467c","baseline_full_initial_state_sha256":"d616940441e27df1eadf520d8027ab37a88ac18bddac5692643db713f3d844c4","baseline_initial_state_sha256":"5fe50dd693ad5f23e1c5e8b1f53c0ea531e58a3cb0743a7edaf498f9a10369b7","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"3c410ba5030a2589fd43424cb83386da0b707de503ca4c1eeb90117ea29beec1","published_intervention_final_state_sha256":"c992a5e93feb844ef4104c3551072fe9cf109752c8fb5a7d80eed2e056dc34d9","source_intervention_final_state_sha256":"c992a5e93feb844ef4104c3551072fe9cf109752c8fb5a7d80eed2e056dc34d9","source_intervention_full_initial_state_sha256":"d616940441e27df1eadf520d8027ab37a88ac18bddac5692643db713f3d844c4","source_intervention_initial_state_sha256":"5fe50dd693ad5f23e1c5e8b1f53c0ea531e58a3cb0743a7edaf498f9a10369b7","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"7fddd76931621f6607231a0bf618efc2e67d8445b11527abd2ab980cb9332c4d","batch_index":413,"batch_slot":2,"environment_seed":3306,"episode_id":3306,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"3c410ba5030a2589fd43424cb83386da0b707de503ca4c1eeb90117ea29beec1","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"5a127e8c1db286a374f65568e4e6f3f29d0f12750e0fe9345fffe05c63fca6c7","policy_batch_seed":2126163720,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000413.npz","baseline_telemetry":"telemetry/batch_000413.npz","intervention_telemetry":"telemetry_adaptor/batch_000413.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":49,"first_possible_physical_divergence_frame":50,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":3,"last_modified_step":51,"modified_steps":[49,50,51],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":313616,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"b5b5f1be949761a300611afc6baec7f74597feca853bc24b95ba23a4dce11f7d","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003306/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e8d5fafeeb7511429617ab16bcd8bf02affe2dece41446922c078b97f63c7eb2","width":640},"comparison":{"audio_streams":0,"bytes":703590,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"6c3920d15238c1c31a4e3b2722fa1e55ebe514c784219524772f0ee9b017d64d","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003306/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"75fe5ae5a30aa8e258a5142efe5bbc2d8eaac9e6bdc9dbfba92e41e509f66ca0","width":1280},"intervention":{"audio_streams":0,"bytes":314722,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"a0db0e887fe646e619d2a4d10f343c4891d5608c8c453d671579269c2b9eceb2","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003306/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"6482a685b72314577e87a11881611544f5e5f7dab3a3c2e3697aa7de2f58be95","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":35,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":35,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":35,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3307,"instruction":"stack the green block on the yellow block","outcomes":{"published_effect":"unchanged_failure","published_intervention_success":false,"published_intervention_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_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":false,"elapsed_steps":60,"is_src_obj_grasped":true,"moved_correct_obj":false,"moved_wrong_obj":false,"src_on_target":false,"success":false}},"pair_id":"25cf1a81a4e174c16b4a0fb287ad048b5cc621c56493cc8133060e0a6ca61f1a","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"b3eedf95579622715fce2bf7542c605f29397e5f963798706e3da64b67ca09a5","baseline_full_initial_state_sha256":"989b94daf14a51c9dfa921cdf2771dfd5a812e65e0d24fb10498b4cf9d711aaf","baseline_initial_state_sha256":"b4713ab8ab8f28e94e88a75b93379cceba9680bacec21c58962c06bdc435b1ed","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"b564b00d32d0870a65aaf538c9a9bce221aeb4f47ec13b81ceb9956a16da3b76","published_intervention_final_state_sha256":"44f2560db0bc8a9f8be519b17e8cccb73a6a5fa8e2b16747681bd376bf344b7f","source_intervention_final_state_sha256":"44f2560db0bc8a9f8be519b17e8cccb73a6a5fa8e2b16747681bd376bf344b7f","source_intervention_full_initial_state_sha256":"989b94daf14a51c9dfa921cdf2771dfd5a812e65e0d24fb10498b4cf9d711aaf","source_intervention_initial_state_sha256":"b4713ab8ab8f28e94e88a75b93379cceba9680bacec21c58962c06bdc435b1ed","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"b39743660648ee6df4e1d637c59b277aa94a272e8dbd4eff0d7777c6a34c229f","batch_index":413,"batch_slot":3,"environment_seed":3307,"episode_id":3307,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"b564b00d32d0870a65aaf538c9a9bce221aeb4f47ec13b81ceb9956a16da3b76","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"e1c3b4d38a217da418434efb004077efc795e8fb57eafd729393fd1965c90516","policy_batch_seed":2126163720,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000413.npz","baseline_telemetry":"telemetry/batch_000413.npz","intervention_telemetry":"telemetry_adaptor/batch_000413.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":34,"first_possible_physical_divergence_frame":35,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":15,"last_modified_step":51,"modified_steps":[34,37,38,39,40,41,42,43,44,45,46,48,49,50,51],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":298969,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f9d62f7bceb8897e16dee9d45e0b840756e195d398861d5cf04da360cb2e98c7","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003307/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ed8db578cbfc0c4e5bc4297629f43031fb650733d2fc790a1a147fc6f6de2919","width":640},"comparison":{"audio_streams":0,"bytes":697297,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"90964802dff437382cf542f97d9baa64d7546dcef8906260b0a84c587094af70","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003307/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a5a56eee171686dcd6f8bbf9d8c9615627ad7f94c41fb7474b4ca0691e333413","width":1280},"intervention":{"audio_streams":0,"bytes":310248,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"825f490a2554604d8b0e62d4487bce872e592fb25f57f1d512c6464dccf5a4ce","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003307/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e1376ca23bd119036e670b2ad5af6224f40cc68c21f59f6025a36a03ac1a8e52","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":16,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":16,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":16,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3313,"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":"8a910a99a2d1e63f973d62256fe7fe3c16957ea6fa55a74c6e380ce6dc49cfd0","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"08c664fbc78e02aa6e8f2a7d1a03e306401f1e75fa6a2555ae1c448a72353d59","baseline_full_initial_state_sha256":"01e7d16f7630b8e58f1c1afacbcd177d6888c1a0a38c225340552399ececf3b6","baseline_initial_state_sha256":"a27234dfef66a14723bb3529444ca829573e1cf3cb49d0b7880bfe4ec46da63d","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"9c2b6d912085fe60c39bc24bf41953515661a0dd06416c97590213cfc280ca65","published_intervention_final_state_sha256":"afe129b16f169214e83526119e9b4e8fb9abdfa5a7ffab443e1922bc4343713d","source_intervention_final_state_sha256":"afe129b16f169214e83526119e9b4e8fb9abdfa5a7ffab443e1922bc4343713d","source_intervention_full_initial_state_sha256":"01e7d16f7630b8e58f1c1afacbcd177d6888c1a0a38c225340552399ececf3b6","source_intervention_initial_state_sha256":"a27234dfef66a14723bb3529444ca829573e1cf3cb49d0b7880bfe4ec46da63d","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"7bfc31c7f2a5c2579e3fb0bee8e7ff87ead781457244fdc8f475120c40f39440","batch_index":414,"batch_slot":1,"environment_seed":3313,"episode_id":3313,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"9c2b6d912085fe60c39bc24bf41953515661a0dd06416c97590213cfc280ca65","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"cb9095278bf148234d690d2322f4cdba2f0ca730da06f0ab52c0700cad640d74","policy_batch_seed":1926321828,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000414.npz","baseline_telemetry":"telemetry/batch_000414.npz","intervention_telemetry":"telemetry_adaptor/batch_000414.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":15,"first_possible_physical_divergence_frame":16,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":38,"modified_steps":[15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":276832,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"fec426141998522c1d686eaa99d627a3719539fcfe431586c645839424b6c4bf","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003313/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"dda269aa5c6063ccfc089feda0c400858f5f877a437595c77768334e8db0c142","width":640},"comparison":{"audio_streams":0,"bytes":626331,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f221c0f58f8eb9074fad4abb39fb950224814e4ac3bee38b9336a0bf0294bfdf","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003313/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"6d82c1652ff47b00e26a32ccbc495cfe816eb782edc0a6c4518619576ea28e10","width":1280},"intervention":{"audio_streams":0,"bytes":282495,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9fdc6805380e8afff5619b7ee4fe8b80b9598183d018f3bfea821a0f192e7e94","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003313/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"4a22b6a05aeb19a961044ba6a0c41bbe2b1255790b2929ffaeedd8af8ea737ca","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":15,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":15,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":15,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3314,"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":"5f743e71434ddbb4182fabc2ee0394678b6275466254f48b92cdf6b94c507f99","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"9873e27e580fa3b997d2514a244d562191d342c0f336207bce050477a5322647","baseline_full_initial_state_sha256":"ce40a16ad204306700ba6326c839c114d238b71f8adc4f61449e26c9d90e0294","baseline_initial_state_sha256":"82544cdf13c445a928a9877b81fe219df3ea71bf3aa410f3d4ef86c27247bb0b","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"0baae5fb1e04915a5bf958691ae33ebe932c5ce1fac2feb45076aacc6d119381","published_intervention_final_state_sha256":"6228064ad46329547dbba302b4cf649bd3babeeeda4957d047d2a6e9ecab6a98","source_intervention_final_state_sha256":"6228064ad46329547dbba302b4cf649bd3babeeeda4957d047d2a6e9ecab6a98","source_intervention_full_initial_state_sha256":"ce40a16ad204306700ba6326c839c114d238b71f8adc4f61449e26c9d90e0294","source_intervention_initial_state_sha256":"82544cdf13c445a928a9877b81fe219df3ea71bf3aa410f3d4ef86c27247bb0b","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"4f7f93828fd9af39b5e72d3245269a1104873c65911065685ec9a2cfe6634962","batch_index":414,"batch_slot":2,"environment_seed":3314,"episode_id":3314,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"0baae5fb1e04915a5bf958691ae33ebe932c5ce1fac2feb45076aacc6d119381","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"59a46262bf3e2a071122bef7656fa3636f356e55736c4d0eab0cfd6aeaa647d2","policy_batch_seed":1926321828,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000414.npz","baseline_telemetry":"telemetry/batch_000414.npz","intervention_telemetry":"telemetry_adaptor/batch_000414.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":14,"first_possible_physical_divergence_frame":15,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":37,"modified_steps":[14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":286930,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"61002551725ba3830c6a6504f99d1053747694a256951780027a4b9d38bfdb96","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003314/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"25d1d69116ecad2e532315298fd0a8eb4589a073c423480bdcd9237ab8be563e","width":640},"comparison":{"audio_streams":0,"bytes":678382,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8b93f3eca219ec5ebd0d420245dbfec58c661540c276c9ad62452b29076a761a","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003314/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"eec75068916400da1b435a83670f87dc00272127039a3ec6eddd6d21c5c50915","width":1280},"intervention":{"audio_streams":0,"bytes":325940,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"96c6897bdcd5d08b760865095b3ed926fd9d2ad79c62a80803de7588a539cf1a","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003314/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a8b8afe1cb7018bdbfecee6ee415adee4f0117e13c750c5614f89b8bdf64593a","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":15,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":15,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":15,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3316,"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":"0fea23c8490ae9c6c0535d7feca04078964dd76dc8fff8da510dc041b0675553","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"f3ca20b844e0dd8cdafdfdd98e56bd42684da67ead61ce6e22b4ac68beded3b7","baseline_full_initial_state_sha256":"cc4840a9917e5e6e17adb6bc6bacc9a6898bdb64774fac715b1f3f1cf9709c05","baseline_initial_state_sha256":"cd5fddf6c763e79f5ac160fc9c10c85f842853d7ee7206b9a0b1ad994dbbc3d0","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"0a0efab1f15bb7798953a510ce0a3d533df7e68603a0050c0c7ea9fdb985d3d4","published_intervention_final_state_sha256":"4a4661b15940a58beef64c495c9b263857cea821d7a69f4b3613cf6339e33beb","source_intervention_final_state_sha256":"4a4661b15940a58beef64c495c9b263857cea821d7a69f4b3613cf6339e33beb","source_intervention_full_initial_state_sha256":"cc4840a9917e5e6e17adb6bc6bacc9a6898bdb64774fac715b1f3f1cf9709c05","source_intervention_initial_state_sha256":"cd5fddf6c763e79f5ac160fc9c10c85f842853d7ee7206b9a0b1ad994dbbc3d0","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"58d0c1d352ba80fb0be95fbf08b1184b0e043c31d554c5af9ff8c3ccc7519dc8","batch_index":414,"batch_slot":4,"environment_seed":3316,"episode_id":3316,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"0a0efab1f15bb7798953a510ce0a3d533df7e68603a0050c0c7ea9fdb985d3d4","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"0331996594111094b704c97b20cbd00e3792d284ca43332b75de9fac8ebb2165","policy_batch_seed":1926321828,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000414.npz","baseline_telemetry":"telemetry/batch_000414.npz","intervention_telemetry":"telemetry_adaptor/batch_000414.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":14,"first_possible_physical_divergence_frame":15,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":37,"modified_steps":[14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":279488,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"cf491e4538072dd70f8aff44348fdbef2a65312f9f1a95b42e74aff97360bf91","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003316/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"93ac3890bb460eb4d8ab78cb489f18c0d1cce64406746b0c9e7a363d07970010","width":640},"comparison":{"audio_streams":0,"bytes":704015,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"b76724467ffbd061d4fd2af9004505d4d14999ffeb9fff1c9aaddabb47d7892e","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003316/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f911a3e5d54f7fd68b8aea9e07945a084fa0448491f4cdabad55dffdad214c57","width":1280},"intervention":{"audio_streams":0,"bytes":345817,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"496f73837c0849577849c15868bcf0540e2fa86fc41a6b23bee5ae4d4de0a413","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003316/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"22ea1b5bd233bbe15ee81f61ec4bbaf8d59368613a9eb178da536b2a78e57bc7","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":16,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":16,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":16,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3317,"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":"742f0d0d63bb9e5020e0e42ee13e81604cddfc45b04b8d99987a81cc31b32ec8","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"54c7d5c935dfcd90a029c283dd8844bd84fb5dfc57ac792e3b8e85729ae4cdb7","baseline_full_initial_state_sha256":"5964b7175f150f1cd6fcd2e7c8a75e0b4a79844753ef0dbcba51b6b2ce93a92b","baseline_initial_state_sha256":"2db08d2aed1068d7546c688ebae822f3675b3f73501f3d7c0309a9c8c56951c4","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"79c8c1f6c99ce420fbd72703f924ea8e40271da7a3e7ecd531964236d9c34439","published_intervention_final_state_sha256":"9879c5e34d5a80a7afcb23097801654894df37c4eab428fb782ad134cec4984e","source_intervention_final_state_sha256":"9879c5e34d5a80a7afcb23097801654894df37c4eab428fb782ad134cec4984e","source_intervention_full_initial_state_sha256":"5964b7175f150f1cd6fcd2e7c8a75e0b4a79844753ef0dbcba51b6b2ce93a92b","source_intervention_initial_state_sha256":"2db08d2aed1068d7546c688ebae822f3675b3f73501f3d7c0309a9c8c56951c4","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"7f05d499ae267326587ec161504edd6e2e3da8696c29f4558a58603259921bfd","batch_index":414,"batch_slot":5,"environment_seed":3317,"episode_id":3317,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"79c8c1f6c99ce420fbd72703f924ea8e40271da7a3e7ecd531964236d9c34439","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"c8939fe8d35511ed85d2985f6bc9f524b284028f2bab3385056a5730b5a2e4ca","policy_batch_seed":1926321828,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000414.npz","baseline_telemetry":"telemetry/batch_000414.npz","intervention_telemetry":"telemetry_adaptor/batch_000414.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":15,"first_possible_physical_divergence_frame":16,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":38,"modified_steps":[15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":291944,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"3e9ff7a234ab190c970036491bd20e90815797150ea49cbc1b1e71cfb2712521","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003317/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0e069d40d69cec7ab589dbeb820b7da4ad18c1b54b32d1bcc88727a8d936e078","width":640},"comparison":{"audio_streams":0,"bytes":714838,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"fbb3c5b66bd748a0d2a112cac9fbec5b0b77bd1b31c1ae8ea2ad0ed8f1958c3a","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003317/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"65b30d768f59fad72b476a04a33944f6a691c068f8d4f0fa5a6dfc42c546ed7b","width":1280},"intervention":{"audio_streams":0,"bytes":340100,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"232b00aa0fd1e70b0017c74afa28bc632e574c54b57db8b55f846e83483ce273","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003317/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5a7a11f4d7b138b0440b8f58a158e47096a8620e58743d1033160975c9787545","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":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":"cube_stack","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3318,"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,"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":"346c8190b0c72ce0f624283f08bc4d1fec6114046e7812e8dd80d05ed4c14c95","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"717a70a7604a8a06eb5498333a5aeb8fee8060a95104cf674c96420bd69b1cbf","baseline_full_initial_state_sha256":"8075afae8e2900dd968f91a66d78c6e153d272189fff5cea0eb40285dfd757cb","baseline_initial_state_sha256":"b587e40f678cc9454f4440a38ac62fabc532a1231b37a5eab863e3f17dd91546","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"b3e1e3d5bd10cf44077bc4c2620272f4efc3f6d732b8957484576186e9724cb2","published_intervention_final_state_sha256":"a5d0121f549ff11512b7b70a995387d81d62de967599e6fd13d69310b014069b","source_intervention_final_state_sha256":"a5d0121f549ff11512b7b70a995387d81d62de967599e6fd13d69310b014069b","source_intervention_full_initial_state_sha256":"8075afae8e2900dd968f91a66d78c6e153d272189fff5cea0eb40285dfd757cb","source_intervention_initial_state_sha256":"b587e40f678cc9454f4440a38ac62fabc532a1231b37a5eab863e3f17dd91546","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"db34c1f453bfa0e49487e9204695f38e35542336266019b0c60abedf1f25215c","batch_index":414,"batch_slot":6,"environment_seed":3318,"episode_id":3318,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"b3e1e3d5bd10cf44077bc4c2620272f4efc3f6d732b8957484576186e9724cb2","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"5a9fbfe4a75ce472c48f956307f44cf5282e48a37cbac771584aac402efc9450","policy_batch_seed":1926321828,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000414.npz","baseline_telemetry":"telemetry/batch_000414.npz","intervention_telemetry":"telemetry_adaptor/batch_000414.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":17,"first_possible_physical_divergence_frame":18,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":40,"modified_steps":[17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":272681,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9d33b0acf531be3c74875f6cf5e25f31e3fd17b24b0bb3ee72252fe4fd712e81","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003318/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d3abcf5e5bd9e442610c601c179ba771e72ad9b44f17837d8b8fda8680594680","width":640},"comparison":{"audio_streams":0,"bytes":613526,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"3c970a0605cd5605b3f13c10e1fa07f3b5af985ea6b47d8b35368983e7fda223","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003318/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"213ea217a861c4ed0d34b7080f2a4963fc39925dacb7b661a8e7a097a87d8239","width":1280},"intervention":{"audio_streams":0,"bytes":274998,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"347ec4e436ac383ed30242d25888e65b6e3a506e76b58935112641402eafdf5c","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003318/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"59878fe7507606252cb0eb45bfa434cf3a3085f85211288fd0aa41718e53d444","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":14,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":14,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":14,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3320,"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":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":"2e5ffc93595aa6a265e28b35b10244ae63c4c2572044e71f9e4ad57c9e1a44b7","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"03255834d32f04e3b3f0633de662a7164bbd5640ea79d0c3b6c03634360d09d8","baseline_full_initial_state_sha256":"1e599d6a1e03ad6f88d35b14bade4375f46e50980e01180faad464a80ebc274e","baseline_initial_state_sha256":"285727152fc70c277077d4cbaec91142c47f1506517de79217a762d8e1ca3200","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"eb201814ac0406d246fc9a3e8eba3f481ca6183abeac5179710277088d5e94af","published_intervention_final_state_sha256":"ba445a5c8ee882ad5c5a33411fc83472407c79e07138cb378ea57a9dd14b40a0","source_intervention_final_state_sha256":"ba445a5c8ee882ad5c5a33411fc83472407c79e07138cb378ea57a9dd14b40a0","source_intervention_full_initial_state_sha256":"1e599d6a1e03ad6f88d35b14bade4375f46e50980e01180faad464a80ebc274e","source_intervention_initial_state_sha256":"285727152fc70c277077d4cbaec91142c47f1506517de79217a762d8e1ca3200","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"ce72d791223140f9ec05256b33e928ce49539bb67800b753deea530ca931f386","batch_index":415,"batch_slot":0,"environment_seed":3320,"episode_id":3320,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"eb201814ac0406d246fc9a3e8eba3f481ca6183abeac5179710277088d5e94af","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"654a5d8a5fd4e712d54f36f8c0b8eb3098ba9d72edde8f7b9437eaa403cb3963","policy_batch_seed":1483230977,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000415.npz","baseline_telemetry":"telemetry/batch_000415.npz","intervention_telemetry":"telemetry_adaptor/batch_000415.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":13,"first_possible_physical_divergence_frame":14,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":36,"modified_steps":[13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":294689,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"cd1ce1d14de46ab733f3df33cfc613791085b798a8e5673bf81efc40d824627b","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003320/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"8bb33866873e6797f733fb9533d77c924abb48e81e47586c28228c21615974ac","width":640},"comparison":{"audio_streams":0,"bytes":744813,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"216538a32e01a1b4d880e72ec91a73bca8c5d85ed48431d9946291d30a393965","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003320/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"c83276852d99ece356cbc758c243023fd09f2b725e26dbac70370b5779dd27bf","width":1280},"intervention":{"audio_streams":0,"bytes":361111,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"c83148ce42c6dd749f40acbefb0bfd49278758dcc15be43906ae4b8cc221be21","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003320/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"eca06c2e12fb16906070db586ad0f765f5284a701e5278744f3894b781d6b0d3","width":640}}}
{"authorship":"open_autonomous_semantic_composition","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":46,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":46,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":46,"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_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3324,"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":"4f56f993f1c91bf737818f0c16c458e63cf83fc9df2679b828a3a9cddfafc3d2","patch":{"deployment_eligible":false,"formula":{"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"},"id":"auth_discovered_event_ever_true_16001350a973_01","kind":"program","metric_estimators_used":false,"sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"prior_free_autonomous_category_and_program_synthesis","replay":{"baseline_final_state_sha256":"31c1855fdf1c4ee887e45617a8e94e3a514f367d5d02a151220c0652ff7d1f3b","baseline_full_initial_state_sha256":"5d6eb65977aabd2570907559bbd84a8d068a39328e195f440caf81d9bdf9c024","baseline_initial_state_sha256":"4829d13922deb19e5f8c5e0ed84c44d736a3b9ac2a48ec8c3d47ce92b498a7ae","environment_recovery_events":{"baseline":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":0}],"published_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":410,"episode_ids":[3280,3281,3282,3283,3284,3285,3286,3287],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 5, 'object': 'baked_yellow_cube_3cm', 'position_error': 0.006091800518333912, 'linear_speed': 0.05686085671186447, 'angular_speed': 4.588077068328857}]","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":"705d2dad7080a23b8d5ee971330b0c25ee246de672ca39faab3e7364a4609e3a","published_intervention_final_state_sha256":"3a5ae4dac230165c398c4c189c407bc16cb7f501aeaf458479a7d25bd295ae0d","source_intervention_final_state_sha256":"3a5ae4dac230165c398c4c189c407bc16cb7f501aeaf458479a7d25bd295ae0d","source_intervention_full_initial_state_sha256":"5d6eb65977aabd2570907559bbd84a8d068a39328e195f440caf81d9bdf9c024","source_intervention_initial_state_sha256":"4829d13922deb19e5f8c5e0ed84c44d736a3b9ac2a48ec8c3d47ce92b498a7ae","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"2e361fae7b2e11b0b22e089fc0476b57bd9cd62e55952e0a7b9ce6e344aa6fb9","batch_index":415,"batch_slot":4,"environment_seed":3324,"episode_id":3324,"evaluator_source_expected_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","evaluator_source_match":true,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"705d2dad7080a23b8d5ee971330b0c25ee246de672ca39faab3e7364a4609e3a","manifest_sha256":"3456debaa457cbf5963fc77be4bfeb893a62cbf877240ad0ee7b55fc8e8c5dae","patch_trace_sha256":"9ae530f9fb136c1fc20c8d627e0cd9d6c2569cb5ac462e1caaa6ed4e597dc49e","policy_batch_seed":1483230977,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/cube-open-autonomous-20260816h.json","result_sha256":"d6918c72329a610e05b534a60fce4b94a9e45de588231b6f62078361980100a6","run_dir":"outputs/oracle/runs/cube-open-autonomous-20260816h-validation-112a36951795","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"700f8714e664da4bb173513fc3d10c6851f2594677570f09dd2d75ef88fa5e03"},"trace_paths":{"action_patch":"action_patch/batch_000415.npz","baseline_telemetry":"telemetry/batch_000415.npz","intervention_telemetry":"telemetry_adaptor/batch_000415.npz"}},"task_adapter_key":"cube_stack","timeline":{"first_modified_step":45,"first_possible_physical_divergence_frame":46,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":7,"last_modified_step":51,"modified_steps":[45,46,47,48,49,50,51],"patch_phase_by_action_step":["watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","watch","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair","repair"]},"videos":{"baseline":{"audio_streams":0,"bytes":258289,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"dbdc71f657ec5bef56f4c80afda34a281d9e2e0d94433518995f4cb1f3a083fa","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003324/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0095002a6fc1ca08f76e10f026cb31782514c074f4f48fc2ad7cdc7890bf395c","width":640},"comparison":{"audio_streams":0,"bytes":600612,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ce05502ed2b4452959551cc3d048277659907e6cd5b993fa9cc88003b887b143","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003324/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"c59f9972709a37b6911fd11784ce108b91e02a640edff759358758ead28389e0","width":1280},"intervention":{"audio_streams":0,"bytes":276361,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"cddbd265887d6ea930b8b342aedc78745d4b4ed9613cb5d514e2458263d77f43","duration_seconds":6.1,"file_name":"data/train/cube_stack/cube_open_autonomous_validation_v1/episode_003324/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b040483e2f96941c19649aa5924a774edc1d89285f4e0395e6a31fe534d3c884","width":640}}}
{"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":46,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":46,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":46,"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":2816,"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":"d024d522aabc6f8b58a71dd9a7a3dfa077c21f478e4b9e191f33a101265a8c0c","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"42d1bf2bce99e68e9749211e945868f7889ee61f075fd8e815bfafa5151702ef","baseline_full_initial_state_sha256":"e1e486be3d6a59d7dd33e353c2fa0d791660158561b89b3de541af4c7e3a22f8","baseline_initial_state_sha256":"397071a4ffd60074f0961f8395efb0b5b681497445f45260f3816a288f1789a2","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"0092cb36887f9ea75ad6f00b154c8b10955dd1f772ec38f840419eb933bcc5be","published_intervention_final_state_sha256":"a18413e217da22d841f840121f286cf8d8c964e76dc68fac2a6e3fbfd4e92239","source_intervention_final_state_sha256":"a18413e217da22d841f840121f286cf8d8c964e76dc68fac2a6e3fbfd4e92239","source_intervention_full_initial_state_sha256":"e1e486be3d6a59d7dd33e353c2fa0d791660158561b89b3de541af4c7e3a22f8","source_intervention_initial_state_sha256":"397071a4ffd60074f0961f8395efb0b5b681497445f45260f3816a288f1789a2","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"890bae6c68eb38774b7a47e8afc1410e7d42a054be0df474935adb632c61e3cb","batch_index":352,"batch_slot":0,"environment_seed":2816,"episode_id":2816,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"0092cb36887f9ea75ad6f00b154c8b10955dd1f772ec38f840419eb933bcc5be","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"7ede166154f719aeb93775ed42b70f76162796aba6fdf9a29c10035d41baf91f","policy_batch_seed":927033147,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000352.npz","baseline_telemetry":"telemetry/batch_000352.npz","intervention_telemetry":"telemetry_adaptor/batch_000352.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":45,"first_possible_physical_divergence_frame":46,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":15,"last_modified_step":59,"modified_steps":[45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":335487,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"059087ff50fcd271c94eab004148345c3bdc097350509096919376c7a8c73ea3","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002816/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f338f59fa05b31102253d71669f9936d55a5c6209c6170fa9a3e5d2cdf7db9e8","width":640},"comparison":{"audio_streams":0,"bytes":754799,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"76cf5aa12e838fab31e86a710a8b7909add9ccfed06e65b823970b1461c972b5","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002816/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ff34e17908e33d43c161736884d57b35f4731e6ec8d5ae3ba2e54c6a06af0fb7","width":1280},"intervention":{"audio_streams":0,"bytes":382681,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"c8528ab6d1375f1a3b8ca090032a59d7f0cd09cb8916ead78f27e74ca2fe95b2","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002816/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e4c8f15da7c07dcde605a386f86eeeb1c81c0d56b2617c4d39941e609b89138c","width":640}}}
{"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":53,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":53,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":53,"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":2817,"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":"8b58d75db7f4e3ef00d669d94c16fb1baf05a8c792d618ebb97dbc4998df4e37","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"91fe9a6e45b29ee763b74de639b714357da49afe83a93fa7a69efdf6586a8d51","baseline_full_initial_state_sha256":"c4b1c9b09474d649d54ccbfb543038ddc53a1d99aefd03e5d92e1659a447fb33","baseline_initial_state_sha256":"71a509eb1425c4f9c6a5a48dee79d08871f6eae3293637526e4afe7710b05874","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"9b62840f108047eca274b25d66de5711c5e64c7939d8c7df8458ebfecf4b6112","published_intervention_final_state_sha256":"79af1e5ca932f5fd5eb2390b3174d555d42f83d06d3adf68f0af5dc9f6f8a221","source_intervention_final_state_sha256":"79af1e5ca932f5fd5eb2390b3174d555d42f83d06d3adf68f0af5dc9f6f8a221","source_intervention_full_initial_state_sha256":"c4b1c9b09474d649d54ccbfb543038ddc53a1d99aefd03e5d92e1659a447fb33","source_intervention_initial_state_sha256":"71a509eb1425c4f9c6a5a48dee79d08871f6eae3293637526e4afe7710b05874","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"716a7abfef8d6329466e339285809bce25d4f68b797750cfb401d0ad723c0461","batch_index":352,"batch_slot":1,"environment_seed":2817,"episode_id":2817,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"9b62840f108047eca274b25d66de5711c5e64c7939d8c7df8458ebfecf4b6112","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"89afa41d1d6a663568d3ce6dffffce2f962c080bd9961b9c9991eb31aad6a2c4","policy_batch_seed":927033147,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000352.npz","baseline_telemetry":"telemetry/batch_000352.npz","intervention_telemetry":"telemetry_adaptor/batch_000352.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":52,"first_possible_physical_divergence_frame":53,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":8,"last_modified_step":59,"modified_steps":[52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":364605,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0ad6008e97d05e0567a4a0e07c5e3541ee9c74c5605ae476e2f2b01abf6a9ffc","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002817/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"35168e03d7854c9399e464e54fdc4c164fd8cc2255dd4a1de7aef10417de613a","width":640},"comparison":{"audio_streams":0,"bytes":817097,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"cf4cbf67bda372b4cfa5d88db37715462684d01117c46cbb48c0bef74c6a709c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002817/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0cce62797c18afaaa16f24e9b03a85f1e4586be507d746f32a2708ad6dc0798d","width":1280},"intervention":{"audio_streams":0,"bytes":381328,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4fa76c7f633afced59bca0be76e0617f6a63fc4b2a9eb4369069cc3812c86cfb","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002817/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e45f6c207bfe2fb06a7acdec465c15f9129979dcab3017a9c042236fabfb8905","width":640}}}
{"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":2818,"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":"d271ac286bbdfecfd91401498bc0d0c64447f3291d1c8b373d0f6c890304abcf","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"712abf287cc985bb84f04fed099867770b50088438536b7a3a7ff5b8adfef136","baseline_full_initial_state_sha256":"d8093cc9edf045f8dbf7ed6068204e2075aaf2596955ef3f0009a69b8a0a83d5","baseline_initial_state_sha256":"a96e1f9204de594d8950b9bcb8816d2477871dbeb3955bde11401e6b2474bd55","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"14533cb1e03069bdd23aa275ffccc44cf52105ffcca3bb524f26b5d85dc46119","published_intervention_final_state_sha256":"c40f80e473c3b83a71d74914ca9b46215c8588249a08c7533ec17f342490df74","source_intervention_final_state_sha256":"c40f80e473c3b83a71d74914ca9b46215c8588249a08c7533ec17f342490df74","source_intervention_full_initial_state_sha256":"d8093cc9edf045f8dbf7ed6068204e2075aaf2596955ef3f0009a69b8a0a83d5","source_intervention_initial_state_sha256":"a96e1f9204de594d8950b9bcb8816d2477871dbeb3955bde11401e6b2474bd55","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"a87501d3d2c5c2e58ec7c053357d4c85cf88ec3697a02da86f7a375b3a50add1","batch_index":352,"batch_slot":2,"environment_seed":2818,"episode_id":2818,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"14533cb1e03069bdd23aa275ffccc44cf52105ffcca3bb524f26b5d85dc46119","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"adaa943a281780b7b582663b873adbb39bd7ea95b0531646657bb7eb3e32b6ec","policy_batch_seed":927033147,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000352.npz","baseline_telemetry":"telemetry/batch_000352.npz","intervention_telemetry":"telemetry_adaptor/batch_000352.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":26,"first_possible_physical_divergence_frame":27,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":34,"last_modified_step":59,"modified_steps":[26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":336847,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"3e8cbc2ecfe2f8b91377876a60ca3bc0a559f7854c4b4b93c75b7b3a55957658","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002818/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"2e04226b1db1af95c300a5bd2caf9513c9ee5e2832a2f4a8ad66e6fc3b07b18e","width":640},"comparison":{"audio_streams":0,"bytes":715189,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9d7150a63ee91cbce21b1479242faeb1b23cc4087a60203c85e3c4189a3e5b6b","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002818/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"dfc48ff2c7bfcef7d6c29b10147990bd225a453b6b222e7d7e422f0c821fbcc2","width":1280},"intervention":{"audio_streams":0,"bytes":308549,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"73bb6a35087732228473d1f619d6b671c3b855a428b92144aacb54a56e59fa0e","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002818/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9d7005e8ac604c4a92dd23da89473a99a193f0fc4ca4a73c3a9867d653e78e35","width":640}}}
{"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":28,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":28,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":28,"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":2819,"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":"d671a18edc74571614394b7075b99f7e604c4f616482fdeccdefed24229fa574","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"d9e11ddd606cf885bcff52d1633a3aed960987d33d32fbcaf788812584fa6057","baseline_full_initial_state_sha256":"e40f5bafa2250aaf566be10c844b1808c76666a717141646867507b1b1f1843e","baseline_initial_state_sha256":"3e132508c80664f169f5c123f599d790a78acb525fca6d38b12a8aebf5d0f6f7","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"7c354eaa2ce38edef0abcff3fe4a64ca807944289b3526b15a47cf9f13f85427","published_intervention_final_state_sha256":"014bf426bf387afb3a550ad48a154ace18a0ee3a40ca606a81b0b499f0ba755f","source_intervention_final_state_sha256":"014bf426bf387afb3a550ad48a154ace18a0ee3a40ca606a81b0b499f0ba755f","source_intervention_full_initial_state_sha256":"e40f5bafa2250aaf566be10c844b1808c76666a717141646867507b1b1f1843e","source_intervention_initial_state_sha256":"3e132508c80664f169f5c123f599d790a78acb525fca6d38b12a8aebf5d0f6f7","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"0b9f0c8ec3054953b3db452249a66d6d25623b1be7bb1e0e29fecbc8b868714b","batch_index":352,"batch_slot":3,"environment_seed":2819,"episode_id":2819,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"7c354eaa2ce38edef0abcff3fe4a64ca807944289b3526b15a47cf9f13f85427","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"a7d298d850303978ad7e15fc4d7a76ea8c639d62503034299be86669b3447341","policy_batch_seed":927033147,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000352.npz","baseline_telemetry":"telemetry/batch_000352.npz","intervention_telemetry":"telemetry_adaptor/batch_000352.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":27,"first_possible_physical_divergence_frame":28,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":33,"last_modified_step":59,"modified_steps":[27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":315359,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0c6a4649ae030a2729f6878b151b89148d94358d622fc16f00922d118ee07afb","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002819/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b52982522f15df8fa488ced4d3faa28b7dc96c2de8e67c233ce35f224f067708","width":640},"comparison":{"audio_streams":0,"bytes":702648,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"34136316580f70983f4a964e76e89c23163a720582db5797989a52af7ab6d527","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002819/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a55a88b198b1d902eaa2b12f526c4cfbbd5a7302f6a2f59b860854cd76b3ac21","width":1280},"intervention":{"audio_streams":0,"bytes":342886,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f6082d3ed3b92681407eb6f7381718855f2b4e3b9ffd3c4caa66b688f0273367","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002819/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a4c027d20bf8255c7a1d974727b0e846da79f702f1d714168d235fb2180d48cf","width":640}}}
{"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":26,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":26,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":26,"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":2820,"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":"96c9e2ffc82ff6b19e9031b43370d4f2f079f21725f1319d54e5ae379044ac75","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"58dd3567a0ad6a9b5fa913ea37bf495ea2c6786b15b380e7052a2e85e3b87c75","baseline_full_initial_state_sha256":"9f94ca95f1e9855ffa60316b7851f31a5b73889acc5e29b3a4c7c2e2a64b39ff","baseline_initial_state_sha256":"6109d22f9606daa3dbec238f7387bbd8746f0d70c7af7f9cee617dbe095b305e","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"8618e9adb1ed308b17888abc41c3db75379d01cdb126811ecb6bb247905de8bf","published_intervention_final_state_sha256":"0459283695aa3109d6895c0022951e81ac87eef2731e85daa48bd5b00f8941ba","source_intervention_final_state_sha256":"0459283695aa3109d6895c0022951e81ac87eef2731e85daa48bd5b00f8941ba","source_intervention_full_initial_state_sha256":"9f94ca95f1e9855ffa60316b7851f31a5b73889acc5e29b3a4c7c2e2a64b39ff","source_intervention_initial_state_sha256":"6109d22f9606daa3dbec238f7387bbd8746f0d70c7af7f9cee617dbe095b305e","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"9ff1943902581741c37b5b6aaf7d0df4c70915db6f79477a546ee75b7c343f40","batch_index":352,"batch_slot":4,"environment_seed":2820,"episode_id":2820,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"8618e9adb1ed308b17888abc41c3db75379d01cdb126811ecb6bb247905de8bf","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"9960b59dcc9880138a70d88718cc6629dd75661966fa9b843a9134650805d569","policy_batch_seed":927033147,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000352.npz","baseline_telemetry":"telemetry/batch_000352.npz","intervention_telemetry":"telemetry_adaptor/batch_000352.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":25,"first_possible_physical_divergence_frame":26,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":35,"last_modified_step":59,"modified_steps":[25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":326544,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d23a6a7b5c5793c1cfd98bb942225d8db73386e851edf5dc45a8d2ec1fb29627","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002820/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"48a9581ea1a0493bbc24a325347fadebfc3c8612f38bb3547f2c5f2c367979c7","width":640},"comparison":{"audio_streams":0,"bytes":694521,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"eaf90ac7ce94ba2e3ef7c37683abbf9f8c0b786d11360ee0ea43d796102c5487","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002820/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"525e0810314da513628e4fa48843b0d5a416ce3ad13a332c530a16ec41d177b1","width":1280},"intervention":{"audio_streams":0,"bytes":320109,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ea2952aa3301329851df19172b59e3842fdb3762b84cf66564565afe29cb4f72","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002820/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"559d29418013f7109fe993182714403363e4fc9a82ffbadbbd5068337825a516","width":640}}}
{"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":42,"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":"389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb"},"schema_version":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"723141551667ce81da2c1f7ce54fd3171691227f85c78bacb37a236c841c33c7","baseline_full_initial_state_sha256":"b1ecccda746679c9e733f661eff03972bcde05c622eb2eb7852afe58fd6eb320","baseline_initial_state_sha256":"d4b4651bf8c1566dd5d4306aad062804adb368609e9b46d9427250ea3228dfcd","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"3a9308a70b6285fa372b877f6519ff2ebec546da82a81ab25a83ff7075d3a9a4","published_intervention_final_state_sha256":"aaa6f470c3270a9cac1f58f7ac711170f49cab4ae1da4b2a1409bfc33750072c","source_intervention_final_state_sha256":"aaa6f470c3270a9cac1f58f7ac711170f49cab4ae1da4b2a1409bfc33750072c","source_intervention_full_initial_state_sha256":"b1ecccda746679c9e733f661eff03972bcde05c622eb2eb7852afe58fd6eb320","source_intervention_initial_state_sha256":"d4b4651bf8c1566dd5d4306aad062804adb368609e9b46d9427250ea3228dfcd","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"77a2962ac0327d6ccaefa0e6c76e6545854186ff605ae12d6e9341791872eb1e","batch_index":352,"batch_slot":6,"environment_seed":2822,"episode_id":2822,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"3a9308a70b6285fa372b877f6519ff2ebec546da82a81ab25a83ff7075d3a9a4","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"693dd397ab82ea3b197680fcd4fd6ae2dc3a7989f6d474a4e2f80c764ae32139","policy_batch_seed":927033147,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000352.npz","baseline_telemetry":"telemetry/batch_000352.npz","intervention_telemetry":"telemetry_adaptor/batch_000352.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":41,"first_possible_physical_divergence_frame":42,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":19,"last_modified_step":59,"modified_steps":[41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","descend","descend","descend","release","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":372764,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0970552ab07603d0052f377b2b5745ee60e50afe56fd91b59a346c8f3cf3c12b","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002822/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d778348b99b4c8656c9964c2b78e4e7052bf0e5354ab1d423f5a51852eb40e76","width":640},"comparison":{"audio_streams":0,"bytes":815335,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"b96f48317d48e3a96c7d79ce87986dc75b7c49e7a9d9e7fbed9773d07111f177","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002822/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d2928eedc742bb7d1fb462e5f9e4cd93c2558bde70a6ba74528bb821b65ec574","width":1280},"intervention":{"audio_streams":0,"bytes":400947,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"a464f3b2719bec9a42e01bed1517ebe5586f7b81ff63ec1422fd2ed286c1df91","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002822/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"14a9328bf2b1fa0b8623cb3d8ee2f1d76d90f69fd805ec51f69f797314dab1bb","width":640}}}
{"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":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_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":["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"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"31ee8306390ee38515553895fd10b61a0e6e7da5f3c9341037c88124c872d2a6","baseline_full_initial_state_sha256":"b011c251c2e92e8a0592388862119060b65af1608de6f87c9f8e9adc28d78b04","baseline_initial_state_sha256":"eb4a4566fd54615c42be64bbecc58de9df3ed8bba556c61632eea1f45ab78f1a","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"5224f5cde886465252324868dc9c731368b2fc9ca6f23538bc00ec475f449447","published_intervention_final_state_sha256":"485905f6172655019b2f623725f2c7b521fe3258085e281c0db8bd67d2cde152","source_intervention_final_state_sha256":"485905f6172655019b2f623725f2c7b521fe3258085e281c0db8bd67d2cde152","source_intervention_full_initial_state_sha256":"b011c251c2e92e8a0592388862119060b65af1608de6f87c9f8e9adc28d78b04","source_intervention_initial_state_sha256":"eb4a4566fd54615c42be64bbecc58de9df3ed8bba556c61632eea1f45ab78f1a","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"f54056d50c69c539d0f6f1479a0a9491124b20aa263c33322e4374d36dae069d","batch_index":352,"batch_slot":7,"environment_seed":2823,"episode_id":2823,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"5224f5cde886465252324868dc9c731368b2fc9ca6f23538bc00ec475f449447","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"7e67fd059251df2e70c8506d3082a3ba8d42b6c20bcb83e564bd590e780c79f3","policy_batch_seed":927033147,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000352.npz","baseline_telemetry":"telemetry/batch_000352.npz","intervention_telemetry":"telemetry_adaptor/batch_000352.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":29,"first_possible_physical_divergence_frame":30,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":31,"last_modified_step":59,"modified_steps":[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":316570,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"53a58584e134ca3b632d42b8a8ba9900b12b68112a9a02fb59cff5542ff2811a","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002823/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"cd7b37c917de8a4cdde8f99ae9ec35544e60ca1ce27c7be6f0fff68762f7a170","width":640},"comparison":{"audio_streams":0,"bytes":721715,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"38870af7dce0fae7f92119111cdff782445a50e539d8aa0bc75ce8dc9d040d42","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002823/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0d0126d260716fd914fd21945a62259914db3ccc4e4018eba3769d8120d14c22","width":1280},"intervention":{"audio_streams":0,"bytes":360718,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0693865660822a4fa7fb92a6f63b0486691d196fad34051f776493ceea045755","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002823/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"fd74fdba66a677cfc154117930a3f7df208c0ed6d497563d226de220fd014efa","width":640}}}
{"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":35,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":35,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":35,"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":2826,"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":"9b4bbbcd27fa1c52a431a24c53a3bef3792c6d911c3a4ef3dabe55f1e6b81782","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"d63a8b81c95673aca2397aacd4737073bb9979cb97bb13c207ccf7ce831939cc","baseline_full_initial_state_sha256":"f7409bceedb157f65ed8516075a932b644ffb3f98441509cad295318b4969bf6","baseline_initial_state_sha256":"e221169534bf0bad2e5a3c031fa71ac5d115183b8b6061c0d01fb93615ef18c0","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"4ecb14aca75b8fe2f7b893871059ed0954e167e402132dcd04d77332d319e8c1","published_intervention_final_state_sha256":"c9f3c7cd881d706a44350e94fd55f3ba8df22d2b87af42bbd0db28acb88116da","source_intervention_final_state_sha256":"c9f3c7cd881d706a44350e94fd55f3ba8df22d2b87af42bbd0db28acb88116da","source_intervention_full_initial_state_sha256":"f7409bceedb157f65ed8516075a932b644ffb3f98441509cad295318b4969bf6","source_intervention_initial_state_sha256":"e221169534bf0bad2e5a3c031fa71ac5d115183b8b6061c0d01fb93615ef18c0","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"4ea2d07b667925b3e4f5f870bd7b939c37a3db660856eefe7ab63b9a6136c9d8","batch_index":353,"batch_slot":2,"environment_seed":2826,"episode_id":2826,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"4ecb14aca75b8fe2f7b893871059ed0954e167e402132dcd04d77332d319e8c1","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"912e46c4584b7afcf273243d12a2e107df00016f64ebdb9820dc9eb0528542de","policy_batch_seed":776378075,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000353.npz","baseline_telemetry":"telemetry/batch_000353.npz","intervention_telemetry":"telemetry_adaptor/batch_000353.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":34,"first_possible_physical_divergence_frame":35,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":26,"last_modified_step":59,"modified_steps":[34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":352605,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9c914358b6bb85b0f5fd369ffa97011264c34f47ff708ed340431fb7b48096b5","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002826/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"763ddfcb33a167df0c1b69e6aae17d74a0e39f59496f8f8c0bd63acc24885a26","width":640},"comparison":{"audio_streams":0,"bytes":796043,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"edadb32697eaab18eab7ca108483b84a9ab16e1d1cf6357cdc77e94fae527011","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002826/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"66586b177bcb40d3824755b8503de241e10206a99c7f40cfb7aae6fda901b876","width":1280},"intervention":{"audio_streams":0,"bytes":396960,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4473420b901db84e550c4d916d3267cc9f559844f06d6cab6cc9db97054ab1c0","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002826/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f0b8c9e6f8ac6183d73e1660634c0e2ea90040abc72ffaac9d7a881936147c0c","width":640}}}
{"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":52,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":52,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":52,"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":2827,"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":"52793bef67ce39ad0a92a2be1579247bd6e698fdccf0f2136f03c307621eb29e","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"c64f2677e0f8163038e6cb110d976b1f70c622ed65f73f6cfe8c5bdfd0386132","baseline_full_initial_state_sha256":"0957167b6fb8093fbef01fc351c6e29e937225061d9b05e252859972450ee368","baseline_initial_state_sha256":"a480eeb5d8117414b71d7fd9c0caee8817512a9a8fb125050cb52023a2df3926","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"5272ffe570a599ee78799e0fc9a59f0bb75aa44250eb5bf0fdebc150f2687544","published_intervention_final_state_sha256":"0a3b506f5ec0cbdc7899b58273fe511eaaa2757a7f97f9927016795292e62360","source_intervention_final_state_sha256":"0a3b506f5ec0cbdc7899b58273fe511eaaa2757a7f97f9927016795292e62360","source_intervention_full_initial_state_sha256":"0957167b6fb8093fbef01fc351c6e29e937225061d9b05e252859972450ee368","source_intervention_initial_state_sha256":"a480eeb5d8117414b71d7fd9c0caee8817512a9a8fb125050cb52023a2df3926","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"a0c6f1147d703ad895a21cf09d2e9f7992010e1ed9db3896ce6937d4ab16fa93","batch_index":353,"batch_slot":3,"environment_seed":2827,"episode_id":2827,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"5272ffe570a599ee78799e0fc9a59f0bb75aa44250eb5bf0fdebc150f2687544","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"cc8f79abe56e326769a2cd8f576f9bd557789269d3c06a7205f7c057d4f73ff8","policy_batch_seed":776378075,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000353.npz","baseline_telemetry":"telemetry/batch_000353.npz","intervention_telemetry":"telemetry_adaptor/batch_000353.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":51,"first_possible_physical_divergence_frame":52,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":9,"last_modified_step":59,"modified_steps":[51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":360320,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"05e971a7324360f21e6fabe32c2da60523b4eadae03c960c58ac99bf6773915d","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002827/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"620dff560b3f909d5333b5129dcbadd8f12ce1ff7046c5082c73496f70ac745c","width":640},"comparison":{"audio_streams":0,"bytes":822212,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"048c4e61c339e336080cad2c489004cbaaeef39e8d701ea3713c34116616b198","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002827/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"366cba240f8366aca45e68444ec475c33b9d01d48a7765024be9146a8ec91cf9","width":1280},"intervention":{"audio_streams":0,"bytes":389718,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"c3ba7eaa136db95e69f753cda19200f1450c6d3e4582d238a787e6094fd057e4","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002827/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"7efc67c7da944e0a9469735b16a8177867412722b8adfc97e3b8ad1659039684","width":640}}}
{"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":2829,"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":"544090d75c709b0f7156b785d320d7f59d0a34e313600099900a74cc45bba9ff","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"23c37a61cb47d81ba8527a249284aea2483ba2a190cc6ab4444fccf0194449f0","baseline_full_initial_state_sha256":"80b3ccf277bd985c8a0bab87d83ee8a25e239ae772c9bb6478f8baab31ac8241","baseline_initial_state_sha256":"4edf77f1cadf3161214d7e992ea5c54c155313422abd4447b8db6aff82fcc75a","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"bb321b59a48b7d370aaff241b297ee6c01a1458a8e75cd443d15a9485d42ed8b","published_intervention_final_state_sha256":"198f32e3de8cc97d383d7d65baa831d98360385a78258df205a8f2e79d9405a5","source_intervention_final_state_sha256":"198f32e3de8cc97d383d7d65baa831d98360385a78258df205a8f2e79d9405a5","source_intervention_full_initial_state_sha256":"80b3ccf277bd985c8a0bab87d83ee8a25e239ae772c9bb6478f8baab31ac8241","source_intervention_initial_state_sha256":"4edf77f1cadf3161214d7e992ea5c54c155313422abd4447b8db6aff82fcc75a","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"3d6b86866ced8a6e194b90aaf092d349417d4b366990e851363da105b6d4a8a8","batch_index":353,"batch_slot":5,"environment_seed":2829,"episode_id":2829,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"bb321b59a48b7d370aaff241b297ee6c01a1458a8e75cd443d15a9485d42ed8b","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"d7c79d215c9caba1ebecdb98197fb2de30f14ef25dd6739c928657820077a235","policy_batch_seed":776378075,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000353.npz","baseline_telemetry":"telemetry/batch_000353.npz","intervention_telemetry":"telemetry_adaptor/batch_000353.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":28,"first_possible_physical_divergence_frame":29,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":32,"last_modified_step":59,"modified_steps":[28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":401236,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"5a210ff39afee920e921a5ad8ac35e465c8b6afece97c19d9103b35f455dd333","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002829/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e0fc17303794ddf519493929dbe1bbe780e2efa03bf94b1a3d32ee3ad4874139","width":640},"comparison":{"audio_streams":0,"bytes":829179,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ee30b0d81d20f40d7de411b0a96d60876ce8751942ad1a3c7e70b95aeb8e3a17","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002829/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"858a1f18d4cb0719e691363d38b10b4168eba485f986bdd613910029c3abb805","width":1280},"intervention":{"audio_streams":0,"bytes":366677,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ccd962feaacdfc7a689547df34a2df1b25c654a322c92586b41c1ad69aa60cd2","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002829/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ad034bc564618ce2e71be7d4947ff1809923bb5317818839ae2ceae4c0cd2797","width":640}}}
{"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":37,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":37,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":37,"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":2830,"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":"8473b58c36178da45e081e732e120850d32257e923e8c7f8c403b0512be5c294","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"59aacc4ad88f348316430f9c30a8204127a964f9988c54235e6ee5bf687c2189","baseline_full_initial_state_sha256":"e877f4e20814edd87d646940b4ae2c8f9525e69491a69a7c795101c7a1d11b69","baseline_initial_state_sha256":"45bccfdbbe46cff8586f58a75490e29873586f18bc1e94411fc20bc66b41fcdb","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"6c07eca43f7734c769056f5062d06853ca04c4d66aa12ea53854d9c44fd815e7","published_intervention_final_state_sha256":"e5a9272fd49c4f4e64c0997e4fdfab1f416c0a7f4cb017b10df810861c73c1e6","source_intervention_final_state_sha256":"e5a9272fd49c4f4e64c0997e4fdfab1f416c0a7f4cb017b10df810861c73c1e6","source_intervention_full_initial_state_sha256":"e877f4e20814edd87d646940b4ae2c8f9525e69491a69a7c795101c7a1d11b69","source_intervention_initial_state_sha256":"45bccfdbbe46cff8586f58a75490e29873586f18bc1e94411fc20bc66b41fcdb","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"ec770450c7f183a8fd4b1be29ed2ec60daf67fa53aba1db09e9de48e632d841f","batch_index":353,"batch_slot":6,"environment_seed":2830,"episode_id":2830,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"6c07eca43f7734c769056f5062d06853ca04c4d66aa12ea53854d9c44fd815e7","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"2c2301e5ee8b7060e2ba816f1b7a249f5408f49f4bacf678c480e66250288286","policy_batch_seed":776378075,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000353.npz","baseline_telemetry":"telemetry/batch_000353.npz","intervention_telemetry":"telemetry_adaptor/batch_000353.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":36,"first_possible_physical_divergence_frame":37,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":24,"last_modified_step":59,"modified_steps":[36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":365051,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"dda893c4f105a56a468c73fce612bcce477fae2855151301b7cf5d5f173cbb0c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002830/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3f5213cc5197253cd4164432ada1f8af7ce7e21d224929af21812d7972f174a5","width":640},"comparison":{"audio_streams":0,"bytes":803886,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"68788a111f8cda871056226b6f4f1bf73b6619afd613622a13c3bffb2d8bd2ac","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002830/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"4f6ce2f8b41f40d4ae4b62b420dfd9b9735bbe6c766afc99ba876fe073aacafb","width":1280},"intervention":{"audio_streams":0,"bytes":380759,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"b04ecee39d5d81995cd9d5a4393d6b65382830c27fa0ea960fbc5ea19b49ee78","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002830/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"09e65c3edc5ea0946144086fd3c9255b6a539c81a8f18a64aeea220e4e108a9d","width":640}}}
{"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":40,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":40,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":40,"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":2831,"instruction":"put the spoon on the towel","outcomes":{"published_effect":"regression","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":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":"regression","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":"db0840800a051f0638e28b2b328c81e35aed1939ff965ca26444173732e38438","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"4407b7ef335422a4ed2ca67433aa479fce1afb15c3f0709f830b8e3ccd88e8c2","baseline_full_initial_state_sha256":"94db7484cb99879fcb11bc925140441e03237b0171d182f03a7e5f3c7a2b9d80","baseline_initial_state_sha256":"25d6b61271fc941bf083e9db7d0b672bf3b30bde367be28c724b8ffd85996877","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"07d3cc9ed4c29c60c4ced5f91c27feeb693c967df86849b76db8c2c4a0fb1e29","published_intervention_final_state_sha256":"102def7fd91d5cc14d3606abfc4cd1f707cf7a10e14e45d456c47af8580b5428","source_intervention_final_state_sha256":"102def7fd91d5cc14d3606abfc4cd1f707cf7a10e14e45d456c47af8580b5428","source_intervention_full_initial_state_sha256":"94db7484cb99879fcb11bc925140441e03237b0171d182f03a7e5f3c7a2b9d80","source_intervention_initial_state_sha256":"25d6b61271fc941bf083e9db7d0b672bf3b30bde367be28c724b8ffd85996877","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"06b2df08296a9b154777411c7ad3dfa681e77fcdb088f045e9e42999f6294911","batch_index":353,"batch_slot":7,"environment_seed":2831,"episode_id":2831,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"07d3cc9ed4c29c60c4ced5f91c27feeb693c967df86849b76db8c2c4a0fb1e29","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"0f11fa275d719cf36bf6ac24045339e14d2fd8e19266a70cada690ed68ea6953","policy_batch_seed":776378075,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000353.npz","baseline_telemetry":"telemetry/batch_000353.npz","intervention_telemetry":"telemetry_adaptor/batch_000353.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":39,"first_possible_physical_divergence_frame":40,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":21,"last_modified_step":59,"modified_steps":[39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":407256,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"70c84d47e4c80e12403e71696bf49c5c44fbbb277d915a714e62e5d0032d5a9e","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002831/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b53a905eee54ddfb10cc6a5998e04ef2050621ed0e5495881581afe0529be2e4","width":640},"comparison":{"audio_streams":0,"bytes":878527,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"bc5bfc98dd6159e094cffa4b73d7740e0a4e4aba662ce03e8bf70d4024729158","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002831/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"370d415e2ae4d6da827fb46ef2572569cc48772cb29dc967a35861f045d17f3d","width":1280},"intervention":{"audio_streams":0,"bytes":414130,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"c79565443e5b615f1eb6d9db37173669ef47c0a468e0b1e0e26c49666071f991","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002831/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5a29fdfd6591c4e991ca35788e97cf8ed00dc9545ea575e51d3127b4ff959233","width":640}}}
{"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,"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"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"eeb5cc0ad09da9217111464615774feb976240798f8eb027f9f10253cbe8288b","baseline_full_initial_state_sha256":"803c21a842315be5554d01ed776c2f7ffe4953230faad5a8bbfeecd0fc342c48","baseline_initial_state_sha256":"767a32ee0958daac8bf7a46c820933e6739c1c65d43b77cb0780c345887382e0","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"dc98a9a8bd66f4948e146219df4f82731b2c33db9fce91d55733c4e3da319d1b","published_intervention_final_state_sha256":"ddd63107c7dbde5788d34def67ee3b9d877632b6275665b3c97cc0a2058779f7","source_intervention_final_state_sha256":"ddd63107c7dbde5788d34def67ee3b9d877632b6275665b3c97cc0a2058779f7","source_intervention_full_initial_state_sha256":"803c21a842315be5554d01ed776c2f7ffe4953230faad5a8bbfeecd0fc342c48","source_intervention_initial_state_sha256":"767a32ee0958daac8bf7a46c820933e6739c1c65d43b77cb0780c345887382e0","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"725f8e5ef23d794f9abf19a34a0e3d65c4c108ce82ea491e3818a36ecf762744","batch_index":354,"batch_slot":0,"environment_seed":2832,"episode_id":2832,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"dc98a9a8bd66f4948e146219df4f82731b2c33db9fce91d55733c4e3da319d1b","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"e979bbca11f84204f456663915e97c97441898490ea26432918a97e6e9d0e2f2","policy_batch_seed":1366722310,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000354.npz","baseline_telemetry":"telemetry/batch_000354.npz","intervention_telemetry":"telemetry_adaptor/batch_000354.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":28,"first_possible_physical_divergence_frame":29,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":32,"last_modified_step":59,"modified_steps":[28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":271451,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ee29fa844a21301f3a6e6943b9d1e6f87afaca7f2a4832251c2355b91f53ce9d","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"967e8f3bb793129dac92cbe3c52f6e153e0f664ed5f0b9c911073ce7621bdcf1","width":640},"comparison":{"audio_streams":0,"bytes":593289,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f361868de95cb9c1da7e16aed17d3e761250c90ea1673191abddc85ef456eaeb","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"12b16c3bf3594eff270c12bd14b6dc18c0020ba6c76a8976e4f4fad37cf5e66e","width":1280},"intervention":{"audio_streams":0,"bytes":275752,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"e0e54b3d5d1b8092ff6e22548eb71d0288afe77c83195eef02f42f131bb00b17","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"8aa394cd306408eefeae064986267c3819d161fdcb452eaa1c52c15bccbe74df","width":640}}}
{"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":49,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":49,"natural_rgb_prefix_exact":true,"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_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,"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"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"8c2f327506ba60cda8c8414ae0191e1ebbe1421e160173aa2299fa16f41b1490","baseline_full_initial_state_sha256":"1174c6e8e2e261f34a99f4b39bbf4751009f3dea289b559900e07ac9f98c9078","baseline_initial_state_sha256":"0f27f2186aab31f6e99d51e148c73f8befd85c83ca2fbeddd3c7ab43af9ddc89","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"dfa12ca6dfb9d8189165dab06b4cf5b2de1cc256625e5e0c25d6bc9cd47a651c","published_intervention_final_state_sha256":"02f0d643b79f3ead1ba64857bd9dc7fd7795e50e6e4d0bfe79ee2e5fb2f2b155","source_intervention_final_state_sha256":"02f0d643b79f3ead1ba64857bd9dc7fd7795e50e6e4d0bfe79ee2e5fb2f2b155","source_intervention_full_initial_state_sha256":"1174c6e8e2e261f34a99f4b39bbf4751009f3dea289b559900e07ac9f98c9078","source_intervention_initial_state_sha256":"0f27f2186aab31f6e99d51e148c73f8befd85c83ca2fbeddd3c7ab43af9ddc89","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"86dd6a0858808866ab90161ad96119a1f883c826784b5e130873d4d46a7fd924","batch_index":354,"batch_slot":1,"environment_seed":2833,"episode_id":2833,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"dfa12ca6dfb9d8189165dab06b4cf5b2de1cc256625e5e0c25d6bc9cd47a651c","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"b52c203f5caa2c4eb3af682ea06feb6aa49ab914f609952f28613579e0aa46a5","policy_batch_seed":1366722310,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000354.npz","baseline_telemetry":"telemetry/batch_000354.npz","intervention_telemetry":"telemetry_adaptor/batch_000354.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":48,"first_possible_physical_divergence_frame":49,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":12,"last_modified_step":59,"modified_steps":[48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":294121,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d41574199af0d1478228027d0387efadb652ed1ad92e30b56ba3237b8214fb14","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002833/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"bb6a589a9910d60a9fcc4321b692767468338a9b3c6737fa89cc3fed94aa7ddc","width":640},"comparison":{"audio_streams":0,"bytes":654576,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"a15b8725b482a38328f10d2972544c14628621d8d4feab0d8df9c7154f142526","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002833/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"31e5edd5c43f5a85c4155db7046a7202f742b8d6c95e75ff9e1bc9332e3e046a","width":1280},"intervention":{"audio_streams":0,"bytes":326775,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"5f6f73e1da7a7ebc4fc64f156effe369d272163deef1206ff3b3193912f129ca","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002833/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"dd857e06e2b2a6619fa94b18bbcd072b73a7e5d32ad022e1f9e18fc2f34a5479","width":640}}}
{"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":35,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":35,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":35,"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":2834,"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":"d24706ad96f45059f6b2eb4ac954720929a6b5a5ff1df1d86c9f4a2a29885898","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"06fffb0d94e01ec6f6950c74b0f8796333fd5a93b33346774ca626dc28c19847","baseline_full_initial_state_sha256":"1fc634a4c24ccf5dff53e05dcc0ca711c43c46b235cf6e2c51fe2f9bb313f5e5","baseline_initial_state_sha256":"fadb55ec82ca71cfb9372b24e5f716e00a3fe1dfc0598058e0bbff4d02f45abc","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"ea37d357babfb8c6c30a37594e297a507873bab53e998792f8758d3752ac6045","published_intervention_final_state_sha256":"a526af5d61470df3cbb720c805f15adaebb2eecbc52b5b2afe1556d78b3f3e21","source_intervention_final_state_sha256":"a526af5d61470df3cbb720c805f15adaebb2eecbc52b5b2afe1556d78b3f3e21","source_intervention_full_initial_state_sha256":"1fc634a4c24ccf5dff53e05dcc0ca711c43c46b235cf6e2c51fe2f9bb313f5e5","source_intervention_initial_state_sha256":"fadb55ec82ca71cfb9372b24e5f716e00a3fe1dfc0598058e0bbff4d02f45abc","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"10e8ef55d52a166f4ede95dd6ceea8acca2d005962bdc7293e085252321f1989","batch_index":354,"batch_slot":2,"environment_seed":2834,"episode_id":2834,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"ea37d357babfb8c6c30a37594e297a507873bab53e998792f8758d3752ac6045","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"d3666ff76fc92056447447a0c51a5b053025e60d024d7862cb562b7786ee5bae","policy_batch_seed":1366722310,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000354.npz","baseline_telemetry":"telemetry/batch_000354.npz","intervention_telemetry":"telemetry_adaptor/batch_000354.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":34,"first_possible_physical_divergence_frame":35,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":26,"last_modified_step":59,"modified_steps":[34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":287857,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4355e59251b81ba86d8e4b0f86316d0e18e32254d9624a99e5f5c66de2ad57e5","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002834/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"43925d34befe42700482eb12ea0ea2c359df29f278e6082333391880ea9995b3","width":640},"comparison":{"audio_streams":0,"bytes":612435,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"973bdba516531e44680c5d7fb0f8ee11ada5f113cceafbe149c540aaeb46f16c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002834/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"1583e01e5d2f835e97fcd858a2b18a45bcb6b03cb25e7b7f92d4615e603acd65","width":1280},"intervention":{"audio_streams":0,"bytes":301215,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"aecc87d4bb9bd0c9bdee71ca19ea9b036032c01c790ec451d7122a8960b2520d","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002834/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b8a67d2c8d2c0e4df05908ecda6b6d257836ab1ed2ee3dc84f73065fd0b0a0a5","width":640}}}
{"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":50,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":50,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":50,"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":2835,"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":"55d7fdf54ded5f927d068f6ccc5c99810b2bc87f959a67b169ffa0f94aa879fb","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"1fa004c290ad211ebfc516c4ae1a4baa33acf65fe16a2c8d664898d2b9cea264","baseline_full_initial_state_sha256":"77d23c798b02a639447912e068a4bb4acda78014ba3533cbdd0c6776ce898ccb","baseline_initial_state_sha256":"466a6ca30afb377bd7e13ea925c57dd1f5befb0302f40cdfab5e9bf565303e94","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"b5fb23905edfc723b8f9936f7473ca5360b0724be21350c6c800d9464654a2e4","published_intervention_final_state_sha256":"661a7765899c7387a3a7716354d9cb8fa7d81a3759a31cc4be59795b4d298f56","source_intervention_final_state_sha256":"661a7765899c7387a3a7716354d9cb8fa7d81a3759a31cc4be59795b4d298f56","source_intervention_full_initial_state_sha256":"77d23c798b02a639447912e068a4bb4acda78014ba3533cbdd0c6776ce898ccb","source_intervention_initial_state_sha256":"466a6ca30afb377bd7e13ea925c57dd1f5befb0302f40cdfab5e9bf565303e94","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"b363f021ddf9332f58b3e70e45bcedd7c37bf5564630bae9d8ff4814e85c3ed4","batch_index":354,"batch_slot":3,"environment_seed":2835,"episode_id":2835,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"b5fb23905edfc723b8f9936f7473ca5360b0724be21350c6c800d9464654a2e4","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"ff3dc710e54692da0e00d6b8524c4b84849ba9f95efb84b65a3d7b2a72afce11","policy_batch_seed":1366722310,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000354.npz","baseline_telemetry":"telemetry/batch_000354.npz","intervention_telemetry":"telemetry_adaptor/batch_000354.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":49,"first_possible_physical_divergence_frame":50,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":11,"last_modified_step":59,"modified_steps":[49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","servo","servo","servo","servo","servo","servo","descend","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":309340,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"a57da718199020b5047ce8ab957587075c5fcfe4e39ffbb8d2dc83df477ec677","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002835/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0759ecfff5bab51e6e2ee847f1916c341f1f6787270b9a71d64ffc8a5346a931","width":640},"comparison":{"audio_streams":0,"bytes":712891,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"de586624949e188e7f86fae4884464fdd4ab7ae7b9381fa3afb40d1d2f36a3c0","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002835/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a787043d3dc4f846b84eacaa04a0d285b9d8d3a5df56c192b1ac060f598fb0ee","width":1280},"intervention":{"audio_streams":0,"bytes":326427,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0593544c3bea120d8bbb233590b374e2322c7bee5779837c8ff7886644fcd4ec","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002835/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"8c78cbbb175bcdf907e641777605631505200988844bcd920eeae041c7707594","width":640}}}
{"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":2836,"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":"09afb6062272127fe3c8501bf0f3d12e3f2f6e97c88895e48eab9002d7571eea","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"415954121e86606eafd58c05abbb82938cfd73743e29764c36a2d1b8c6d07c78","baseline_full_initial_state_sha256":"cec93f6bb175b5609d3023e50637d162ef4dd8bfc9c4608ad93265eb269624ba","baseline_initial_state_sha256":"b4c728c467f189dbd3a2b675a1757e8a6a2f0513c53bea4980bf3896c924d093","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"0cb9d6dbfb278f046e2cd76903bd7786f63d626b20fd6f7488238f0c8bca9ed4","published_intervention_final_state_sha256":"61714534e1a1effaa3de89fe66de27919df766bd7019e8a41e89bcdcc604397a","source_intervention_final_state_sha256":"61714534e1a1effaa3de89fe66de27919df766bd7019e8a41e89bcdcc604397a","source_intervention_full_initial_state_sha256":"cec93f6bb175b5609d3023e50637d162ef4dd8bfc9c4608ad93265eb269624ba","source_intervention_initial_state_sha256":"b4c728c467f189dbd3a2b675a1757e8a6a2f0513c53bea4980bf3896c924d093","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"95945ad5fb44f24ed95b337a4d2788e9c7786b55f5c66fa2c84203f5343b9b75","batch_index":354,"batch_slot":4,"environment_seed":2836,"episode_id":2836,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"0cb9d6dbfb278f046e2cd76903bd7786f63d626b20fd6f7488238f0c8bca9ed4","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"661d1f7c83cae6ebdd0250bfc2e61dadad3c4a94e9916cca7221ace9fb0ba350","policy_batch_seed":1366722310,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000354.npz","baseline_telemetry":"telemetry/batch_000354.npz","intervention_telemetry":"telemetry_adaptor/batch_000354.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":28,"first_possible_physical_divergence_frame":29,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":32,"last_modified_step":59,"modified_steps":[28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":353523,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"34008f5f9ce13fcb8a1c225f741ade9313ed3d631346902d57f73f65a6688fd2","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002836/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0bce42246507d46ab72ebfc93d45c05141f6735d59204979cf557cfbe4ae7455","width":640},"comparison":{"audio_streams":0,"bytes":707511,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d1555c3ce53b0fea11e2b2d84730374521f75f351f5b8d0dd1dc258cbfbf7f2a","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002836/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"eef4b7687b883f79ce227ad911aa5105cd1acbc86bd31bef102d493e00bbfcba","width":1280},"intervention":{"audio_streams":0,"bytes":299852,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"c4f7a541ea2da0493bfac3d163d3efc69f3ac401a5c4e0738fea57570ab77be4","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002836/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"579674db47bdb5086db765b117e347296604d5ddeaa09ab208155b997758ff11","width":640}}}
{"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":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":"spoon_cloth","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2837,"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":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":"aa34913a97ac3091b86d818de76a108b5614bc79f4f3fb2f01c2b9b6f960e173","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"45fd6084ac972d4b730498f11efbc7d01b11010b39520abf66f4a1ae64dbbed6","baseline_full_initial_state_sha256":"d15e15fb5da03e7239ecad027cb0736205cfef35b7fb5d54fed14462cde1e068","baseline_initial_state_sha256":"0e4da5fe90977528d1c343dcfa28567e92227c7a74e1c89443f0d30ada03b102","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"6c2d3952caaf155f12d55f4033e7530d7a613db0e46090f0c001c8b90496b1dd","published_intervention_final_state_sha256":"723d90dcb74838447efce5a3ac4b64c352342d88c1289ce7793134f70bea9839","source_intervention_final_state_sha256":"723d90dcb74838447efce5a3ac4b64c352342d88c1289ce7793134f70bea9839","source_intervention_full_initial_state_sha256":"d15e15fb5da03e7239ecad027cb0736205cfef35b7fb5d54fed14462cde1e068","source_intervention_initial_state_sha256":"0e4da5fe90977528d1c343dcfa28567e92227c7a74e1c89443f0d30ada03b102","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"b3600d2cbac2ca856aaa4a348bd0dfe878462bb94b1886c4c41b026339ebe778","batch_index":354,"batch_slot":5,"environment_seed":2837,"episode_id":2837,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"6c2d3952caaf155f12d55f4033e7530d7a613db0e46090f0c001c8b90496b1dd","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"402229a1218df38ff4c8f09640264880a1a19b01d38226d9df7165c548d1df57","policy_batch_seed":1366722310,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000354.npz","baseline_telemetry":"telemetry/batch_000354.npz","intervention_telemetry":"telemetry_adaptor/batch_000354.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":40,"first_possible_physical_divergence_frame":41,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":20,"last_modified_step":59,"modified_steps":[40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":317500,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8ad0ea49a17a13c1d0fb0639adb52b76307fa69d5ec6e9ec253ba5b494f30860","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002837/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b3ac43bf0392aba289fd7dece6c90444323d9906b70afdc4aca725b46546f701","width":640},"comparison":{"audio_streams":0,"bytes":719414,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"eb3111c064112d927f2fce8d85cec342c217a79eda0c36f3d46d81d71b9b3878","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002837/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"47c4a0756eb5935e5eee443d2c9017a6e0251e865f7fdd7871c30c827925a945","width":1280},"intervention":{"audio_streams":0,"bytes":335429,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0e29545e2936f5c6ad45997e273875944ec3c7ef69461d8b7bc1a35c5c32b787","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002837/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"29d5cb9a7f953ec51223533013d463767d7e69bf8e98ed4ffa5ecb38bfaecf0e","width":640}}}
{"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":33,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":33,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":33,"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":2838,"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":"120ae55a5eddd93986a9c98cb7e8446ae21952ccad53443c4c70cf7ad3f2ab0d","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"b0f4070d5a162a91d1ac139cbf0c05cbae2ec73d30d6cc70d561127a391bd3fa","baseline_full_initial_state_sha256":"03d397e7029c50fe59281f5b94ec5a6e21d978a83265f83217e97f20e122e993","baseline_initial_state_sha256":"068f4d552be24bcb2abcb60e7828540130b7c4a3f0475ca59a0dee01d8d07462","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"6649e278ad0bfaf1d44ff027ee1fa08d5a9e41702056e7d47f773e171607ae17","published_intervention_final_state_sha256":"f90eb6e4e682ad0eb59d6b0e94919b75d94c8183beeab3b9cccc1d5a18c280e7","source_intervention_final_state_sha256":"f90eb6e4e682ad0eb59d6b0e94919b75d94c8183beeab3b9cccc1d5a18c280e7","source_intervention_full_initial_state_sha256":"03d397e7029c50fe59281f5b94ec5a6e21d978a83265f83217e97f20e122e993","source_intervention_initial_state_sha256":"068f4d552be24bcb2abcb60e7828540130b7c4a3f0475ca59a0dee01d8d07462","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"68bcae13bf8c6d369d3477523b792134e49b25c08b6d76b1b50cded68e76fb23","batch_index":354,"batch_slot":6,"environment_seed":2838,"episode_id":2838,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"6649e278ad0bfaf1d44ff027ee1fa08d5a9e41702056e7d47f773e171607ae17","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"704551a0089237e72d842a1c1c0324e3b0f7c85312dfb48e72ef1ede0466abd8","policy_batch_seed":1366722310,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000354.npz","baseline_telemetry":"telemetry/batch_000354.npz","intervention_telemetry":"telemetry_adaptor/batch_000354.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":32,"first_possible_physical_divergence_frame":33,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":28,"last_modified_step":59,"modified_steps":[32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":287372,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"982b65df624188c6cd4951f5a9be69a44fb79ab7478edb754750d9be1fbb7295","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002838/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"390dbadf0133f2192f2e0ccc2e5cff861d7004f3ed03d1c4df56067691a25c97","width":640},"comparison":{"audio_streams":0,"bytes":638871,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"5797ebbb55b561e54cd0a7d1434b9bef4e1f0ce00b7707a450066d3f18961caa","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002838/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"dcf0a7fe13e1fe70adfe4ab1620e00986d3ac122a737c2d5c4e2e8047cbe23dc","width":1280},"intervention":{"audio_streams":0,"bytes":316371,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"326cd173152294b4aeddb65a9afb36430618b7a04a61cd706d41b34c41c1ec87","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002838/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"c5e9d3554cb33b9fd0a245e09d9ec45cdead55d611aa69909e088f0c2fb8e473","width":640}}}
{"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":47,"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":"389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb"},"schema_version":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"7704dcd4457971c42975bac0a7e204c274dde1602bf825b9ba5782300cfcb46b","baseline_full_initial_state_sha256":"a41d1bdca010a43b3a1ba4382cbe37063044939e921a952248a11ff22330b09d","baseline_initial_state_sha256":"0075b613705e92669ecdac16bb81914eb215ce64c8179e6adc48604145394dfb","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"d690cbda5110c2c6c284700930b311cb8b8c7aa0cb7e5fc84f392b1df089f0cb","published_intervention_final_state_sha256":"8ba9bf45c24b88cae063549333bbfe04e2592f930489c5589ca95d58ea2d972a","source_intervention_final_state_sha256":"8ba9bf45c24b88cae063549333bbfe04e2592f930489c5589ca95d58ea2d972a","source_intervention_full_initial_state_sha256":"a41d1bdca010a43b3a1ba4382cbe37063044939e921a952248a11ff22330b09d","source_intervention_initial_state_sha256":"0075b613705e92669ecdac16bb81914eb215ce64c8179e6adc48604145394dfb","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"c3b8cb4fee3a1d73bd474e351a74fab8dcb72601fd8ae3c7c4f5e91aab9d6c9d","batch_index":354,"batch_slot":7,"environment_seed":2839,"episode_id":2839,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"d690cbda5110c2c6c284700930b311cb8b8c7aa0cb7e5fc84f392b1df089f0cb","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"9888886a60e3886fcfabddffc08de25cc4122ebd0c5608cb488c3b576697cf3d","policy_batch_seed":1366722310,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000354.npz","baseline_telemetry":"telemetry/batch_000354.npz","intervention_telemetry":"telemetry_adaptor/batch_000354.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":46,"first_possible_physical_divergence_frame":47,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":14,"last_modified_step":59,"modified_steps":[46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":310594,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9b9f79025aa0521bf707f8952f6ea196aa6e0be609aecd4fd19081147f445edc","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002839/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"98c0d190a63ea00b716d600eb1303686249d0336172607402456c8c5770dba96","width":640},"comparison":{"audio_streams":0,"bytes":708928,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"30da4b8e07c7c23e37175e1095e94df0d114abd91f346c61295ef6ec6b454e6d","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002839/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"96aec8c2f5994868e62f252e70790ce2b33fc09fe0f4b0ce147f3bb15becc062","width":1280},"intervention":{"audio_streams":0,"bytes":320884,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0a1975526b07cccd097370404fd36e5f17be27cba2b5c20d1d11b12cc1604f92","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002839/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"c8b0915939e5e949d79a73fed897a96227f8b455865bdfa42b9d7d248d89d50f","width":640}}}
{"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":36,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":36,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":36,"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":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":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"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"497473c3c18f2a0b779ff54dd11d22aa62abf8fcd36537512d741e263389f046","baseline_full_initial_state_sha256":"c4b1c9b09474d649d54ccbfb543038ddc53a1d99aefd03e5d92e1659a447fb33","baseline_initial_state_sha256":"71a509eb1425c4f9c6a5a48dee79d08871f6eae3293637526e4afe7710b05874","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"9c420dfff8f8c669381d0d746595e71252cca6836d2db11438ffae037a31d381","published_intervention_final_state_sha256":"eb3899e4398a59372223c7874e88bdbc9b28827131b88190b1a1b76bc9b67d41","source_intervention_final_state_sha256":"eb3899e4398a59372223c7874e88bdbc9b28827131b88190b1a1b76bc9b67d41","source_intervention_full_initial_state_sha256":"c4b1c9b09474d649d54ccbfb543038ddc53a1d99aefd03e5d92e1659a447fb33","source_intervention_initial_state_sha256":"71a509eb1425c4f9c6a5a48dee79d08871f6eae3293637526e4afe7710b05874","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"3a579a658783a5352c5c15ecbe5f8b5a92bca35f60f6e33526447329528ffef2","batch_index":355,"batch_slot":1,"environment_seed":2841,"episode_id":2841,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"9c420dfff8f8c669381d0d746595e71252cca6836d2db11438ffae037a31d381","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"2cf1b7145a17195f13f87d28bf27838a960b462ef24106a1a4dffb6cc178fc0c","policy_batch_seed":131324476,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000355.npz","baseline_telemetry":"telemetry/batch_000355.npz","intervention_telemetry":"telemetry_adaptor/batch_000355.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":35,"first_possible_physical_divergence_frame":36,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":25,"last_modified_step":59,"modified_steps":[35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","descend","descend","descend","release","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":382415,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7123f70c08dd43ad4b3ef49b2aad7343abf5ce893b87058e9ccb23a58b2e3f7b","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002841/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f9186da611a48fac1ef218633b4a2004db811e67e51e1afc62d3599819c41a57","width":640},"comparison":{"audio_streams":0,"bytes":799576,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"48e792ed73b17c1eccdc31d4bfe81f377591469d15efdbe300abbc7a55dc8626","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002841/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"717c7bbded154437a59ef4a0a6e65fd53a2066894b7ca0c2c957e176d69b06e8","width":1280},"intervention":{"audio_streams":0,"bytes":401249,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"02aeae65c3977b1915f756dce45940e820feb1432d308f8446f61bae4dff8c7b","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002841/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"cff7487dbb183c2cfcda69f5bbfaf4496ad15d61d4f1fab7236176da55987b65","width":640}}}
{"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":32,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":32,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":32,"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":2843,"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":"62176d315f97c52d1a6275817a2824de6d6bde04f3eabfaa3885d2776001a8a9","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"7e1210cfeb5937753d4c142261fc9b91278b4e1ebaf7ade409e935932d371baf","baseline_full_initial_state_sha256":"e40f5bafa2250aaf566be10c844b1808c76666a717141646867507b1b1f1843e","baseline_initial_state_sha256":"3e132508c80664f169f5c123f599d790a78acb525fca6d38b12a8aebf5d0f6f7","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"0ef8ccae4cad328708fe1d6b30564fb239ccac870adc17173df932b0a91e0829","published_intervention_final_state_sha256":"4a3cc5fea148e1469749b55f55e5b752729cae18afd9e47deba6950cc2bd6196","source_intervention_final_state_sha256":"4a3cc5fea148e1469749b55f55e5b752729cae18afd9e47deba6950cc2bd6196","source_intervention_full_initial_state_sha256":"e40f5bafa2250aaf566be10c844b1808c76666a717141646867507b1b1f1843e","source_intervention_initial_state_sha256":"3e132508c80664f169f5c123f599d790a78acb525fca6d38b12a8aebf5d0f6f7","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"d414716d282c42eb2c700039fa203ed94c0273d83b9162218a49b8b0bc2fc790","batch_index":355,"batch_slot":3,"environment_seed":2843,"episode_id":2843,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"0ef8ccae4cad328708fe1d6b30564fb239ccac870adc17173df932b0a91e0829","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"4ee35870382fd390b2d4990921554707c143b921654f51f6dd291a7bbb833daf","policy_batch_seed":131324476,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000355.npz","baseline_telemetry":"telemetry/batch_000355.npz","intervention_telemetry":"telemetry_adaptor/batch_000355.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":31,"first_possible_physical_divergence_frame":32,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":22,"last_modified_step":59,"modified_steps":[31,32,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","done","done","done","done","done","done","done","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":342696,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8ae0b6e1f54190071444ab4a79d84f3a5aece9d36f9fc809be3708d9dccf629f","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002843/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"8c7cc6ce0c992d1073d63c969ec8587410c2b802954b6bc032e6001401e895f2","width":640},"comparison":{"audio_streams":0,"bytes":741293,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"01580e26fc1238ad5a1c577109b96f04d6dc8e572675b2559b49b2fd259eee11","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002843/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"2ed63a1f3eef2f049fdf87718e6e2a94bc8f39636a05815fba0ffa64cce98ada","width":1280},"intervention":{"audio_streams":0,"bytes":358416,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8627c321e6a430d6448cb7857685967608ea55207a7fa9a8113b85728cd028c4","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002843/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"953d87103a38836fe460d51f3376c92994c2b831b1c35ff5667b1b994b1667ad","width":640}}}
{"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":40,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":40,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":40,"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":2844,"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":"0041e173cf991645fddbb9fefafb164d20b29ec0fc002dfaee4e959fa89c39e4","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"e6a6e48f5286da5c517a59099bf58ef4165d5925def3ddec150fdeb7c23d6aea","baseline_full_initial_state_sha256":"9f94ca95f1e9855ffa60316b7851f31a5b73889acc5e29b3a4c7c2e2a64b39ff","baseline_initial_state_sha256":"6109d22f9606daa3dbec238f7387bbd8746f0d70c7af7f9cee617dbe095b305e","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"af95c573e107767d5aa652ef2324d8c3e56b487acd825d7402a9012abc49a935","published_intervention_final_state_sha256":"f0cf59fcebfd19b50873346ad5ffd43c081dc2e68ff698fbbd9f8c2c4b3ca179","source_intervention_final_state_sha256":"f0cf59fcebfd19b50873346ad5ffd43c081dc2e68ff698fbbd9f8c2c4b3ca179","source_intervention_full_initial_state_sha256":"9f94ca95f1e9855ffa60316b7851f31a5b73889acc5e29b3a4c7c2e2a64b39ff","source_intervention_initial_state_sha256":"6109d22f9606daa3dbec238f7387bbd8746f0d70c7af7f9cee617dbe095b305e","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"c5c0377739d357d984c27f1c1f389affb5b0ce32729026b0d1768a00b09c550f","batch_index":355,"batch_slot":4,"environment_seed":2844,"episode_id":2844,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"af95c573e107767d5aa652ef2324d8c3e56b487acd825d7402a9012abc49a935","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"fdd267fac57ce6c76b3053c96703a492cff8bcf2235662e80086183a284e47f8","policy_batch_seed":131324476,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000355.npz","baseline_telemetry":"telemetry/batch_000355.npz","intervention_telemetry":"telemetry_adaptor/batch_000355.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":39,"first_possible_physical_divergence_frame":40,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":21,"last_modified_step":59,"modified_steps":[39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":298062,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8eb0778ae0e0849cc8e31fb3b187dbaa30f1f7a16fde6da2ced2d7c013a6dbe3","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002844/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"914fec5541e888b7b0428c0814068d6aa156a9e0d9eb447f6c8aba208c8e864f","width":640},"comparison":{"audio_streams":0,"bytes":696478,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"92e282ee6ce1ade75e2580c74efe74dd0d82e34356f55bc547cc363f6f58b529","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002844/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d806e299d2f4fa85e62abf2e4a62d00ac2508d8ad254c13b8f97b460247dc2f5","width":1280},"intervention":{"audio_streams":0,"bytes":355536,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"6afb59c22f58f2d69b4df730a00fd80b5efc443637be63c467ad5d9a62475681","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002844/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a9a15f9863c09800aba010df426bb2b9146f9f0bcb9351cd7f7639755186d2e9","width":640}}}
{"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":39,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":39,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":39,"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":2845,"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":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":"aaff91d983a9d4310ba5cd15973b2ca33e66b781771bd8df0ac737be2ec6f284","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"9b0dcd309c68a007db574f8f973cd55d937c3fa6b0fb6c8a49f710a18464d479","baseline_full_initial_state_sha256":"2af5cb83116fa22392f78084c3845371afe2afe5467ce0c526bc2aff5f242a1b","baseline_initial_state_sha256":"26ca1ff95ecf28ebafc54bf92552a906d9b96db19b35331294015758094a5d7b","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"f397127e4f19a38e64009d61d20eb8f521755f944e64397688464c7ed73af20f","published_intervention_final_state_sha256":"2c5b2248117868f9946a12a43bf22600aa65998477a1a9ab28554b86fba8fca4","source_intervention_final_state_sha256":"2c5b2248117868f9946a12a43bf22600aa65998477a1a9ab28554b86fba8fca4","source_intervention_full_initial_state_sha256":"2af5cb83116fa22392f78084c3845371afe2afe5467ce0c526bc2aff5f242a1b","source_intervention_initial_state_sha256":"26ca1ff95ecf28ebafc54bf92552a906d9b96db19b35331294015758094a5d7b","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"184ecf4b0b552639dc70fba9e5e13758b86be90104c87a4cda65084322d5cca1","batch_index":355,"batch_slot":5,"environment_seed":2845,"episode_id":2845,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"f397127e4f19a38e64009d61d20eb8f521755f944e64397688464c7ed73af20f","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"a9024983dd69eff4dc595e0921b6ed054e13ba2841657bf3551feb2fb54559bc","policy_batch_seed":131324476,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000355.npz","baseline_telemetry":"telemetry/batch_000355.npz","intervention_telemetry":"telemetry_adaptor/batch_000355.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":38,"first_possible_physical_divergence_frame":39,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":22,"last_modified_step":59,"modified_steps":[38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":315088,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"eb153d232bd78ab85ed699a3b2e2f3518aa30448d456c4eec3b837182a7f0ba2","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002845/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"8c880a10c0174625edef3304ae1161c064db2edc21050b2f95ca9e102fd8a094","width":640},"comparison":{"audio_streams":0,"bytes":723170,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"5550e1b91941dccd6113bc96325c25c4f10c7fa34a0838c1bf476e881e050461","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002845/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"244575202d7346d39e42e5eef46e89842669db4dc17a03fbfe3139b207310451","width":1280},"intervention":{"audio_streams":0,"bytes":327557,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7bab7e1d932ce8111618bf8250963c520ac0181dd96d420077e8f64e504e77bb","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002845/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0afd783d974c28e296ff4d8969d378d60c899900dcc8a166d92f76c74462afae","width":640}}}
{"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":32,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":32,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":32,"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":2846,"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":"9b925f344973728597c07b15a565a355a8822d2b12446c4ff6c909a1efb29312","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"198c00ce24d38ae021077064eeb1a1c7356b2f9d4bb85afedb5975869381d78c","baseline_full_initial_state_sha256":"b1ecccda746679c9e733f661eff03972bcde05c622eb2eb7852afe58fd6eb320","baseline_initial_state_sha256":"d4b4651bf8c1566dd5d4306aad062804adb368609e9b46d9427250ea3228dfcd","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"cee3ea84a6cbc1f98a068800c5fac12d5fd62e55de4eaa0bb3e8895c450c8122","published_intervention_final_state_sha256":"589bc75eee56787d243343fe776dd7a76e78d9c0887e661719a46f5d03ed6ea1","source_intervention_final_state_sha256":"589bc75eee56787d243343fe776dd7a76e78d9c0887e661719a46f5d03ed6ea1","source_intervention_full_initial_state_sha256":"b1ecccda746679c9e733f661eff03972bcde05c622eb2eb7852afe58fd6eb320","source_intervention_initial_state_sha256":"d4b4651bf8c1566dd5d4306aad062804adb368609e9b46d9427250ea3228dfcd","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"e77cc230a6b875934bc891687f9adb81b62708ad99d7cca498406cad6bbfca79","batch_index":355,"batch_slot":6,"environment_seed":2846,"episode_id":2846,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"cee3ea84a6cbc1f98a068800c5fac12d5fd62e55de4eaa0bb3e8895c450c8122","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"dc5b4884284c27179d7fab7df80b2166803fe7365991a2fb77e7831f9b4e1cb1","policy_batch_seed":131324476,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000355.npz","baseline_telemetry":"telemetry/batch_000355.npz","intervention_telemetry":"telemetry_adaptor/batch_000355.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":31,"first_possible_physical_divergence_frame":32,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":29,"last_modified_step":59,"modified_steps":[31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","descend","descend","descend","release","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":334434,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0cf1a29c6c8acba2dda5953a05532cee3ce9a433d5f4c3795a1120c7a91b6dd6","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002846/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9ea5d05bc72c18f09092e7349235b9bcdad7fd289775587553f4a3d8a527dae6","width":640},"comparison":{"audio_streams":0,"bytes":756219,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"a3f9b355eb82ee8574be6edf109c7d42be2cb55ade16278969cd515cfa435bd5","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002846/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e3f1f152e1fad1f015f7cc3bd8af666d0a736d662c053f06db7753e6d7ab4fec","width":1280},"intervention":{"audio_streams":0,"bytes":367917,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ddaac17419a3fa4c3fe8a8075f143607e5482ab70ed886cb09a6f90db9937535","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002846/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"7ebb587b37f37754c4aa0785c453d4377ab01fbcaedecdd650f1c9b6d01f02e8","width":640}}}
{"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":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":{"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"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"d3c538c0f167c8f6617f742df498bafb3c57c6831369ba74f0491540976243f4","baseline_full_initial_state_sha256":"b011c251c2e92e8a0592388862119060b65af1608de6f87c9f8e9adc28d78b04","baseline_initial_state_sha256":"eb4a4566fd54615c42be64bbecc58de9df3ed8bba556c61632eea1f45ab78f1a","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"c6b02a64086550bfea7f2e2f7d97929b9d3dc795b78e902258ad88b7ce64e993","published_intervention_final_state_sha256":"054783889bbc5a4b8f7b6e314b315e6c69435773b4e1837e7d7a5d3fec0a49ec","source_intervention_final_state_sha256":"054783889bbc5a4b8f7b6e314b315e6c69435773b4e1837e7d7a5d3fec0a49ec","source_intervention_full_initial_state_sha256":"b011c251c2e92e8a0592388862119060b65af1608de6f87c9f8e9adc28d78b04","source_intervention_initial_state_sha256":"eb4a4566fd54615c42be64bbecc58de9df3ed8bba556c61632eea1f45ab78f1a","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"0559eb843f35eeb3f8e370e8a3cbc89a77067dae8aa84d13068f98bf0a6be77b","batch_index":355,"batch_slot":7,"environment_seed":2847,"episode_id":2847,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"c6b02a64086550bfea7f2e2f7d97929b9d3dc795b78e902258ad88b7ce64e993","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"5ae68caf124f28ce694473ba6978febe62d9a38633b605a7129d58b21d5d6180","policy_batch_seed":131324476,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000355.npz","baseline_telemetry":"telemetry/batch_000355.npz","intervention_telemetry":"telemetry_adaptor/batch_000355.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":54,"first_possible_physical_divergence_frame":55,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":6,"last_modified_step":59,"modified_steps":[54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo"]},"videos":{"baseline":{"audio_streams":0,"bytes":330202,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"5dfbab9093bafec09a6d9336814a9bc743a34322781c2abc457432aa44d22fc3","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002847/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"715d2985a2d007ac946f46ca770af04933b4863a10380fb1cfe473c0bd531460","width":640},"comparison":{"audio_streams":0,"bytes":752512,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"db7b82dba8b26b10a5190bcaadccb4c91a9c454b105ca1ab5f1daf80c1ccb7eb","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002847/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b78716e189af128d5d61b77fdc8877063aef27e06968b7452334707b1402d332","width":1280},"intervention":{"audio_streams":0,"bytes":337535,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"92b83b9039673fb9aa2fa1d22b4c25c3c46f0dcd6fa92ac37456cab0c545935f","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002847/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"6184b0b94cfd52a6e2bd9d86257cf45bf9d1f3f64bd4f3003a6a294db6272eda","width":640}}}
{"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":35,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":35,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":35,"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":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":["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"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"4cb7b8ff077b0baadbd7190cfe546f898f5e7a809ebe1d03dc4d70822f5a1c38","baseline_full_initial_state_sha256":"d5fc4fad19e6f939b7db3af1f1f690120c0facfc282e90e87a5f55a3480af1c8","baseline_initial_state_sha256":"945564950aa9790fa1bc555bc344bd29234387b0db030521b1aed248a4c1a5b9","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"4fb80b766ae7bbd73f73c5adf81dafe4c10998435f1ae79d510184a97a251680","published_intervention_final_state_sha256":"52b6938cab3be5f3e35a2dd4991813e3af155d4bd08a7c9165227e5e90d0ea6c","source_intervention_final_state_sha256":"52b6938cab3be5f3e35a2dd4991813e3af155d4bd08a7c9165227e5e90d0ea6c","source_intervention_full_initial_state_sha256":"d5fc4fad19e6f939b7db3af1f1f690120c0facfc282e90e87a5f55a3480af1c8","source_intervention_initial_state_sha256":"945564950aa9790fa1bc555bc344bd29234387b0db030521b1aed248a4c1a5b9","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"59277cfe199c02f8b6190337ae6ef036a22514c7a98fbea9ca6afc504e117334","batch_index":356,"batch_slot":0,"environment_seed":2848,"episode_id":2848,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"4fb80b766ae7bbd73f73c5adf81dafe4c10998435f1ae79d510184a97a251680","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"a73aaa25e274d22411416ef39adfb3ec54c2d4be4e1dc2d06db496fdcadf9d00","policy_batch_seed":803043791,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000356.npz","baseline_telemetry":"telemetry/batch_000356.npz","intervention_telemetry":"telemetry_adaptor/batch_000356.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":34,"first_possible_physical_divergence_frame":35,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":26,"last_modified_step":59,"modified_steps":[34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":373480,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"2c55c6fe568db064b6c45c303deba7ee37365613d40bbe700a8438018c7e98eb","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002848/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f44afdfc193e24d0cdb7883f1f88cdd71f864ec099e6d01699389f65a56b85e6","width":640},"comparison":{"audio_streams":0,"bytes":804918,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"1e51064fd2d09127d6d0df62a965f58248a1b74af3ebf03c55a08cf66c2d2749","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002848/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"4bf0046c5e4e5bdd89d0a9ad5e578339ccec737d950f0185cb9d2e5706e5bdcf","width":1280},"intervention":{"audio_streams":0,"bytes":383676,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"818e3572daca12b6eb6ae3a85166eeea7297bec85e5178971d79c86536979633","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002848/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"adadbbef1b80df03c3c5989249d54e5baa8cff03432889466f2973b4ce555a11","width":640}}}
{"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":23,"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":2850,"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":"158c06fdd9ec2711d052a2e640df726381ce27613fb63ed4963e2ae3c82ef03c","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"5cd0213639a2ab0691cbb171c4ad9c7db2571aca25c97ef56865aca0201cd103","baseline_full_initial_state_sha256":"f7409bceedb157f65ed8516075a932b644ffb3f98441509cad295318b4969bf6","baseline_initial_state_sha256":"e221169534bf0bad2e5a3c031fa71ac5d115183b8b6061c0d01fb93615ef18c0","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"b154483b7afb5b898853e0214c957aaf29c91a0790756f4f866db225171bd6b8","published_intervention_final_state_sha256":"5e7f14305c319ded7f53231252c3317b4486f1092861a97920e25af40de4341c","source_intervention_final_state_sha256":"5e7f14305c319ded7f53231252c3317b4486f1092861a97920e25af40de4341c","source_intervention_full_initial_state_sha256":"f7409bceedb157f65ed8516075a932b644ffb3f98441509cad295318b4969bf6","source_intervention_initial_state_sha256":"e221169534bf0bad2e5a3c031fa71ac5d115183b8b6061c0d01fb93615ef18c0","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"9a5fb9054ad8c8d7d4783e3563f019c499330c44a2910e1f52f28c9bccc2d6b5","batch_index":356,"batch_slot":2,"environment_seed":2850,"episode_id":2850,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"b154483b7afb5b898853e0214c957aaf29c91a0790756f4f866db225171bd6b8","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"677248d32eb3f895ccc6e443290c5199eb186458ec046ef2a410aff318fd1cfa","policy_batch_seed":803043791,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000356.npz","baseline_telemetry":"telemetry/batch_000356.npz","intervention_telemetry":"telemetry_adaptor/batch_000356.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":22,"first_possible_physical_divergence_frame":23,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":38,"last_modified_step":59,"modified_steps":[22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","descend","descend","descend","release","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":346703,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"99649ef1a483c992b5d83a13d2aedb69455b6d53d80f7ee0b91ff5d112cd43c3","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002850/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"65a4c4c757bbb4b5cc1f2d8dbbf02fe45c16ee57142f4e159a83faa2e9434a5e","width":640},"comparison":{"audio_streams":0,"bytes":734535,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"72c6c64c25e3ae23fd103e78467b96733814b6c3ffb34f9c8726e0298ee32896","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002850/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d189bfd3f10c6cbc6056fe14ba85dc7796ebeba49bce4580d0c4ce7839385d49","width":1280},"intervention":{"audio_streams":0,"bytes":329157,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7dd81a00828bdf4cf745276d905409fc8e2d593ec2926a465a8a81609ee83639","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002850/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ce1780d5b2f6fa1b446b14c92719d4a442e7b1f14a86d2bf6d729369cc5bc807","width":640}}}
{"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":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_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2851,"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":"1999a4bf687f5af50528f48c715b8efd889622f4e372e85790bf2ed9902e4e13","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"b4e50c532730868e460cfd4cc0fe9c7e3989cb307ee4b376dca3225c03a0c1ff","baseline_full_initial_state_sha256":"0957167b6fb8093fbef01fc351c6e29e937225061d9b05e252859972450ee368","baseline_initial_state_sha256":"a480eeb5d8117414b71d7fd9c0caee8817512a9a8fb125050cb52023a2df3926","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"f06c5588b3a76a817c3b8a3650765b86c427602de44a9e6bd17785c04bdf1cdd","published_intervention_final_state_sha256":"0addabda95c32b5297e860da1d37520734f17f6d5e2bb0d9b67bf5dccd24ef82","source_intervention_final_state_sha256":"0addabda95c32b5297e860da1d37520734f17f6d5e2bb0d9b67bf5dccd24ef82","source_intervention_full_initial_state_sha256":"0957167b6fb8093fbef01fc351c6e29e937225061d9b05e252859972450ee368","source_intervention_initial_state_sha256":"a480eeb5d8117414b71d7fd9c0caee8817512a9a8fb125050cb52023a2df3926","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"9200e78c067976841441520326e8a1c14c7ec9d498e6f048250529bdc1ac65c3","batch_index":356,"batch_slot":3,"environment_seed":2851,"episode_id":2851,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"f06c5588b3a76a817c3b8a3650765b86c427602de44a9e6bd17785c04bdf1cdd","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"186fd465e4003a67ed3382d6077c539cbc9c64b50d02a37e1da914826ca4cb4b","policy_batch_seed":803043791,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000356.npz","baseline_telemetry":"telemetry/batch_000356.npz","intervention_telemetry":"telemetry_adaptor/batch_000356.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":29,"first_possible_physical_divergence_frame":30,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":31,"last_modified_step":59,"modified_steps":[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","servo","servo","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":414591,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ae8d387a31df1e4fb585dbe6c30dfc575743e36227d4c1efe3571df40a921963","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002851/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"eeb29a6cfca09851635b48c89f4b5b4ade88da4b436e6d6c67a26b3386b11907","width":640},"comparison":{"audio_streams":0,"bytes":836844,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d9209393f6b6d94f11398b30c517258d42a46a7326315296bc04d7d1e498cc96","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002851/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"8290ad6984c338b18b5c214cbb50118f59e6f1f5672a4714c496c108e3b4db77","width":1280},"intervention":{"audio_streams":0,"bytes":373396,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f532cfe7e58baf52fe5983ac104614b5d42f21006db4b45f6370226c7eebb8c8","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002851/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ff6a6006b1061b189f4c1285f1c7e63722e1444056d95a85119cd85e7a6dc0b3","width":640}}}
{"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":53,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":53,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":53,"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":2852,"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":"9dbc2daf38365020d7d5d1867cd6cfd85a37ea366c343f60ba13012835d960fa","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"d423964f43cfef952fb29242bfdf2436930e220f72fca84d7477af192437fd37","baseline_full_initial_state_sha256":"33756c77f94719c06209e1e30e707f33a044a4fd718f534e2f7b7de04996e2a7","baseline_initial_state_sha256":"cfab99f6f3380117939712948e7e58f9d755019b458a348b49c3c997817d0043","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"0b56d9943e2cbac6cb0dc768953712c57d6f6cbf78cd37505b41fd4b22e22bd8","published_intervention_final_state_sha256":"1c970a051a853f6929770d9d079b5273446fb15d00969ea9cbaed248cd698b5f","source_intervention_final_state_sha256":"1c970a051a853f6929770d9d079b5273446fb15d00969ea9cbaed248cd698b5f","source_intervention_full_initial_state_sha256":"33756c77f94719c06209e1e30e707f33a044a4fd718f534e2f7b7de04996e2a7","source_intervention_initial_state_sha256":"cfab99f6f3380117939712948e7e58f9d755019b458a348b49c3c997817d0043","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"ea03a7f8306e1d64b079d515b93d4af7bbfac6abe224df05b0b354de6383004c","batch_index":356,"batch_slot":4,"environment_seed":2852,"episode_id":2852,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"0b56d9943e2cbac6cb0dc768953712c57d6f6cbf78cd37505b41fd4b22e22bd8","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"0ef7c0e6fdf6a40c4847a897da5a4eb31d201a0fbb6ec7d59e16d1ef16d9d499","policy_batch_seed":803043791,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000356.npz","baseline_telemetry":"telemetry/batch_000356.npz","intervention_telemetry":"telemetry_adaptor/batch_000356.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":52,"first_possible_physical_divergence_frame":53,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":8,"last_modified_step":59,"modified_steps":[52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":389477,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"cbe38e57a0b76b7390c9dc8c05a740ee89923ba9311e430bc25fecac34b3d638","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002852/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0867dc16bb766fcbe300cbb8c0bd1674024b3180c99dd646493b41b306bf3c19","width":640},"comparison":{"audio_streams":0,"bytes":879113,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"6156001f9106352306ef3a3afcf797f85c879592cb43009e1aa9c6d6075b9f26","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002852/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d8486ccec14dc6e8824f1e3402ea3cdd932a6ff120791099b2b2d25e36835530","width":1280},"intervention":{"audio_streams":0,"bytes":418813,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"41233eb7cbefa9704951eed821fc34fa75e6f20d38d8521d9952834b74a06f41","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002852/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"823c088dfe12ee0dac9a2c8d1afbfb3e727c7d304cd731b6a9446b56f37f67f0","width":640}}}
{"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":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_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2854,"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":"938a82a8e3e0deb58fece0c74db949a7855381a1258917cef4e71e0f6587340a","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"0e475fc3dbc47df2e045521e182e8517a6631363b3bb15848b80db1addeedc7d","baseline_full_initial_state_sha256":"e877f4e20814edd87d646940b4ae2c8f9525e69491a69a7c795101c7a1d11b69","baseline_initial_state_sha256":"45bccfdbbe46cff8586f58a75490e29873586f18bc1e94411fc20bc66b41fcdb","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"c18a51c5436d5534948a4fb10902dd89b56362d97d890baf554212b6559f2e2b","published_intervention_final_state_sha256":"ca28817335e41e47f595a4097a436b8bc9966622dd7bf374d34061c832a55c77","source_intervention_final_state_sha256":"ca28817335e41e47f595a4097a436b8bc9966622dd7bf374d34061c832a55c77","source_intervention_full_initial_state_sha256":"e877f4e20814edd87d646940b4ae2c8f9525e69491a69a7c795101c7a1d11b69","source_intervention_initial_state_sha256":"45bccfdbbe46cff8586f58a75490e29873586f18bc1e94411fc20bc66b41fcdb","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"763d6d12af3abaacccf970707916d4585025f84c2dac1bcbd9cb28156f2c1a13","batch_index":356,"batch_slot":6,"environment_seed":2854,"episode_id":2854,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"c18a51c5436d5534948a4fb10902dd89b56362d97d890baf554212b6559f2e2b","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"dc5b08df132e36fb6647814ea779267da6001a946838318fb510e749f3c7a5d4","policy_batch_seed":803043791,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000356.npz","baseline_telemetry":"telemetry/batch_000356.npz","intervention_telemetry":"telemetry_adaptor/batch_000356.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":21,"first_possible_physical_divergence_frame":22,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":39,"last_modified_step":59,"modified_steps":[21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":366243,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"018d40255ff20a3bbe50845fdbbd07a75e61e8733a3b4664573d5e60e87e7c02","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002854/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"43f3cd804e8c8e1becea0a4f82fc0b7398a647bee164e9f6ec787f6e75341383","width":640},"comparison":{"audio_streams":0,"bytes":767289,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8ff7e5c6b8d30b311cc373d86825a3dc025fcb6cb79962c58df216a77c892627","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002854/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"1c615bf37cba459f8b7c9fc2fcc54bca1a40bfb9f2c13642894877be8e15565a","width":1280},"intervention":{"audio_streams":0,"bytes":343003,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9363cde376780c00f50124269558a22a642a88c3554cf24109464f66fd907f54","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002854/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9f9d797fa00cdb9a407b70770b746118f238c540a09c619bc9dad4291c6b4648","width":640}}}
{"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":36,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":36,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":36,"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":2855,"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":"56c6d42b9d0e73b46d8a097cd5519ee03d72a31947bf2f287a15d11c7d8b894e","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"6252c3e4ecf0fc507d569ccba96f0d1dbf143aacba092e9a2b215b04b1002f1a","baseline_full_initial_state_sha256":"94db7484cb99879fcb11bc925140441e03237b0171d182f03a7e5f3c7a2b9d80","baseline_initial_state_sha256":"25d6b61271fc941bf083e9db7d0b672bf3b30bde367be28c724b8ffd85996877","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"932e8ea4bd60d99f49df6318544ecedb12cd28550f2fc539e361406133cab7be","published_intervention_final_state_sha256":"cc9e6ca4fba026d30f5c03978f05d9fd085712eeb5d3e2c5b68af1eac8aa21ae","source_intervention_final_state_sha256":"cc9e6ca4fba026d30f5c03978f05d9fd085712eeb5d3e2c5b68af1eac8aa21ae","source_intervention_full_initial_state_sha256":"94db7484cb99879fcb11bc925140441e03237b0171d182f03a7e5f3c7a2b9d80","source_intervention_initial_state_sha256":"25d6b61271fc941bf083e9db7d0b672bf3b30bde367be28c724b8ffd85996877","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"ba44a48ce089ff95ca327a107b57dc1c8256895108450a9e910798df193cfd3f","batch_index":356,"batch_slot":7,"environment_seed":2855,"episode_id":2855,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"932e8ea4bd60d99f49df6318544ecedb12cd28550f2fc539e361406133cab7be","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"63cb598ae49e541d5afb4c8f67a75f82e09da764552248f490f57d47e3c1858c","policy_batch_seed":803043791,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000356.npz","baseline_telemetry":"telemetry/batch_000356.npz","intervention_telemetry":"telemetry_adaptor/batch_000356.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":35,"first_possible_physical_divergence_frame":36,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":25,"last_modified_step":59,"modified_steps":[35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","descend","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":412280,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"bef3a54064176bd7b4c16573fe5b0073c6fbc3e68e49c68f76b97cbbba0d21c8","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002855/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"01f572dce93e7c2001cd56827c4a0526dba67bdffe55c70b7dec4dfc6931d39d","width":640},"comparison":{"audio_streams":0,"bytes":879199,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"c888a4401b3c98ced5ceda4e964b0fe1baf8f7a7b0faaa0451da8b64612a7cae","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002855/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"2283b60a784ce623fce994cd0192cdc14e626a001dba0650f2438e0489c1f40d","width":1280},"intervention":{"audio_streams":0,"bytes":429487,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"60cde44ed0bf20374f929184cd1f8ca6879838d99daeafbb2842db75f68124b2","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002855/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"4f06296a13b3245f48db66856f0e874d59d2a819ef0a338a6280759f29c7566a","width":640}}}
{"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":31,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":31,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":31,"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":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":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":"f9b89ac198d88c0ecdf86af48b8742a3894e0ad9f3482de8f8a624fff84999e4","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"b2fe9d9be7915895a789202bf8c6067b5b97c0df151bb5298388103320f1c290","baseline_full_initial_state_sha256":"803c21a842315be5554d01ed776c2f7ffe4953230faad5a8bbfeecd0fc342c48","baseline_initial_state_sha256":"767a32ee0958daac8bf7a46c820933e6739c1c65d43b77cb0780c345887382e0","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"89d641745ae6fcf666a8475a8763a82f32ed4c1a951b52aad3346292728bbb1a","published_intervention_final_state_sha256":"db8498768ad2d3c12e23c3080f2e395b86cb560550a1b013c66476d56ac307c1","source_intervention_final_state_sha256":"db8498768ad2d3c12e23c3080f2e395b86cb560550a1b013c66476d56ac307c1","source_intervention_full_initial_state_sha256":"803c21a842315be5554d01ed776c2f7ffe4953230faad5a8bbfeecd0fc342c48","source_intervention_initial_state_sha256":"767a32ee0958daac8bf7a46c820933e6739c1c65d43b77cb0780c345887382e0","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"4361db6a104267ba4855e53ffc2ac12b8d7f3989f59ea19a2262e8fc0d108adb","batch_index":357,"batch_slot":0,"environment_seed":2856,"episode_id":2856,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"89d641745ae6fcf666a8475a8763a82f32ed4c1a951b52aad3346292728bbb1a","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"6089580facc2a10f077d16c6b5fd017ed779a03c36b1de2de2206088ae974308","policy_batch_seed":385822757,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000357.npz","baseline_telemetry":"telemetry/batch_000357.npz","intervention_telemetry":"telemetry_adaptor/batch_000357.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":30,"first_possible_physical_divergence_frame":31,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":30,"last_modified_step":59,"modified_steps":[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":283879,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"5c4ba735f384abae391187a35f84674ba682c055318fbfcc4bd0479c25e33c58","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002856/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"097db93b0872375f0ec8858c941fc7b9a2d91f69b90a55e40c20c4957a964396","width":640},"comparison":{"audio_streams":0,"bytes":608923,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"b20230a5f02e9adac4ac6a09d306a7530d69b7c6bcec5586b27e9dec659666c8","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002856/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e37888811accc35d2c864544ed2e58bd553501f98921b67294262d5fb6aec408","width":1280},"intervention":{"audio_streams":0,"bytes":284791,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4c52f9807f2b91fa6c73f5106a526b49aaf0309648ede5244a6b131fcb4d0a8f","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002856/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3360a4f2f67dff385b7c958dae81c9f7364f1864c8d741ee856689e849e6d7da","width":640}}}
{"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,"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"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"9e2aa72e0d5eb6cd03127b26d6c9c467947563402d85d2b74d04b98c830cc622","baseline_full_initial_state_sha256":"1fc634a4c24ccf5dff53e05dcc0ca711c43c46b235cf6e2c51fe2f9bb313f5e5","baseline_initial_state_sha256":"fadb55ec82ca71cfb9372b24e5f716e00a3fe1dfc0598058e0bbff4d02f45abc","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"77e3be58b6880f2b2877051195ca1f72e9abb0ad73a613d113cd2688f4162743","published_intervention_final_state_sha256":"1dd0d0cc64ffb3eceaa536755e38592b03f18b3f88e96ae41e018cdbd7c7b784","source_intervention_final_state_sha256":"1dd0d0cc64ffb3eceaa536755e38592b03f18b3f88e96ae41e018cdbd7c7b784","source_intervention_full_initial_state_sha256":"1fc634a4c24ccf5dff53e05dcc0ca711c43c46b235cf6e2c51fe2f9bb313f5e5","source_intervention_initial_state_sha256":"fadb55ec82ca71cfb9372b24e5f716e00a3fe1dfc0598058e0bbff4d02f45abc","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"2709bcc28edb903fc65f6eb43cccf8a9e6a9215f1835f3629ed9212dee446c33","batch_index":357,"batch_slot":2,"environment_seed":2858,"episode_id":2858,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"77e3be58b6880f2b2877051195ca1f72e9abb0ad73a613d113cd2688f4162743","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"ed46b2cbc184c2eb71362671f6e248c5168f0f1eb1676cd8cb2e0b1edc13af51","policy_batch_seed":385822757,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000357.npz","baseline_telemetry":"telemetry/batch_000357.npz","intervention_telemetry":"telemetry_adaptor/batch_000357.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":26,"first_possible_physical_divergence_frame":27,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":34,"last_modified_step":59,"modified_steps":[26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":278674,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"51190fa29c18709c06b55054c1e2210c0584cbff0396b8256df4e2c2fdcb5827","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"421963256bed421fdef40df70fb4e0febf8d164adbcec547cb35e25f843c8267","width":640},"comparison":{"audio_streams":0,"bytes":601798,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8efd0131029f4b773591f623c10e301c1498f6c4e63f6bb2fc09f6720ffd8f0f","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f30d591e875bec23a53cfe3c4e6288591a6d51dbffd3fadbc352bf7e3609b456","width":1280},"intervention":{"audio_streams":0,"bytes":282393,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"fe64c13535235f098d46808f3ca6edd2da89c0ef4481f6a0c34370cffae0f139","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0966b7f51c93d0ac18539c985cf6c6a4df7d806a33afb3b22d1255bb49c44505","width":640}}}
{"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":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":[],"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":2859,"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":"3dacb822fba99522fdf163c6002d2a1e7df48ea4290c964cdae1fab42bd7daa5","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"057517acb40af6946b1675bbc282520ea44dc337de6c174ded822c7a25f8ef6c","baseline_full_initial_state_sha256":"77d23c798b02a639447912e068a4bb4acda78014ba3533cbdd0c6776ce898ccb","baseline_initial_state_sha256":"466a6ca30afb377bd7e13ea925c57dd1f5befb0302f40cdfab5e9bf565303e94","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"577bcf2412a0b17e7b56d19c8db4e650ef2b1953b12275cf275366f24653e1ff","published_intervention_final_state_sha256":"9fdadc2ae6c79b53d1e9c2d7acd08dc7b79d4c78990989fb5feaa9d4bd79bc62","source_intervention_final_state_sha256":"9fdadc2ae6c79b53d1e9c2d7acd08dc7b79d4c78990989fb5feaa9d4bd79bc62","source_intervention_full_initial_state_sha256":"77d23c798b02a639447912e068a4bb4acda78014ba3533cbdd0c6776ce898ccb","source_intervention_initial_state_sha256":"466a6ca30afb377bd7e13ea925c57dd1f5befb0302f40cdfab5e9bf565303e94","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"06ddd1c6bebc716bebee6a31a00ece9b3ff9baabc88f0081ac94b203b76cf8d6","batch_index":357,"batch_slot":3,"environment_seed":2859,"episode_id":2859,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"577bcf2412a0b17e7b56d19c8db4e650ef2b1953b12275cf275366f24653e1ff","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"988489b40eda9021f440410f485a4719a4b7850356e5d6514e34c009dc43cf79","policy_batch_seed":385822757,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000357.npz","baseline_telemetry":"telemetry/batch_000357.npz","intervention_telemetry":"telemetry_adaptor/batch_000357.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":54,"first_possible_physical_divergence_frame":55,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":6,"last_modified_step":59,"modified_steps":[54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":364325,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"13470834957b3d4af90e09cf782e586c22bc21281e4815e8e791a3819c096ca5","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002859/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"38872bb2667578c3f8c2101aa8e30a116ecfff7d10172200401967f47966c2a5","width":640},"comparison":{"audio_streams":0,"bytes":804430,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0c48a02dce4e3380590b3cda7c7fda8bb8a1fd687ab61c216b09cab23b16c914","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002859/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"8e9951e5587d14a14659af831baa174f55d64e7e7744b07ffc63fee78a338372","width":1280},"intervention":{"audio_streams":0,"bytes":360250,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"941a53c45781830f282af3a38bace3b6ff3bf406b438470792a1ab6930448186","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002859/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"07b608e9174dfeaeb05e442546f005be5872d5eec75d8ec8b288ee3993db5065","width":640}}}
{"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":35,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":35,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":35,"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":2862,"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":"0b746ef72af61e010b773d6e3a70112fffc9714a52dba7fa8345b7c62eb1440f","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"79f9a9f2ef67b8f665061892e0fbfb596a46fae79459ee220bcde93cd5b3e927","baseline_full_initial_state_sha256":"03d397e7029c50fe59281f5b94ec5a6e21d978a83265f83217e97f20e122e993","baseline_initial_state_sha256":"068f4d552be24bcb2abcb60e7828540130b7c4a3f0475ca59a0dee01d8d07462","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"65c48572a63869f4e974e8e0c8662e57db75b5ff2da3ad992bcd8a9f96d21293","published_intervention_final_state_sha256":"d82afe71c7a649d79ef85e2bb4bc896d364d55eaaa8935dffd253aee2ff62f7a","source_intervention_final_state_sha256":"d82afe71c7a649d79ef85e2bb4bc896d364d55eaaa8935dffd253aee2ff62f7a","source_intervention_full_initial_state_sha256":"03d397e7029c50fe59281f5b94ec5a6e21d978a83265f83217e97f20e122e993","source_intervention_initial_state_sha256":"068f4d552be24bcb2abcb60e7828540130b7c4a3f0475ca59a0dee01d8d07462","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"3622c4a0ea2dbe5fcc79aed36ca7dc8dbd833be39ec0b43e33c727baadcef626","batch_index":357,"batch_slot":6,"environment_seed":2862,"episode_id":2862,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"65c48572a63869f4e974e8e0c8662e57db75b5ff2da3ad992bcd8a9f96d21293","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"99dee33f426690c513ae319360d09c6040ceabdb4c38e79ae7fdb6fd5823754f","policy_batch_seed":385822757,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000357.npz","baseline_telemetry":"telemetry/batch_000357.npz","intervention_telemetry":"telemetry_adaptor/batch_000357.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":34,"first_possible_physical_divergence_frame":35,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":26,"last_modified_step":59,"modified_steps":[34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":291906,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7a193583f085dd0faa842a0bf1d3bd721d1ad8084f9d748d1242408ba4ad3611","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002862/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f33f6cb4b5da242ba4f36f6dac74ba8fc5f6a383e6933a57df253913c9afbb28","width":640},"comparison":{"audio_streams":0,"bytes":649343,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"57be78e9f69d1226015da5a122b9ff61116b834f54e4996a3140219005392b43","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002862/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d169b926400bc095fd4d98bda47e41a870a7d90b38e0fed9a69ec794499e69b7","width":1280},"intervention":{"audio_streams":0,"bytes":317524,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"bc4c897c6c62a3d30619e85a81a22d3c9aa8a4432cbbf37d4e4affe6bd9af9b7","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002862/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"dcd708f9e17b001d3c8ffdbff0b3418ca2eca99a6ba8f1e74e0c6eb11fb14ac4","width":640}}}
{"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":35,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":35,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":35,"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":2863,"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":"0ed544b115209d2044c5ab989e282817e28f3c679a7b32257d641c2342a61511","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"632c6d04fc2f1bdaa80f967ae2b5d2e271bc3594c798fe97c17804d4df1f4037","baseline_full_initial_state_sha256":"a41d1bdca010a43b3a1ba4382cbe37063044939e921a952248a11ff22330b09d","baseline_initial_state_sha256":"0075b613705e92669ecdac16bb81914eb215ce64c8179e6adc48604145394dfb","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"50a27fbb769d7d83a85c2f977c3356286ca91a1c6d83b6f72bbf86365e9b7307","published_intervention_final_state_sha256":"3693733614056177915b4a60293ba61cf4bb7ab4c3e44cd620b67645b5ca685a","source_intervention_final_state_sha256":"3693733614056177915b4a60293ba61cf4bb7ab4c3e44cd620b67645b5ca685a","source_intervention_full_initial_state_sha256":"a41d1bdca010a43b3a1ba4382cbe37063044939e921a952248a11ff22330b09d","source_intervention_initial_state_sha256":"0075b613705e92669ecdac16bb81914eb215ce64c8179e6adc48604145394dfb","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"2e43ba5cc3eb11d7f13d160d0f8f1d830edb2561178c2fc655918979b7d4e55d","batch_index":357,"batch_slot":7,"environment_seed":2863,"episode_id":2863,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"50a27fbb769d7d83a85c2f977c3356286ca91a1c6d83b6f72bbf86365e9b7307","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"7906b3c47d798f7787e299ddb348e248ae57389c161c81314c8f955e41d6f281","policy_batch_seed":385822757,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000357.npz","baseline_telemetry":"telemetry/batch_000357.npz","intervention_telemetry":"telemetry_adaptor/batch_000357.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":34,"first_possible_physical_divergence_frame":35,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":26,"last_modified_step":59,"modified_steps":[34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","descend","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":362974,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"018a19023bb200891380bf6558919b84d5be192dc532b740c0f4bd597651b7cb","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002863/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"6767656fa4b6453ef8c06809aa52b4641f12305ae9cf1b273061508cb919df74","width":640},"comparison":{"audio_streams":0,"bytes":798132,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d352f5240e62fce2639226cfd53634351eabc3125ca63b2116278708b57a8c8c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002863/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"fc24f749a2f09aa3bbe494a53d47ee139a5b53c030bed7eef9f18095e5b8fec6","width":1280},"intervention":{"audio_streams":0,"bytes":392433,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"060dd079a343ee4e9957474f70e3f0c79e5ec7142fe2b70a57e618ec4b13dfb4","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002863/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"6c6296421971805e2e497f995294661d6947a8dec0a9f6260655674435cfd4e3","width":640}}}
{"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":40,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":40,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":40,"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":2865,"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":"50d7ae4618ead57e2c43eaec40832123ca76cc2ca602f0e35983c03ffd0884c1","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"44ac50f2636dff17443066ce2b18e1748d2347214506db97506bca6e7f60412f","baseline_full_initial_state_sha256":"c4b1c9b09474d649d54ccbfb543038ddc53a1d99aefd03e5d92e1659a447fb33","baseline_initial_state_sha256":"71a509eb1425c4f9c6a5a48dee79d08871f6eae3293637526e4afe7710b05874","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"94a15767745c813dfbb3585b93d995e5238b27637e06d85920ea016eb0ce6a09","published_intervention_final_state_sha256":"d73483fa52a3860a2ec9c7f3f1bd8a11c14b5ea431e6716007e41adddb969b85","source_intervention_final_state_sha256":"d73483fa52a3860a2ec9c7f3f1bd8a11c14b5ea431e6716007e41adddb969b85","source_intervention_full_initial_state_sha256":"c4b1c9b09474d649d54ccbfb543038ddc53a1d99aefd03e5d92e1659a447fb33","source_intervention_initial_state_sha256":"71a509eb1425c4f9c6a5a48dee79d08871f6eae3293637526e4afe7710b05874","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"c703147060e10eb0f230861e84b716cef72f65aa955fcd48dd5321688ad390b2","batch_index":358,"batch_slot":1,"environment_seed":2865,"episode_id":2865,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"94a15767745c813dfbb3585b93d995e5238b27637e06d85920ea016eb0ce6a09","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"eaec9723e95cc5fb911a1d05a341337965060b0831f5deb31cd6b5b03a9bda1f","policy_batch_seed":1178105786,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000358.npz","baseline_telemetry":"telemetry/batch_000358.npz","intervention_telemetry":"telemetry_adaptor/batch_000358.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":39,"first_possible_physical_divergence_frame":40,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":21,"last_modified_step":59,"modified_steps":[39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":341064,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"6446c7b3d441c3561ab516b4b70286612787f9b8d5e5ecff77e075f1c090f9a7","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002865/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3224fdbbb7248afbb27c8e71d684da00b3db2ac3164ac9341c5c5fa3556ead0e","width":640},"comparison":{"audio_streams":0,"bytes":756508,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9a387d31620ee0317e53f15a3adc02830bba12af01f2704b883f1be9a919ce1f","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002865/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"29b45e5b19721051e62a2e6835cc7720637c2f1c391fa8c06aa3639b05d0d4ef","width":1280},"intervention":{"audio_streams":0,"bytes":374827,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f461a7be4b8f5b825e26026bcca8383d23946709c9f41b25a9d47c9c1dc4b8fb","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002865/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"27fda7f35e903c49a940b825c5a604cd1b7399e8566831bc078378f85f7383c2","width":640}}}
{"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":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":"spoon_cloth","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2867,"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":"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","sealed_by_source_manifest":false,"sha256":"389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb"},"schema_version":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"85c3036988f5a8ff2b8e85c0ba8c0fbc5a46a8d5fdf22a1d316a5162c13ac6e8","baseline_full_initial_state_sha256":"e40f5bafa2250aaf566be10c844b1808c76666a717141646867507b1b1f1843e","baseline_initial_state_sha256":"3e132508c80664f169f5c123f599d790a78acb525fca6d38b12a8aebf5d0f6f7","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"9ca495f0144b07e459e030c7ab05d2095aa96d98b54962142f7217dac711300c","published_intervention_final_state_sha256":"33e23b7018809ea475bdc77e770fce3d3ec34d9edfeee3dc83f1a68f4c1aa4b9","source_intervention_final_state_sha256":"33e23b7018809ea475bdc77e770fce3d3ec34d9edfeee3dc83f1a68f4c1aa4b9","source_intervention_full_initial_state_sha256":"e40f5bafa2250aaf566be10c844b1808c76666a717141646867507b1b1f1843e","source_intervention_initial_state_sha256":"3e132508c80664f169f5c123f599d790a78acb525fca6d38b12a8aebf5d0f6f7","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"e4b3b6ca33d12495b580d3da18582f2b4f92af29265f6397b5fa60a3c5f79e61","batch_index":358,"batch_slot":3,"environment_seed":2867,"episode_id":2867,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"9ca495f0144b07e459e030c7ab05d2095aa96d98b54962142f7217dac711300c","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"0b1bd3b22af520dde3ad89061944e26dbe3b19be858d4b5a496008d7451a07c5","policy_batch_seed":1178105786,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000358.npz","baseline_telemetry":"telemetry/batch_000358.npz","intervention_telemetry":"telemetry_adaptor/batch_000358.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":18,"first_possible_physical_divergence_frame":19,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":42,"last_modified_step":59,"modified_steps":[18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":298080,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"64be01214de9eecbebe922836b4ce7885303368103382f0ca377fd15d1e87ca5","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002867/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5f5bd8a98264eb1e6458920ee1db70a08a224ed89bfe30f0fccb37cd624ab297","width":640},"comparison":{"audio_streams":0,"bytes":625677,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f8b467f982c8e9a91f4747e03209f6be2f5be9d4650cba8240d6877de54ba8f6","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002867/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"59dadac0433a979a31dd6d4d7d34d090c6b387ab5831f57bb31c03c49e632894","width":1280},"intervention":{"audio_streams":0,"bytes":282475,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"2c4af5fb7e63def73c9b080578262278ad847049d6859a90e1b6d2462488aa70","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002867/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"066533e889e997963917b606e059e8800979e575effa54adad5b0b5dbef96708","width":640}}}
{"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":23,"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)]","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"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"ad9f9ec19d8deda36ff97d722214dc8d8ce55cfa244b3fdc60b151979da1fd29","baseline_full_initial_state_sha256":"9f94ca95f1e9855ffa60316b7851f31a5b73889acc5e29b3a4c7c2e2a64b39ff","baseline_initial_state_sha256":"6109d22f9606daa3dbec238f7387bbd8746f0d70c7af7f9cee617dbe095b305e","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"2e2c25a47deb754b202fea20af6ec9b42ac06f77b2cb5ba42c91877bac28f2fa","published_intervention_final_state_sha256":"95479f1b52a4b5505801450795d72e81097db61d5ab1b1bb58d27dc9d1fea155","source_intervention_final_state_sha256":"95479f1b52a4b5505801450795d72e81097db61d5ab1b1bb58d27dc9d1fea155","source_intervention_full_initial_state_sha256":"9f94ca95f1e9855ffa60316b7851f31a5b73889acc5e29b3a4c7c2e2a64b39ff","source_intervention_initial_state_sha256":"6109d22f9606daa3dbec238f7387bbd8746f0d70c7af7f9cee617dbe095b305e","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"91098fffa9d9fab5b1457a4b5c9c1fdbf3d734445460c2828fb0d5e1da00c890","batch_index":358,"batch_slot":4,"environment_seed":2868,"episode_id":2868,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"2e2c25a47deb754b202fea20af6ec9b42ac06f77b2cb5ba42c91877bac28f2fa","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"8c91cbd77402f98e660fdd86fe583a1fda3b6273668d1c88584c70e0756616df","policy_batch_seed":1178105786,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000358.npz","baseline_telemetry":"telemetry/batch_000358.npz","intervention_telemetry":"telemetry_adaptor/batch_000358.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":22,"first_possible_physical_divergence_frame":23,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":38,"last_modified_step":59,"modified_steps":[22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":295978,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"b81411d8969eae9c9f4b752f5279761e765e08de669715d675bbebfb7347bcde","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002868/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d5188d38c65b17a23c0716beaabe6c27f6d4405e49228f28df818ac070b4a3bd","width":640},"comparison":{"audio_streams":0,"bytes":648672,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"79db64fe48aca3fa006e5fa422e59fe2bd665b31d23c6a96e849d36f4d50d387","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002868/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9b86528d80c65b58db1aadb4b950d3024664ed8f9dd47bcfffaf1d8dadc3830b","width":1280},"intervention":{"audio_streams":0,"bytes":304699,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f60c52a935cc267b8fdb72c3f5c9c520b014d7644fa65e0e8f6fc6f8e8a5761c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002868/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"73c65f101a0c39d65c10b0f5e3180bf11ceb74be1f3afeebcefeb4014f5c3730","width":640}}}
{"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":26,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":26,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":26,"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":2870,"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":"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":"389d8f1236790331fd52684d7744a2b4a1e2313a4fffa1d8b0cb5a0c87945adb"},"schema_version":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"4659f7d006dc1dd1bab6808d54a647124a0dec348502029b6e619e2babab913c","baseline_full_initial_state_sha256":"b1ecccda746679c9e733f661eff03972bcde05c622eb2eb7852afe58fd6eb320","baseline_initial_state_sha256":"d4b4651bf8c1566dd5d4306aad062804adb368609e9b46d9427250ea3228dfcd","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"ef7289785eded708d4a6e8d7af6ae811f3357627443d1bc84f496949aaf35188","published_intervention_final_state_sha256":"9d79eb3da1058cfc6825f9a3dee231d59d5f9d13364293604642285f1e4db05e","source_intervention_final_state_sha256":"9d79eb3da1058cfc6825f9a3dee231d59d5f9d13364293604642285f1e4db05e","source_intervention_full_initial_state_sha256":"b1ecccda746679c9e733f661eff03972bcde05c622eb2eb7852afe58fd6eb320","source_intervention_initial_state_sha256":"d4b4651bf8c1566dd5d4306aad062804adb368609e9b46d9427250ea3228dfcd","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"a17c32aedb0ad6970eaf6763715b2e48c2a14edf03a3fc293bc1dc41b5c6e35e","batch_index":358,"batch_slot":6,"environment_seed":2870,"episode_id":2870,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"ef7289785eded708d4a6e8d7af6ae811f3357627443d1bc84f496949aaf35188","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"717b4fd2b8d6986d606fcec958d422204645efb628e400b5c205683a57fbcd8d","policy_batch_seed":1178105786,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000358.npz","baseline_telemetry":"telemetry/batch_000358.npz","intervention_telemetry":"telemetry_adaptor/batch_000358.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":25,"first_possible_physical_divergence_frame":26,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":35,"last_modified_step":59,"modified_steps":[25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","servo","servo","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":348913,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ca061a16f0b1cb18d07906dacddd7c22a9248b8a9846968fb9660064fe30c482","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002870/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3d8781f4a1de44048f5ee5991ccf1c02ec80c52437e96724d1307942aa81d918","width":640},"comparison":{"audio_streams":0,"bytes":729641,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"011644fd969f2404c36991e096b55b6f6cbeb6149b71b0abde2519280606dd4a","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002870/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"823c67e12a18e6480beacfcb47bd61e2a3847a096457ae8a4e2371ee0922f5b0","width":1280},"intervention":{"audio_streams":0,"bytes":338781,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"c6d1258c7d62f0f66e0fd60cf22098ec45686709c00ee413070fdf8fa9ba3f99","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002870/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"500eb8875ca02bfa064cb030906509d496ec5b55943be63fb2e38a42b2452111","width":640}}}
{"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":31,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":31,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":31,"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":2872,"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":"ed01784758358eb474b8c0464ade5b5ceed92745268b08b4bfd212bec7f2d0f4","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"2c9573f02a5275bf8b89ba43306b604534ee8bc01b7c922f5cbcda22f75fd908","baseline_full_initial_state_sha256":"d5fc4fad19e6f939b7db3af1f1f690120c0facfc282e90e87a5f55a3480af1c8","baseline_initial_state_sha256":"945564950aa9790fa1bc555bc344bd29234387b0db030521b1aed248a4c1a5b9","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"79d52f485b1aeba7a1b4a665a9853f227b17cfd6b9fb38f4541847f66a664553","published_intervention_final_state_sha256":"5d2e455d4fe4a46e09ada3293cbf079ad8ae99b21e8a627414ee195789676cf6","source_intervention_final_state_sha256":"5d2e455d4fe4a46e09ada3293cbf079ad8ae99b21e8a627414ee195789676cf6","source_intervention_full_initial_state_sha256":"d5fc4fad19e6f939b7db3af1f1f690120c0facfc282e90e87a5f55a3480af1c8","source_intervention_initial_state_sha256":"945564950aa9790fa1bc555bc344bd29234387b0db030521b1aed248a4c1a5b9","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"b025b00242ad1eaec03f4d9f581b8109bcdb17e951041b8ce369533421efc439","batch_index":359,"batch_slot":0,"environment_seed":2872,"episode_id":2872,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"79d52f485b1aeba7a1b4a665a9853f227b17cfd6b9fb38f4541847f66a664553","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"a06beae5356d18654f3dc264225d46c7bbbc062e9c59a681b9d2bab7b50edf14","policy_batch_seed":125792999,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000359.npz","baseline_telemetry":"telemetry/batch_000359.npz","intervention_telemetry":"telemetry_adaptor/batch_000359.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":30,"first_possible_physical_divergence_frame":31,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":30,"last_modified_step":59,"modified_steps":[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":366448,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"81e3b14673d52d1220f321fc9841857a1d7560427f705f9b4933bb2e34599af7","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002872/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"247b53c3be6528f1c150c1b72e720112b1198e942a164ff6a297eed83c312b34","width":640},"comparison":{"audio_streams":0,"bytes":764454,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d7dde672733ea86f5747313a4aab5bc7c9677d44e8906c54e00526644896d5c5","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002872/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a7c58882985f89a1157160ff8e517990f6668bc557d42eabaa6be8c6ead2e02f","width":1280},"intervention":{"audio_streams":0,"bytes":341577,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"3e411e46460e081f091052882b9619f0e7ab4f1d20110e76d120034d9da48bfa","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002872/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"84f5fa08500004cbec395290280ede4f98ee141b3d18294e0fac87c6eaa2eaf3","width":640}}}
{"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":25,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":25,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":25,"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":2873,"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":"0da7b512914b2629d89a6a3414890b7150e9068fb52559f55d5f53280656ad25","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"15bc5492008638b19be1d853b030dba70863d55ef440852cd40af5f0c657e48a","baseline_full_initial_state_sha256":"2b3ba44c5f46c50b2fee10423032245d5b3173b683743c345d593ba287f269c5","baseline_initial_state_sha256":"615b06643504084c48a4eba479591a5dfc4146a830884940067108f65b79eadd","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"42024a8106cbb408060a1800fa016808d04ee7d720ac91df61118d77c236ec37","published_intervention_final_state_sha256":"c27b755cc5887c2eef674f8cbe18947ea13c0c092fc053e59d5b29be6466ba54","source_intervention_final_state_sha256":"c27b755cc5887c2eef674f8cbe18947ea13c0c092fc053e59d5b29be6466ba54","source_intervention_full_initial_state_sha256":"2b3ba44c5f46c50b2fee10423032245d5b3173b683743c345d593ba287f269c5","source_intervention_initial_state_sha256":"615b06643504084c48a4eba479591a5dfc4146a830884940067108f65b79eadd","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"2b626664f95531e983882b025e4b7c97bf7a58e619ca6b35fe88ffb95eacbb3b","batch_index":359,"batch_slot":1,"environment_seed":2873,"episode_id":2873,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"42024a8106cbb408060a1800fa016808d04ee7d720ac91df61118d77c236ec37","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"0644a14ee80bc2b02a30ba13039cbfd26ed95e2a01b3581711d2558ed97170d4","policy_batch_seed":125792999,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000359.npz","baseline_telemetry":"telemetry/batch_000359.npz","intervention_telemetry":"telemetry_adaptor/batch_000359.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":24,"first_possible_physical_divergence_frame":25,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":36,"last_modified_step":59,"modified_steps":[24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","servo","descend","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":358775,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d0fae66dc1504b1133d03fcd25298e2c77e63b77570f86d227f08658c68ed667","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002873/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0a65f9f45496f02f58fe6bd42ed3f930c442288accce520ffc000a46826732c6","width":640},"comparison":{"audio_streams":0,"bytes":774235,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ac5eacf3ebbd738371ec28aa457f01c63bb189d35c055483ebacf518c5e3efd2","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002873/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"663a4d21e5110d2ed200cb365ce531c3e2c3458721bb40f51f773e7fba9df654","width":1280},"intervention":{"audio_streams":0,"bytes":356341,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4f06b1aca9eadbc46a45e06a1030c8ed12f125d1d9ff9b0339a3d5b98b2e4b30","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002873/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"fd7f5f18d57de6b8bdd3d87edbc0c4f830382c4e47eeaad24b4bad54ce41ed0c","width":640}}}
{"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":33,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":33,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":33,"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":2875,"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":"a859080b9c3f0804a12ed0ed0ed70f61a1ff3a0d387fb41c4556625a8e417a88","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"6fe2d00af0f54497aff1cec7821f5ee354c7c1a8fba1f772a83d1a43f9c80032","baseline_full_initial_state_sha256":"0957167b6fb8093fbef01fc351c6e29e937225061d9b05e252859972450ee368","baseline_initial_state_sha256":"a480eeb5d8117414b71d7fd9c0caee8817512a9a8fb125050cb52023a2df3926","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"c516ca215accc3bc930a08511d207ae1ab107acb6680a5aa248298a44a648d87","published_intervention_final_state_sha256":"2f2e3d709f42b1b415f40586809a2382fab87cff29741a84a47cacf99de83985","source_intervention_final_state_sha256":"2f2e3d709f42b1b415f40586809a2382fab87cff29741a84a47cacf99de83985","source_intervention_full_initial_state_sha256":"0957167b6fb8093fbef01fc351c6e29e937225061d9b05e252859972450ee368","source_intervention_initial_state_sha256":"a480eeb5d8117414b71d7fd9c0caee8817512a9a8fb125050cb52023a2df3926","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"c7bf29e2dfbb827b237ca6bb396ef93cab92c21196efe0529aa339c84592da2a","batch_index":359,"batch_slot":3,"environment_seed":2875,"episode_id":2875,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"c516ca215accc3bc930a08511d207ae1ab107acb6680a5aa248298a44a648d87","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"7b49c701b301987c56954c2bd70a76b17b4edf4c9763e312c42d2c3eef7dde12","policy_batch_seed":125792999,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000359.npz","baseline_telemetry":"telemetry/batch_000359.npz","intervention_telemetry":"telemetry_adaptor/batch_000359.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":32,"first_possible_physical_divergence_frame":33,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":28,"last_modified_step":59,"modified_steps":[32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","servo","servo","descend","descend","descend","release","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":412481,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"040d312b947750b544459604ae5a2d97d6ea82d3fd3c5deddafef10c4faef404","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002875/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"64900f0b0f302eee469b4d5a074a2601b92a0b3f04e285c4b11854b08cd3644e","width":640},"comparison":{"audio_streams":0,"bytes":853099,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7d1c4edf6db32175da42dec394fe1a322f63c161de3f40107a2eee28149e5b2e","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002875/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"4b5c46814fac7228d83a188c770fde6218907046bccf689e1a87a2c062b5a396","width":1280},"intervention":{"audio_streams":0,"bytes":403681,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d2df3e79ce566d57e7d0c361081fe2a522e9020c40126596b391bcd8d79fc0fd","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002875/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"48687dc0b1f755d6a9806ecb7e767fe4736f0f53ed6ec881e4051f61100d3e0b","width":640}}}
{"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":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":"spoon_cloth","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2876,"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":"986c1327917509fd5968f20a698233f050cfbff2f4a15fa30c2e1fd008bc1430","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"ada556a56242dae938ac444991bff93495f3d544a86a1d73916326b5bff89055","baseline_full_initial_state_sha256":"33756c77f94719c06209e1e30e707f33a044a4fd718f534e2f7b7de04996e2a7","baseline_initial_state_sha256":"cfab99f6f3380117939712948e7e58f9d755019b458a348b49c3c997817d0043","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"a6eb0cce28082c06bbf7bccc77439fade64447cdd06f11d761b900b8495b6763","published_intervention_final_state_sha256":"6879f86d601bece557eb4b4c8a69d06babf47fb49cbd67b2862c4102ee6a5ea7","source_intervention_final_state_sha256":"6879f86d601bece557eb4b4c8a69d06babf47fb49cbd67b2862c4102ee6a5ea7","source_intervention_full_initial_state_sha256":"33756c77f94719c06209e1e30e707f33a044a4fd718f534e2f7b7de04996e2a7","source_intervention_initial_state_sha256":"cfab99f6f3380117939712948e7e58f9d755019b458a348b49c3c997817d0043","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"70e6787c0d84d33caefbbbd2c4872eb30936d628d09db27ef7d2a38723a86f48","batch_index":359,"batch_slot":4,"environment_seed":2876,"episode_id":2876,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"a6eb0cce28082c06bbf7bccc77439fade64447cdd06f11d761b900b8495b6763","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"ed504612447a4625cd744b7a26b520bd1f02bcb60dac2b8a5f7c42c2a4f83036","policy_batch_seed":125792999,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000359.npz","baseline_telemetry":"telemetry/batch_000359.npz","intervention_telemetry":"telemetry_adaptor/batch_000359.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":18,"first_possible_physical_divergence_frame":19,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":42,"last_modified_step":59,"modified_steps":[18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","servo","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":404142,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ae5e93d1f8a5e7e18d99c208a9c896d3f6e65ba63969f090899f1884a6974c87","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002876/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"835c40b99f3641f642a374e66dd4b045624924b8d12011aaa03eb421a7be8148","width":640},"comparison":{"audio_streams":0,"bytes":780930,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7d96d4c6830140c4066660f28e785f969c577944492ce465a1dd74998e77e7df","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002876/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"fa70731adcbcb7195abb2bc3df35b8e08b1681f14eadd61ceadad3e9d7296758","width":1280},"intervention":{"audio_streams":0,"bytes":330936,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"17b4c83229460e4d03b4044cf0840fec9c8a1fdfe91e732437e5bd52ff7222fd","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002876/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"107b231023cacb51767d3f74d1e3f35e3da2dbbc78c3cc1e64f15483e6ad8236","width":640}}}
{"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":34,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":34,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":34,"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":2877,"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":"ea0e334432211de236eafde06f79cf420adc9d77adcb45ebfc50c7021af4d16f","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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"5003e5f653f885a7cf5b8be950ca0052200613471f2291525ed6f5fda2a4200b","baseline_full_initial_state_sha256":"80b3ccf277bd985c8a0bab87d83ee8a25e239ae772c9bb6478f8baab31ac8241","baseline_initial_state_sha256":"4edf77f1cadf3161214d7e992ea5c54c155313422abd4447b8db6aff82fcc75a","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"03a3af30d72f40ab21067c3fb57e966db87da21c7a36c7cdf093c3e2c229d6df","published_intervention_final_state_sha256":"f57726cb32d6fd07cb5046d721477c116c5e84f3b1e64f8b7e24afaf4587f80e","source_intervention_final_state_sha256":"f57726cb32d6fd07cb5046d721477c116c5e84f3b1e64f8b7e24afaf4587f80e","source_intervention_full_initial_state_sha256":"80b3ccf277bd985c8a0bab87d83ee8a25e239ae772c9bb6478f8baab31ac8241","source_intervention_initial_state_sha256":"4edf77f1cadf3161214d7e992ea5c54c155313422abd4447b8db6aff82fcc75a","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"16bc8b5e3e767cb766537a56842e975542a48a6dfb513b56e9197af9c40d61fd","batch_index":359,"batch_slot":5,"environment_seed":2877,"episode_id":2877,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"03a3af30d72f40ab21067c3fb57e966db87da21c7a36c7cdf093c3e2c229d6df","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"641e32338c8190546325ab460d56c9e847bd1df410a01a43ccc062f222161c9c","policy_batch_seed":125792999,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000359.npz","baseline_telemetry":"telemetry/batch_000359.npz","intervention_telemetry":"telemetry_adaptor/batch_000359.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":33,"first_possible_physical_divergence_frame":34,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":27,"last_modified_step":59,"modified_steps":[33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":351010,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"29ca859ba59ec8e69bf86dd7e30a649632479256e04f80e7cffc7d3790c495d7","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002877/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"328a216a9b52f9ba03aa8429d18fda794716150daec5d41038877acd6f75ee84","width":640},"comparison":{"audio_streams":0,"bytes":764562,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f3d92433b5b9304919b0da41ea9152c44d7e29f0911e7a2c3a27a3ec015897d0","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002877/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f87b19848834eecc127bdedb845f28bb5243596cc09d708c52cb1e72d672aac0","width":1280},"intervention":{"audio_streams":0,"bytes":363577,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"34b389a09f99bd77c7f8a13765d7c52638b563890e1ea0fb025631cadfc374e9","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002877/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"fd78711e777d84a8f6d9079c54baba9805c7acf0ee1044798d723612393c1c2a","width":640}}}
{"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":"sim_oracle_action_patch_formula.v1"},"id":"stage_00_premature_release","kind":"legacy_config","metric_estimators_used":false,"sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"autonomous_catalog_guided_patch_selection","replay":{"baseline_final_state_sha256":"6a288b69a97572148e2d204cacf7410895cd3ade1474a4690609744dcd458cdc","baseline_full_initial_state_sha256":"94db7484cb99879fcb11bc925140441e03237b0171d182f03a7e5f3c7a2b9d80","baseline_initial_state_sha256":"25d6b61271fc941bf083e9db7d0b672bf3b30bde367be28c724b8ffd85996877","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":353,"episode_ids":[2824,2825,2826,2827,2828,2829,2830,2831],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 3, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.040139004588127136, 'linear_speed': 0.00042467060848139226, 'angular_speed': 0.06197128817439079}]","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":"16be96a3bc7b19c48bd09209ee3207e310213c4be4378c5e07e9ee77125a2c51","published_intervention_final_state_sha256":"b52e4aa06c0379c5ae0436c1c27d52b31bd54e2643b7bedfb1456165d4a301ad","source_intervention_final_state_sha256":"b52e4aa06c0379c5ae0436c1c27d52b31bd54e2643b7bedfb1456165d4a301ad","source_intervention_full_initial_state_sha256":"94db7484cb99879fcb11bc925140441e03237b0171d182f03a7e5f3c7a2b9d80","source_intervention_initial_state_sha256":"25d6b61271fc941bf083e9db7d0b672bf3b30bde367be28c724b8ffd85996877","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"b51287dbe48300e9c3ddfc3c05fef097420aa1b68ec4658e286ea20578dea84d","batch_index":359,"batch_slot":7,"environment_seed":2879,"episode_id":2879,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"16be96a3bc7b19c48bd09209ee3207e310213c4be4378c5e07e9ee77125a2c51","manifest_sha256":"6f5387c890b707e82c2aeb73921a2685f0775b8327f3537f7fedff445c4eaa7f","patch_trace_sha256":"db6e257e860ccd2d0a25dfb9f79e485714e75c9c980f1eba7e5794f5c5251eec","policy_batch_seed":125792999,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-agentic-20260816d.json","result_sha256":"409feb0506764ce8b4b13783d2f1fbdf23150fb496aa26bc0da12be81bc81b33","run_dir":"outputs/oracle/runs/spoon-oracle-agentic-20260816d-fresh-validation","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000359.npz","baseline_telemetry":"telemetry/batch_000359.npz","intervention_telemetry":"telemetry_adaptor/batch_000359.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":56,"first_possible_physical_divergence_frame":57,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":4,"last_modified_step":59,"modified_steps":[56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":404649,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"48c8ed024b0b9c306118c95cc4fe7d2d47eafa4bd86ec3af72f10b2170801e3c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"09b826153cbdd6971f520b9d233e44c426541f17e47eae6f9dfbb4884c6010c9","width":640},"comparison":{"audio_streams":0,"bytes":901291,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ff5757e3fa18c556557ebcfbcffc299436eb142ea35eedda7238e938e5255120","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f2c9ed4ba21091bde8c2c295e3455ba6d500ae41902cd85530fdd2898efd46db","width":1280},"intervention":{"audio_streams":0,"bytes":403482,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f4ce5f513444780bb03afb19b985e377d5344d5b70294b33a71120b7d8f736be","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"bd75bc40ecfdae498b52bc4526301e96592aac86a65bab930380a3172373ace1","width":640}}}
{"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","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":"4e8fe07cf23e41f1904c421b4315a606872e2e019155021aa8b1200d55735531","baseline_full_initial_state_sha256":"803c21a842315be5554d01ed776c2f7ffe4953230faad5a8bbfeecd0fc342c48","baseline_initial_state_sha256":"767a32ee0958daac8bf7a46c820933e6739c1c65d43b77cb0780c345887382e0","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"e49aafd72ae1e0b68ff6b42f61b26ab15cb0db0026cfefcc86d25446ee2af87e","published_intervention_final_state_sha256":"f73135e82137ef95209d612223973638534eabf4ed5c6fbdfa76e42a9cbce8b6","source_intervention_final_state_sha256":"f73135e82137ef95209d612223973638534eabf4ed5c6fbdfa76e42a9cbce8b6","source_intervention_full_initial_state_sha256":"803c21a842315be5554d01ed776c2f7ffe4953230faad5a8bbfeecd0fc342c48","source_intervention_initial_state_sha256":"767a32ee0958daac8bf7a46c820933e6739c1c65d43b77cb0780c345887382e0","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"45d9f608da2353da7c0088baf8efa707a59023f04b2ca475d535fb58d928411f","batch_index":288,"batch_slot":0,"environment_seed":2304,"episode_id":2304,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"e49aafd72ae1e0b68ff6b42f61b26ab15cb0db0026cfefcc86d25446ee2af87e","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"a4d23504efde2b6492ede5f01d16b37b77a75e7aedc4cd06f11dc5f62da89470","policy_batch_seed":745004513,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000288.npz","baseline_telemetry":"telemetry/batch_000288.npz","intervention_telemetry":"telemetry_adaptor/batch_000288.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":23,"first_possible_physical_divergence_frame":24,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":37,"last_modified_step":59,"modified_steps":[23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":279852,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d6adeae417a14855098fc4fd3994a8da8298bee4a2a2bf6f32cd9ed62170f958","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002304/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ab69f5d654b1c6e2a1011d6f2a4c4cfb0ce4663dbd7977339c06f62e5bfe27b6","width":640},"comparison":{"audio_streams":0,"bytes":593480,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"88fe33113366bdc2e5eb71510d5403385325f1afc1b688e50d3616ad9fdde1bb","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002304/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"85f4a7fabbb0d15416b4c5a8c600967140c341902d47b0db219aa83133b6f424","width":1280},"intervention":{"audio_streams":0,"bytes":264389,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"62d22aeba3ec76e59aa0dfe265d662004a0dd86f65a9fd66d0b5142e2d16863d","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002304/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"cb4c0dcdead23a5cf1e4c5eb2d23da7880d36b632b965b61e9aa1f51a29ba5a4","width":640}}}
{"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":21,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":21,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":21,"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":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":"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":"b1bab31fca117ad1094f55300c67933192e92cf4af79ef0a5db92280a6b2f4d5","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":"67e50af94c8e63434f24c8a4ce7ad780fc24cfec67c91a7b0a9461ec0d2c7966","baseline_full_initial_state_sha256":"1174c6e8e2e261f34a99f4b39bbf4751009f3dea289b559900e07ac9f98c9078","baseline_initial_state_sha256":"0f27f2186aab31f6e99d51e148c73f8befd85c83ca2fbeddd3c7ab43af9ddc89","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"48642e734d6592861e6e329d8b3466b7707edd581bc06aa2c168b31ae80771c7","published_intervention_final_state_sha256":"3ba4e6c49792229629341b0c28ddfaaffe93390f702e654ba7b4a109f502823d","source_intervention_final_state_sha256":"3ba4e6c49792229629341b0c28ddfaaffe93390f702e654ba7b4a109f502823d","source_intervention_full_initial_state_sha256":"1174c6e8e2e261f34a99f4b39bbf4751009f3dea289b559900e07ac9f98c9078","source_intervention_initial_state_sha256":"0f27f2186aab31f6e99d51e148c73f8befd85c83ca2fbeddd3c7ab43af9ddc89","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"e5920d43ea37326fe69011bc03aea98c0d1dcafa7d2f2951ecafb6e187ec3a7a","batch_index":288,"batch_slot":1,"environment_seed":2305,"episode_id":2305,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"48642e734d6592861e6e329d8b3466b7707edd581bc06aa2c168b31ae80771c7","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"f2b5980c05166a67ea1392d0abb7981bc8594ed46bf9f0249075549269eb3518","policy_batch_seed":745004513,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000288.npz","baseline_telemetry":"telemetry/batch_000288.npz","intervention_telemetry":"telemetry_adaptor/batch_000288.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":20,"first_possible_physical_divergence_frame":21,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":29,"last_modified_step":59,"modified_steps":[20,21,22,23,24,25,26,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","done","done","done","done","done","done","done","done","done","done","done","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":322306,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"54c44cd174b872277234ad2e44f702ef406d722f8ed65643e0a82504d9aaff89","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002305/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"38251c7b5eb66fc9592be9674e566054840c461436740ea49a75c4ccef630902","width":640},"comparison":{"audio_streams":0,"bytes":664604,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"12e5f15b7e3d38b85707a3d2acf233f90779176144cf1b84b3d54540e317c56e","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002305/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"db1aa02235b59563b7fe57c810ead35c8e8f817f49f0031bf1fff92b19d6da0c","width":1280},"intervention":{"audio_streams":0,"bytes":307277,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"6d974694f74708481ad635bc81ed31fdcc02e252aec87d96f54723619be18143","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002305/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5d77917418c3810a21f7a55a8b3472b90505a4809a41e0ab7a49095ed6381293","width":640}}}
{"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":33,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":33,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":33,"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":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":"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":"9dd4a178b7da8fbfde9be3455b245b21794d9be7169c9fb251d4d7ce66998d67","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":"daf16afe4d8c6ed89bb07df614aa8a6e6d9a5d71cc2505e0b2914391d6a8128e","baseline_full_initial_state_sha256":"1fc634a4c24ccf5dff53e05dcc0ca711c43c46b235cf6e2c51fe2f9bb313f5e5","baseline_initial_state_sha256":"fadb55ec82ca71cfb9372b24e5f716e00a3fe1dfc0598058e0bbff4d02f45abc","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"7845a09600fed59a5ad1b365f57640b5eff87e4c23c226a369d902705c6c7b0e","published_intervention_final_state_sha256":"fc3a4814b4f41ed19d9853fcf1a372cb92248844dab17d2b5c0a98346f419341","source_intervention_final_state_sha256":"fc3a4814b4f41ed19d9853fcf1a372cb92248844dab17d2b5c0a98346f419341","source_intervention_full_initial_state_sha256":"1fc634a4c24ccf5dff53e05dcc0ca711c43c46b235cf6e2c51fe2f9bb313f5e5","source_intervention_initial_state_sha256":"fadb55ec82ca71cfb9372b24e5f716e00a3fe1dfc0598058e0bbff4d02f45abc","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"8653603653d2f300f039ec772544e7889dfde5ad0a8d09e4f89d195b402ebb47","batch_index":288,"batch_slot":2,"environment_seed":2306,"episode_id":2306,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"7845a09600fed59a5ad1b365f57640b5eff87e4c23c226a369d902705c6c7b0e","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"a7a3d996806e958c8f2ac0574e6eb0de6b419f9e4c1c24aced00f3c4abcc74ba","policy_batch_seed":745004513,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000288.npz","baseline_telemetry":"telemetry/batch_000288.npz","intervention_telemetry":"telemetry_adaptor/batch_000288.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":32,"first_possible_physical_divergence_frame":33,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":28,"last_modified_step":59,"modified_steps":[32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":281690,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4dd980238021004290c2187375103724dd65ac92ec472a1387a4ac03d19ee2d5","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002306/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"848992c205a7ff63bad8d3254956798f725f694014ff12624e28fc6f12bdf8c8","width":640},"comparison":{"audio_streams":0,"bytes":623132,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9603da778a752931fe9875a5812d8036c40d21bedaf1d725286be4450935c36c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002306/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"26407185c745a1fa4b47492840bb98242c123a990b8893edd12812f6502d4792","width":1280},"intervention":{"audio_streams":0,"bytes":302498,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"833176f0dd69126c283708fbde6fde43bddc6f822652227cc5eaa0e71ff5781c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002306/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"056acc516b2720db508396055a165fc3672b5186c1490d9e7095c09395854bef","width":640}}}
{"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":33,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":33,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":33,"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":2310,"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":"ce0c4eb257d0956f5ee9c5c45ae16318533d4fa2a955f99f5d0d00dc18dfaa56","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":"1f4b839351f765463c339212d483d519758a819ee4c83d64cf1930737eb35bfc","baseline_full_initial_state_sha256":"03d397e7029c50fe59281f5b94ec5a6e21d978a83265f83217e97f20e122e993","baseline_initial_state_sha256":"068f4d552be24bcb2abcb60e7828540130b7c4a3f0475ca59a0dee01d8d07462","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"a56c245108ef473184d42db1b6e64bf055bfc5eee7544ea83255121760556e21","published_intervention_final_state_sha256":"d01926de2b5549870b7121a5bb18103a85a79b54bfd63cb5cf4dade58ad3e618","source_intervention_final_state_sha256":"d01926de2b5549870b7121a5bb18103a85a79b54bfd63cb5cf4dade58ad3e618","source_intervention_full_initial_state_sha256":"03d397e7029c50fe59281f5b94ec5a6e21d978a83265f83217e97f20e122e993","source_intervention_initial_state_sha256":"068f4d552be24bcb2abcb60e7828540130b7c4a3f0475ca59a0dee01d8d07462","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"5c825a28af82b68d243e4c9a4c7141cc8b94f16cb35d797f53d439f3bb5c9258","batch_index":288,"batch_slot":6,"environment_seed":2310,"episode_id":2310,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"a56c245108ef473184d42db1b6e64bf055bfc5eee7544ea83255121760556e21","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"9606f90fc9778c72fc066f196bd34512c5a9fea6f367ebc08433334ba9142dc3","policy_batch_seed":745004513,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000288.npz","baseline_telemetry":"telemetry/batch_000288.npz","intervention_telemetry":"telemetry_adaptor/batch_000288.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":32,"first_possible_physical_divergence_frame":33,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":28,"last_modified_step":59,"modified_steps":[32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":300151,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8a51f8cc79e901ca8e75f09e8ae5578a3b7b9dd45a938f0d024f4e86410a571c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002310/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"47c1503b43648929e937b6c8d064650896f67d39b24961df786deb0a726b4127","width":640},"comparison":{"audio_streams":0,"bytes":661135,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"921e4a05ca88ed64841552ee83830125f21ee89e70de203e219436d5bc4748a6","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002310/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"881c35eb11403fb8fb9809f6dcc2a1b8ca719b839f1d2ed2bcd5dad122be8303","width":1280},"intervention":{"audio_streams":0,"bytes":316512,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"3e3533a83cc2b642fe11cde472f7c97c6abf640ee533bafce31cf5935c5759c8","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002310/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9bbfe797ef435aa4c1d615fb06495afb3d337988a994976fd7bff3d0598dc50c","width":640}}}
{"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":36,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":36,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":36,"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":2315,"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":"93c90521b79ab36454c982b0411b8875390c9a5e0de09c8c41ee9b0841266168","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":"6b49f9e8e31f8979db3987671503f19a2c0bce36c6d9d6de0249a0f55664ef9b","baseline_full_initial_state_sha256":"ab264a1c05a86892d4a5b502bc2357e12ad0350466cdc81e37e330529e763e80","baseline_initial_state_sha256":"4146a533f4c3eb807bad0d6467bf69e5c3ddca7e1012698edd47e3caf4e6c168","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"fa60632cc05781c8acad8a26096f45d18abe764399c40cac014fc9b657976444","published_intervention_final_state_sha256":"58c51c3ad1302a7e2de4b582cb7dc9ee6b8ae36e08556e135a8da3d3f205d536","source_intervention_final_state_sha256":"58c51c3ad1302a7e2de4b582cb7dc9ee6b8ae36e08556e135a8da3d3f205d536","source_intervention_full_initial_state_sha256":"ab264a1c05a86892d4a5b502bc2357e12ad0350466cdc81e37e330529e763e80","source_intervention_initial_state_sha256":"4146a533f4c3eb807bad0d6467bf69e5c3ddca7e1012698edd47e3caf4e6c168","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"c978ac52282efde059dc85450f49d1e150f43abd1d07c165b491dd666f87da8e","batch_index":289,"batch_slot":3,"environment_seed":2315,"episode_id":2315,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"fa60632cc05781c8acad8a26096f45d18abe764399c40cac014fc9b657976444","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"69337b1e565b65953c84bdff4a13d169b1b7be36598fc0b77e5c4509f5ec87d1","policy_batch_seed":13691348,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000289.npz","baseline_telemetry":"telemetry/batch_000289.npz","intervention_telemetry":"telemetry_adaptor/batch_000289.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":35,"first_possible_physical_divergence_frame":36,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":25,"last_modified_step":59,"modified_steps":[35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":351840,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"1e2e54e04f77561b438871ba3e1b555b6680b4512cd9a7ce054281821a72ad7e","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002315/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"0d405dc35ca000ee0adaea02ae0583826011781239f734328150f7ec99b96e0f","width":640},"comparison":{"audio_streams":0,"bytes":772013,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0e96c510fa4219aeb1738c931e18ce385703ea3a20cf32c6ef4c3b4346077930","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002315/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"138a96c1139e00391c36181015f776f3b5282176ec4d4671e3dec2c6fcd27de3","width":1280},"intervention":{"audio_streams":0,"bytes":351256,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"13a476c978340c6d06ed9fc89407f36490841cae01419dedc307f79816896f3e","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002315/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"2665ffc2cf957b7c97eb8542449513ab0e17ecf82ce5db863af15837404b0a63","width":640}}}
{"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":40,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":40,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":40,"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":2318,"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":"67ea071a15ed28e0f4ebd4c72967754e1815929f252592333c5427b2a74ffd83","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":"33b9b9653e35382d1c242f19e1776b288f8802adbafc1e183f4df3baf5e7794c","baseline_full_initial_state_sha256":"b1ecccda746679c9e733f661eff03972bcde05c622eb2eb7852afe58fd6eb320","baseline_initial_state_sha256":"d4b4651bf8c1566dd5d4306aad062804adb368609e9b46d9427250ea3228dfcd","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"ff0181acdf20997a97b9bc24df9ca65be87b2a0d06aa0b276b0b185495d6e19d","published_intervention_final_state_sha256":"581e0d3ba29c8b129a6bcf6f8ac99918d79a70658bfd8ac1ec6b995bf0d62f79","source_intervention_final_state_sha256":"581e0d3ba29c8b129a6bcf6f8ac99918d79a70658bfd8ac1ec6b995bf0d62f79","source_intervention_full_initial_state_sha256":"b1ecccda746679c9e733f661eff03972bcde05c622eb2eb7852afe58fd6eb320","source_intervention_initial_state_sha256":"d4b4651bf8c1566dd5d4306aad062804adb368609e9b46d9427250ea3228dfcd","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"e19d66647131fa1cae2289ed2fb4e356bf464e1ffaa3659cf4e336e4d4cc78e5","batch_index":289,"batch_slot":6,"environment_seed":2318,"episode_id":2318,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"ff0181acdf20997a97b9bc24df9ca65be87b2a0d06aa0b276b0b185495d6e19d","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"a8bc5588ea908bf671efef788ee72832dbc26539b80e70782b33fc31948ede6a","policy_batch_seed":13691348,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000289.npz","baseline_telemetry":"telemetry/batch_000289.npz","intervention_telemetry":"telemetry_adaptor/batch_000289.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":39,"first_possible_physical_divergence_frame":40,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":21,"last_modified_step":59,"modified_steps":[39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","descend","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":346098,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"b9420601677542afeca374dea1ca2a774714ee23c6b2e0a52c3236009a12fa4f","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002318/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f4bdb80988ff74bea39ae0cad041c5a82533b71fdbe8ac96aafcbc4a5936fcee","width":640},"comparison":{"audio_streams":0,"bytes":777142,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"923c4bd87f7a3592ac166716876cd50d1a364346f185e878b4e11f430bcb3d59","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002318/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"16cd9e351c23900b64e6b6cb09423b561434d5a8afaa5fc3464657e9f4de641c","width":1280},"intervention":{"audio_streams":0,"bytes":396441,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"190fd26cb1e819b39af11fbb110df80109853e4852acb0f947ac820e22a0091f","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002318/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"7950cf67eb32143b8093ee5c0533dbc03b2d78ac8d0c306edae58352e55fbddb","width":640}}}
{"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":2319,"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":"f8283e7584f0ec5fb0c6d3deec5ff9238e1fe5a4d3e331a7d8a3bfeb557bfdf7","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":"3aa192ebfdb6cafc0a3bfa379d64db11e6ea785d4f4b04c6460a72d8a054aa54","baseline_full_initial_state_sha256":"b011c251c2e92e8a0592388862119060b65af1608de6f87c9f8e9adc28d78b04","baseline_initial_state_sha256":"eb4a4566fd54615c42be64bbecc58de9df3ed8bba556c61632eea1f45ab78f1a","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"e9eea05186526cdb0edc03969fbf28de31e5b338651fef140e232763a26cd193","published_intervention_final_state_sha256":"83f14d626af70ef38feabcf6244217b78b8dfc7eb074476fcbdeeec61340bbea","source_intervention_final_state_sha256":"83f14d626af70ef38feabcf6244217b78b8dfc7eb074476fcbdeeec61340bbea","source_intervention_full_initial_state_sha256":"b011c251c2e92e8a0592388862119060b65af1608de6f87c9f8e9adc28d78b04","source_intervention_initial_state_sha256":"eb4a4566fd54615c42be64bbecc58de9df3ed8bba556c61632eea1f45ab78f1a","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"1ee36938d7a8d5041e7045e6a961600748bd93b0ab8cb719c2f19fad7e6db626","batch_index":289,"batch_slot":7,"environment_seed":2319,"episode_id":2319,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"e9eea05186526cdb0edc03969fbf28de31e5b338651fef140e232763a26cd193","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"5bb013942c10fdbd4bedb2d021f09e1c93c0400708af2dd43a6ce8b6a9fdc312","policy_batch_seed":13691348,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000289.npz","baseline_telemetry":"telemetry/batch_000289.npz","intervention_telemetry":"telemetry_adaptor/batch_000289.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":29,"first_possible_physical_divergence_frame":30,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":31,"last_modified_step":59,"modified_steps":[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":318507,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"049cfd3f23236902c1f1f185b5b9b65113b5b74c8c9465a19016de2375b3b165","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002319/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"40fa8dd53061924c5a1889b375eee7e53d75caa4ec7f9a83c8483de5f308944b","width":640},"comparison":{"audio_streams":0,"bytes":731590,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"e6bd20a8aebfe2c5fd3b50f445b069bc42161012db789eda1aa3e401be91dba0","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002319/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"4800604a0b999b2462a6f7017ec51dcf532f5fe4d99ac2b93888c570584d1722","width":1280},"intervention":{"audio_streams":0,"bytes":359997,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"97c469cae3062c28abea85cd4f36ea1416cae0ff2b57af1a3728e157eadba111","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002319/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"467601aba251fb6c2577613fd55677fd0f2b03539fc0cdf7ecaacd135abefece","width":640}}}
{"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":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_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2322,"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":"6c965e506581d47de1c01d7ea03f61ed568026391128879514c44c115c977ace","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":"7102fc49aa0072fb9f92e6f4d7317fbffed4a516a1dcde0795ecb29813279cf9","baseline_full_initial_state_sha256":"f7409bceedb157f65ed8516075a932b644ffb3f98441509cad295318b4969bf6","baseline_initial_state_sha256":"e221169534bf0bad2e5a3c031fa71ac5d115183b8b6061c0d01fb93615ef18c0","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"6f02fab2422894dab58240cf80d02ffe2e6167960e3e6ae4acc310ddd9bc8e05","published_intervention_final_state_sha256":"dcedfdb3d5a9e9f9a0abe1094bac9fa6c0fd3f866eb0d0878f8ed1ccc452282b","source_intervention_final_state_sha256":"dcedfdb3d5a9e9f9a0abe1094bac9fa6c0fd3f866eb0d0878f8ed1ccc452282b","source_intervention_full_initial_state_sha256":"f7409bceedb157f65ed8516075a932b644ffb3f98441509cad295318b4969bf6","source_intervention_initial_state_sha256":"e221169534bf0bad2e5a3c031fa71ac5d115183b8b6061c0d01fb93615ef18c0","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"e370b83b5f4b39f8eef4ce542df9b5efaf6f444a266e37c098e2f44786def569","batch_index":290,"batch_slot":2,"environment_seed":2322,"episode_id":2322,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"6f02fab2422894dab58240cf80d02ffe2e6167960e3e6ae4acc310ddd9bc8e05","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"3d4fccabc536248e33c3d8870f0329ac8987be22bb65f08104842cbac8618922","policy_batch_seed":1768526823,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000290.npz","baseline_telemetry":"telemetry/batch_000290.npz","intervention_telemetry":"telemetry_adaptor/batch_000290.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":28,"first_possible_physical_divergence_frame":29,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":32,"last_modified_step":59,"modified_steps":[28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":340917,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"19fdc8c6c5e29eb094e75e8764dbc7624ec97e5993bfa691bb107aa3877a9154","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002322/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"c8df9dd5a46c331807a2f676f1da5e03db876f686f67058b8c14ebf6b232023a","width":640},"comparison":{"audio_streams":0,"bytes":752463,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"711792283d8494b8a96b40da80706a625fbdacee9861e620dff393a7fbc9f145","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002322/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"1e6eb4dccef2a022f4bec58b8fdccea6f680d1a08e5540d4bf2d791235f9aa30","width":1280},"intervention":{"audio_streams":0,"bytes":359392,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"04acbc325f19ccf9776aac22b2f29fdae3ecab8bfb0546c9382928cb4b5f52c5","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002322/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"2218ead6968ec2cd3df1408f108143b01a9c0ef3342ef00ad402d63bb2c01bb6","width":640}}}
{"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":"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":"a894e990e09c352754d8ce83dec82f6a95a3d128abc681671913cbe03f8067ec","baseline_full_initial_state_sha256":"0957167b6fb8093fbef01fc351c6e29e937225061d9b05e252859972450ee368","baseline_initial_state_sha256":"a480eeb5d8117414b71d7fd9c0caee8817512a9a8fb125050cb52023a2df3926","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"73e007843afe221ea8ec6a22330e88b17b39d0827d0da5050d2e8fe9ca3b0a79","published_intervention_final_state_sha256":"ee5229e69d1f930570939b3bbed967a623c5e26b47f336c616c1f49aba661490","source_intervention_final_state_sha256":"ee5229e69d1f930570939b3bbed967a623c5e26b47f336c616c1f49aba661490","source_intervention_full_initial_state_sha256":"0957167b6fb8093fbef01fc351c6e29e937225061d9b05e252859972450ee368","source_intervention_initial_state_sha256":"a480eeb5d8117414b71d7fd9c0caee8817512a9a8fb125050cb52023a2df3926","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"b794d968a6e1e3923af33efdedc7ebcd06285de271d5e85e81e264a726ff4c75","batch_index":290,"batch_slot":3,"environment_seed":2323,"episode_id":2323,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"73e007843afe221ea8ec6a22330e88b17b39d0827d0da5050d2e8fe9ca3b0a79","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"a7a8126e55f8cc7346abc9ebf6dea2b94b98493fa0b4f6a289c8642bef50ff7d","policy_batch_seed":1768526823,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000290.npz","baseline_telemetry":"telemetry/batch_000290.npz","intervention_telemetry":"telemetry_adaptor/batch_000290.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":29,"first_possible_physical_divergence_frame":30,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":31,"last_modified_step":59,"modified_steps":[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","servo","servo","descend","descend","descend","release","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":432966,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"371ea96d63c1b605dd5287c3a64c9b8c71479da342ba1b7d4f63494d2a42616c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"82ba8f09b6ecb0dedd8a72b06a4f29e3a140a1264a51549b2c7bf2f01e3d54f6","width":640},"comparison":{"audio_streams":0,"bytes":876121,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"6948376a82fddd82e5d2cd7c3bd2838203b8b1ef192edfa9c50d206e688be8b2","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f17a52510f6ffe91eddd1daebe5410850841f9842815980d730934bd5cd0b7e8","width":1280},"intervention":{"audio_streams":0,"bytes":405709,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d6740d2831474a6f160d21d998b6c79ffd97aa53ad55573d3735c8af1165ab7c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d1deec1edf35bbab32f15703aaf387d9232ddfab85f429d270c6bff2e9fe2390","width":640}}}
{"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":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":"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): 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":"88263673e653ffba56d3a24b607ef4c28165379a0b3f077651e1f9404bfd7f5c","baseline_full_initial_state_sha256":"33756c77f94719c06209e1e30e707f33a044a4fd718f534e2f7b7de04996e2a7","baseline_initial_state_sha256":"cfab99f6f3380117939712948e7e58f9d755019b458a348b49c3c997817d0043","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"70b8cfd65181f41e22270ebd5044991fe2dabc74a2adfbf5092d303775c827eb","published_intervention_final_state_sha256":"ee15c19dd5611d80d58bd5b4ecf3dd9754e25ea6184db58ab3b6e86b1fdae209","source_intervention_final_state_sha256":"ee15c19dd5611d80d58bd5b4ecf3dd9754e25ea6184db58ab3b6e86b1fdae209","source_intervention_full_initial_state_sha256":"33756c77f94719c06209e1e30e707f33a044a4fd718f534e2f7b7de04996e2a7","source_intervention_initial_state_sha256":"cfab99f6f3380117939712948e7e58f9d755019b458a348b49c3c997817d0043","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"6e6d72b5124c91d078329415e0b895bf28b8f658fb12931a1524c483780c7bb5","batch_index":290,"batch_slot":4,"environment_seed":2324,"episode_id":2324,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"70b8cfd65181f41e22270ebd5044991fe2dabc74a2adfbf5092d303775c827eb","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"3b611c16b1a5352f230cb35d47bab617ec025934511e678e5a1ac4b523b5da6c","policy_batch_seed":1768526823,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000290.npz","baseline_telemetry":"telemetry/batch_000290.npz","intervention_telemetry":"telemetry_adaptor/batch_000290.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":40,"first_possible_physical_divergence_frame":41,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":20,"last_modified_step":59,"modified_steps":[40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":367299,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f41187489d1a52ce3ab6bf6f3c9e8d594228218c2747c810e6dc5dd888b9ee15","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002324/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"1af00ac3a08387a12c0157d03e8a2cb644c22585eb6cda43615b6e3547655fb0","width":640},"comparison":{"audio_streams":0,"bytes":817107,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"64f7f14e61bc67fe01ef2e128a8009d317cf1a7d067e7dafccad5f92c976142e","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002324/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"7e9cafd6cf576c59cbfe1e7e0fb1e88efeb2376ae942c57c5f2f3808ad71f9b5","width":1280},"intervention":{"audio_streams":0,"bytes":398422,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ae5e830ec58893328eeeb65f06a555e36db3b6448feef95dbc7ddb09e63e201e","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002324/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a277a92588479c836aa40d2cde51795fb41eb0eb56371544c0ebb93334935b0b","width":640}}}
{"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":43,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":42,"natural_rgb_prefix_exact":false,"pixel_canonicalized_frame_indices":[0,42],"pixel_prefix_canonicalized":true,"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_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)","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":"eef8e4b09da02747be3ba5c15f06d12a884d38b0003a969600007ad91f98d09c","baseline_full_initial_state_sha256":"80b3ccf277bd985c8a0bab87d83ee8a25e239ae772c9bb6478f8baab31ac8241","baseline_initial_state_sha256":"4edf77f1cadf3161214d7e992ea5c54c155313422abd4447b8db6aff82fcc75a","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"55aaaf5c3f72f6d05df9be1611abb1e92442793c175c5ce092a46cd0ee70d59f","published_intervention_final_state_sha256":"3a62f4e74824f45686729b6d489a6f749b0e467dda922c04459000f4426666d6","source_intervention_final_state_sha256":"3a62f4e74824f45686729b6d489a6f749b0e467dda922c04459000f4426666d6","source_intervention_full_initial_state_sha256":"80b3ccf277bd985c8a0bab87d83ee8a25e239ae772c9bb6478f8baab31ac8241","source_intervention_initial_state_sha256":"4edf77f1cadf3161214d7e992ea5c54c155313422abd4447b8db6aff82fcc75a","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"3c91ae69587ba9d0b35c0b9c5a26ead380a9c8918b3dd788eb5ea44481f9272a","batch_index":290,"batch_slot":5,"environment_seed":2325,"episode_id":2325,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"55aaaf5c3f72f6d05df9be1611abb1e92442793c175c5ce092a46cd0ee70d59f","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"39160abd8a9c340d01a86a1a1ee71603c8f0a54f57f92d6e096476686e8746cf","policy_batch_seed":1768526823,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000290.npz","baseline_telemetry":"telemetry/batch_000290.npz","intervention_telemetry":"telemetry_adaptor/batch_000290.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":42,"first_possible_physical_divergence_frame":43,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":18,"last_modified_step":59,"modified_steps":[42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":362211,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"380f7b7d75726b34f74342f752a55f0a2ec253c9f496e519221bb3f8250abe31","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002325/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"711253a1ac32d8e7e15ca33761c44fa472a243791663d2fb3303faf47590f439","width":640},"comparison":{"audio_streams":0,"bytes":799297,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"78f61ea3d4b3110941992b62747df745dc5899626a2d91960978b5b79ed3833c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002325/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"977a8ae76b48dd7162cb5d4264a755a6825ca2535d4d5f6e87726edbe87674fc","width":1280},"intervention":{"audio_streams":0,"bytes":387670,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"129c0db8e34d60f72dbe85ad6246fab6217ee042ce90093961e96dadcaee0552","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002325/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"2734ed3b1b30a947e486217fd8f35547d6cb5192e00403cfa3f5f2604010f84a","width":640}}}
{"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":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":2326,"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":"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)","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":"dd439e6bc39f26895e4d654257bb5290865824b3de78e40f2291ec2c972f9a89","baseline_full_initial_state_sha256":"e877f4e20814edd87d646940b4ae2c8f9525e69491a69a7c795101c7a1d11b69","baseline_initial_state_sha256":"45bccfdbbe46cff8586f58a75490e29873586f18bc1e94411fc20bc66b41fcdb","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"9de4cd7648ba6548dc066ee5ed1da40f71e97118c49f424b0469f8d093f86d4a","published_intervention_final_state_sha256":"611df969639c02d13df4937d975a10186e14362c8bfd0744a511f0083e627142","source_intervention_final_state_sha256":"611df969639c02d13df4937d975a10186e14362c8bfd0744a511f0083e627142","source_intervention_full_initial_state_sha256":"e877f4e20814edd87d646940b4ae2c8f9525e69491a69a7c795101c7a1d11b69","source_intervention_initial_state_sha256":"45bccfdbbe46cff8586f58a75490e29873586f18bc1e94411fc20bc66b41fcdb","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"5b9ce2f312f482303e79e6c7c2743c380eca1874e2cb949423551559054e39e5","batch_index":290,"batch_slot":6,"environment_seed":2326,"episode_id":2326,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"9de4cd7648ba6548dc066ee5ed1da40f71e97118c49f424b0469f8d093f86d4a","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"cd7679dd235e946f8ed380197ce8692d63e6d4696300fc1ec71c267f5b497319","policy_batch_seed":1768526823,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000290.npz","baseline_telemetry":"telemetry/batch_000290.npz","intervention_telemetry":"telemetry_adaptor/batch_000290.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":17,"first_possible_physical_divergence_frame":18,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":43,"last_modified_step":59,"modified_steps":[17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","descend","descend","descend","release","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":424275,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"5c84905becadd4d5bb8fdc2038b6204ede6675b9099b020be60a906838c8d284","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002326/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"4ab678f436c0fb005c3b5ea187b42db06e85b334ca83f1309773f8b1d26297ce","width":640},"comparison":{"audio_streams":0,"bytes":819300,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"054e674f4f520754d161fc05da4b5477e48f47ff111582cfbcd90ae02dc7fea3","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002326/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9ad6885376aa52cbebe370965c4baf732660284873e9980ea2847aaf6ff5a746","width":1280},"intervention":{"audio_streams":0,"bytes":339261,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"da5c73414909cd1b8174d4efde7aef07e4e9bc0793d67912d86ef64a6283e237","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002326/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ce1d22954027cb69aa026ef370529cf0ef8fbcbcf6c5c049773700bf8c707cd1","width":640}}}
{"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":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":["right_finger_target_contact_force"],"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":2327,"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":"632957aa757901bf027c422a1d45a77fc6e0addc47c2ecd9aaf8ccd67d49c1bc","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":"a2f0f161ea9a9c41b09271b32fc8c4336527c3223c442aef9522b5c23e52ad10","baseline_full_initial_state_sha256":"94db7484cb99879fcb11bc925140441e03237b0171d182f03a7e5f3c7a2b9d80","baseline_initial_state_sha256":"25d6b61271fc941bf083e9db7d0b672bf3b30bde367be28c724b8ffd85996877","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"1b0d146a0815a797738179cfbee7ea66213038d169c3bdcee300833886cd886a","published_intervention_final_state_sha256":"44068262835ad7d3d576a30a7dc15108bfcaea08bf58f031dc6b58d9a4c530e4","source_intervention_final_state_sha256":"44068262835ad7d3d576a30a7dc15108bfcaea08bf58f031dc6b58d9a4c530e4","source_intervention_full_initial_state_sha256":"94db7484cb99879fcb11bc925140441e03237b0171d182f03a7e5f3c7a2b9d80","source_intervention_initial_state_sha256":"25d6b61271fc941bf083e9db7d0b672bf3b30bde367be28c724b8ffd85996877","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"3562e73dcaf4e49e52c7001dbdaaa6b26ee720e13461678affef9ff3fa970ea0","batch_index":290,"batch_slot":7,"environment_seed":2327,"episode_id":2327,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"1b0d146a0815a797738179cfbee7ea66213038d169c3bdcee300833886cd886a","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"c467e4ec27d018d7f890cc30d1a47fad8b487d72693918ba799f925914213353","policy_batch_seed":1768526823,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000290.npz","baseline_telemetry":"telemetry/batch_000290.npz","intervention_telemetry":"telemetry_adaptor/batch_000290.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":21,"first_possible_physical_divergence_frame":22,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":39,"last_modified_step":59,"modified_steps":[21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","servo","descend","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":425499,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"54ed0cac34d750c3c81a05ed1344e8ba76f3d979a1ec96ae4efe140c0ffc3b9c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002327/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5ce3b01ccf19083ca57f0aa5135c23f6e3d221fa657781d3812df0fa931f3d9b","width":640},"comparison":{"audio_streams":0,"bytes":839979,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f2dddce623caf634f6bec834c9b677a9484b0050932dfdfc33f433dff9a20eae","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002327/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"76bbda3ce10a5e48107764dbf3c9ded4eb97e182cc9950d6746172d8cd87cad8","width":1280},"intervention":{"audio_streams":0,"bytes":355382,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ca044955eabbde8090b8da45e61760ddf7cb747846a8f98c67c6d1b82b7ec9c1","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002327/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e4e208c1fa5cc9f38e7f5ddf1e9c09fa343fe7032f6c69324cddff6a342716fa","width":640}}}
{"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":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_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2328,"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":"572ec1e3d894121ef355af33dc039e72dafa2c314b07a0d2dd2056c3734da68c","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":"93132cc45e4c70eae4d38e7c6d0cafb8073a3f45da99895335d0efd5078013bc","baseline_full_initial_state_sha256":"803c21a842315be5554d01ed776c2f7ffe4953230faad5a8bbfeecd0fc342c48","baseline_initial_state_sha256":"767a32ee0958daac8bf7a46c820933e6739c1c65d43b77cb0780c345887382e0","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"1f19e23ed107a2bfeb1bbfb5d5159a806b4fcffbe488dab0d58a52da8ddea295","published_intervention_final_state_sha256":"d84a3748616bb9f49e25b73cf49cf5fdeaa324fe1954789bf2a1e66487ea3874","source_intervention_final_state_sha256":"d84a3748616bb9f49e25b73cf49cf5fdeaa324fe1954789bf2a1e66487ea3874","source_intervention_full_initial_state_sha256":"803c21a842315be5554d01ed776c2f7ffe4953230faad5a8bbfeecd0fc342c48","source_intervention_initial_state_sha256":"767a32ee0958daac8bf7a46c820933e6739c1c65d43b77cb0780c345887382e0","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"7314b8483cd6cb44ac222d1b067819d3574446cdfcb0130cadb02301762bfbb3","batch_index":291,"batch_slot":0,"environment_seed":2328,"episode_id":2328,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"1f19e23ed107a2bfeb1bbfb5d5159a806b4fcffbe488dab0d58a52da8ddea295","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"604cd6ad690aa7b273c44656fb9b0186945e1da3a87f866c124d2c4f3df376c9","policy_batch_seed":1587124656,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000291.npz","baseline_telemetry":"telemetry/batch_000291.npz","intervention_telemetry":"telemetry_adaptor/batch_000291.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":28,"first_possible_physical_divergence_frame":29,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":32,"last_modified_step":59,"modified_steps":[28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":299234,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4c4003b07c1c72b5af8a27242d81a19a1002c15fd253fbdbd4a2b92de8c9086c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002328/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5d427a91e57e4218ba05ff946eee59078f9ff8df24de449f986b069e85b21e3e","width":640},"comparison":{"audio_streams":0,"bytes":613223,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"a28c6b76c007965a1a2ca12424582f5a5bddcb1c0de3bcd97967590cb9135244","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002328/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"19b855215b7af1ac8065f326dd03e92365cc580b61450a2211dd0b731339ddbc","width":1280},"intervention":{"audio_streams":0,"bytes":274712,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0a77e61b85fd3923ff27e7a458666622c55b446cf0af400e5c8f2de4dc7768e2","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002328/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"8ac8d8e5f42f4484207d2cdabd4827b45d36147c90295ebc396af7440b27f33a","width":640}}}
{"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":23,"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_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2329,"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":"72576a369c1ac358588fe43064093a62b02f38d78ab45cd9db36b63552ef1661","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":"d5413986722fb65d6701d59fccb348a23d2acab9e461cc2a30e80b65fc52f60a","baseline_full_initial_state_sha256":"1174c6e8e2e261f34a99f4b39bbf4751009f3dea289b559900e07ac9f98c9078","baseline_initial_state_sha256":"0f27f2186aab31f6e99d51e148c73f8befd85c83ca2fbeddd3c7ab43af9ddc89","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"0de76dd3d29448e369a8e17122c05271724e470a5b3a3dc2136ce18ad7f2c866","published_intervention_final_state_sha256":"6ce24e66a7eb73e7ac9997f96c04fb49d25a25b98f91b8c9ae123e7e05f8fcf5","source_intervention_final_state_sha256":"6ce24e66a7eb73e7ac9997f96c04fb49d25a25b98f91b8c9ae123e7e05f8fcf5","source_intervention_full_initial_state_sha256":"1174c6e8e2e261f34a99f4b39bbf4751009f3dea289b559900e07ac9f98c9078","source_intervention_initial_state_sha256":"0f27f2186aab31f6e99d51e148c73f8befd85c83ca2fbeddd3c7ab43af9ddc89","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"5ef0ffa0cbe00890e0a230b04d2ae6c5f23a6e50561ed9aca9cbc93dc9d25c92","batch_index":291,"batch_slot":1,"environment_seed":2329,"episode_id":2329,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"0de76dd3d29448e369a8e17122c05271724e470a5b3a3dc2136ce18ad7f2c866","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"75843507910a2cdaaef3e0026d0a97f7277cb3c053325b4f6b16e1dcfe07ec69","policy_batch_seed":1587124656,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000291.npz","baseline_telemetry":"telemetry/batch_000291.npz","intervention_telemetry":"telemetry_adaptor/batch_000291.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":22,"first_possible_physical_divergence_frame":23,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":38,"last_modified_step":59,"modified_steps":[22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":304032,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"6a2f7e720160338675135024f5656f97052371eaf635bc0dc29f08888c22dae6","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002329/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a591fb6a70e40f59f2afa79be7cd5abeefd097725b24573488dd0df6f4ab290f","width":640},"comparison":{"audio_streams":0,"bytes":626212,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f47b459044c28414bc46532ceffa1cb5e198dddbc9ba9fdeba32457f76e88634","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002329/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ec9dce6fed42cb53fcac4c286cd4c8a1b1dbf37ff825a276c50d5203a2de746b","width":1280},"intervention":{"audio_streams":0,"bytes":288725,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d042a22efaaacfeeca8103f8a128427f77094336e2752a7a0a49d94ceb5c88a3","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002329/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ac10a208629c822fdee96de4c218e9551833daa07de22622d183a6510f623615","width":640}}}
{"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":28,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":28,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":28,"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":2330,"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":"cfd5716f9ab24550c75930d072acbdd8d5e995a42a01729f85ec38337953faa3","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":"4fce1a64ba584b7b047cd50e7647f0b119c09beebb025d9903c61d73a36401e2","baseline_full_initial_state_sha256":"1fc634a4c24ccf5dff53e05dcc0ca711c43c46b235cf6e2c51fe2f9bb313f5e5","baseline_initial_state_sha256":"fadb55ec82ca71cfb9372b24e5f716e00a3fe1dfc0598058e0bbff4d02f45abc","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"bce9f765182bdcde598510b9240a4a26a2e0c018c14df748064b1ee404e902b0","published_intervention_final_state_sha256":"9169d2a666f6edabaeba724fdf34f56fa59326576dc4e9cfd3d8911b3d146476","source_intervention_final_state_sha256":"9169d2a666f6edabaeba724fdf34f56fa59326576dc4e9cfd3d8911b3d146476","source_intervention_full_initial_state_sha256":"1fc634a4c24ccf5dff53e05dcc0ca711c43c46b235cf6e2c51fe2f9bb313f5e5","source_intervention_initial_state_sha256":"fadb55ec82ca71cfb9372b24e5f716e00a3fe1dfc0598058e0bbff4d02f45abc","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"68eb644c72c5793dee404d3a2fdf11df5a36952e37bc31d656783dbf06eb132a","batch_index":291,"batch_slot":2,"environment_seed":2330,"episode_id":2330,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"bce9f765182bdcde598510b9240a4a26a2e0c018c14df748064b1ee404e902b0","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"a63506b37d1c302943a257179459c240ba5c55e16b8e1d93b13b76b82ba0b773","policy_batch_seed":1587124656,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000291.npz","baseline_telemetry":"telemetry/batch_000291.npz","intervention_telemetry":"telemetry_adaptor/batch_000291.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":27,"first_possible_physical_divergence_frame":28,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":33,"last_modified_step":59,"modified_steps":[27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":283309,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"969ef1b279731bb363dec2241533153b947180076f5b912718c37529b6416085","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002330/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"52c3e0a0cffa517c5b6f9991d19a86ca1d21c15a56bedc0078c753c1ac398a47","width":640},"comparison":{"audio_streams":0,"bytes":620733,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"590b0f017e4013c8d7d71744c09fd48a30ab1c08ff4905d231e6d94d9157af49","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002330/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d2987aceb5cb7519054b7b3ac42d3660f5b7d4a371019cf055d8967c12073ec1","width":1280},"intervention":{"audio_streams":0,"bytes":287674,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"6d9648918e12be2c479601351eb62330ce5bb757a27fe1499c573e96d53686a7","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002330/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9f7ca43a34c5a7858989de0b2ad759b864d1b2390cfcf4367a997a3f1e9596a8","width":640}}}
{"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":54,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":54,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":54,"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":2331,"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":"f324bfcc94c5ff406339506151579c69409d39298f280c7d6056c02d2e9218a6","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":"037474b870ce8272692c2f6d0352f1b3e14d106b78c34eb39a1176c503d61da5","baseline_full_initial_state_sha256":"77d23c798b02a639447912e068a4bb4acda78014ba3533cbdd0c6776ce898ccb","baseline_initial_state_sha256":"466a6ca30afb377bd7e13ea925c57dd1f5befb0302f40cdfab5e9bf565303e94","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"35350cdbcaed788add11471263375a2a8aca7c5a07f1f454faf4df50381e031f","published_intervention_final_state_sha256":"27dcd5d99b5a54d7d7d4b93fcf06a602a5bd2685a243b4845f2cf20edcd744f9","source_intervention_final_state_sha256":"27dcd5d99b5a54d7d7d4b93fcf06a602a5bd2685a243b4845f2cf20edcd744f9","source_intervention_full_initial_state_sha256":"77d23c798b02a639447912e068a4bb4acda78014ba3533cbdd0c6776ce898ccb","source_intervention_initial_state_sha256":"466a6ca30afb377bd7e13ea925c57dd1f5befb0302f40cdfab5e9bf565303e94","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"acdec501b16b75dc44880c688196b11823dc1d8177ca69038f0246871fcd16f7","batch_index":291,"batch_slot":3,"environment_seed":2331,"episode_id":2331,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"35350cdbcaed788add11471263375a2a8aca7c5a07f1f454faf4df50381e031f","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"8b08ed0bf3118584c37b559103c920fc02a73817b8b40abc9e11e1de624331e1","policy_batch_seed":1587124656,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000291.npz","baseline_telemetry":"telemetry/batch_000291.npz","intervention_telemetry":"telemetry_adaptor/batch_000291.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":53,"first_possible_physical_divergence_frame":54,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":7,"last_modified_step":59,"modified_steps":[53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo"]},"videos":{"baseline":{"audio_streams":0,"bytes":266366,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"63092b81d3a734259770c934588ecf1b4a2ed1db1ab4c643fdec8ac72be71bf8","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002331/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e766d06dd1119c4a7c64422bb6bcb03cf17e13fd7db65e10c70a1021edaeb87d","width":640},"comparison":{"audio_streams":0,"bytes":592642,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"81212f6be2e07226638c52d56296180ac36782a1456e57ea2506fb4a95711b13","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002331/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"eb572fc9d431703106c410c9b7b23b519dab14e97fb8510ede12babca2a8b555","width":1280},"intervention":{"audio_streams":0,"bytes":273918,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"87a757d5f1932a144bf19d1eafa576fcccfeefced84e81311a6152a3e1931c57","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002331/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9d27ed7847bf90321a50c266465f83a446488fefce732ecc05b3d94873b1bc26","width":640}}}
{"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":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":"2480f51a2561a393296231236ea28e9cd295a4e8a8793ffb38f67acce369e44d","baseline_full_initial_state_sha256":"d15e15fb5da03e7239ecad027cb0736205cfef35b7fb5d54fed14462cde1e068","baseline_initial_state_sha256":"0e4da5fe90977528d1c343dcfa28567e92227c7a74e1c89443f0d30ada03b102","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"ba88e33d27a0af3cb3f99067185324b4d2561cdf532874b48223acaa32575a6c","published_intervention_final_state_sha256":"c8dbb512620cd6c463c1636ffce2c61539300bf73580e6569ddf2add54a44f9d","source_intervention_final_state_sha256":"c8dbb512620cd6c463c1636ffce2c61539300bf73580e6569ddf2add54a44f9d","source_intervention_full_initial_state_sha256":"d15e15fb5da03e7239ecad027cb0736205cfef35b7fb5d54fed14462cde1e068","source_intervention_initial_state_sha256":"0e4da5fe90977528d1c343dcfa28567e92227c7a74e1c89443f0d30ada03b102","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"e0c54855a37ca58a0a650673d223235211d8f74adc3de632bf7fb18963062fd6","batch_index":291,"batch_slot":5,"environment_seed":2333,"episode_id":2333,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"ba88e33d27a0af3cb3f99067185324b4d2561cdf532874b48223acaa32575a6c","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"a7b7b642638955aadc69910c13fd23d865ee9dbf6fb07b18928577a04ffb10c4","policy_batch_seed":1587124656,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000291.npz","baseline_telemetry":"telemetry/batch_000291.npz","intervention_telemetry":"telemetry_adaptor/batch_000291.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":42,"first_possible_physical_divergence_frame":43,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":18,"last_modified_step":59,"modified_steps":[42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":321653,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"5f93489e18635fe594b0221920963cdc09577ae47e9f336c76ce955ca1312cc0","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002333/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"464015a7914107ef5d35ef82be3da36de9bc2c2008fc1b8862c015771416c53b","width":640},"comparison":{"audio_streams":0,"bytes":731475,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d180f0b14fc623be64275ce5870a744bc0e2dac885e783d6b3d37e19399a1107","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002333/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f3cbf92c96c71039e916f1700a074971a56f0baf24d45a80cfde6cc10663af43","width":1280},"intervention":{"audio_streams":0,"bytes":345101,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"cefe0b90fed48d507269ed98d1a127d4f3f7d549626ec08f726f67a1424d5454","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002333/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"972394a335a9932e035a6e6888566ff61741538dddef2dca721ce5a286f43f3d","width":640}}}
{"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":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] & 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":"18172efd4c7145a64ea6ed2efbba2cf59929459f6843cdd387807f68a46df901","baseline_full_initial_state_sha256":"a41d1bdca010a43b3a1ba4382cbe37063044939e921a952248a11ff22330b09d","baseline_initial_state_sha256":"0075b613705e92669ecdac16bb81914eb215ce64c8179e6adc48604145394dfb","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"bdfb3ae8512dd7df68e0307d1702f920558adce9630f8b2da142ea3a7c8564e9","published_intervention_final_state_sha256":"321eaed431613936e9126dd608b83fb06b13d0ebd227de22af5db11a0b485738","source_intervention_final_state_sha256":"321eaed431613936e9126dd608b83fb06b13d0ebd227de22af5db11a0b485738","source_intervention_full_initial_state_sha256":"a41d1bdca010a43b3a1ba4382cbe37063044939e921a952248a11ff22330b09d","source_intervention_initial_state_sha256":"0075b613705e92669ecdac16bb81914eb215ce64c8179e6adc48604145394dfb","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"99efaac187ba3b614234230ff3192aba013884aa7e32c6bdc86fca021ef867ae","batch_index":291,"batch_slot":7,"environment_seed":2335,"episode_id":2335,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"bdfb3ae8512dd7df68e0307d1702f920558adce9630f8b2da142ea3a7c8564e9","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"52e957507202ed4fbb3e05c8c894a50f433df88676a109f59f57731442665a28","policy_batch_seed":1587124656,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000291.npz","baseline_telemetry":"telemetry/batch_000291.npz","intervention_telemetry":"telemetry_adaptor/batch_000291.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":21,"first_possible_physical_divergence_frame":22,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":39,"last_modified_step":59,"modified_steps":[21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":322256,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7af9ca831fa20f932bdd6cac7ba51b98d11445f819f0664cfef08f122d554362","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002335/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a3f5957fed6717d0af28fb6742eee8a8dbaec40eb8360d4ebab9c3370af8a20a","width":640},"comparison":{"audio_streams":0,"bytes":695676,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8111ea8169c51b28da1ee660c9fc42a8c4496dcd3fab91c29e2f9ba437ab63a8","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002335/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"678cb912533b6a0bd371f5616ae069fc302d6b357b29b1f167011d73a5ff9ae6","width":1280},"intervention":{"audio_streams":0,"bytes":329588,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"37f06b17aad6f74773203b14e7bedaa4b2203980f21023b43f1a0985501e6d45","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002335/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"7d77eaeea6bf6768a38984f8677cb3c78811ffc7cf2d7a4ae68a8a4839a1910c","width":640}}}
{"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":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":"spoon_cloth","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2337,"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":"b688ad4ba9ec9e39d185a95c2cea9c0de1adcd4c733511e0b2e065bc09dc122b","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":"106e1fc96a5653f54cbec34bdf2809e9fbb21f868e2133a99062126b9e59e34c","baseline_full_initial_state_sha256":"c4b1c9b09474d649d54ccbfb543038ddc53a1d99aefd03e5d92e1659a447fb33","baseline_initial_state_sha256":"71a509eb1425c4f9c6a5a48dee79d08871f6eae3293637526e4afe7710b05874","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"9f0cdf63db74ef09b8c94627ca9189b25992470159356170552d1d363bd24697","published_intervention_final_state_sha256":"a22a04ba7aeb47ed61b317a485f6df8eb85151a0d026d7b74d1b4b2faca0d221","source_intervention_final_state_sha256":"a22a04ba7aeb47ed61b317a485f6df8eb85151a0d026d7b74d1b4b2faca0d221","source_intervention_full_initial_state_sha256":"c4b1c9b09474d649d54ccbfb543038ddc53a1d99aefd03e5d92e1659a447fb33","source_intervention_initial_state_sha256":"71a509eb1425c4f9c6a5a48dee79d08871f6eae3293637526e4afe7710b05874","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"06fe8d9609874a15246a8dbb8387afb621fb3c2f32a7cc6671e04622bb4d839c","batch_index":292,"batch_slot":1,"environment_seed":2337,"episode_id":2337,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"9f0cdf63db74ef09b8c94627ca9189b25992470159356170552d1d363bd24697","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"96c240f3d1d7ae0c8bf0db2f80fd1687fa11deff977d562a93fb20baf3453aa7","policy_batch_seed":1684051842,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000292.npz","baseline_telemetry":"telemetry/batch_000292.npz","intervention_telemetry":"telemetry_adaptor/batch_000292.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":40,"first_possible_physical_divergence_frame":41,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":20,"last_modified_step":59,"modified_steps":[40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","servo","servo","descend","descend","descend","release","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":370579,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"1566e506e79abf0720f90f50c4de74b24018a6099d631ebdc764043588c9b44d","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002337/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5418f12d00c386778a75b747f08af23986074f1ac8169eeeb82694964dc3b005","width":640},"comparison":{"audio_streams":0,"bytes":850791,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"b61e837c841c1101436384a79496ad6b519f26137e7f34d44aca7fc92ba0fdaf","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002337/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3168a74f23037ffcdf5b6d6170aa4779b1cb297b473deb547eab7487cd435a29","width":1280},"intervention":{"audio_streams":0,"bytes":408765,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"be34c64843313d90836623ea8cc665d44d3777a8e280e71d776ccd2aa1a9e53d","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002337/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"51a9980be92dd016f6c32ce489a692318c7600fb68ee7617fb67ae3dffc10c72","width":640}}}
{"authorship":"known_library_candidate","causal_pair":{"canonical_replay_rgb_prefix_exact":false,"canonical_splice_step":27,"comparison_input_camera_regions_prefix_exact":true,"comparison_prefix_mode":"canonical_action_splice+transparent_pixel_prefix_canonicalization","decoded_mp4_first_different_frame":28,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":1,"natural_rgb_prefix_exact":false,"pixel_canonicalized_frame_indices":[0,27],"pixel_prefix_canonicalized":true,"published_first_different_frame":28,"published_rgb_prefix_exact":true,"published_trace_kind":"canonical_baseline_prefix_source_patch_suffix","source_causal_pair_clean":false,"source_preintervention_action_exact":false,"source_telemetry_prefix_differences":["action","ee_position","ee_quaternion_wxyz","left_finger_position","left_finger_quaternion_wxyz","left_finger_source_contact_force","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":{"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":"1c115bdc036c1d843c69609b71716d4e21a9cc0b9188b952a6841cbf792c2359","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":"8689a5379a396b530a32b689906926522ed934f191954ba2d24c6665d8f64d0d","baseline_full_initial_state_sha256":"de0c3aa1be116dd086488f3196607ab24d1afc5e608d63fa4a5d53d1f8adb2d1","baseline_initial_state_sha256":"5f01ca09d4039207fe87c27fcdf8f43d074367633789a37837516f207a9fda94","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":2}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"074095ca95a3e6204bb2cb131a029569831a69ed1b55dc77e2615f2d6a8244ff","published_intervention_final_state_sha256":"0ef21ca3a98489746509cc912e622a98560600c5b96817f1e0aabc96c9131160","source_intervention_final_state_sha256":"1a86fa53d81c9539546d4c74f6a5ad263051d167030a5ea79e5b1f85fc80007a","source_intervention_full_initial_state_sha256":"de0c3aa1be116dd086488f3196607ab24d1afc5e608d63fa4a5d53d1f8adb2d1","source_intervention_initial_state_sha256":"5f01ca09d4039207fe87c27fcdf8f43d074367633789a37837516f207a9fda94","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"85d2a43f6dc5beeb022dcfc58c4f7544a3013bf5866d044a82c9ee6c5f0b7d5d","batch_index":292,"batch_slot":3,"environment_seed":2339,"episode_id":2339,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"3c492a7c14a2f60d8133dc02a4f29ef35c097c99d79fc9447d580878bd4fc6cd","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"c2a3532b0f6f8df651f792d6de8ae00861c93a9aa54538a90231edad81a04a21","policy_batch_seed":1684051842,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":false,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000292.npz","baseline_telemetry":"telemetry/batch_000292.npz","intervention_telemetry":"telemetry_adaptor/batch_000292.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":27,"first_possible_physical_divergence_frame":28,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":33,"last_modified_step":59,"modified_steps":[27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":341954,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"891c2e3dbb0d067edf7b9db491c2955108621d01471005d708d00ce864484b37","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002339/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a720fc39095c695d954408385c3876b699f378142b180f6015654c3c54e7be7c","width":640},"comparison":{"audio_streams":0,"bytes":738313,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ad7bfcbc4b0b785101b41f4ff6078e4f0d469b742b01c5b804d72238c285fc8a","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002339/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d5b3be49121828726c30e2a526a1004cb9478500987aeec1722ad6ea8dc1ee25","width":1280},"intervention":{"audio_streams":0,"bytes":338856,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"e8b286ad4d4f1347a841571c6a023c3d4dad927a0e48a1763114cd7b4f8da896","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002339/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"4e9e7c307dd243e194c43ecbd12b93e2b4966a3b4873d2bd6b0b7684730c113b","width":640}}}
{"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":50,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":50,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":50,"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":2340,"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":"46b66039930c86061caebf4adeeb7482cddf5cc153321de1bef8e1c19d94cdd8","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":"1d120df53eeff9400a522ad344d254667ca7916a730dc395852c14c6530f2772","baseline_full_initial_state_sha256":"9f94ca95f1e9855ffa60316b7851f31a5b73889acc5e29b3a4c7c2e2a64b39ff","baseline_initial_state_sha256":"6109d22f9606daa3dbec238f7387bbd8746f0d70c7af7f9cee617dbe095b305e","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"21c6722eacb8e811a06f1f797cfbb19bf3f6bad2c9afe45ea188ff494b22c4f7","published_intervention_final_state_sha256":"15392145ad57053013c0dc196d13de0e5f780ff6e8da824e6ad839a094b7642b","source_intervention_final_state_sha256":"15392145ad57053013c0dc196d13de0e5f780ff6e8da824e6ad839a094b7642b","source_intervention_full_initial_state_sha256":"9f94ca95f1e9855ffa60316b7851f31a5b73889acc5e29b3a4c7c2e2a64b39ff","source_intervention_initial_state_sha256":"6109d22f9606daa3dbec238f7387bbd8746f0d70c7af7f9cee617dbe095b305e","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"099c875f9f507a12df41fd9f31cfd18be3a03015cbc6a177ce0b48819d58841d","batch_index":292,"batch_slot":4,"environment_seed":2340,"episode_id":2340,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"21c6722eacb8e811a06f1f797cfbb19bf3f6bad2c9afe45ea188ff494b22c4f7","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"ac11402584f48e653d47aa784e54adaec5044d6bc7c83bcb058b7460ee9e52ca","policy_batch_seed":1684051842,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000292.npz","baseline_telemetry":"telemetry/batch_000292.npz","intervention_telemetry":"telemetry_adaptor/batch_000292.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":49,"first_possible_physical_divergence_frame":50,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":11,"last_modified_step":59,"modified_steps":[49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":315436,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"c28e8719c86572f1dbcb7a4e1390a37b29974d0b4a9c884286d7123a204fdc3e","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002340/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b149865c0626e09f42fc2bae7c4a6f5d7ab9e567656246d741dc0147a1867ab0","width":640},"comparison":{"audio_streams":0,"bytes":715515,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"b39650aa278619623683791413fb46fe0c94f23f0929412e5d87e9a4713da819","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002340/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a0175794d106213ad10efaf37b3cff19cdf3783f8a6279bfdeb6989a62de742b","width":1280},"intervention":{"audio_streams":0,"bytes":317241,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f45246fe9fbc7be7fdcc64e971c3041fcdc31c62966e5e3904a81335666be139","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002340/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e1e5c5098047a76d79a044f46f4fc31901435d58282a4c577c7f23ef3c9462cf","width":640}}}
{"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":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":["left_finger_target_contact_force"],"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":2341,"instruction":"put the spoon on the towel","outcomes":{"published_effect":"unchanged_success","published_intervention_success":true,"published_intervention_terminal_metrics":{"consecutive_grasp":false,"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":false,"elapsed_steps":60,"is_src_obj_grasped":true,"moved_correct_obj":false,"moved_wrong_obj":false,"src_on_target":true,"success":true}},"pair_id":"a9b1428de90e6ca4902ea6f5abf35ede3a220e95d8a0006319eed987ed1fca27","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":"648a7ee191efcea9a11f2163d5eebaa211401909d06c0c5185627d621325bf25","baseline_full_initial_state_sha256":"2af5cb83116fa22392f78084c3845371afe2afe5467ce0c526bc2aff5f242a1b","baseline_initial_state_sha256":"26ca1ff95ecf28ebafc54bf92552a906d9b96db19b35331294015758094a5d7b","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"a9bca93fe1442828e89a25280ec7e34d6f967f8f03567f56c925ce7b922f4db7","published_intervention_final_state_sha256":"bae526053d7b74a482a4f7b097529f75d8b238908d5e0068315f490b4d3d3484","source_intervention_final_state_sha256":"bae526053d7b74a482a4f7b097529f75d8b238908d5e0068315f490b4d3d3484","source_intervention_full_initial_state_sha256":"2af5cb83116fa22392f78084c3845371afe2afe5467ce0c526bc2aff5f242a1b","source_intervention_initial_state_sha256":"26ca1ff95ecf28ebafc54bf92552a906d9b96db19b35331294015758094a5d7b","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"e40808f12f1b36df8cbcca0b0d228ba1ccc42a37da2e3c9aef2af18553fad615","batch_index":292,"batch_slot":5,"environment_seed":2341,"episode_id":2341,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"a9bca93fe1442828e89a25280ec7e34d6f967f8f03567f56c925ce7b922f4db7","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"0fabdfa72703c24b829248838471b775b845491dbde40ca7e61e881d318298c4","policy_batch_seed":1684051842,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000292.npz","baseline_telemetry":"telemetry/batch_000292.npz","intervention_telemetry":"telemetry_adaptor/batch_000292.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":42,"first_possible_physical_divergence_frame":43,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":18,"last_modified_step":59,"modified_steps":[42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":329470,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7aadbc78d7148b8b507544a46dba0988fc294f48b28f69dc0e0569b1012623ee","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002341/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3c6e0c89efe6f534b48ff754167d52f1a0a85bc8e61cfc82981ae06825f0b615","width":640},"comparison":{"audio_streams":0,"bytes":726462,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"4947d1141ccf0d958222408216798868bdf38df427ae8cd71c1c449b63198de6","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002341/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"16c45ec9059fe8aa7efd379aff62af5e4d1a17dbe29256d66796c88ea34bebf5","width":1280},"intervention":{"audio_streams":0,"bytes":348762,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d03559910d474fbe07288dea3ca96251ccebbb56ccf9263ff93594648e3f732d","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002341/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"db4e6eab4bff207e94008ed8a1bcae6c68a814035d631273ffdd87c9a951e947","width":640}}}
{"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":36,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":36,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":36,"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":2342,"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":"26371f7081c55b454919c40e2653fdb1b6ae120eabc0077a3e41878782f32c0a","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":"6fe903a51ebeefe3f0c60c4e44aecb04450b578a46c58658911e458f28c8ced8","baseline_full_initial_state_sha256":"b1ecccda746679c9e733f661eff03972bcde05c622eb2eb7852afe58fd6eb320","baseline_initial_state_sha256":"d4b4651bf8c1566dd5d4306aad062804adb368609e9b46d9427250ea3228dfcd","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"35ecca30325a1124f60b33d6b5d2d54586991fa381b6ffc117c3d9d1510bb459","published_intervention_final_state_sha256":"4d6aa3bb2950a8cb37aecb376ee31fe5eddd26dbc90f989b3e0aa179cd53c658","source_intervention_final_state_sha256":"4d6aa3bb2950a8cb37aecb376ee31fe5eddd26dbc90f989b3e0aa179cd53c658","source_intervention_full_initial_state_sha256":"b1ecccda746679c9e733f661eff03972bcde05c622eb2eb7852afe58fd6eb320","source_intervention_initial_state_sha256":"d4b4651bf8c1566dd5d4306aad062804adb368609e9b46d9427250ea3228dfcd","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"093ac7db74f984bd6cfc63f47a1a22de4fffafb2f419b191504ae2a3dc1e3678","batch_index":292,"batch_slot":6,"environment_seed":2342,"episode_id":2342,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"35ecca30325a1124f60b33d6b5d2d54586991fa381b6ffc117c3d9d1510bb459","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"6a61d26c898140ac13f8f98420b46fd1083a60f1d7a1a0ac9e862abd863875a3","policy_batch_seed":1684051842,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000292.npz","baseline_telemetry":"telemetry/batch_000292.npz","intervention_telemetry":"telemetry_adaptor/batch_000292.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":35,"first_possible_physical_divergence_frame":36,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":25,"last_modified_step":59,"modified_steps":[35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":336630,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"fb3f019411a9b785035a12a55b85800f2c42e6bd628059318ec403557f1e435b","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002342/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b06ec3c4264cc4a07aaa795d0cd3fab22cf0647d480185761e624662addf0ffb","width":640},"comparison":{"audio_streams":0,"bytes":734743,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"964e864efa2947bca17f68babb93c5a6dc6e83bcb8e803fce564d2d65c376bc4","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002342/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"de76140c7496e74ec7b199a58edc547150fa230bb34c75656d9645aa9c5ab9fe","width":1280},"intervention":{"audio_streams":0,"bytes":344698,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"fb0dc8d93c4d006b6134cf761c24e9d7b35eda5f5ca78b094cdae99dc4948af6","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002342/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"dbf3b7878d4d254d32d6dd2846d10b5cdfbc1293b9346b036204b42002ed3e38","width":640}}}
{"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":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":["left_finger_target_contact_force"],"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":2343,"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":"5e2e3997645e2b3f80e2e314938858a42585a294dc10afea58ab5136a141660c","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":"e0e5a059b91fd0d8449abdf1cfa083e60bff0e5a3a712050a9d4a70c8eae6a15","baseline_full_initial_state_sha256":"b011c251c2e92e8a0592388862119060b65af1608de6f87c9f8e9adc28d78b04","baseline_initial_state_sha256":"eb4a4566fd54615c42be64bbecc58de9df3ed8bba556c61632eea1f45ab78f1a","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"034711e63c9838b6406845bd03d63f9470b554a5529d53458ce9596fa8966423","published_intervention_final_state_sha256":"f4364a2bfadb8ded805d316739ed263cd0e27e6a4864f1c39865abe66eca64d0","source_intervention_final_state_sha256":"f4364a2bfadb8ded805d316739ed263cd0e27e6a4864f1c39865abe66eca64d0","source_intervention_full_initial_state_sha256":"b011c251c2e92e8a0592388862119060b65af1608de6f87c9f8e9adc28d78b04","source_intervention_initial_state_sha256":"eb4a4566fd54615c42be64bbecc58de9df3ed8bba556c61632eea1f45ab78f1a","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"22771a734f55c5f7454f0bd0a532e28815cd7f385d0bd1307145e333fdeeaa6e","batch_index":292,"batch_slot":7,"environment_seed":2343,"episode_id":2343,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"034711e63c9838b6406845bd03d63f9470b554a5529d53458ce9596fa8966423","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"dfbe39934b7811dfaf63bf7a9921f92590ff86530c2d1cef0ab7a9a53e96962a","policy_batch_seed":1684051842,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000292.npz","baseline_telemetry":"telemetry/batch_000292.npz","intervention_telemetry":"telemetry_adaptor/batch_000292.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":42,"first_possible_physical_divergence_frame":43,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":18,"last_modified_step":59,"modified_steps":[42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":357376,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ccb66a094aa821c542e8a7a2149d5699cc5cb43c2668f39525cae909aae543b5","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002343/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3988d72b0c4286c9a313a720ed442bafb1f79b6f7691d61a969b31777ba27110","width":640},"comparison":{"audio_streams":0,"bytes":784779,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"b263022d67f0147084b749b9f0d4dfdbc5a70197e48b8a5348c94d1547f12297","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002343/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"2e32e6ad24d77e0f633cdd472b4cbb09df69fbdd7038c15c0936595a69279626","width":1280},"intervention":{"audio_streams":0,"bytes":372127,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"0d1f25a04c5e7e05b0ed7114717fe94e85675104551c67b951abd4a8aa053f2c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002343/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d86994721c576a71deb760098c03ad46a76b21166622c83c5d01ff2fa1b104af","width":640}}}
{"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":45,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":45,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":45,"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":2344,"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":"b60be0f0cd78b290df23d1fe76ff35a88063c3019a57fc3b4c0a95198f48ed8c","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":"dc4d50e96caebeb8de7182ea389fac7c29e48b1f33b0e06435b205ed2db9034b","baseline_full_initial_state_sha256":"d5fc4fad19e6f939b7db3af1f1f690120c0facfc282e90e87a5f55a3480af1c8","baseline_initial_state_sha256":"945564950aa9790fa1bc555bc344bd29234387b0db030521b1aed248a4c1a5b9","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"eb3223251011e42b9a7e9f51a60ad35b3d62800f510488485ef4968e1c177ccf","published_intervention_final_state_sha256":"bd93850a888a4f68bb427749b8009210c4955ded99de57fa01528ba1a6b6e62e","source_intervention_final_state_sha256":"bd93850a888a4f68bb427749b8009210c4955ded99de57fa01528ba1a6b6e62e","source_intervention_full_initial_state_sha256":"d5fc4fad19e6f939b7db3af1f1f690120c0facfc282e90e87a5f55a3480af1c8","source_intervention_initial_state_sha256":"945564950aa9790fa1bc555bc344bd29234387b0db030521b1aed248a4c1a5b9","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"7e6f44782fa9bb2e49e135db806aec648f5449331d9197e0dc4cbd3c0d51b801","batch_index":293,"batch_slot":0,"environment_seed":2344,"episode_id":2344,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"eb3223251011e42b9a7e9f51a60ad35b3d62800f510488485ef4968e1c177ccf","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"e997c09a3f59599397c188e4c38059818c8517826bb9e01b340b3062e7c1149a","policy_batch_seed":96325600,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000293.npz","baseline_telemetry":"telemetry/batch_000293.npz","intervention_telemetry":"telemetry_adaptor/batch_000293.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":44,"first_possible_physical_divergence_frame":45,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":16,"last_modified_step":59,"modified_steps":[44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":377878,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"838f270bbd6c64ded18a58abf7d2da767966ee829ba5bfebcd0e804b104e34f3","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002344/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3bfb0bf99e477a417f0a8aab27c40d821b5767133cdf42cb669efd3a18f76058","width":640},"comparison":{"audio_streams":0,"bytes":833338,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"376b6ad7038a8ae406ebee311baf492780790575aa79e33289d9cfd84ba25d0f","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002344/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"c99e92382899fa7aeab9ddc8ae54229c43d6433993b3984ce621a851e62a4aab","width":1280},"intervention":{"audio_streams":0,"bytes":391942,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"942997b4e911a3b6e872ef8ffbad00b2a29f3c2d13a834cc2bf00324bb723179","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002344/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9fac8a01b269de94bc9a58058cff47a9de5bdb4b969acf1a03872c8c1fe0c570","width":640}}}
{"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":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","simulator_oracle":true},"patch_status":"accepted","protocol_kind":"fixed_candidate_search_with_automatic_selection","replay":{"baseline_final_state_sha256":"5faa23c5c4c074f417e60af9c6915ee179bc04c36ddff2a3b717c6c3ab3fe8c6","baseline_full_initial_state_sha256":"f7409bceedb157f65ed8516075a932b644ffb3f98441509cad295318b4969bf6","baseline_initial_state_sha256":"e221169534bf0bad2e5a3c031fa71ac5d115183b8b6061c0d01fb93615ef18c0","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"b6e25a9eb7b26440bd3890d2b97a0ecb5330f4a50c373fa6588c195f33816cbe","published_intervention_final_state_sha256":"1ad8a97075aac7b46bfe5c0c32df3c2abb85d72ef681807c19abeb8d05ab3f2b","source_intervention_final_state_sha256":"1ad8a97075aac7b46bfe5c0c32df3c2abb85d72ef681807c19abeb8d05ab3f2b","source_intervention_full_initial_state_sha256":"f7409bceedb157f65ed8516075a932b644ffb3f98441509cad295318b4969bf6","source_intervention_initial_state_sha256":"e221169534bf0bad2e5a3c031fa71ac5d115183b8b6061c0d01fb93615ef18c0","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"67e8f1e5e79de74306315a2d584f476b68d6a3d0224de9d35f37c1a8de294b07","batch_index":293,"batch_slot":2,"environment_seed":2346,"episode_id":2346,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"b6e25a9eb7b26440bd3890d2b97a0ecb5330f4a50c373fa6588c195f33816cbe","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"e3c900f7f37b9d992f66e53d51c80787df2287c2f9439756f71cbf4969ab134f","policy_batch_seed":96325600,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000293.npz","baseline_telemetry":"telemetry/batch_000293.npz","intervention_telemetry":"telemetry_adaptor/batch_000293.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":17,"first_possible_physical_divergence_frame":18,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":43,"last_modified_step":59,"modified_steps":[17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":351940,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"e86c84eeca5018e76786110719fcca245bc04e8e8e4b1d4b52409059ba51b779","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002346/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"73b1ea4dbc972641c95bdeead017c0c20fedbfb763a09ff6d65b88f60666a4e8","width":640},"comparison":{"audio_streams":0,"bytes":733735,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f905a5cd67e162c801bbede48db4e996a62312f090e9d8e57c5d0a69f71fe3a6","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002346/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"38c9e79d6dc64ade4f2f5eff188346f99bf8ae824f72dac35145bcbcb51a33de","width":1280},"intervention":{"audio_streams":0,"bytes":316535,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"2cd31b71b3e7823eaf2f25a51bf1fc6c04018d34261a117cc39584b01c19b9f3","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002346/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"c74a4eead498eed3b63587cff32f2e80bd197c57fd2daa7e7a649e1f46b5e6ad","width":640}}}
{"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":47,"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_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))","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":"82fe9e4dbcfe2ae7cc40759066870a9d28e93cfdea2631189831dd7156e5d0a5","baseline_full_initial_state_sha256":"33756c77f94719c06209e1e30e707f33a044a4fd718f534e2f7b7de04996e2a7","baseline_initial_state_sha256":"cfab99f6f3380117939712948e7e58f9d755019b458a348b49c3c997817d0043","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"4bc24f2ce3110394a161d26810e38c26ec1c79cbe234c0795810daf1729f8067","published_intervention_final_state_sha256":"4d93414aacb3711b14a6b6cdfe4d5641c879dca046a62eb0e6ac46be2cab2c9f","source_intervention_final_state_sha256":"4d93414aacb3711b14a6b6cdfe4d5641c879dca046a62eb0e6ac46be2cab2c9f","source_intervention_full_initial_state_sha256":"33756c77f94719c06209e1e30e707f33a044a4fd718f534e2f7b7de04996e2a7","source_intervention_initial_state_sha256":"cfab99f6f3380117939712948e7e58f9d755019b458a348b49c3c997817d0043","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"21f279b7e4ec65e1a3720088c9bc29d91decd620761bbb4498171b97a4ec2dee","batch_index":293,"batch_slot":4,"environment_seed":2348,"episode_id":2348,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"4bc24f2ce3110394a161d26810e38c26ec1c79cbe234c0795810daf1729f8067","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"cc010b5ab5c519ae6cb53f15df9f1255021ae19250c67cbba46ff899d1069864","policy_batch_seed":96325600,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000293.npz","baseline_telemetry":"telemetry/batch_000293.npz","intervention_telemetry":"telemetry_adaptor/batch_000293.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":46,"first_possible_physical_divergence_frame":47,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":14,"last_modified_step":59,"modified_steps":[46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":359431,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"8c8ac1989eded2a393f29ea7a3e7b111b8b046f953814fe62bf2831256ec9f1e","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002348/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"66b12070a8034994fb53ec61338f1bfa6acea631a7194d05e978849e8ec399e7","width":640},"comparison":{"audio_streams":0,"bytes":818176,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"6ded858790084f5b5dfb567ce6f8c148794ec3bf0c9e274b162c84fe87e88233","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002348/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"278b465ba0b8a02542dcccff58308a1a195362fb4b22cdadcc7258882a9c451c","width":1280},"intervention":{"audio_streams":0,"bytes":405223,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ab8fb711583c57de7d676d2e7e9f7d7e3c70b31643891d3db31e6de6ac9f033d","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002348/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"fcd9ece2b91310c9884d8348b2607516117f2118fc9870802f09698544886f48","width":640}}}
{"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":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,"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":"a82832e76607b9816d20cd63c11b0a063bfa7382635e503a826b11a0656384b0","baseline_full_initial_state_sha256":"80b3ccf277bd985c8a0bab87d83ee8a25e239ae772c9bb6478f8baab31ac8241","baseline_initial_state_sha256":"4edf77f1cadf3161214d7e992ea5c54c155313422abd4447b8db6aff82fcc75a","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"8b2f45651cb705c93e22e47ca5315e857b4f7fb3bd48ad49ed2a2781a368fc9e","published_intervention_final_state_sha256":"66ad0095ac2e410a9627ce81f12cf85a03bd9381fdb9d445583f0dbb73f89ab1","source_intervention_final_state_sha256":"66ad0095ac2e410a9627ce81f12cf85a03bd9381fdb9d445583f0dbb73f89ab1","source_intervention_full_initial_state_sha256":"80b3ccf277bd985c8a0bab87d83ee8a25e239ae772c9bb6478f8baab31ac8241","source_intervention_initial_state_sha256":"4edf77f1cadf3161214d7e992ea5c54c155313422abd4447b8db6aff82fcc75a","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"36c4cf56615d27513844d70b75ecc41ca1accf7701bb49a2250ec589f8feb868","batch_index":293,"batch_slot":5,"environment_seed":2349,"episode_id":2349,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"8b2f45651cb705c93e22e47ca5315e857b4f7fb3bd48ad49ed2a2781a368fc9e","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"3229681317a2b781b595a988f2e1a03e198614e7a8fd7f69c3ff4cfcf155a692","policy_batch_seed":96325600,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000293.npz","baseline_telemetry":"telemetry/batch_000293.npz","intervention_telemetry":"telemetry_adaptor/batch_000293.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":23,"first_possible_physical_divergence_frame":24,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":37,"last_modified_step":59,"modified_steps":[23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","servo","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":401330,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"03f3f88c35d8ee0a785af0dff2cd0b3a3e1c7b5f8ef9f3e8335f9287a6c5695a","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002349/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f6c12bfeb0c4195a28e877b2ca396884534656faf72c2b7e490c6a02055650b7","width":640},"comparison":{"audio_streams":0,"bytes":816862,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"1cdec77824cca54878f9e177b13de4f149fa26a0d8f18b0718f29c9ea3d3fc03","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002349/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3dcd8b60b5ab917466cfb0eb70d69c877fa7e525e0f3b86f710f05c57a93eea7","width":1280},"intervention":{"audio_streams":0,"bytes":348310,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"a6ff0de90ea4748d2d8b9c33b5315e45ab272e1f21c4b2a8878f059e4062c1e6","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002349/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"d045345fe6c4b0731d24ca83a8417f48150105eed7c8c1a447b30e59d1e157ff","width":640}}}
{"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":31,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":31,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":31,"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":2350,"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":"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":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":"83dc6d2cd162b0ae8f19fdd2b7e18890e7c916c203267742a319192028534827","baseline_full_initial_state_sha256":"e877f4e20814edd87d646940b4ae2c8f9525e69491a69a7c795101c7a1d11b69","baseline_initial_state_sha256":"45bccfdbbe46cff8586f58a75490e29873586f18bc1e94411fc20bc66b41fcdb","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"a1e31bf4ec48ddcaacbfa31c8cff888492caa58fa1c75e20c25d58dc8a2806d9","published_intervention_final_state_sha256":"6e0d73866cebd0fb07ba3d2ebe10d93a2463d0a4b5c06d8c35c563b18a327d67","source_intervention_final_state_sha256":"6e0d73866cebd0fb07ba3d2ebe10d93a2463d0a4b5c06d8c35c563b18a327d67","source_intervention_full_initial_state_sha256":"e877f4e20814edd87d646940b4ae2c8f9525e69491a69a7c795101c7a1d11b69","source_intervention_initial_state_sha256":"45bccfdbbe46cff8586f58a75490e29873586f18bc1e94411fc20bc66b41fcdb","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"43057871605362a2686e3ce7322b9fa4587ece2d1db33b3a0ef9ae040b23008d","batch_index":293,"batch_slot":6,"environment_seed":2350,"episode_id":2350,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"a1e31bf4ec48ddcaacbfa31c8cff888492caa58fa1c75e20c25d58dc8a2806d9","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"964d26bdfb9796df2e4a0f4214b7025726685a63de786a516af639a690670be3","policy_batch_seed":96325600,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000293.npz","baseline_telemetry":"telemetry/batch_000293.npz","intervention_telemetry":"telemetry_adaptor/batch_000293.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":30,"first_possible_physical_divergence_frame":31,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":30,"last_modified_step":59,"modified_steps":[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":353803,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"fbe0d32e04900dfa86c0cdcc84c2f6a4db0a6b7c1f1e6b6400c832ae2e344fdf","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002350/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ef624e7257c5f217d6cfb5999b5ce6ab583a9f3a84aefbc91bea76f67fb30253","width":640},"comparison":{"audio_streams":0,"bytes":776806,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"69ce2eb10932f4523954a699fedc16a17ed24aff22bab66f5a88e1c339ad16b0","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002350/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"c56317cb85076877502cdbe47ee798728de1c2c4f8e8bd1f33f198db1d9f4ff3","width":1280},"intervention":{"audio_streams":0,"bytes":365752,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"c6aaabee7301ef38ae8589fcb39a9e19a1cb64c423701fd961328b12bf5867c7","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002350/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"8ed62398b948383fff9dc921607fcf147aedbffa12fb859544b4751ed5ef1cdc","width":640}}}
{"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":33,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":33,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":33,"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":2351,"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":"9ddda09fd1ec202df0b5e1fc9cdabb8e56deac79632be4951bd8db79af72749c","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":"ac331dec3eabacb69f70a66a93a01a9d612c7f085b08bec93a268668cfd05bd8","baseline_full_initial_state_sha256":"94db7484cb99879fcb11bc925140441e03237b0171d182f03a7e5f3c7a2b9d80","baseline_initial_state_sha256":"25d6b61271fc941bf083e9db7d0b672bf3b30bde367be28c724b8ffd85996877","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"70809620c6ab9845a5bc0f8653143853c611b792f0a9717053ee87977e105978","published_intervention_final_state_sha256":"c5ec34aad22f712aa8c3c0cc396ca93bcdf718b09c2fea3270ad7f9de688f451","source_intervention_final_state_sha256":"c5ec34aad22f712aa8c3c0cc396ca93bcdf718b09c2fea3270ad7f9de688f451","source_intervention_full_initial_state_sha256":"94db7484cb99879fcb11bc925140441e03237b0171d182f03a7e5f3c7a2b9d80","source_intervention_initial_state_sha256":"25d6b61271fc941bf083e9db7d0b672bf3b30bde367be28c724b8ffd85996877","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"859dfe088f6374ba0509f6bf3ae7b7cb7c574115bdc35e19e08a07de7cfc54ba","batch_index":293,"batch_slot":7,"environment_seed":2351,"episode_id":2351,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"70809620c6ab9845a5bc0f8653143853c611b792f0a9717053ee87977e105978","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"f8e792eccbc0b78062df7ec012f424bffe0ea40fdb6d0dd247335a1b35575a36","policy_batch_seed":96325600,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000293.npz","baseline_telemetry":"telemetry/batch_000293.npz","intervention_telemetry":"telemetry_adaptor/batch_000293.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":32,"first_possible_physical_divergence_frame":33,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":28,"last_modified_step":59,"modified_steps":[32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","servo","servo","servo","servo","servo","servo","descend","descend","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":436637,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"e10f17dfeb10740ee022b94ef90d229b0d81ac5c0a9ce1b1b22ee4e4bd0db6f1","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002351/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"017e68875cecc6fc9f97dac471e8ba1b42d6fb433e46a05e66373436bb6ff70e","width":640},"comparison":{"audio_streams":0,"bytes":898275,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"60128956b4bc48e303172cd1709f16d3faba1aca5cfe19b7bd956d0a5866dd14","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002351/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b37cb4cccf80e38fe457305c7c21c9795397e0ed288a49bc0fa6823ddaeb8b6b","width":1280},"intervention":{"audio_streams":0,"bytes":426103,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"fc0d71da22b7f338433803830d8879c72a06141c35312ef4fa4ddefbd88b52e9","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002351/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"890d94f338bb462c23abd5f0aec92898b918c1912964462d7bb8ccdb625ffc27","width":640}}}
{"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":26,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":26,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":26,"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":2352,"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":"c6f0dd193dfd68465f68d0262d8af16640b5952f2be37c9f564f42d64284841e","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":"9d7b31e22e3ec188cfc1bf0b06722d16ca8561b14f57c3479b396a42ec344216","baseline_full_initial_state_sha256":"803c21a842315be5554d01ed776c2f7ffe4953230faad5a8bbfeecd0fc342c48","baseline_initial_state_sha256":"767a32ee0958daac8bf7a46c820933e6739c1c65d43b77cb0780c345887382e0","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"4fbf2b2a4e6fcf7eca88db414e43386d24f1114d3729588f4cfb3ee21bc0ac45","published_intervention_final_state_sha256":"1c459aa28b4a8d3384612db1c9d57df7f158a5ccffdfffb362aaee4e41c0a0fe","source_intervention_final_state_sha256":"1c459aa28b4a8d3384612db1c9d57df7f158a5ccffdfffb362aaee4e41c0a0fe","source_intervention_full_initial_state_sha256":"803c21a842315be5554d01ed776c2f7ffe4953230faad5a8bbfeecd0fc342c48","source_intervention_initial_state_sha256":"767a32ee0958daac8bf7a46c820933e6739c1c65d43b77cb0780c345887382e0","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"42ed70ec551cc0662ec94d487e9bc60809cd06916ba3f9ba901f451584e890b4","batch_index":294,"batch_slot":0,"environment_seed":2352,"episode_id":2352,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"4fbf2b2a4e6fcf7eca88db414e43386d24f1114d3729588f4cfb3ee21bc0ac45","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"03d99792e21acf35ea8b673a9f68612ce323578c4071771281d227623c37ba52","policy_batch_seed":113009484,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000294.npz","baseline_telemetry":"telemetry/batch_000294.npz","intervention_telemetry":"telemetry_adaptor/batch_000294.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":25,"first_possible_physical_divergence_frame":26,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":35,"last_modified_step":59,"modified_steps":[25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":281751,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"99f1a49cff7487dcee71633c807cc27f24fc37e0ba28adee29ee7af2ea40cf7f","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002352/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ad17254c0720e83082ed510e4ce979a17ff809f0da3030c48dd942142f6a6cfd","width":640},"comparison":{"audio_streams":0,"bytes":605665,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"e7a7eb464495131d1c8396cc0906f6a9a56cd94c176af0650ac66baf338efa23","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002352/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5f1d0e1f45b1bb7cb27d09c10100447f81284acd03dc23438946824eec9f9c57","width":1280},"intervention":{"audio_streams":0,"bytes":275568,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ecdb03e3cf276636ff0dbcb16a1687b91a1e28ec989c8e6c1cff7b3fcb995857","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002352/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b5b54adf03dc31d46038f5d033145dd1d28904c33697ba024201a0838a0b4d29","width":640}}}
{"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":2353,"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":"d758c19c0443f77172d6d5e8471dfee95e292bb5fca2e0a0f076d28b61308af8","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":"c485560ee70b73a39ee6d1047389996519ac1868322550c8f8c98eb760733987","baseline_full_initial_state_sha256":"1174c6e8e2e261f34a99f4b39bbf4751009f3dea289b559900e07ac9f98c9078","baseline_initial_state_sha256":"0f27f2186aab31f6e99d51e148c73f8befd85c83ca2fbeddd3c7ab43af9ddc89","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"847e396bd2bb3085ff05a0330dfa30ad75dabb6d30f23950e68d74d8f8cd2878","published_intervention_final_state_sha256":"87fdff0d88458e8117644a681532ee8c6e916a9a0018f12e691fdc55789f1c99","source_intervention_final_state_sha256":"87fdff0d88458e8117644a681532ee8c6e916a9a0018f12e691fdc55789f1c99","source_intervention_full_initial_state_sha256":"1174c6e8e2e261f34a99f4b39bbf4751009f3dea289b559900e07ac9f98c9078","source_intervention_initial_state_sha256":"0f27f2186aab31f6e99d51e148c73f8befd85c83ca2fbeddd3c7ab43af9ddc89","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"78705e36140350d7286a5e8b82146938577cb6867001b9e229edc36cc4cd02c3","batch_index":294,"batch_slot":1,"environment_seed":2353,"episode_id":2353,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"847e396bd2bb3085ff05a0330dfa30ad75dabb6d30f23950e68d74d8f8cd2878","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"ff255ad1911dee8a2605e97c9839cc93d34c9b2464e6d0b12366dcd096ddd922","policy_batch_seed":113009484,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000294.npz","baseline_telemetry":"telemetry/batch_000294.npz","intervention_telemetry":"telemetry_adaptor/batch_000294.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":23,"first_possible_physical_divergence_frame":24,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":37,"last_modified_step":59,"modified_steps":[23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":283732,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"2edd765e3a4f54b215be35c7232dd509e6c27952d3ce777a5ff08bc7f3be10ff","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002353/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a2488fb994f7287ed66de50e4a235af0c84845d8932021b987d7486b01736596","width":640},"comparison":{"audio_streams":0,"bytes":618113,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"3b1b4dac418f7817c78ac8bb2d8bae9ded4ce949b790547ce25cdb5895d55037","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002353/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"48eb2d90326f8f1b207cc8bc732d7787b5b9633231de14852e5b10fe99c6fbb5","width":1280},"intervention":{"audio_streams":0,"bytes":295656,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"d55f1d361b3b7d5193584c38e208b59b7709b2556fa328dc3fd6b331b223355d","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002353/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"7f54f7c8f46a2c6a6838419399ca5a6d2f3ef9c0a9ca7ed619c55c6677689ba8","width":640}}}
{"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":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":2356,"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":"545f912c13bae34d1d1b0c6c26527bc0bfadb54d47b41ed2c8f253b2c92186a8","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":"fba786cfe572157f917137006aae65d0611ac2558fadf0636deb242ab20d1fe4","baseline_full_initial_state_sha256":"cec93f6bb175b5609d3023e50637d162ef4dd8bfc9c4608ad93265eb269624ba","baseline_initial_state_sha256":"b4c728c467f189dbd3a2b675a1757e8a6a2f0513c53bea4980bf3896c924d093","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"7230cf323c9df27eba9b16ce72f1e32ab39eb33dba6777c1ac8d4097f22b61c4","published_intervention_final_state_sha256":"d846fcd1df00e4e3a7997693d9009aa12845f4a01c5940a1b082ef0c58dddbf7","source_intervention_final_state_sha256":"d846fcd1df00e4e3a7997693d9009aa12845f4a01c5940a1b082ef0c58dddbf7","source_intervention_full_initial_state_sha256":"cec93f6bb175b5609d3023e50637d162ef4dd8bfc9c4608ad93265eb269624ba","source_intervention_initial_state_sha256":"b4c728c467f189dbd3a2b675a1757e8a6a2f0513c53bea4980bf3896c924d093","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"1fc350ac82997db0fc9000a82a02626b2eee88d700fc5a066283c45e4c6d1332","batch_index":294,"batch_slot":4,"environment_seed":2356,"episode_id":2356,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"7230cf323c9df27eba9b16ce72f1e32ab39eb33dba6777c1ac8d4097f22b61c4","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"553abfe5376769765fa8dbb048df1cf0055cd6e93aeb5a9603b1d0553dbb8901","policy_batch_seed":113009484,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000294.npz","baseline_telemetry":"telemetry/batch_000294.npz","intervention_telemetry":"telemetry_adaptor/batch_000294.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":21,"first_possible_physical_divergence_frame":22,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":39,"last_modified_step":59,"modified_steps":[21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":306086,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"5219e8973d5b1ccd804652a7d06ce1e13213c8090c6871c2bc882edeaa78bbc2","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002356/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"5df1cc329528d1f18d4833bbae8a192e7dbae8e9abc4d35e532120eb315471a9","width":640},"comparison":{"audio_streams":0,"bytes":631438,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"3de1e3db3c57be9bb2097dbb8c42ac80c91df276ddbed66b81951b4e3bb94ff9","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002356/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"ed612c3d18f06781ac71da825dcb9414f3efb17d2b06c6daffb42b383cd5c3cc","width":1280},"intervention":{"audio_streams":0,"bytes":275642,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"3a70e62c25affdd63af13e5c69175a7190ff4c39ed6ccccad4fa5409ecd796d2","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002356/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"6a931dcc8e21f99040741d24bee2c076e4c23fc2fabc695afe8f4eb9e1c32036","width":640}}}
{"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":39,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":39,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":39,"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":2357,"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":"ef896f440a2f4df3d6dabe03cc93996ccb5f7154b492016dcc96468a781ae264","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":"008b4d1455926ba930ca8f6bb2feac7e4c3d483e553970b3ba77d01d86e67ac5","baseline_full_initial_state_sha256":"d15e15fb5da03e7239ecad027cb0736205cfef35b7fb5d54fed14462cde1e068","baseline_initial_state_sha256":"0e4da5fe90977528d1c343dcfa28567e92227c7a74e1c89443f0d30ada03b102","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"d1ee5c2541a00145cad4299659571bcaf4a024b303f04fccf3f84b238aa92766","batch_index":294,"batch_slot":5,"environment_seed":2357,"episode_id":2357,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"d69daf4dbb8b3a6e6e7a8ba239830dd887a06aca4feb4a4644451a63af5d40a1","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"cc18f930308fc6b18e58c0ad0dbbfee6471ec4ba4039bdb332fd79a1bde2e2b5","policy_batch_seed":113009484,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000294.npz","baseline_telemetry":"telemetry/batch_000294.npz","intervention_telemetry":"telemetry_adaptor/batch_000294.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":38,"first_possible_physical_divergence_frame":39,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":22,"last_modified_step":59,"modified_steps":[38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":315017,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"54d39d44e5648eeb3df5b5cd51facc1cd3b8a06dd06d24887a40a196ff6257b1","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002357/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"f058fda3288408507f9d2f74c37a2e721ad93c4e04cbdf3e58b87d965ae17e19","width":640},"comparison":{"audio_streams":0,"bytes":714538,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f47140dde26d608cb4f47b0bf2bfcac02ed412aec4d34a55ea8f38f242179372","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002357/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"540a464d0c0a2ff8bfaf240019d90db3e88b56632ab87da25cdc1236e8a6d0f5","width":1280},"intervention":{"audio_streams":0,"bytes":332462,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"af3e40f100a07c8f938d1b6430ca192f761267339b465b3d4f2667eb3849f4c1","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002357/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"23caa81f0725ce9da546b656df97d4c4f47544fcaff8d1fc401e1e3954542e20","width":640}}}
{"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":49,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":49,"natural_rgb_prefix_exact":true,"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":"a41d1bdca010a43b3a1ba4382cbe37063044939e921a952248a11ff22330b09d","baseline_initial_state_sha256":"0075b613705e92669ecdac16bb81914eb215ce64c8179e6adc48604145394dfb","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"22977c1b8e64cfbf51435fb1e56e316b9ea2f7a1cdd5db412e7820b5e0a57cd1","published_intervention_final_state_sha256":"1d0e5f6122ad8d1d7a374732a29b4b989425d83e090fb10baa39f04f2f224b55","source_intervention_final_state_sha256":"1d0e5f6122ad8d1d7a374732a29b4b989425d83e090fb10baa39f04f2f224b55","source_intervention_full_initial_state_sha256":"a41d1bdca010a43b3a1ba4382cbe37063044939e921a952248a11ff22330b09d","source_intervention_initial_state_sha256":"0075b613705e92669ecdac16bb81914eb215ce64c8179e6adc48604145394dfb","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"34f3068599e16390e2f8dccc092aeea9e94bf275540112e24791eb12cbd45778","batch_index":294,"batch_slot":7,"environment_seed":2359,"episode_id":2359,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":3.725290298461914e-09,"modified_mask_exact":true},"intervention_action_sha256":"22977c1b8e64cfbf51435fb1e56e316b9ea2f7a1cdd5db412e7820b5e0a57cd1","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"57ddf9e5b651f5c491ed39e56d0fb8caad06f1031ada2918fed0ef6707157154","policy_batch_seed":113009484,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000294.npz","baseline_telemetry":"telemetry/batch_000294.npz","intervention_telemetry":"telemetry_adaptor/batch_000294.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":48,"first_possible_physical_divergence_frame":49,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":12,"last_modified_step":59,"modified_steps":[48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","descend","descend"]},"videos":{"baseline":{"audio_streams":0,"bytes":351486,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7cc94ffc04e2257919986578a36deab31480e183944a4a207a7fb0ac43c8a8de","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002359/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a1f277cd037f70de13aaf73e7f82b8bdfd5a501cc186eed783c95214ee1fe77e","width":640},"comparison":{"audio_streams":0,"bytes":804865,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"46c3d257b99bc075263a78cd680f61609223777c44127092e98152015a5aaba2","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002359/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b5b86afa9f80ce2db9ed7a765e038cd8ed745785dbe0c0c7ceca4b5148ff0d21","width":1280},"intervention":{"audio_streams":0,"bytes":364953,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ba36d1a2c9174a34f694f54519a53e84cd1616be9f544aeccba92539c2989e54","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002359/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"42867586b4dce0429354918b678b96d22a90b929bdcb1e3b1412d86ac633029d","width":640}}}
{"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":"c87613200a765ba36ad7e820e885e4735b6a5833810cda202beab2008cc4177d","baseline_full_initial_state_sha256":"d8093cc9edf045f8dbf7ed6068204e2075aaf2596955ef3f0009a69b8a0a83d5","baseline_initial_state_sha256":"a96e1f9204de594d8950b9bcb8816d2477871dbeb3955bde11401e6b2474bd55","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"41b8591d44c964825ae75239fd0256d2e2524efc6ad298c9ff8ab46b03f31bcb","published_intervention_final_state_sha256":"b69d32c29b076d82aad208086f478766f59ee3b6c4d062d32505bdeccc8b1fd2","source_intervention_final_state_sha256":"b69d32c29b076d82aad208086f478766f59ee3b6c4d062d32505bdeccc8b1fd2","source_intervention_full_initial_state_sha256":"d8093cc9edf045f8dbf7ed6068204e2075aaf2596955ef3f0009a69b8a0a83d5","source_intervention_initial_state_sha256":"a96e1f9204de594d8950b9bcb8816d2477871dbeb3955bde11401e6b2474bd55","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"4f844b9da965d1b1749da01868ff19ecf6de38db8ad6e443857934271f20ff12","batch_index":295,"batch_slot":2,"environment_seed":2362,"episode_id":2362,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"41b8591d44c964825ae75239fd0256d2e2524efc6ad298c9ff8ab46b03f31bcb","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"7c2c0add25c5071b521542ba20f94dfabc69063ee6bd5f78bdc918b815f56252","policy_batch_seed":530327151,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000295.npz","baseline_telemetry":"telemetry/batch_000295.npz","intervention_telemetry":"telemetry_adaptor/batch_000295.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":29,"first_possible_physical_divergence_frame":30,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":31,"last_modified_step":59,"modified_steps":[29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":394211,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"9d7538fd3b6f64b5cde0bf550c5d95ce2384a42e96b1372b797720722530bd5a","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"3cdb7c8fd78da2ce71c73bb2304bd616d3f326267d6b286a42ae92e12e7d1eff","width":640},"comparison":{"audio_streams":0,"bytes":789018,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"51b33512a11d4c4158e2e38f72b4a03f9e0ab4c2776e10e5fcc7ced31348344f","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"65fccd40389f6f3a2f386c9a64a66b0cbf703b393c90dc2022bd1a0c5ba97030","width":1280},"intervention":{"audio_streams":0,"bytes":313687,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"2b170358de953c3747f09bfc6ba262b13d7d729da41f4fd8d01f995e6c5d6398","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"b5f8380e4f2e2b5e2324efa0e1e49b93b58668c9d070b08a45438c57c68c2ef8","width":640}}}
{"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":33,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":33,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":33,"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":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","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":"3d3fa958ec3fbfe6bcccf4e5b3d4cb03e2a4d66f3a704c1a3aea6414ac01b5f2","baseline_full_initial_state_sha256":"e40f5bafa2250aaf566be10c844b1808c76666a717141646867507b1b1f1843e","baseline_initial_state_sha256":"3e132508c80664f169f5c123f599d790a78acb525fca6d38b12a8aebf5d0f6f7","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"dc26ed33b40a25c0b5345874ced55a449e54bf990c2a8cb5b1868939039f18d2","published_intervention_final_state_sha256":"b63788373bf60c31d3bbd672ad28d46a3351af76fabdec78b5c508628cc69ba1","source_intervention_final_state_sha256":"b63788373bf60c31d3bbd672ad28d46a3351af76fabdec78b5c508628cc69ba1","source_intervention_full_initial_state_sha256":"e40f5bafa2250aaf566be10c844b1808c76666a717141646867507b1b1f1843e","source_intervention_initial_state_sha256":"3e132508c80664f169f5c123f599d790a78acb525fca6d38b12a8aebf5d0f6f7","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"5ab10bc5e367cbca8bb5c9bb6d94b733143e4d8c23b7d0c64107a0c446b662c3","batch_index":295,"batch_slot":3,"environment_seed":2363,"episode_id":2363,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"dc26ed33b40a25c0b5345874ced55a449e54bf990c2a8cb5b1868939039f18d2","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"16c2ce5dd8f67af810abe4bb1f8b53fc891e9c27e06293b1175bc53aaccad76d","policy_batch_seed":530327151,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000295.npz","baseline_telemetry":"telemetry/batch_000295.npz","intervention_telemetry":"telemetry_adaptor/batch_000295.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":32,"first_possible_physical_divergence_frame":33,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":28,"last_modified_step":59,"modified_steps":[32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":387075,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"436529e77a9521049219f710021a934c5a641fbec3f228796daeb218e8779f66","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002363/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"bd8925c2822d1d576996f74dcd877201ea438fe410142e1911bde07ed782caf1","width":640},"comparison":{"audio_streams":0,"bytes":777678,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"2ddec23da519e2f580a0e5caf162d4d29d5445ef2d3c9803711dc477368dc69b","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002363/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"7a78d7f3f95af2a76dcd03a06d6b8dc6a30279d7570e3abf0ee45b7a5597045a","width":1280},"intervention":{"audio_streams":0,"bytes":322313,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"2d6ab79d8a933b21a4d59c03992e4d3f491f4d49ce36bf91a0b42af460d9a09d","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002363/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"cf256d8739cdbad4e12525477eaafbb7ce34be63514424fda6e7cb0b2980ddcc","width":640}}}
{"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":"spoon_cloth","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2364,"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":"d9824766d609809e5b4d716ed17d8b31f1cc22d6366263c1c6f58db52ca780d0","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":"81647e357fb07971250fa7dbeeda495b61a0207facc9011fc08b39b5e57f3588","baseline_full_initial_state_sha256":"9f94ca95f1e9855ffa60316b7851f31a5b73889acc5e29b3a4c7c2e2a64b39ff","baseline_initial_state_sha256":"6109d22f9606daa3dbec238f7387bbd8746f0d70c7af7f9cee617dbe095b305e","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"b77ea6eaaaee36b1767c97281dec58878b75550ad5beb3051582c4544c38e0af","published_intervention_final_state_sha256":"d6b711295424c18379ffaea8b575f913636b2767f36d6fcccf639b30cbe28b38","source_intervention_final_state_sha256":"d6b711295424c18379ffaea8b575f913636b2767f36d6fcccf639b30cbe28b38","source_intervention_full_initial_state_sha256":"9f94ca95f1e9855ffa60316b7851f31a5b73889acc5e29b3a4c7c2e2a64b39ff","source_intervention_initial_state_sha256":"6109d22f9606daa3dbec238f7387bbd8746f0d70c7af7f9cee617dbe095b305e","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"9121cb51f47b101933da7229fcd6a09a8c0dc20f1c9c3e879767a61789220ba2","batch_index":295,"batch_slot":4,"environment_seed":2364,"episode_id":2364,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":1.862645149230957e-09,"modified_mask_exact":true},"intervention_action_sha256":"b77ea6eaaaee36b1767c97281dec58878b75550ad5beb3051582c4544c38e0af","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"71039afe81a03295e3bf0427cdcd1af5a91e1b99c6fa64b609463e0928882f0a","policy_batch_seed":530327151,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000295.npz","baseline_telemetry":"telemetry/batch_000295.npz","intervention_telemetry":"telemetry_adaptor/batch_000295.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":18,"first_possible_physical_divergence_frame":19,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":42,"last_modified_step":59,"modified_steps":[18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":323065,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"f5ffc2ffa536ed2819016841ba62e0a3f3521fca7e947b6852295d154f59512f","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002364/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a686094da7928e2f77a9564169eb97e3062cb55a9302d6a50865aad6dc35a604","width":640},"comparison":{"audio_streams":0,"bytes":674958,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"e0539adf014cb9ce0a917f8c8c6f222ca3d1ca68d1d480d26b925822575a7fbe","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002364/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"bb862fce7c901130ef5aa2e5c82f938f095f2d2a22210ec4bd589f9241d9d56a","width":1280},"intervention":{"audio_streams":0,"bytes":298668,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"71449b15a566c8f2f93b114b7c991970f7637e10753f68c312fc85d87066d58d","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002364/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"fabbe1d455478760458e0236fc9551531301813c82d776259ff587764b56bc13","width":640}}}
{"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":31,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":31,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":31,"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_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2365,"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":"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,"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":"5d903adfc6911cb766c6f9b30df6e6418c4d7227ea8ac6bc4e7cf72a4243043d","baseline_full_initial_state_sha256":"2af5cb83116fa22392f78084c3845371afe2afe5467ce0c526bc2aff5f242a1b","baseline_initial_state_sha256":"26ca1ff95ecf28ebafc54bf92552a906d9b96db19b35331294015758094a5d7b","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"dcad66433062d1cc812773b17a3b257ed052bdfad6a211efad6cc6038e4de599","published_intervention_final_state_sha256":"e3a1fc4c3a8b1ecb0e138ce59d1c54da4ff54b298fae69d0ed86a71832f51006","source_intervention_final_state_sha256":"e3a1fc4c3a8b1ecb0e138ce59d1c54da4ff54b298fae69d0ed86a71832f51006","source_intervention_full_initial_state_sha256":"2af5cb83116fa22392f78084c3845371afe2afe5467ce0c526bc2aff5f242a1b","source_intervention_initial_state_sha256":"26ca1ff95ecf28ebafc54bf92552a906d9b96db19b35331294015758094a5d7b","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"08b21a3030c1b322964c99703ac3759cb0f1391a6e78bed67746ac02b4ec90b9","batch_index":295,"batch_slot":5,"environment_seed":2365,"episode_id":2365,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"dcad66433062d1cc812773b17a3b257ed052bdfad6a211efad6cc6038e4de599","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"0f03b3700d083622ba6f30d8528140e0dac11249f3c28a23ef13354162da2fb5","policy_batch_seed":530327151,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000295.npz","baseline_telemetry":"telemetry/batch_000295.npz","intervention_telemetry":"telemetry_adaptor/batch_000295.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":30,"first_possible_physical_divergence_frame":31,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":30,"last_modified_step":59,"modified_steps":[30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","lift","lift","lift","servo","servo","servo","servo","servo","servo","servo","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":318012,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"6e7dda0ce38517c5d19d22d220df6f326b1b3c7c8c628f7579a158e476a1de76","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002365/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"6bdede21fa5a20fb9cf2d85d4bf4d185c54a9f998eb77360612dba94455be6ba","width":640},"comparison":{"audio_streams":0,"bytes":736946,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7df11d652e248bc07cab8575c1b399eebd9abb24df33b5731131eda2b2772858","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002365/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"e599d331446f0bb5de1a3fdbf9a92c71adf75a9296c8239d8e6a4707dc2841e5","width":1280},"intervention":{"audio_streams":0,"bytes":360712,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"c01d86686c8e18777efe22f9854633ad142b30f32b5d1debc191fa188229637c","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002365/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"fd21ad10533a141fee33ec65ad7abc1286e9751478e44ac306adac136cf8afff","width":640}}}
{"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":46,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":46,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":46,"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":2366,"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":"8741a52f7ffde18ae183bf498e2b6534b0562f0fc5937bbddf3c9350d9d73b09","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":"0993f5b8f47957e733cf711ec18aaaa73a401703948c157b6472545713d7c79a","baseline_full_initial_state_sha256":"b1ecccda746679c9e733f661eff03972bcde05c622eb2eb7852afe58fd6eb320","baseline_initial_state_sha256":"d4b4651bf8c1566dd5d4306aad062804adb368609e9b46d9427250ea3228dfcd","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"d7eb42c4dede1daa0938f4d2a3f08f6c35fb439f68e0f80b62f336d2cbc6211e","published_intervention_final_state_sha256":"ab8191c99856853830723d71d2926218a2af70001f460c2cc8de0f9cd64d2610","source_intervention_final_state_sha256":"ab8191c99856853830723d71d2926218a2af70001f460c2cc8de0f9cd64d2610","source_intervention_full_initial_state_sha256":"b1ecccda746679c9e733f661eff03972bcde05c622eb2eb7852afe58fd6eb320","source_intervention_initial_state_sha256":"d4b4651bf8c1566dd5d4306aad062804adb368609e9b46d9427250ea3228dfcd","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"540585fde33f19bfdf025a22561d359e42a6c59c8f64c14014b9f0d3a52c1519","batch_index":295,"batch_slot":6,"environment_seed":2366,"episode_id":2366,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"d7eb42c4dede1daa0938f4d2a3f08f6c35fb439f68e0f80b62f336d2cbc6211e","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"39b97647e0f970c2d47c5e0f567720f2d3ab8e1657d6359e3d3e17e5e4d36eb4","policy_batch_seed":530327151,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000295.npz","baseline_telemetry":"telemetry/batch_000295.npz","intervention_telemetry":"telemetry_adaptor/batch_000295.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":45,"first_possible_physical_divergence_frame":46,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":15,"last_modified_step":59,"modified_steps":[45,46,47,48,49,50,51,52,53,54,55,56,57,58,59],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch","success_latch"]},"videos":{"baseline":{"audio_streams":0,"bytes":347597,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"89adeb66de6ce87f03a7eb23b4d725f8331e0078c36355bb15eb09760a12f8cb","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002366/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9d0ed497c48cf99e361083c4c69403191390507707b6835f4b5c00dc19f90430","width":640},"comparison":{"audio_streams":0,"bytes":786975,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"2ac21a8550ee9570f4f3d1ed370bbd7b9de5f1c63790e3301f99c0e0faf53432","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002366/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"97de3270419e2eb269c28991c6317e9bdae1e93f4ec0c719765f51ab140984d3","width":1280},"intervention":{"audio_streams":0,"bytes":385819,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"7832de00cb6a811372ff399493c9bbfb8f055494bcbf751e5b9788d311d7b457","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002366/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"2e706e335a66f6141cf33da2a2d2e3b01298e3f6bc6981fc39f25afe76842f70","width":640}}}
{"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":17,"decoded_mp4_prefix_exact":true,"natural_first_different_frame":17,"natural_rgb_prefix_exact":true,"pixel_canonicalized_frame_indices":null,"pixel_prefix_canonicalized":false,"published_first_different_frame":17,"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_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2367,"instruction":"put the spoon on the towel","outcomes":{"published_effect":"unchanged_failure","published_intervention_success":false,"published_intervention_terminal_metrics":{"consecutive_grasp":false,"elapsed_steps":60,"is_src_obj_grasped":false,"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":false,"elapsed_steps":60,"is_src_obj_grasped":false,"moved_correct_obj":false,"moved_wrong_obj":false,"src_on_target":false,"success":false}},"pair_id":"dd494bc2f7ec9febfef0136858f949208d224c3bdb921bb4bf37ed6b68d1f087","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":"e719f76f81b5ab55e3838e034c235e405430228afaeec2898e739cf93087fe20","baseline_full_initial_state_sha256":"b011c251c2e92e8a0592388862119060b65af1608de6f87c9f8e9adc28d78b04","baseline_initial_state_sha256":"eb4a4566fd54615c42be64bbecc58de9df3ed8bba556c61632eea1f45ab78f1a","environment_recovery_events":{"baseline":[],"published_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', 'position_error': 0.014921706169843674, 'linear_speed': 0.0006703235558234155, 'angular_speed': 0.05733692646026611}]","reason_type":"BridgeObjectResetError","recreation_number":1,"repeat":1}],"source_intervention":[{"batch_index":292,"episode_ids":[2336,2337,2338,2339,2340,2341,2342,2343],"outcome_fields_read":[],"reason":"Bridge object reset remained physically invalid after 3 attempts: [{'env_index': 1, 'object': 'bridge_spoon_generated_modified', '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":"cc225ff74c6911836a43657b7c85176ae86be63823a7762f434885638119201c","published_intervention_final_state_sha256":"1c49f9781640660661ea3c2b4efdfa423919dc4d21ff595899bc67dda8748945","source_intervention_final_state_sha256":"1c49f9781640660661ea3c2b4efdfa423919dc4d21ff595899bc67dda8748945","source_intervention_full_initial_state_sha256":"b011c251c2e92e8a0592388862119060b65af1608de6f87c9f8e9adc28d78b04","source_intervention_initial_state_sha256":"eb4a4566fd54615c42be64bbecc58de9df3ed8bba556c61632eea1f45ab78f1a","source_outcomes_verified":true,"source_state_hashes_verified":true},"schema_version":"sim_oracle_intervention_pair.v1","scope":"all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded","source":{"arm_roles":{"0":"baseline","1":"intervention"},"baseline_action_sha256":"d593dcd76c7c442bf06c77ad776f05868e3784b357173e7a225286b3b0f35e0b","batch_index":295,"batch_slot":7,"environment_seed":2367,"episode_id":2367,"evaluator_source_expected_sha256":"d0f623242fdb1acc64ecf8a3e864a2982ef8f9a9dbd540f23c473eb73fca563c","evaluator_source_match":false,"evaluator_source_observed_sha256":"ee43228f0dbdcf7ece90209e9b264e363753911c1871207bf87b6c990145e75e","formula_trace_validation":{"formula_trace_semantics_verified":true,"intervention_count_exact":true,"legacy_reconstructed_action_max_abs_error":0.0,"modified_mask_exact":true},"intervention_action_sha256":"cc225ff74c6911836a43657b7c85176ae86be63823a7762f434885638119201c","manifest_sha256":"d048b12fd652b7059a0c85431d03eb5102230d86c449dc25f566e4f74e3f8e26","patch_trace_sha256":"23ca33cdcb6b3bb102ecec5012788f6ce0462f3fbb4cb849a28255f52f5900db","policy_batch_seed":530327151,"policy_seed_mode":"frozen-batch","result_path":"outputs/oracle/results/spoon-oracle-validation-20260816a.json","result_sha256":"7d1d87628660e7fe6cba57a10e2af7c789dbbc92526511b3dae51644b33516d9","run_dir":"outputs/oracle/runs/spoon-oracle-validation-20260816a-00-hybrid_regrasp_servo","source_patch_final_hash_claimed_for_published_intervention":true,"task_contract":{"baseline_path":"telemetry/task_contract.json","baseline_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034","intervention_path":"telemetry_adaptor/task_contract.json","intervention_sha256":"7ada0e05a06415d0eeb40d67113bd546db24b070818823fdb4d4be5a52972034"},"trace_paths":{"action_patch":"action_patch/batch_000295.npz","baseline_telemetry":"telemetry/batch_000295.npz","intervention_telemetry":"telemetry_adaptor/batch_000295.npz"}},"task_adapter_key":"spoon_cloth","timeline":{"first_modified_step":16,"first_possible_physical_divergence_frame":17,"frame_indices":[0,60],"frame_semantics":"frame t is the state before action t; final frame is T","horizon_actions":60,"intervention_count":2,"last_modified_step":17,"modified_steps":[16,17],"patch_phase_by_action_step":["idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","regrasp_open","regrasp_close","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle","idle"]},"videos":{"baseline":{"audio_streams":0,"bytes":363180,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"ea428824f74b9fb7c81a69357e7d64845aee330195155fcb6f70604f7cfb13fd","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002367/baseline.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"6f05581d84bb772e7cd0cc48461319f461b0d6b4b746b936763c61db3660558d","width":640},"comparison":{"audio_streams":0,"bytes":815157,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"432c26dbf769dbce2591f0a2426427362cd2b4182786ea9f355a7f1665ddc40e","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002367/side_by_side.mp4","fps":10.0,"frames":61,"height":720,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"9bd15f94889b3421c4662ff42340bd48af42c2feacb3d1bf6785902bdba6bd5c","width":1280},"intervention":{"audio_streams":0,"bytes":355473,"codec_fourcc":"h264","codec_name":"h264","decoded_frames":61,"decoded_trace_sha256":"a497fc1adec6c5e08f830963bdfa0b306d0c20132769a60186c760057b788654","duration_seconds":6.1,"file_name":"data/train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002367/intervention.mp4","fps":10.0,"frames":61,"height":480,"pixel_format":"yuv420p","probe_backend":"opencv_plus_ffmpeg_demux","sha256":"a2fc4582da7b8f495f467de9142b713c197fcc404dd35234bdf12245ad7f4fe4","width":640}}}