Instruction: put the spoon on the towel

proposed_open(t) := a_policy[6](t) > 0.0

target_vector_xy(t) := target_xy(t) - source_xy(t)

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)

servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); 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)

all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded


Instruction: put the spoon on the towel

proposed_open(t) := a_policy[6](t) > 0.0

target_vector_xy(t) := target_xy(t) - source_xy(t)

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)

servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); 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)

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

phases: lift(3) -> servo(7) -> descend(3) -> release(2)

unilateral[4] & !grasped -> open(1) -> close(1)

current_runtime_reconstruction; sealed executed actions are authoritative

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}]

all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded

frame t is the state before action t; final frame is T


Instruction: put the spoon on the towel

proposed_open(t) := a_policy[6](t) > 0.0

target_vector_xy(t) := target_xy(t) - source_xy(t)

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)

servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); 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)

all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded


Instruction: put the spoon on the towel

proposed_open(t) := a_policy[6](t) > 0.0

target_vector_xy(t) := target_xy(t) - source_xy(t)

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)

servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); 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)

all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded

idle idle idle idle idle idle 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


Instruction: put the spoon on the towel

proposed_open(t) := a_policy[6](t) > 0.0

target_vector_xy(t) := target_xy(t) - source_xy(t)

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)

servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); 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)

all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded

idle idle idle idle idle idle idle idle idle idle idle idle idle idle idle idle idle idle idle idle idle 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


Instruction: put the spoon on the towel

proposed_open(t) := a_policy[6](t) > 0.0

target_vector_xy(t) := target_xy(t) - source_xy(t)

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)

servo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); 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)

all exposed episodes from four accepted final validation runs; tuning, rejected, and unexposed episodes excluded

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