lsnu/simpler-sim-oracle-action-interventions

SIM Oracle Working Interventions v1

This is the simulator-oracle edition of the action-patching pipeline. It uses privileged simulator metrics and is not deployment eligible. It does not use metric estimators. The repository also describes the non-oracle, metric-estimator path; these videos must not be represented as evidence that those estimators recovered the same signals.

The dataset contains 132 of 132 exposed paired episodes (complete). Every row has a full baseline MP4, full intervention MP4, and full labelled side-by-side MP4. Videos start at state frame 0 and end at terminal state frame T. The two arm MP4s decode byte-identically through the state frame immediately preceding the first modified action, inclusive. Natural versus canonicalized prefixes and the episode-2339-style action-splice counterfactual are disclosed per row.

These MP4s are deterministic simulator action-trace re-renders, not footage recorded by the original evaluations. The source runs did not save RGB or video. This builder replayed their sealed float32 executed-action traces, with no policy inference, from the exact source initial state and required the same final state hash and terminal outcome before admitting each natural arm.

Scope and outcomes

This is the complete exposed cohort from four accepted held-out validation runs. It includes every exposed correction, regression, unchanged success, and unchanged failure—there is no outcome cherry-picking. Tuning episodes, rejected candidates, and unexposed validation episodes are intentionally out of scope.

• Corrections: 69
• Regressions: 2
• Exposed unchanged successes: 41
• Exposed unchanged failures: 20

Tasks

Task key	Environment	Pairs
cube_stack	StackGreenCubeOnYellowCubeBakedTexInScene-v1	43
spoon_cloth	PutSpoonOnTableClothInScene-v1	89

Accepted patch lineages

Lineage	Search/authorship protocol	Pairs	Corrections	Regressions	Patch SHA-256
cube_any_grasp_gentle_validation_v1	fixed candidate search + automatic paired selection	22	13	0	b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c
spoon_hybrid_regrasp_servo_validation_v1	fixed candidate search + automatic paired selection	42	22	0	ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0
spoon_agentic_premature_release_validation_v1	autonomous catalog-guided failure loop	47	23	1	0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a
cube_open_autonomous_validation_v1	prior-free category + declarative-program synthesis	21	11	1	112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699

The two fixed-search lineages are useful reviewed-library baselines. The Spoon agentic lineage autonomously chose from that catalog. The open Cube lineage used neither known-category nor known-patch priors: it synthesized a new failure predicate and bounded declarative action program, then passed the same common-inventory tuning and single disjoint-validation gate.

Videos and causal-prefix convention

Each arm is H.264/yuv420p at 640x480, 10 fps, with 61 frames for 60 actions. The comparison is 1280x720; baseline is always left and intervention right. Frame t is the state before action t, so the first edited action executes after the identically displayed frame t; physical divergence can first appear at frame t+1.

Of the 132 published pairs, 129 replayed with a naturally exact RGB prefix. 3 legacy pairs had small pre-edit visual drift and use a transparently recorded baseline-prefix presentation splice so the published arms obey the exact-prefix convention. One of those—fixed-Spoon episode 2339—also had historical arm-action divergence before its recorded edit and therefore uses a separately simulated canonical counterfactual: baseline actions before step 27 and the sealed intervention suffix thereafter. It is not represented as a naturally clean source pair. Per-row fields preserve the natural-prefix status, canonical splice step, published trace kind, state/action hashes, and source versus published outcome. Total canonical action splices: 1.

Dataset layout

data/metadata.jsonl is Hugging Face VideoFolder metadata. It exposes exactly three explicitly named video columns: comparison_file_name is the labelled comparison, while baseline_file_name and intervention_file_name are the two individual arms. All paths are POSIX-relative to data/metadata.jsonl.

Each row also includes a stable pair_id, task/environment identity, episode and batch placement, patch/formula digests, first intervention step, source and published effect labels, and causal-prefix mode. Full per-pair provenance is in episodes.jsonl, interventions.jsonl, and each episode's metadata.json.

Formulas are mechanically reconstructed from canonical patch config or a compiled patch-program AST. Full formula JSON/text is in formulas/; the side-by-side MP4 carries the concise exact action/trigger form and its formula digest. For historical legacy runs, the oracle runtime source was not part of the source manifest; the packaged current runtime is labelled reconstruction provenance, while sealed executed action traces remain authoritative.

License and attribution

Dataset metadata and paired derivative videos are released under CC BY-NC 4.0. Simulation, robot assets, environments, and policy components retain their upstream licenses. Please attribute ManiSkill, SIMPLER/SimplerEnv, Octo, and the underlying Bridge/WidowX task assets as applicable. This dataset is non-commercial and simulator-only.

See LICENSE_AND_ATTRIBUTION.md for component-specific attribution and pinned upstream revisions. This release does not redistribute or relicense policy weights or upstream software.

Integrity

validation_report.json records cohort/video/prefix/size gates. SHA256SUMS seals every material file except itself. The configured hard size ceiling is 4831838208 bytes (below 5 GiB).

Limitations

This release covers one frozen policy, two manipulation tasks, and privileged simulator-oracle signals. It demonstrates intervention behavior in simulation; it does not demonstrate estimator recovery, real-robot safety, or deployment eligibility. Every new task or invented program requires its own fresh paired validation.