| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - rerun |
| - cable-insertion |
| - aic |
| - cheatcode |
| - manipulation |
| - ur5e |
| size_categories: |
| - n<1K |
| pretty_name: AIC CheatCode Rollouts v1 |
| --- |
| |
| # AIC CheatCode Rollouts v1 |
|
|
| Twenty trial rollouts of the [`CheatCode`](https://github.com/sealab-it/aic/blob/main/aic_example_policies/aic_example_policies/ros/CheatCode.py) |
| scripted policy on the [AIC](https://aic-challenge.com/) cable-insertion task, |
| recorded in [Rerun](https://rerun.io) `.rrd` format with AV1-compressed video. |
|
|
| Each file is a self-contained [Rerun recording](https://rerun.io/docs/concepts/timelines) |
| containing synchronized: |
|
|
| - 3× camera streams (`left`, `center`, `right`) — Basler acA2440-20gc at **576×512**, AV1-encoded MP4 (`AssetVideo` + `VideoFrameReference`). |
| - TCP pose (position + quaternion), velocity (linear + angular), and 6-dof error. |
| - Joint positions (7 joints). |
| - Force/torque wrench (3+3) plus pre-computed `|F|`. |
| - Commanded action twist (`linear`, `angular`) — note: `CheatCode` publishes via |
| `MotionUpdate.pose`, so the velocity-action streams here are all zero. See |
| `index.json:t3_message` and the scoring file for what the policy did. |
| - 3D world frame of the TCP point. |
|
|
| Trajectories are trimmed to the motion-relevant window (first non-trivial |
| TCP velocity to the end of the post-success held-pose period). |
|
|
| ## Contents |
|
|
| ``` |
| rrd/trial_01.rrd … rrd/trial_20.rrd # 20 trial recordings (~1 MB each) |
| index.json # per-trial metadata + scoring (used by the viewer) |
| ``` |
|
|
| ## Summary |
|
|
| | | | |
| |---|---| |
| | Trials | 20 | |
| | Successes (T3 = 75) | 15 / 20 | |
| | Plug types | 12 SFP, 8 SC | |
| | SFP success | 11 / 12 (92 %) | |
| | SC success | 4 / 8 (50 %) | |
| | Force-penalized (Tier 2: >20 N for >1 s) | 0 / 20 | |
| | Camera resolution | 576 × 512 | |
| | Codec | AV1 (libsvtav1 preset 10 CRF 50) in MP4 | |
| | Per-trial size | ≈ 1 MB | |
| | Trim window | first arm motion → motion-stopped + 1.5 s tail | |
| | Recorded | 2026-05-15 | |
|
|
| ## Per-trial metadata |
|
|
| (All have Tier 1 = 1.0. `T3 = 75` indicates a fully-seated cable; lower values |
| mean partial / no insertion. See [AIC scoring docs](https://github.com/sealab-it/aic/blob/main/docs/scoring.md).) |
|
|
| | trial | plug | T3 | success | trim dur (s) | |
| |---:|---|---:|:---:|---:| |
| | 1 | sfp | 75.0 | ✓ | 43.0 | |
| | 2 | sfp | 75.0 | ✓ | 54.8 | |
| | 3 | sfp | 75.0 | ✓ | 43.9 | |
| | 4 | sc | 75.0 | ✓ | 96.5 | |
| | 5 | sfp | 75.0 | ✓ | 65.7 | |
| | 6 | sc | 39.5 | ✗ | 63.9 | |
| | 7 | sfp | 75.0 | ✓ | 62.7 | |
| | 8 | sfp | 75.0 | ✓ | 66.8 | |
| | 9 | sfp | 75.0 | ✓ | 62.4 | |
| | 10 | sc | 75.0 | ✓ | 82.5 | |
| | 11 | sc | 75.0 | ✓ | 82.5 | |
| | 12 | sc | 39.7 | ✗ | 63.6 | |
| | 13 | sfp | 75.0 | ✓ | 56.8 | |
| | 14 | sc | 75.0 | ✓ | 88.8 | |
| | 15 | sfp | 75.0 | ✓ | 59.2 | |
| | 16 | sc | 39.7 | ✗ | 55.4 | |
| | 17 | sfp | 75.0 | ✓ | 61.9 | |
| | 18 | sfp | 75.0 | ✓ | 41.0 | |
| | 19 | sfp | 38.6 | ✗ | 47.7 | |
| | 20 | sc | 22.7 | ✗ | 61.5 | |
|
|
| The four SC partials all stop ≈ 1 cm short of full seating — see [`cheatcode-sc-seating`](https://huggingface.co/datasets/rkstgr/aic-cheatcode-rollouts-v1). |
| Trial 19 is the most interesting outlier: a partial SFP, which usually seats cleanly. |
|
|
| ## How to view |
|
|
| **One-file open in Rerun (no setup):** |
|
|
| ```bash |
| pip install rerun-sdk==0.26.2 |
| rerun --serve rrd/trial_01.rrd |
| ``` |
|
|
| **Filterable web viewer** with all 20 trials + scoring columns: in the |
| [`rkstgr/intrinsic-aic`](https://github.com/rkstgr/intrinsic-aic) repo under |
| `tools/trial_viewer/`. Clone it, drop these files into |
| `tools/trial_viewer/viewer/`, and serve. |
|
|
| ## Generation |
|
|
| These recordings come from `record_smoke_runner.sh` invoking `CheatCode` against |
| the AIC eval sim (Gazebo). Pipeline: record → AV1-compress → trim → index. |
| Full source in [`rkstgr/intrinsic-aic`](https://github.com/rkstgr/intrinsic-aic) |
| under `tools/trial_viewer/pipeline/`. |
|
|
| ## Known limitations |
|
|
| - Wrench is captured **untared** (raw `/fts_broadcaster/wrench`, ≈ 7 N baseline |
| from cable/gripper weight); the AIC scoring subtracts `fts_tare_offset` |
| before applying the 20 N penalty threshold. Use `index.json[*].force_penalized` |
| (parsed from `scoring.yaml`) for the canonical answer. |
| - The `action/linear` and `action/angular` streams are all zeros: `CheatCode` |
| commands `MotionUpdate.pose`, not `.velocity`. A future recorder version |
| should capture `.pose` too. |
|
|
