Initial upload: 20 CheatCode rollouts at 576x512 AV1

.gitattributes

@@ -58,3 +58,23 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+rrd/trial_01.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_02.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_03.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_04.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_05.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_06.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_07.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_08.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_09.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_10.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_11.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_12.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_13.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_14.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_15.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_16.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_17.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_18.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_19.rrd filter=lfs diff=lfs merge=lfs -text
+rrd/trial_20.rrd filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,120 @@
+---
+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: see the
+companion repo [`rkstgr/aic-trial-viewer`](https://github.com/rkstgr/aic-trial-viewer).
+Clone it, drop these files into `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/aic-trial-viewer`](https://github.com/rkstgr/aic-trial-viewer)
+under `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.

index.json

@@ -0,0 +1,468 @@
+{
+  "generated_at": "2026-05-15T23:36:13Z",
+  "dataset": "20 CheatCode trials @ 576\u00d7512",
+  "kind": "eval_rollouts",
+  "n_episodes": 20,
+  "episodes": [
+    {
+      "trial": 1,
+      "rrd": "rrd/trial_01.rrd",
+      "rrd_size_kb": 558.1,
+      "image_hw": "576x512",
+      "frames": 801,
+      "duration_s": 42.96,
+      "rec_duration_s": 120.92,
+      "plug_type": "sfp",
+      "port_type": "sfp",
+      "cable_type": "sfp_sc_cable",
+      "target_module": "nic_card_mount_1",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 16.225,
+      "tier3": 75.0,
+      "total_score": 92.225,
+      "elapsed_s": 160.0,
+      "seed": 43
+    },
+    {
+      "trial": 2,
+      "rrd": "rrd/trial_02.rrd",
+      "rrd_size_kb": 893.7,
+      "image_hw": "576x512",
+      "frames": 930,
+      "duration_s": 54.75,
+      "rec_duration_s": 131.4,
+      "plug_type": "sfp",
+      "port_type": "sfp",
+      "cable_type": "sfp_sc_cable",
+      "target_module": "nic_card_mount_4",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 15.946,
+      "tier3": 75.0,
+      "total_score": 91.946,
+      "elapsed_s": 167.0,
+      "seed": 44
+    },
+    {
+      "trial": 3,
+      "rrd": "rrd/trial_03.rrd",
+      "rrd_size_kb": 842.0,
+      "image_hw": "576x512",
+      "frames": 1056,
+      "duration_s": 43.86,
+      "rec_duration_s": 143.54,
+      "plug_type": "sfp",
+      "port_type": "sfp",
+      "cable_type": "sfp_sc_cable",
+      "target_module": "nic_card_mount_3",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 16.116,
+      "tier3": 75.0,
+      "total_score": 92.116,
+      "elapsed_s": 179.0,
+      "seed": 45
+    },
+    {
+      "trial": 4,
+      "rrd": "rrd/trial_04.rrd",
+      "rrd_size_kb": 1307.1,
+      "image_hw": "576x512",
+      "frames": 1105,
+      "duration_s": 96.53,
+      "rec_duration_s": 150.25,
+      "plug_type": "sc",
+      "port_type": "sc",
+      "cable_type": "sfp_sc_cable_reversed",
+      "target_module": "sc_port_1",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 14.792,
+      "tier3": 75.0,
+      "total_score": 90.792,
+      "elapsed_s": 186.0,
+      "seed": 46
+    },
+    {
+      "trial": 5,
+      "rrd": "rrd/trial_05.rrd",
+      "rrd_size_kb": 924.4,
+      "image_hw": "576x512",
+      "frames": 1023,
+      "duration_s": 65.72,
+      "rec_duration_s": 149.65,
+      "plug_type": "sfp",
+      "port_type": "sfp",
+      "cable_type": "sfp_sc_cable",
+      "target_module": "nic_card_mount_3",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 16.066,
+      "tier3": 75.0,
+      "total_score": 92.066,
+      "elapsed_s": 185.0,
+      "seed": 47
+    },
+    {
+      "trial": 6,
+      "rrd": "rrd/trial_06.rrd",
+      "rrd_size_kb": 940.7,
+      "image_hw": "576x512",
+      "frames": 821,
+      "duration_s": 63.91,
+      "rec_duration_s": 129.09,
+      "plug_type": "sc",
+      "port_type": "sc",
+      "cable_type": "sfp_sc_cable_reversed",
+      "target_module": "sc_port_0",
+      "success": 0,
+      "force_penalized": 0,
+      "force_message": "Insertion force above 20.00 N, detected for a time of 0.05 seconds. Max detected force: 23.83N. This is below the threshold of 1.00 seconds. Penalty not applied.",
+      "t3_message": "Partial insertion detected with distance of 0.01m.",
+      "tier1": 1.0,
+      "tier2": 15.304,
+      "tier3": 39.487,
+      "total_score": 55.791,
+      "elapsed_s": 165.0,
+      "seed": 48
+    },
+    {
+      "trial": 7,
+      "rrd": "rrd/trial_07.rrd",
+      "rrd_size_kb": 1100.7,
+      "image_hw": "576x512",
+      "frames": 1120,
+      "duration_s": 62.74,
+      "rec_duration_s": 149.36,
+      "plug_type": "sfp",
+      "port_type": "sfp",
+      "cable_type": "sfp_sc_cable",
+      "target_module": "nic_card_mount_3",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 16.643,
+      "tier3": 75.0,
+      "total_score": 92.643,
+      "elapsed_s": 185.0,
+      "seed": 49
+    },
+    {
+      "trial": 8,
+      "rrd": "rrd/trial_08.rrd",
+      "rrd_size_kb": 1090.1,
+      "image_hw": "576x512",
+      "frames": 1287,
+      "duration_s": 66.85,
+      "rec_duration_s": 158.64,
+      "plug_type": "sfp",
+      "port_type": "sfp",
+      "cable_type": "sfp_sc_cable",
+      "target_module": "nic_card_mount_2",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 16.028,
+      "tier3": 75.0,
+      "total_score": 92.028,
+      "elapsed_s": 194.0,
+      "seed": 50
+    },
+    {
+      "trial": 9,
+      "rrd": "rrd/trial_09.rrd",
+      "rrd_size_kb": 994.5,
+      "image_hw": "576x512",
+      "frames": 937,
+      "duration_s": 62.35,
+      "rec_duration_s": 134.32,
+      "plug_type": "sfp",
+      "port_type": "sfp",
+      "cable_type": "sfp_sc_cable",
+      "target_module": "nic_card_mount_4",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 15.967,
+      "tier3": 75.0,
+      "total_score": 91.967,
+      "elapsed_s": 170.0,
+      "seed": 51
+    },
+    {
+      "trial": 10,
+      "rrd": "rrd/trial_10.rrd",
+      "rrd_size_kb": 1218.7,
+      "image_hw": "576x512",
+      "frames": 1094,
+      "duration_s": 82.52,
+      "rec_duration_s": 137.96,
+      "plug_type": "sc",
+      "port_type": "sc",
+      "cable_type": "sfp_sc_cable_reversed",
+      "target_module": "sc_port_0",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 16.118,
+      "tier3": 75.0,
+      "total_score": 92.118,
+      "elapsed_s": 173.0,
+      "seed": 52
+    },
+    {
+      "trial": 11,
+      "rrd": "rrd/trial_11.rrd",
+      "rrd_size_kb": 1158.7,
+      "image_hw": "576x512",
+      "frames": 915,
+      "duration_s": 82.55,
+      "rec_duration_s": 134.9,
+      "plug_type": "sc",
+      "port_type": "sc",
+      "cable_type": "sfp_sc_cable_reversed",
+      "target_module": "sc_port_0",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 15.806,
+      "tier3": 75.0,
+      "total_score": 91.806,
+      "elapsed_s": 171.0,
+      "seed": 53
+    },
+    {
+      "trial": 12,
+      "rrd": "rrd/trial_12.rrd",
+      "rrd_size_kb": 1102.1,
+      "image_hw": "576x512",
+      "frames": 966,
+      "duration_s": 63.61,
+      "rec_duration_s": 134.51,
+      "plug_type": "sc",
+      "port_type": "sc",
+      "cable_type": "sfp_sc_cable_reversed",
+      "target_module": "sc_port_0",
+      "success": 0,
+      "force_penalized": 0,
+      "force_message": "Insertion force above 20.00 N, detected for a time of 0.25 seconds. Max detected force: 44.38N. This is below the threshold of 1.00 seconds. Penalty not applied.",
+      "t3_message": "Partial insertion detected with distance of 0.01m.",
+      "tier1": 1.0,
+      "tier2": 13.345,
+      "tier3": 39.666,
+      "total_score": 54.012,
+      "elapsed_s": 170.0,
+      "seed": 54
+    },
+    {
+      "trial": 13,
+      "rrd": "rrd/trial_13.rrd",
+      "rrd_size_kb": 762.1,
+      "image_hw": "576x512",
+      "frames": 1321,
+      "duration_s": 56.83,
+      "rec_duration_s": 189.59,
+      "plug_type": "sfp",
+      "port_type": "sfp",
+      "cable_type": "sfp_sc_cable",
+      "target_module": "nic_card_mount_1",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 16.295,
+      "tier3": 75.0,
+      "total_score": 92.295,
+      "elapsed_s": 225.0,
+      "seed": 55
+    },
+    {
+      "trial": 14,
+      "rrd": "rrd/trial_14.rrd",
+      "rrd_size_kb": 1327.5,
+      "image_hw": "576x512",
+      "frames": 1064,
+      "duration_s": 88.81,
+      "rec_duration_s": 137.8,
+      "plug_type": "sc",
+      "port_type": "sc",
+      "cable_type": "sfp_sc_cable_reversed",
+      "target_module": "sc_port_0",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 15.552,
+      "tier3": 75.0,
+      "total_score": 91.552,
+      "elapsed_s": 173.0,
+      "seed": 56
+    },
+    {
+      "trial": 15,
+      "rrd": "rrd/trial_15.rrd",
+      "rrd_size_kb": 1018.6,
+      "image_hw": "576x512",
+      "frames": 1110,
+      "duration_s": 59.23,
+      "rec_duration_s": 146.71,
+      "plug_type": "sfp",
+      "port_type": "sfp",
+      "cable_type": "sfp_sc_cable",
+      "target_module": "nic_card_mount_4",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 16.343,
+      "tier3": 75.0,
+      "total_score": 92.343,
+      "elapsed_s": 182.0,
+      "seed": 57
+    },
+    {
+      "trial": 16,
+      "rrd": "rrd/trial_16.rrd",
+      "rrd_size_kb": 953.2,
+      "image_hw": "576x512",
+      "frames": 939,
+      "duration_s": 55.36,
+      "rec_duration_s": 128.08,
+      "plug_type": "sc",
+      "port_type": "sc",
+      "cable_type": "sfp_sc_cable_reversed",
+      "target_module": "sc_port_0",
+      "success": 0,
+      "force_penalized": 0,
+      "force_message": "Insertion force above 20.00 N, detected for a time of 0.08 seconds. Max detected force: 28.16N. This is below the threshold of 1.00 seconds. Penalty not applied.",
+      "t3_message": "Partial insertion detected with distance of 0.01m.",
+      "tier1": 1.0,
+      "tier2": 13.223,
+      "tier3": 39.672,
+      "total_score": 53.896,
+      "elapsed_s": 164.0,
+      "seed": 58
+    },
+    {
+      "trial": 17,
+      "rrd": "rrd/trial_17.rrd",
+      "rrd_size_kb": 968.4,
+      "image_hw": "576x512",
+      "frames": 1033,
+      "duration_s": 61.85,
+      "rec_duration_s": 140.76,
+      "plug_type": "sfp",
+      "port_type": "sfp",
+      "cable_type": "sfp_sc_cable",
+      "target_module": "nic_card_mount_3",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 16.31,
+      "tier3": 75.0,
+      "total_score": 92.31,
+      "elapsed_s": 176.0,
+      "seed": 59
+    },
+    {
+      "trial": 18,
+      "rrd": "rrd/trial_18.rrd",
+      "rrd_size_kb": 629.6,
+      "image_hw": "576x512",
+      "frames": 1166,
+      "duration_s": 41.02,
+      "rec_duration_s": 156.03,
+      "plug_type": "sfp",
+      "port_type": "sfp",
+      "cable_type": "sfp_sc_cable",
+      "target_module": "nic_card_mount_4",
+      "success": 1,
+      "force_penalized": 0,
+      "force_message": "Insertion force above 20.00 N, detected for a time of 0.02 seconds. Max detected force: 24.02N. This is below the threshold of 1.00 seconds. Penalty not applied.",
+      "t3_message": "Cable insertion successful.",
+      "tier1": 1.0,
+      "tier2": 16.02,
+      "tier3": 75.0,
+      "total_score": 92.02,
+      "elapsed_s": 191.0,
+      "seed": 60
+    },
+    {
+      "trial": 19,
+      "rrd": "rrd/trial_19.rrd",
+      "rrd_size_kb": 751.3,
+      "image_hw": "576x512",
+      "frames": 1124,
+      "duration_s": 47.66,
+      "rec_duration_s": 143.2,
+      "plug_type": "sfp",
+      "port_type": "sfp",
+      "cable_type": "sfp_sc_cable",
+      "target_module": "nic_card_mount_4",
+      "success": 0,
+      "force_penalized": 0,
+      "force_message": "No excessive force detected",
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