---
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.