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| { | |
| "schema": "dvidia.skill-prerequisites/v1", | |
| "scope": "Authored PiPER policies in native MuJoCo with synthetic rigid objects and privileged simulator observations. Browser replay uses recorded poses; no learned policy, hardware safety qualification or real-world transfer result.", | |
| "source": { | |
| "commit": "756306a2beda60ac54567971626080a56227e781", | |
| "protocol_sha256": "addb85407392ad8581861e53e4265b1e73eefd4753e7df835879f84c02ca4754", | |
| "mujoco": "3.15.0", | |
| "robot_assets": { | |
| "profile": "piper", | |
| "repository": "https://github.com/google-deepmind/mujoco_menagerie", | |
| "commit": "0059d4335f8156206f63a35662313385f7ad6d74", | |
| "files_verified": 90, | |
| "bytes_verified": 34562302, | |
| "lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe", | |
| "simulation_asset_license": "MIT" | |
| } | |
| }, | |
| "split": "heldout", | |
| "host": { | |
| "system": "Darwin", | |
| "machine": "arm64", | |
| "python": "3.12.9", | |
| "compute": "CPU native simulation; no GPU required for benchmark. Browser replay needs WebGL2." | |
| }, | |
| "learned_policy": false, | |
| "hardware_validated": false, | |
| "attempts": [ | |
| { | |
| "id": "hinged-box-open-medium-baseline", | |
| "task": "hinged-box", | |
| "policy": "baseline", | |
| "case": { | |
| "id": "open-medium", | |
| "lid_angle_deg": 105.0, | |
| "lid_velocity_rad_s": 0.0, | |
| "lid_mass_kg": 0.18, | |
| "hinge_damping": 0.04, | |
| "split": "heldout" | |
| }, | |
| "valid": true, | |
| "success": true, | |
| "metrics": { | |
| "outcome": "completed", | |
| "task_success": true, | |
| "inspection_waypoint_reached": true, | |
| "return_completed": true, | |
| "safe_abort": false, | |
| "help_requested": false, | |
| "resumed_count": 0, | |
| "recovery_count": 0, | |
| "intervention_count": 0, | |
| "missed_interventions": 0, | |
| "false_interventions": null, | |
| "predicate_mismatch_interventions": 0, | |
| "false_intervention_definition": "Not identifiable from the treated rollout alone. Compare this case against baseline: a withdrawal when baseline completes without contact is a counterfactual nuisance interruption, not proven necessary avoidance.", | |
| "missed_intervention_definition": "At least one observed descending-lid predicate with no withdrawal command; this is guard coverage, not calibrated danger classification.", | |
| "lid_robot_collision": false, | |
| "other_environment_robot_collision": false, | |
| "peak_contact_force_n": 0.0, | |
| "peak_lid_robot_normal_force_n": 0.0, | |
| "peak_other_environment_robot_force_n": 0.0, | |
| "lid_robot_peak_force_time_integral_ns": 0.0, | |
| "contact_duration_s": 0.0, | |
| "hazard_duration_s": 0.0, | |
| "first_hazard_s": null, | |
| "first_intervention_s": null, | |
| "first_command_s": null, | |
| "first_contact_s": null, | |
| "detection_time_s": null, | |
| "command_time_s": null, | |
| "reaction_measurement_scope": "Privileged native predicate sampled at 2 ms; authored command at 20 ms. No sensor, transport or actuator-response latency included.", | |
| "first_response_latency_s": null, | |
| "completion_time_s": 1.6, | |
| "withdrawal_duration_s": null, | |
| "simulated_seconds": 5.999999999999561, | |
| "wall_seconds": 0.12938083289191127, | |
| "physics_realtime_factor": 46.374720782730975, | |
| "decision_latency_p50_ms": 0.025250017642974854, | |
| "decision_latency_p95_ms": 0.05266699008643627, | |
| "decision_latency_max_ms": 0.6882909219712019, | |
| "native_steps": 3000, | |
| "state_action_frame_timing": "Frame state and issued_ctrl are observed at t before the next native step; requested_joint_target is the authored 20 ms decision subsequently rate-limited into issued_ctrl.", | |
| "state_action_units": { | |
| "qpos_rad_m": { | |
| "0:6": "arm rad", | |
| "6:8": "finger m", | |
| "8:11": "shoe position m", | |
| "11:15": "shoe quaternion wxyz dimensionless", | |
| "15": "hinge rad" | |
| }, | |
| "qvel_rad_m_s": { | |
| "0:6": "arm rad/s", | |
| "6:8": "finger m/s", | |
| "8:11": "shoe linear m/s", | |
| "11:14": "shoe angular rad/s", | |
| "14": "hinge rad/s" | |
| }, | |
| "issued_ctrl": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| }, | |
| "requested_joint_target": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| } | |
| }, | |
| "terminal_phase": "done", | |
| "failure_reason": null, | |
| "solver_warnings": 0 | |
| }, | |
| "events": [ | |
| { | |
| "t": 0.82, | |
| "type": "inspection_waypoint_reached", | |
| "message": "Inspection waypoint held for 200 ms; no shoe grasp attempted." | |
| }, | |
| { | |
| "t": 1.6, | |
| "type": "return_complete", | |
| "message": "Arm returned from the box." | |
| } | |
| ], | |
| "errors": [], | |
| "wall_seconds": 0.3934882921166718, | |
| "native_trace_columns": [ | |
| "t", | |
| "lid_angle_rad", | |
| "lid_velocity_rad_s", | |
| "lid_robot_normal_force_n", | |
| "risk", | |
| "other_environment_robot_force_n" | |
| ], | |
| "replay": { | |
| "model": "trials/hinged-box-open-medium-baseline.model.json", | |
| "motion": "trials/hinged-box-open-medium-baseline.motion.json" | |
| }, | |
| "export_seconds": 0.8064577919431031 | |
| }, | |
| { | |
| "id": "hinged-box-open-medium-recovery", | |
| "task": "hinged-box", | |
| "policy": "recovery", | |
| "case": { | |
| "id": "open-medium", | |
| "lid_angle_deg": 105.0, | |
| "lid_velocity_rad_s": 0.0, | |
| "lid_mass_kg": 0.18, | |
| "hinge_damping": 0.04, | |
| "split": "heldout" | |
| }, | |
| "valid": true, | |
| "success": true, | |
| "metrics": { | |
| "outcome": "completed", | |
| "task_success": true, | |
| "inspection_waypoint_reached": true, | |
| "return_completed": true, | |
| "safe_abort": false, | |
| "help_requested": false, | |
| "resumed_count": 0, | |
| "recovery_count": 0, | |
| "intervention_count": 0, | |
| "missed_interventions": 0, | |
| "false_interventions": null, | |
| "predicate_mismatch_interventions": 0, | |
| "false_intervention_definition": "Not identifiable from the treated rollout alone. Compare this case against baseline: a withdrawal when baseline completes without contact is a counterfactual nuisance interruption, not proven necessary avoidance.", | |
| "missed_intervention_definition": "At least one observed descending-lid predicate with no withdrawal command; this is guard coverage, not calibrated danger classification.", | |
| "lid_robot_collision": false, | |
| "other_environment_robot_collision": false, | |
| "peak_contact_force_n": 0.0, | |
| "peak_lid_robot_normal_force_n": 0.0, | |
| "peak_other_environment_robot_force_n": 0.0, | |
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| "contact_duration_s": 0.0, | |
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| "first_command_s": null, | |
| "first_contact_s": null, | |
| "detection_time_s": null, | |
| "command_time_s": null, | |
| "reaction_measurement_scope": "Privileged native predicate sampled at 2 ms; authored command at 20 ms. No sensor, transport or actuator-response latency included.", | |
| "first_response_latency_s": null, | |
| "completion_time_s": 1.6, | |
| "withdrawal_duration_s": null, | |
| "simulated_seconds": 5.999999999999561, | |
| "wall_seconds": 0.11501841596327722, | |
| "physics_realtime_factor": 52.165559312825394, | |
| "decision_latency_p50_ms": 0.022166874259710312, | |
| "decision_latency_p95_ms": 0.031250063329935074, | |
| "decision_latency_max_ms": 0.38862484507262707, | |
| "native_steps": 3000, | |
| "state_action_frame_timing": "Frame state and issued_ctrl are observed at t before the next native step; requested_joint_target is the authored 20 ms decision subsequently rate-limited into issued_ctrl.", | |
| "state_action_units": { | |
| "qpos_rad_m": { | |
| "0:6": "arm rad", | |
| "6:8": "finger m", | |
| "8:11": "shoe position m", | |
| "11:15": "shoe quaternion wxyz dimensionless", | |
| "15": "hinge rad" | |
| }, | |
| "qvel_rad_m_s": { | |
| "0:6": "arm rad/s", | |
| "6:8": "finger m/s", | |
| "8:11": "shoe linear m/s", | |
| "11:14": "shoe angular rad/s", | |
| "14": "hinge rad/s" | |
| }, | |
| "issued_ctrl": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| }, | |
| "requested_joint_target": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| } | |
| }, | |
| "terminal_phase": "done", | |
| "failure_reason": null, | |
| "solver_warnings": 0 | |
| }, | |
| "events": [ | |
| { | |
| "t": 0.82, | |
| "type": "inspection_waypoint_reached", | |
| "message": "Inspection waypoint held for 200 ms; no shoe grasp attempted." | |
| }, | |
| { | |
| "t": 1.6, | |
| "type": "return_complete", | |
| "message": "Arm returned from the box." | |
| } | |
| ], | |
| "errors": [], | |
| "wall_seconds": 0.26466808398254216, | |
| "native_trace_columns": [ | |
| "t", | |
| "lid_angle_rad", | |
| "lid_velocity_rad_s", | |
| "lid_robot_normal_force_n", | |
| "risk", | |
| "other_environment_robot_force_n" | |
| ], | |
| "replay": { | |
| "model": "trials/hinged-box-open-medium-recovery.model.json", | |
| "motion": "trials/hinged-box-open-medium-recovery.motion.json" | |
| }, | |
| "export_seconds": 0.7667194160167128 | |
| }, | |
| { | |
| "id": "hinged-box-falling-medium-baseline", | |
| "task": "hinged-box", | |
| "policy": "baseline", | |
| "case": { | |
| "id": "falling-medium", | |
| "lid_angle_deg": 78.0, | |
| "lid_velocity_rad_s": -0.15, | |
| "lid_mass_kg": 0.18, | |
| "hinge_damping": 0.04, | |
| "split": "heldout" | |
| }, | |
| "valid": true, | |
| "success": false, | |
| "metrics": { | |
| "outcome": "failed", | |
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| "inspection_waypoint_reached": false, | |
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| "intervention_count": 0, | |
| "missed_interventions": 1, | |
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| "predicate_mismatch_interventions": 0, | |
| "false_intervention_definition": "Not identifiable from the treated rollout alone. Compare this case against baseline: a withdrawal when baseline completes without contact is a counterfactual nuisance interruption, not proven necessary avoidance.", | |
| "missed_intervention_definition": "At least one observed descending-lid predicate with no withdrawal command; this is guard coverage, not calibrated danger classification.", | |
| "lid_robot_collision": true, | |
| "other_environment_robot_collision": false, | |
| "peak_contact_force_n": 75.14902957054223, | |
| "peak_lid_robot_normal_force_n": 75.14902957054223, | |
| "peak_other_environment_robot_force_n": 0.0, | |
| "lid_robot_peak_force_time_integral_ns": 141.26438586923018, | |
| "contact_duration_s": 5.756, | |
| "hazard_duration_s": 0.254, | |
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| "first_contact_s": 0.2460000000000002, | |
| "detection_time_s": 0.0, | |
| "command_time_s": null, | |
| "reaction_measurement_scope": "Privileged native predicate sampled at 2 ms; authored command at 20 ms. No sensor, transport or actuator-response latency included.", | |
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| "withdrawal_duration_s": null, | |
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| "native_steps": 3000, | |
| "state_action_frame_timing": "Frame state and issued_ctrl are observed at t before the next native step; requested_joint_target is the authored 20 ms decision subsequently rate-limited into issued_ctrl.", | |
| "state_action_units": { | |
| "qpos_rad_m": { | |
| "0:6": "arm rad", | |
| "6:8": "finger m", | |
| "8:11": "shoe position m", | |
| "11:15": "shoe quaternion wxyz dimensionless", | |
| "15": "hinge rad" | |
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| "0:6": "arm rad/s", | |
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| "8:11": "shoe linear m/s", | |
| "11:14": "shoe angular rad/s", | |
| "14": "hinge rad/s" | |
| }, | |
| "issued_ctrl": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
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| "requested_joint_target": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| } | |
| }, | |
| "terminal_phase": "access", | |
| "failure_reason": "lid_robot_contact", | |
| "solver_warnings": 0 | |
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| "events": [ | |
| { | |
| "t": 0.0, | |
| "type": "hazard_started", | |
| "message": "hazard started", | |
| "lid_angle_rad": 1.361356816555577, | |
| "lid_velocity_rad_s": -0.15 | |
| }, | |
| { | |
| "t": 0.246, | |
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| "message": "Lid contacted the robot above the synthetic benchmark threshold.", | |
| "normal_force_n": 75.14902957054223 | |
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| { | |
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| "type": "hazard_cleared", | |
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| } | |
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| "t", | |
| "lid_angle_rad", | |
| "lid_velocity_rad_s", | |
| "lid_robot_normal_force_n", | |
| "risk", | |
| "other_environment_robot_force_n" | |
| ], | |
| "replay": { | |
| "model": "trials/hinged-box-falling-medium-baseline.model.json", | |
| "motion": "trials/hinged-box-falling-medium-baseline.motion.json" | |
| }, | |
| "export_seconds": 0.7660804591141641 | |
| }, | |
| { | |
| "id": "hinged-box-falling-medium-recovery", | |
| "task": "hinged-box", | |
| "policy": "recovery", | |
| "case": { | |
| "id": "falling-medium", | |
| "lid_angle_deg": 78.0, | |
| "lid_velocity_rad_s": -0.15, | |
| "lid_mass_kg": 0.18, | |
| "hinge_damping": 0.04, | |
| "split": "heldout" | |
| }, | |
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| "metrics": { | |
| "outcome": "safe_abort", | |
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| "intervention_count": 1, | |
| "missed_interventions": 0, | |
| "false_interventions": null, | |
| "predicate_mismatch_interventions": 0, | |
| "false_intervention_definition": "Not identifiable from the treated rollout alone. Compare this case against baseline: a withdrawal when baseline completes without contact is a counterfactual nuisance interruption, not proven necessary avoidance.", | |
| "missed_intervention_definition": "At least one observed descending-lid predicate with no withdrawal command; this is guard coverage, not calibrated danger classification.", | |
| "lid_robot_collision": false, | |
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| "peak_contact_force_n": 0.0, | |
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| "contact_duration_s": 0.0, | |
| "hazard_duration_s": 0.234, | |
| "first_hazard_s": 0.0, | |
| "first_intervention_s": 0.0, | |
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| "detection_time_s": 0.0, | |
| "command_time_s": 0.0, | |
| "reaction_measurement_scope": "Privileged native predicate sampled at 2 ms; authored command at 20 ms. No sensor, transport or actuator-response latency included.", | |
| "first_response_latency_s": 0.0, | |
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| "withdrawal_duration_s": 0.24, | |
| "simulated_seconds": 5.999999999999561, | |
| "wall_seconds": 0.22258195793256164, | |
| "physics_realtime_factor": 26.956362751636206, | |
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| "decision_latency_p95_ms": 0.0813750084489584, | |
| "decision_latency_max_ms": 0.2531670033931732, | |
| "native_steps": 3000, | |
| "state_action_frame_timing": "Frame state and issued_ctrl are observed at t before the next native step; requested_joint_target is the authored 20 ms decision subsequently rate-limited into issued_ctrl.", | |
| "state_action_units": { | |
| "qpos_rad_m": { | |
| "0:6": "arm rad", | |
| "6:8": "finger m", | |
| "8:11": "shoe position m", | |
| "11:15": "shoe quaternion wxyz dimensionless", | |
| "15": "hinge rad" | |
| }, | |
| "qvel_rad_m_s": { | |
| "0:6": "arm rad/s", | |
| "6:8": "finger m/s", | |
| "8:11": "shoe linear m/s", | |
| "11:14": "shoe angular rad/s", | |
| "14": "hinge rad/s" | |
| }, | |
| "issued_ctrl": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| }, | |
| "requested_joint_target": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| } | |
| }, | |
| "terminal_phase": "help", | |
| "failure_reason": null, | |
| "solver_warnings": 0 | |
| }, | |
| "events": [ | |
| { | |
| "t": 0.0, | |
| "type": "hazard_started", | |
| "message": "hazard started", | |
| "lid_angle_rad": 1.361356816555577, | |
| "lid_velocity_rad_s": -0.15 | |
| }, | |
| { | |
| "t": 0.0, | |
| "type": "withdrawal_started", | |
| "message": "Lid descending. Withdraw from the access path.", | |
| "reason": "descending_lid_in_access_volume" | |
| }, | |
| { | |
| "t": 0.236, | |
| "type": "hazard_cleared", | |
| "message": "hazard cleared", | |
| "lid_angle_rad": 1.1249947528113922, | |
| "lid_velocity_rad_s": -1.7849407292489452 | |
| }, | |
| { | |
| "t": 0.24, | |
| "type": "withdrawal_complete", | |
| "message": "Arm has reached the withdrawal waypoint." | |
| }, | |
| { | |
| "t": 0.62, | |
| "type": "help_requested", | |
| "message": "Box closed. Stop here and request help reopening it.", | |
| "reason": "closed_box_requires_reopening" | |
| } | |
| ], | |
| "errors": [], | |
| "wall_seconds": 0.30864725005812943, | |
| "native_trace_columns": [ | |
| "t", | |
| "lid_angle_rad", | |
| "lid_velocity_rad_s", | |
| "lid_robot_normal_force_n", | |
| "risk", | |
| "other_environment_robot_force_n" | |
| ], | |
| "replay": { | |
| "model": "trials/hinged-box-falling-medium-recovery.model.json", | |
| "motion": "trials/hinged-box-falling-medium-recovery.motion.json" | |
| }, | |
| "export_seconds": 0.7754464999306947 | |
| }, | |
| { | |
| "id": "hinged-box-falling-low-baseline", | |
| "task": "hinged-box", | |
| "policy": "baseline", | |
| "case": { | |
| "id": "falling-low", | |
| "lid_angle_deg": 58.0, | |
| "lid_velocity_rad_s": -0.25, | |
| "lid_mass_kg": 0.1, | |
| "hinge_damping": 0.02, | |
| "split": "heldout" | |
| }, | |
| "valid": true, | |
| "success": false, | |
| "metrics": { | |
| "outcome": "failed", | |
| "task_success": false, | |
| "inspection_waypoint_reached": false, | |
| "return_completed": false, | |
| "safe_abort": false, | |
| "help_requested": false, | |
| "resumed_count": 0, | |
| "recovery_count": 0, | |
| "intervention_count": 0, | |
| "missed_interventions": 1, | |
| "false_interventions": null, | |
| "predicate_mismatch_interventions": 0, | |
| "false_intervention_definition": "Not identifiable from the treated rollout alone. Compare this case against baseline: a withdrawal when baseline completes without contact is a counterfactual nuisance interruption, not proven necessary avoidance.", | |
| "missed_intervention_definition": "At least one observed descending-lid predicate with no withdrawal command; this is guard coverage, not calibrated danger classification.", | |
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| "other_environment_robot_collision": false, | |
| "peak_contact_force_n": 51.77904813874703, | |
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| "contact_duration_s": 5.704, | |
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| "first_contact_s": 0.1440000000000001, | |
| "detection_time_s": 0.0, | |
| "command_time_s": null, | |
| "reaction_measurement_scope": "Privileged native predicate sampled at 2 ms; authored command at 20 ms. No sensor, transport or actuator-response latency included.", | |
| "first_response_latency_s": null, | |
| "completion_time_s": null, | |
| "withdrawal_duration_s": null, | |
| "simulated_seconds": 5.999999999999561, | |
| "wall_seconds": 0.1349219169933349, | |
| "physics_realtime_factor": 44.47016566104645, | |
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| "decision_latency_p95_ms": 0.03770901821553707, | |
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| "native_steps": 3000, | |
| "state_action_frame_timing": "Frame state and issued_ctrl are observed at t before the next native step; requested_joint_target is the authored 20 ms decision subsequently rate-limited into issued_ctrl.", | |
| "state_action_units": { | |
| "qpos_rad_m": { | |
| "0:6": "arm rad", | |
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| "11:15": "shoe quaternion wxyz dimensionless", | |
| "15": "hinge rad" | |
| }, | |
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| "0:6": "arm rad/s", | |
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| "14": "hinge rad/s" | |
| }, | |
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| "0:6": "arm rad", | |
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| }, | |
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| "0:6": "arm rad", | |
| "6": "jaw m" | |
| } | |
| }, | |
| "terminal_phase": "access", | |
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| { | |
| "t": 0.0, | |
| "type": "hazard_started", | |
| "message": "hazard started", | |
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| }, | |
| { | |
| "t": 0.144, | |
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| "message": "Lid contacted the robot above the synthetic benchmark threshold.", | |
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| { | |
| "t": 0.152, | |
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| "message": "hazard cleared", | |
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| }, | |
| { | |
| "t": 5.72, | |
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| "message": "lid robot contact cleared", | |
| "normal_force_n": 0.0 | |
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| { | |
| "t": 5.726, | |
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| }, | |
| { | |
| "t": 5.726, | |
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| "message": "Lid contacted the robot above the synthetic benchmark threshold.", | |
| "normal_force_n": 6.474981028989265 | |
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| { | |
| "t": 5.728, | |
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| "message": "hazard cleared", | |
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| }, | |
| { | |
| "t": 5.732, | |
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| "message": "lid robot contact cleared", | |
| "normal_force_n": 0.0 | |
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| { | |
| "t": 5.744, | |
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| "message": "hazard started", | |
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| "lid_velocity_rad_s": -0.07544176595926405 | |
| }, | |
| { | |
| "t": 5.744, | |
| "type": "hazardous_contact", | |
| "message": "Lid contacted the robot above the synthetic benchmark threshold.", | |
| "normal_force_n": 6.642775348164384 | |
| }, | |
| { | |
| "t": 5.746, | |
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| "message": "hazard cleared", | |
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| "lid_velocity_rad_s": 0.2711485789643087 | |
| }, | |
| { | |
| "t": 5.748, | |
| "type": "lid_robot_contact_cleared", | |
| "message": "lid robot contact cleared", | |
| "normal_force_n": 0.0 | |
| }, | |
| { | |
| "t": 5.766, | |
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| }, | |
| { | |
| "t": 5.768, | |
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| "message": "Lid contacted the robot above the synthetic benchmark threshold.", | |
| "normal_force_n": 3.460224732794111 | |
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| { | |
| "t": 5.77, | |
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| "message": "hazard cleared", | |
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| "lid_velocity_rad_s": 0.3532802761037329 | |
| }, | |
| { | |
| "t": 5.77, | |
| "type": "lid_robot_contact_cleared", | |
| "message": "lid robot contact cleared", | |
| "normal_force_n": 0.0 | |
| }, | |
| { | |
| "t": 5.778, | |
| "type": "hazardous_contact", | |
| "message": "Lid contacted the robot above the synthetic benchmark threshold.", | |
| "normal_force_n": 2.1687000521378224 | |
| }, | |
| { | |
| "t": 5.78, | |
| "type": "lid_robot_contact_cleared", | |
| "message": "lid robot contact cleared", | |
| "normal_force_n": 0.0 | |
| }, | |
| { | |
| "t": 5.796, | |
| "type": "hazard_started", | |
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| "lid_velocity_rad_s": -0.07914753630848893 | |
| }, | |
| { | |
| "t": 5.8, | |
| "type": "hazardous_contact", | |
| "message": "Lid contacted the robot above the synthetic benchmark threshold.", | |
| "normal_force_n": 3.083021668315596 | |
| }, | |
| { | |
| "t": 5.802, | |
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| "message": "hazard cleared", | |
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| "lid_velocity_rad_s": 0.1689586720461404 | |
| }, | |
| { | |
| "t": 5.804, | |
| "type": "lid_robot_contact_cleared", | |
| "message": "lid robot contact cleared", | |
| "normal_force_n": 0.0 | |
| }, | |
| { | |
| "t": 5.82, | |
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| "lid_velocity_rad_s": -0.07259775591052274 | |
| }, | |
| { | |
| "t": 5.828, | |
| "type": "hazardous_contact", | |
| "message": "Lid contacted the robot above the synthetic benchmark threshold.", | |
| "normal_force_n": 3.347580132049067 | |
| }, | |
| { | |
| "t": 5.83, | |
| "type": "hazard_cleared", | |
| "message": "hazard cleared", | |
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| "lid_velocity_rad_s": 0.1026564403041449 | |
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| { | |
| "t": 5.832, | |
| "type": "lid_robot_contact_cleared", | |
| "message": "lid robot contact cleared", | |
| "normal_force_n": 0.0 | |
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| { | |
| "t": 5.846, | |
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| "lid_velocity_rad_s": -0.04990953410785816 | |
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| { | |
| "t": 5.858, | |
| "type": "hazardous_contact", | |
| "message": "Lid contacted the robot above the synthetic benchmark threshold.", | |
| "normal_force_n": 3.305622073956844 | |
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| { | |
| "t": 5.86, | |
| "type": "hazard_cleared", | |
| "message": "hazard cleared", | |
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| "lid_velocity_rad_s": 0.021031417877421778 | |
| }, | |
| { | |
| "t": 5.862, | |
| "type": "lid_robot_contact_cleared", | |
| "message": "lid robot contact cleared", | |
| "normal_force_n": 0.0 | |
| }, | |
| { | |
| "t": 5.874, | |
| "type": "hazard_started", | |
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| "lid_angle_rad": 0.940391520253433, | |
| "lid_velocity_rad_s": -0.04311313921121756 | |
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| { | |
| "t": 5.884, | |
| "type": "hazardous_contact", | |
| "message": "Lid contacted the robot above the synthetic benchmark threshold.", | |
| "normal_force_n": 3.4994860199157354 | |
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| { | |
| "t": 5.886, | |
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| "message": "hazard cleared", | |
| "lid_angle_rad": 0.9384165025876424, | |
| "lid_velocity_rad_s": 0.12806579659795506 | |
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| { | |
| "t": 5.888, | |
| "type": "lid_robot_contact_cleared", | |
| "message": "lid robot contact cleared", | |
| "normal_force_n": 0.0 | |
| }, | |
| { | |
| "t": 5.904, | |
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| "message": "hazard started", | |
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| "lid_velocity_rad_s": -0.050205300898568624 | |
| }, | |
| { | |
| "t": 5.904, | |
| "type": "hazardous_contact", | |
| "message": "Lid contacted the robot above the synthetic benchmark threshold.", | |
| "normal_force_n": 42.03594081853243 | |
| }, | |
| { | |
| "t": 5.924, | |
| "type": "hazard_cleared", | |
| "message": "hazard cleared", | |
| "lid_angle_rad": 0.9402487674027503, | |
| "lid_velocity_rad_s": -0.027798914446549035 | |
| } | |
| ], | |
| "errors": [], | |
| "wall_seconds": 0.22275129100307822, | |
| "native_trace_columns": [ | |
| "t", | |
| "lid_angle_rad", | |
| "lid_velocity_rad_s", | |
| "lid_robot_normal_force_n", | |
| "risk", | |
| "other_environment_robot_force_n" | |
| ], | |
| "replay": { | |
| "model": "trials/hinged-box-falling-low-baseline.model.json", | |
| "motion": "trials/hinged-box-falling-low-baseline.motion.json" | |
| }, | |
| "export_seconds": 0.767625791952014 | |
| }, | |
| { | |
| "id": "hinged-box-falling-low-recovery", | |
| "task": "hinged-box", | |
| "policy": "recovery", | |
| "case": { | |
| "id": "falling-low", | |
| "lid_angle_deg": 58.0, | |
| "lid_velocity_rad_s": -0.25, | |
| "lid_mass_kg": 0.1, | |
| "hinge_damping": 0.02, | |
| "split": "heldout" | |
| }, | |
| "valid": true, | |
| "success": false, | |
| "metrics": { | |
| "outcome": "safe_abort", | |
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| "inspection_waypoint_reached": false, | |
| "return_completed": false, | |
| "safe_abort": true, | |
| "help_requested": true, | |
| "resumed_count": 0, | |
| "recovery_count": 0, | |
| "intervention_count": 1, | |
| "missed_interventions": 0, | |
| "false_interventions": null, | |
| "predicate_mismatch_interventions": 0, | |
| "false_intervention_definition": "Not identifiable from the treated rollout alone. Compare this case against baseline: a withdrawal when baseline completes without contact is a counterfactual nuisance interruption, not proven necessary avoidance.", | |
| "missed_intervention_definition": "At least one observed descending-lid predicate with no withdrawal command; this is guard coverage, not calibrated danger classification.", | |
| "lid_robot_collision": false, | |
| "other_environment_robot_collision": false, | |
| "peak_contact_force_n": 0.0, | |
| "peak_lid_robot_normal_force_n": 0.0, | |
| "peak_other_environment_robot_force_n": 0.0, | |
| "lid_robot_peak_force_time_integral_ns": 0.0, | |
| "contact_duration_s": 0.0, | |
| "hazard_duration_s": 0.234, | |
| "first_hazard_s": 0.0, | |
| "first_intervention_s": 0.0, | |
| "first_command_s": 0.0, | |
| "first_contact_s": null, | |
| "detection_time_s": 0.0, | |
| "command_time_s": 0.0, | |
| "reaction_measurement_scope": "Privileged native predicate sampled at 2 ms; authored command at 20 ms. No sensor, transport or actuator-response latency included.", | |
| "first_response_latency_s": 0.0, | |
| "completion_time_s": null, | |
| "withdrawal_duration_s": 0.24, | |
| "simulated_seconds": 5.999999999999561, | |
| "wall_seconds": 0.2775578750297427, | |
| "physics_realtime_factor": 21.617113185336965, | |
| "decision_latency_p50_ms": 0.045082997530698776, | |
| "decision_latency_p95_ms": 0.15316717326641083, | |
| "decision_latency_max_ms": 1.6051670536398888, | |
| "native_steps": 3000, | |
| "state_action_frame_timing": "Frame state and issued_ctrl are observed at t before the next native step; requested_joint_target is the authored 20 ms decision subsequently rate-limited into issued_ctrl.", | |
| "state_action_units": { | |
| "qpos_rad_m": { | |
| "0:6": "arm rad", | |
| "6:8": "finger m", | |
| "8:11": "shoe position m", | |
| "11:15": "shoe quaternion wxyz dimensionless", | |
| "15": "hinge rad" | |
| }, | |
| "qvel_rad_m_s": { | |
| "0:6": "arm rad/s", | |
| "6:8": "finger m/s", | |
| "8:11": "shoe linear m/s", | |
| "11:14": "shoe angular rad/s", | |
| "14": "hinge rad/s" | |
| }, | |
| "issued_ctrl": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| }, | |
| "requested_joint_target": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| } | |
| }, | |
| "terminal_phase": "help", | |
| "failure_reason": null, | |
| "solver_warnings": 0 | |
| }, | |
| "events": [ | |
| { | |
| "t": 0.0, | |
| "type": "hazard_started", | |
| "message": "hazard started", | |
| "lid_angle_rad": 1.0122909661567112, | |
| "lid_velocity_rad_s": -0.25 | |
| }, | |
| { | |
| "t": 0.0, | |
| "type": "withdrawal_started", | |
| "message": "Lid descending. Withdraw from the access path.", | |
| "reason": "descending_lid_in_access_volume" | |
| }, | |
| { | |
| "t": 0.236, | |
| "type": "hazard_cleared", | |
| "message": "hazard cleared", | |
| "lid_angle_rad": 0.4240051705403173, | |
| "lid_velocity_rad_s": -4.354716345155209 | |
| }, | |
| { | |
| "t": 0.24, | |
| "type": "withdrawal_complete", | |
| "message": "Arm has reached the withdrawal waypoint." | |
| }, | |
| { | |
| "t": 0.38, | |
| "type": "help_requested", | |
| "message": "Box closed. Stop here and request help reopening it.", | |
| "reason": "closed_box_requires_reopening" | |
| } | |
| ], | |
| "errors": [], | |
| "wall_seconds": 0.36826050002127886, | |
| "native_trace_columns": [ | |
| "t", | |
| "lid_angle_rad", | |
| "lid_velocity_rad_s", | |
| "lid_robot_normal_force_n", | |
| "risk", | |
| "other_environment_robot_force_n" | |
| ], | |
| "replay": { | |
| "model": "trials/hinged-box-falling-low-recovery.model.json", | |
| "motion": "trials/hinged-box-falling-low-recovery.motion.json" | |
| }, | |
| "export_seconds": 0.804564957972616 | |
| }, | |
| { | |
| "id": "hinged-box-transient-damped-baseline", | |
| "task": "hinged-box", | |
| "policy": "baseline", | |
| "case": { | |
| "id": "transient-damped", | |
| "lid_angle_deg": 110.0, | |
| "lid_velocity_rad_s": -0.35, | |
| "lid_mass_kg": 0.2, | |
| "hinge_damping": 0.06, | |
| "split": "heldout" | |
| }, | |
| "valid": true, | |
| "success": true, | |
| "metrics": { | |
| "outcome": "completed", | |
| "task_success": true, | |
| "inspection_waypoint_reached": true, | |
| "return_completed": true, | |
| "safe_abort": false, | |
| "help_requested": false, | |
| "resumed_count": 0, | |
| "recovery_count": 0, | |
| "intervention_count": 0, | |
| "missed_interventions": 1, | |
| "false_interventions": null, | |
| "predicate_mismatch_interventions": 0, | |
| "false_intervention_definition": "Not identifiable from the treated rollout alone. Compare this case against baseline: a withdrawal when baseline completes without contact is a counterfactual nuisance interruption, not proven necessary avoidance.", | |
| "missed_intervention_definition": "At least one observed descending-lid predicate with no withdrawal command; this is guard coverage, not calibrated danger classification.", | |
| "lid_robot_collision": false, | |
| "other_environment_robot_collision": false, | |
| "peak_contact_force_n": 0.0, | |
| "peak_lid_robot_normal_force_n": 0.0, | |
| "peak_other_environment_robot_force_n": 0.0, | |
| "lid_robot_peak_force_time_integral_ns": 0.0, | |
| "contact_duration_s": 0.0, | |
| "hazard_duration_s": 0.014, | |
| "first_hazard_s": 0.0, | |
| "first_intervention_s": null, | |
| "first_command_s": null, | |
| "first_contact_s": null, | |
| "detection_time_s": 0.0, | |
| "command_time_s": null, | |
| "reaction_measurement_scope": "Privileged native predicate sampled at 2 ms; authored command at 20 ms. No sensor, transport or actuator-response latency included.", | |
| "first_response_latency_s": null, | |
| "completion_time_s": 1.6, | |
| "withdrawal_duration_s": null, | |
| "simulated_seconds": 5.999999999999561, | |
| "wall_seconds": 0.11456795805133879, | |
| "physics_realtime_factor": 52.37066368339143, | |
| "decision_latency_p50_ms": 0.022249994799494743, | |
| "decision_latency_p95_ms": 0.033999793231487274, | |
| "decision_latency_max_ms": 0.380875077098608, | |
| "native_steps": 3000, | |
| "state_action_frame_timing": "Frame state and issued_ctrl are observed at t before the next native step; requested_joint_target is the authored 20 ms decision subsequently rate-limited into issued_ctrl.", | |
| "state_action_units": { | |
| "qpos_rad_m": { | |
| "0:6": "arm rad", | |
| "6:8": "finger m", | |
| "8:11": "shoe position m", | |
| "11:15": "shoe quaternion wxyz dimensionless", | |
| "15": "hinge rad" | |
| }, | |
| "qvel_rad_m_s": { | |
| "0:6": "arm rad/s", | |
| "6:8": "finger m/s", | |
| "8:11": "shoe linear m/s", | |
| "11:14": "shoe angular rad/s", | |
| "14": "hinge rad/s" | |
| }, | |
| "issued_ctrl": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| }, | |
| "requested_joint_target": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| } | |
| }, | |
| "terminal_phase": "done", | |
| "failure_reason": null, | |
| "solver_warnings": 0 | |
| }, | |
| "events": [ | |
| { | |
| "t": 0.0, | |
| "type": "hazard_started", | |
| "message": "hazard started", | |
| "lid_angle_rad": 1.9198621771937625, | |
| "lid_velocity_rad_s": -0.35 | |
| }, | |
| { | |
| "t": 0.016, | |
| "type": "hazard_cleared", | |
| "message": "hazard cleared", | |
| "lid_angle_rad": 1.9172280498496113, | |
| "lid_velocity_rad_s": -0.029336570903247795 | |
| }, | |
| { | |
| "t": 0.82, | |
| "type": "inspection_waypoint_reached", | |
| "message": "Inspection waypoint held for 200 ms; no shoe grasp attempted." | |
| }, | |
| { | |
| "t": 1.6, | |
| "type": "return_complete", | |
| "message": "Arm returned from the box." | |
| } | |
| ], | |
| "errors": [], | |
| "wall_seconds": 0.20038624992594123, | |
| "native_trace_columns": [ | |
| "t", | |
| "lid_angle_rad", | |
| "lid_velocity_rad_s", | |
| "lid_robot_normal_force_n", | |
| "risk", | |
| "other_environment_robot_force_n" | |
| ], | |
| "replay": { | |
| "model": "trials/hinged-box-transient-damped-baseline.model.json", | |
| "motion": "trials/hinged-box-transient-damped-baseline.motion.json" | |
| }, | |
| "export_seconds": 0.7702044169418514 | |
| }, | |
| { | |
| "id": "hinged-box-transient-damped-recovery", | |
| "task": "hinged-box", | |
| "policy": "recovery", | |
| "case": { | |
| "id": "transient-damped", | |
| "lid_angle_deg": 110.0, | |
| "lid_velocity_rad_s": -0.35, | |
| "lid_mass_kg": 0.2, | |
| "hinge_damping": 0.06, | |
| "split": "heldout" | |
| }, | |
| "valid": true, | |
| "success": true, | |
| "metrics": { | |
| "outcome": "recovered", | |
| "task_success": true, | |
| "inspection_waypoint_reached": true, | |
| "return_completed": true, | |
| "safe_abort": false, | |
| "help_requested": false, | |
| "resumed_count": 1, | |
| "recovery_count": 1, | |
| "intervention_count": 1, | |
| "missed_interventions": 0, | |
| "false_interventions": null, | |
| "predicate_mismatch_interventions": 0, | |
| "false_intervention_definition": "Not identifiable from the treated rollout alone. Compare this case against baseline: a withdrawal when baseline completes without contact is a counterfactual nuisance interruption, not proven necessary avoidance.", | |
| "missed_intervention_definition": "At least one observed descending-lid predicate with no withdrawal command; this is guard coverage, not calibrated danger classification.", | |
| "lid_robot_collision": false, | |
| "other_environment_robot_collision": false, | |
| "peak_contact_force_n": 0.0, | |
| "peak_lid_robot_normal_force_n": 0.0, | |
| "peak_other_environment_robot_force_n": 0.0, | |
| "lid_robot_peak_force_time_integral_ns": 0.0, | |
| "contact_duration_s": 0.0, | |
| "hazard_duration_s": 0.014, | |
| "first_hazard_s": 0.0, | |
| "first_intervention_s": 0.0, | |
| "first_command_s": 0.0, | |
| "first_contact_s": null, | |
| "detection_time_s": 0.0, | |
| "command_time_s": 0.0, | |
| "reaction_measurement_scope": "Privileged native predicate sampled at 2 ms; authored command at 20 ms. No sensor, transport or actuator-response latency included.", | |
| "first_response_latency_s": 0.0, | |
| "completion_time_s": 2.3, | |
| "withdrawal_duration_s": 0.24, | |
| "simulated_seconds": 5.999999999999561, | |
| "wall_seconds": 0.11370991682633758, | |
| "physics_realtime_factor": 52.76584635237229, | |
| "decision_latency_p50_ms": 0.022458145394921303, | |
| "decision_latency_p95_ms": 0.03174995072185993, | |
| "decision_latency_max_ms": 0.06879214197397232, | |
| "native_steps": 3000, | |
| "state_action_frame_timing": "Frame state and issued_ctrl are observed at t before the next native step; requested_joint_target is the authored 20 ms decision subsequently rate-limited into issued_ctrl.", | |
| "state_action_units": { | |
| "qpos_rad_m": { | |
| "0:6": "arm rad", | |
| "6:8": "finger m", | |
| "8:11": "shoe position m", | |
| "11:15": "shoe quaternion wxyz dimensionless", | |
| "15": "hinge rad" | |
| }, | |
| "qvel_rad_m_s": { | |
| "0:6": "arm rad/s", | |
| "6:8": "finger m/s", | |
| "8:11": "shoe linear m/s", | |
| "11:14": "shoe angular rad/s", | |
| "14": "hinge rad/s" | |
| }, | |
| "issued_ctrl": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| }, | |
| "requested_joint_target": { | |
| "0:6": "arm rad", | |
| "6": "jaw m" | |
| } | |
| }, | |
| "terminal_phase": "done", | |
| "failure_reason": null, | |
| "solver_warnings": 0 | |
| }, | |
| "events": [ | |
| { | |
| "t": 0.0, | |
| "type": "hazard_started", | |
| "message": "hazard started", | |
| "lid_angle_rad": 1.9198621771937625, | |
| "lid_velocity_rad_s": -0.35 | |
| }, | |
| { | |
| "t": 0.0, | |
| "type": "withdrawal_started", | |
| "message": "Lid descending. Withdraw from the access path.", | |
| "reason": "descending_lid_in_access_volume" | |
| }, | |
| { | |
| "t": 0.016, | |
| "type": "hazard_cleared", | |
| "message": "hazard cleared", | |
| "lid_angle_rad": 1.9172280498496113, | |
| "lid_velocity_rad_s": -0.029336570903247795 | |
| }, | |
| { | |
| "t": 0.24, | |
| "type": "withdrawal_complete", | |
| "message": "Arm has reached the withdrawal waypoint." | |
| }, | |
| { | |
| "t": 0.5, | |
| "type": "access_resumed", | |
| "message": "Lid aperture stable. Resume the inspection waypoint." | |
| }, | |
| { | |
| "t": 1.52, | |
| "type": "inspection_waypoint_reached", | |
| "message": "Inspection waypoint held for 200 ms; no shoe grasp attempted." | |
| }, | |
| { | |
| "t": 2.3, | |
| "type": "return_complete", | |
| "message": "Arm returned from the box." | |
| } | |
| ], | |
| "errors": [], | |
| "wall_seconds": 0.2058854578062892, | |
| "native_trace_columns": [ | |
| "t", | |
| "lid_angle_rad", | |
| "lid_velocity_rad_s", | |
| "lid_robot_normal_force_n", | |
| "risk", | |
| "other_environment_robot_force_n" | |
| ], | |
| "replay": { | |
| "model": "trials/hinged-box-transient-damped-recovery.model.json", | |
| "motion": "trials/hinged-box-transient-damped-recovery.motion.json" | |
| }, | |
| "export_seconds": 0.7687181672081351 | |
| }, | |
| { | |
| "id": "tool-reach-reach-heldout-light-baseline", | |
| "task": "tool-reach", | |
| "policy": "baseline", | |
| "case": { | |
| "id": "reach-heldout-light", | |
| "shoe_x": 0.705, | |
| "shoe_y": -0.09, | |
| "mass": 0.22, | |
| "friction": 0.45, | |
| "tool_length": 0.34, | |
| "lateral_error": 0.025, | |
| "split": "heldout" | |
| }, | |
| "valid": true, | |
| "success": false, | |
| "metrics": { | |
| "retrieval_success": false, | |
| "grasp_attempted": true, | |
| "retained_lift_success": false, | |
| "final_shoe_speed_m_s": 1.7242212129766392e-12, | |
| "shoe_displacement_x_m": 2.2724116033323583e-08, | |
| "final_shoe_position_m": [ | |
| 0.7049999772758839, | |
| -0.09000005199336013, | |
| -0.00010773877982213599 | |
| ], | |
| "peak_lift_m": 0.0, | |
| "recovery_attempts": 0, | |
| "help_requested": false, | |
| "peak_tool_shoe_force_n": 0.0, | |
| "peak_tool_shoe_force_time_s": 0.0, | |
| "tool_shoe_impulse_ns": 0.0, | |
| "tool_shoe_contact_ticks": 0, | |
| "physics_timestep_s": 0.002, | |
| "policy_interval_s": 0.02, | |
| "max_joint_command_delta_rad": 0.0030000000000001137, | |
| "max_tracking_error_m": 0.13176365447794705, | |
| "simulation_seconds": 5.399999999999627, | |
| "wall_seconds": 0.3661736659705639, | |
| "solver_warnings": 0, | |
| "native_steps": 2700, | |
| "shoe_external_force_used": false, | |
| "shoe_equality_constraints": 0, | |
| "recovery_count": 0, | |
| "intervention_count": 0, | |
| "peak_contact_force_n": 0.0, | |
| "contact_force_scope": "sum of normal shoe-to-robot/tool forces, excluding table", | |
| "force_peak_by_phase_n": { | |
| "settle": 0.0, | |
| "direct_reach": 0.0, | |
| "direct_close": 0.0, | |
| "direct_lift": 0.0 | |
| }, | |
| "policy_compute_p50_ms": 0.024666544049978256, | |
| "policy_compute_p95_ms": 0.05205823108553884, | |
| "policy_compute_max_ms": 0.3849589265882969, | |
| "wall_includes_model_compile": true, | |
| "recorded_state_scope": "privileged native state; qpos has 6 arm radians, 2 jaw metres, shoe XYZ metres and quaternion wxyz; qvel has 6 arm rad/s, 2 jaw m/s, shoe linear m/s and angular rad/s; controls are 6 joint radians plus jaw metres; requested targets update every20ms and issued controls are rate limited every2ms", | |
| "retention_criterion": "shoe bottom >35 mm with both fingers contacting, tool and world force each <0.01 N for final 500 ms", | |
| "no_tool_baseline": true, | |
| "tool_pre_equipped": false, | |
| "outcome": "failed_direct_reach", | |
| "real_time_factor": 14.747100902755045 | |
| }, | |
| "events": [ | |
| { | |
| "t": 0.0, | |
| "type": "assumptions", | |
| "message": "assumptions", | |
| "pre_equipped_rigid_tool": false, | |
| "privileged_observations": true, | |
| "shoe_attachment": false, | |
| "controller_reach_limit_x_m": 0.54, | |
| "tool_acquisition_tested": false | |
| }, | |
| { | |
| "t": 0.0, | |
| "type": "phase", | |
| "message": "settle", | |
| "name": "settle", | |
| "target": [ | |
| 0.36, | |
| -0.06, | |
| 0.27 | |
| ] | |
| }, | |
| { | |
| "t": 0.4, | |
| "type": "direct_reach_attempt", | |
| "message": "direct reach attempt", | |
| "desired_x_m": 0.7049999772540483, | |
| "clipped_x_m": 0.54 | |
| }, | |
| { | |
| "t": 0.4, | |
| "type": "phase", | |
| "message": "direct reach", | |
| "name": "direct_reach", | |
| "target": [ | |
| 0.54, | |
| -0.09, | |
| 0.075 | |
| ] | |
| }, | |
| { | |
| "t": 2.9, | |
| "type": "phase", | |
| "message": "direct close", | |
| "name": "direct_close", | |
| "target": [ | |
| 0.54, | |
| -0.09, | |
| 0.075 | |
| ] | |
| }, | |
| { | |
| "t": 3.9, | |
| "type": "phase", | |
| "message": "direct lift", | |
| "name": "direct_lift", | |
| "target": [ | |
| 0.5, | |
| -0.09, | |
| 0.2 | |
| ] | |
| }, | |
| { | |
| "t": 5.4, | |
| "type": "direct_reach_failed", | |
| "message": "direct reach failed", | |
| "shoe_x_m": 0.7049999772758839 | |
| } | |
| ], | |
| "errors": [], | |
| "wall_seconds": 0.3671923750080168, | |
| "native_trace_columns": [ | |
| "t_s", | |
| "tool_shoe_force_n", | |
| "shoe_robot_force_n", | |
| "left_finger_force_n", | |
| "right_finger_force_n", | |
| "shoe_x_m", | |
| "shoe_y_m", | |
| "shoe_z_m", | |
| "world_shoe_force_n" | |
| ], | |
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| "replay": { | |
| "model": "trials/tool-reach-reach-heldout-light-recovery.model.json", | |
| "motion": "trials/tool-reach-reach-heldout-light-recovery.motion.json" | |
| }, | |
| "export_seconds": 0.8837099170777947 | |
| }, | |
| { | |
| "id": "tool-reach-reach-heldout-offset-baseline", | |
| "task": "tool-reach", | |
| "policy": "baseline", | |
| "case": { | |
| "id": "reach-heldout-offset", | |
| "shoe_x": 0.725, | |
| "shoe_y": -0.115, | |
| "mass": 0.38, | |
| "friction": 0.8, | |
| "tool_length": 0.36, | |
| "lateral_error": -0.075, | |
| "split": "heldout" | |
| }, | |
| "valid": true, | |
| "success": false, | |
| "metrics": { | |
| "retrieval_success": false, | |
| "grasp_attempted": true, | |
| "retained_lift_success": false, | |
| "final_shoe_speed_m_s": 1.1867468292793283e-10, | |
| "shoe_displacement_x_m": 2.2724155890330167e-08, | |
| "final_shoe_position_m": [ | |
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| "peak_lift_m": 0.0, | |
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| "help_requested": false, | |
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| "tool_shoe_impulse_ns": 0.0, | |
| "tool_shoe_contact_ticks": 0, | |
| "physics_timestep_s": 0.002, | |
| "policy_interval_s": 0.02, | |
| "max_joint_command_delta_rad": 0.0030000000000001137, | |
| "max_tracking_error_m": 0.1317299890075362, | |
| "simulation_seconds": 5.399999999999627, | |
| "wall_seconds": 0.2863289578817785, | |
| "solver_warnings": 0, | |
| "native_steps": 2700, | |
| "shoe_external_force_used": false, | |
| "shoe_equality_constraints": 0, | |
| "recovery_count": 0, | |
| "intervention_count": 0, | |
| "peak_contact_force_n": 0.0, | |
| "contact_force_scope": "sum of normal shoe-to-robot/tool forces, excluding table", | |
| "force_peak_by_phase_n": { | |
| "settle": 0.0, | |
| "direct_reach": 0.0, | |
| "direct_close": 0.0, | |
| "direct_lift": 0.0 | |
| }, | |
| "policy_compute_p50_ms": 0.023625092580914497, | |
| "policy_compute_p95_ms": 0.05440639797598123, | |
| "policy_compute_max_ms": 0.43308292515575886, | |
| "wall_includes_model_compile": true, | |
| "recorded_state_scope": "privileged native state; qpos has 6 arm radians, 2 jaw metres, shoe XYZ metres and quaternion wxyz; qvel has 6 arm rad/s, 2 jaw m/s, shoe linear m/s and angular rad/s; controls are 6 joint radians plus jaw metres; requested targets update every20ms and issued controls are rate limited every2ms", | |
| "retention_criterion": "shoe bottom >35 mm with both fingers contacting, tool and world force each <0.01 N for final 500 ms", | |
| "no_tool_baseline": true, | |
| "tool_pre_equipped": false, | |
| "outcome": "failed_direct_reach", | |
| "real_time_factor": 18.85942672354229 | |
| }, | |
| "events": [ | |
| { | |
| "t": 0.0, | |
| "type": "assumptions", | |
| "message": "assumptions", | |
| "pre_equipped_rigid_tool": false, | |
| "privileged_observations": true, | |
| "shoe_attachment": false, | |
| "controller_reach_limit_x_m": 0.54, | |
| "tool_acquisition_tested": false | |
| }, | |
| { | |
| "t": 0.0, | |
| "type": "phase", | |
| "message": "settle", | |
| "name": "settle", | |
| "target": [ | |
| 0.36, | |
| -0.06, | |
| 0.27 | |
| ] | |
| }, | |
| { | |
| "t": 0.4, | |
| "type": "direct_reach_attempt", | |
| "message": "direct reach attempt", | |
| "desired_x_m": 0.7249999772540483, | |
| "clipped_x_m": 0.54 | |
| }, | |
| { | |
| "t": 0.4, | |
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| "name": "direct_reach", | |
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| ] | |
| }, | |
| { | |
| "t": 2.9, | |
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| "name": "direct_close", | |
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| ] | |
| }, | |
| { | |
| "t": 3.9, | |
| "type": "phase", | |
| "message": "direct lift", | |
| "name": "direct_lift", | |
| "target": [ | |
| 0.5, | |
| -0.115, | |
| 0.2 | |
| ] | |
| }, | |
| { | |
| "t": 5.4, | |
| "type": "direct_reach_failed", | |
| "message": "direct reach failed", | |
| "shoe_x_m": 0.7249999772758441 | |
| } | |
| ], | |
| "errors": [], | |
| "wall_seconds": 0.2875982499681413, | |
| "native_trace_columns": [ | |
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| "tool_shoe_force_n", | |
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| ], | |
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| { | |
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| { | |
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| { | |
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| }, | |
| { | |
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| "type": "help_requested", | |
| "message": "retrieved but jaw lift not retained", | |
| "reason": "retrieved_but_jaw_lift_not_retained" | |
| } | |
| ], | |
| "errors": [], | |
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| "policy": "recovery", | |
| "case": { | |
| "id": "reach-heldout-short", | |
| "shoe_x": 0.72, | |
| "shoe_y": -0.105, | |
| "mass": 0.27, | |
| "friction": 0.55, | |
| "tool_length": 0.18, | |
| "lateral_error": 0.015, | |
| "split": "heldout" | |
| }, | |
| "valid": true, | |
| "success": false, | |
| "metrics": { | |
| "retrieval_success": false, | |
| "grasp_attempted": false, | |
| "retained_lift_success": false, | |
| "final_shoe_speed_m_s": 4.143724738858311e-12, | |
| "shoe_displacement_x_m": 2.2747197681027842e-08, | |
| "final_shoe_position_m": [ | |
| 0.7199999772528023, | |
| -0.10500005188206221, | |
| -0.00010773877980159284 | |
| ], | |
| "peak_lift_m": 0.0, | |
| "recovery_attempts": 0, | |
| "help_requested": true, | |
| "peak_tool_shoe_force_n": 0.0, | |
| "peak_tool_shoe_force_time_s": 0.0, | |
| "tool_shoe_impulse_ns": 0.0, | |
| "tool_shoe_contact_ticks": 0, | |
| "physics_timestep_s": 0.002, | |
| "policy_interval_s": 0.02, | |
| "max_joint_command_delta_rad": 7.896332776313741e-06, | |
| "max_tracking_error_m": 0.006468237481045584, | |
| "simulation_seconds": 1.0000000000000007, | |
| "wall_seconds": 0.2381687080487609, | |
| "solver_warnings": 0, | |
| "native_steps": 500, | |
| "shoe_external_force_used": false, | |
| "shoe_equality_constraints": 0, | |
| "recovery_count": 0, | |
| "intervention_count": 1, | |
| "peak_contact_force_n": 0.0, | |
| "contact_force_scope": "sum of normal shoe-to-robot/tool forces, excluding table", | |
| "force_peak_by_phase_n": { | |
| "settle": 0.0, | |
| "hold_for_help": 0.0 | |
| }, | |
| "policy_compute_p50_ms": 0.023312633857131004, | |
| "policy_compute_p95_ms": 0.0506835407577455, | |
| "policy_compute_max_ms": 0.055958982557058334, | |
| "wall_includes_model_compile": true, | |
| "recorded_state_scope": "privileged native state; qpos has 6 arm radians, 2 jaw metres, shoe XYZ metres and quaternion wxyz; qvel has 6 arm rad/s, 2 jaw m/s, shoe linear m/s and angular rad/s; controls are 6 joint radians plus jaw metres; requested targets update every20ms and issued controls are rate limited every2ms", | |
| "retention_criterion": "shoe bottom >35 mm with both fingers contacting, tool and world force each <0.01 N for final 500 ms", | |
| "no_tool_baseline": false, | |
| "tool_pre_equipped": true, | |
| "outcome": "deferred_insufficient_reach", | |
| "real_time_factor": 4.198704389811226 | |
| }, | |
| "events": [ | |
| { | |
| "t": 0.0, | |
| "type": "assumptions", | |
| "message": "assumptions", | |
| "pre_equipped_rigid_tool": true, | |
| "privileged_observations": true, | |
| "shoe_attachment": false, | |
| "controller_reach_limit_x_m": 0.54, | |
| "tool_acquisition_tested": false | |
| }, | |
| { | |
| "t": 0.0, | |
| "type": "phase", | |
| "message": "settle", | |
| "name": "settle", | |
| "target": [ | |
| 0.36, | |
| -0.06, | |
| 0.27 | |
| ] | |
| }, | |
| { | |
| "t": 0.4, | |
| "type": "help_requested", | |
| "message": "tool cannot reach far edge", | |
| "reason": "tool_cannot_reach_far_edge", | |
| "required_tcp_x_m": 0.7049999772540483 | |
| }, | |
| { | |
| "t": 0.4, | |
| "type": "phase", | |
| "message": "hold for help", | |
| "name": "hold_for_help", | |
| "target": [ | |
| 0.36, | |
| -0.06, | |
| 0.27 | |
| ] | |
| } | |
| ], | |
| "errors": [], | |
| "wall_seconds": 0.23922554193995893, | |
| "native_trace_columns": [ | |
| "t_s", | |
| "tool_shoe_force_n", | |
| "shoe_robot_force_n", | |
| "left_finger_force_n", | |
| "right_finger_force_n", | |
| "shoe_x_m", | |
| "shoe_y_m", | |
| "shoe_z_m", | |
| "world_shoe_force_n" | |
| ], | |
| "control_compute_ms": [ | |
| 0.024250010028481483, | |
| 0.028790906071662903, | |
| 0.024124979972839355, | |
| 0.028209062293171883, | |
| 0.02487492747604847, | |
| 0.023082830011844635, | |
| 0.022750115022063255, | |
| 0.021958956494927406, | |
| 0.02266606315970421, | |
| 0.022499822080135345, | |
| 0.02308306284248829, | |
| 0.055666081607341766, | |
| 0.055958982557058334, | |
| 0.038499943912029266, | |
| 0.029209069907665253, | |
| 0.02445792779326439, | |
| 0.02491706982254982, | |
| 0.022750115022063255, | |
| 0.022165942937135696, | |
| 0.023958971723914146, | |
| 0.023999949917197227, | |
| 0.022541964426636696, | |
| 0.026332912966609, | |
| 0.02637505531311035, | |
| 0.02787495031952858, | |
| 0.04958314821124077, | |
| 0.0327499583363533, | |
| 0.026207882910966873, | |
| 0.025124987587332726, | |
| 0.023707980290055275, | |
| 0.023041851818561554, | |
| 0.022791093215346336, | |
| 0.02245791256427765, | |
| 0.022292137145996094, | |
| 0.022292137145996094, | |
| 0.02191704697906971, | |
| 0.022416934370994568, | |
| 0.021707965061068535, | |
| 0.022207852452993393, | |
| 0.02154218964278698, | |
| 0.02487492747604847, | |
| 0.022166874259710312, | |
| 0.02354220487177372, | |
| 0.02187490463256836, | |
| 0.05158386193215847, | |
| 0.02408307045698166, | |
| 0.02195802517235279, | |
| 0.022166874259710312, | |
| 0.021625077351927757, | |
| 0.021625077351927757 | |
| ], | |
| "replay": { | |
| "model": "trials/tool-reach-reach-heldout-short-recovery.model.json", | |
| "motion": "trials/tool-reach-reach-heldout-short-recovery.motion.json" | |
| }, | |
| "export_seconds": 0.786098999902606 | |
| } | |
| ], | |
| "groups": [ | |
| { | |
| "task": "hinged-box", | |
| "policy": "baseline", | |
| "attempts": 4, | |
| "valid": 4, | |
| "successes": 2, | |
| "outcomes": { | |
| "completed": 2, | |
| "failed": 2 | |
| }, | |
| "wall_seconds": 1.030725623946637, | |
| "metrics_note": "See every individual trial for contact, retrieval, recovery and failure details." | |
| }, | |
| { | |
| "task": "hinged-box", | |
| "policy": "recovery", | |
| "attempts": 4, | |
| "valid": 4, | |
| "successes": 2, | |
| "outcomes": { | |
| "completed": 1, | |
| "safe_abort": 2, | |
| "recovered": 1 | |
| }, | |
| "wall_seconds": 1.1474612918682396, | |
| "metrics_note": "See every individual trial for contact, retrieval, recovery and failure details." | |
| }, | |
| { | |
| "task": "tool-reach", | |
| "policy": "baseline", | |
| "attempts": 4, | |
| "valid": 4, | |
| "successes": 0, | |
| "outcomes": { | |
| "failed_direct_reach": 4 | |
| }, | |
| "wall_seconds": 1.2767312920186669, | |
| "metrics_note": "See every individual trial for contact, retrieval, recovery and failure details." | |
| }, | |
| { | |
| "task": "tool-reach", | |
| "policy": "recovery", | |
| "attempts": 4, | |
| "valid": 4, | |
| "successes": 0, | |
| "outcomes": { | |
| "retrieved_lift_failed": 3, | |
| "deferred_insufficient_reach": 1 | |
| }, | |
| "wall_seconds": 2.040834126062691, | |
| "metrics_note": "See every individual trial for contact, retrieval, recovery and failure details." | |
| } | |
| ], | |
| "paired_comparisons": [ | |
| { | |
| "task": "hinged-box", | |
| "case_id": "open-medium", | |
| "valid_pair": true, | |
| "baseline_success": true, | |
| "recovery_success": true, | |
| "lid_contact_avoided": false, | |
| "nuisance_interruption": false, | |
| "nuisance_scope": "Baseline completed without disallowed contact; conservative withdrawal is not proven necessary.", | |
| "completion_delay_s": 0.0 | |
| }, | |
| { | |
| "task": "hinged-box", | |
| "case_id": "falling-medium", | |
| "valid_pair": true, | |
| "baseline_success": false, | |
| "recovery_success": false, | |
| "lid_contact_avoided": true, | |
| "nuisance_interruption": false, | |
| "nuisance_scope": "Baseline completed without disallowed contact; conservative withdrawal is not proven necessary.", | |
| "completion_delay_s": null | |
| }, | |
| { | |
| "task": "hinged-box", | |
| "case_id": "falling-low", | |
| "valid_pair": true, | |
| "baseline_success": false, | |
| "recovery_success": false, | |
| "lid_contact_avoided": true, | |
| "nuisance_interruption": false, | |
| "nuisance_scope": "Baseline completed without disallowed contact; conservative withdrawal is not proven necessary.", | |
| "completion_delay_s": null | |
| }, | |
| { | |
| "task": "hinged-box", | |
| "case_id": "transient-damped", | |
| "valid_pair": true, | |
| "baseline_success": true, | |
| "recovery_success": true, | |
| "lid_contact_avoided": false, | |
| "nuisance_interruption": true, | |
| "nuisance_scope": "Baseline completed without disallowed contact; conservative withdrawal is not proven necessary.", | |
| "completion_delay_s": 0.6999999999999997 | |
| }, | |
| { | |
| "task": "tool-reach", | |
| "case_id": "reach-heldout-light", | |
| "valid_pair": true, | |
| "baseline_success": false, | |
| "recovery_success": false, | |
| "baseline_retrieved": false, | |
| "with_tool_retrieved": true, | |
| "with_tool_retained_lift": false, | |
| "comparison_scope": "No-tool capability control versus mounted rake plus recovery; not an isolated policy effect." | |
| }, | |
| { | |
| "task": "tool-reach", | |
| "case_id": "reach-heldout-offset", | |
| "valid_pair": true, | |
| "baseline_success": false, | |
| "recovery_success": false, | |
| "baseline_retrieved": false, | |
| "with_tool_retrieved": true, | |
| "with_tool_retained_lift": false, | |
| "comparison_scope": "No-tool capability control versus mounted rake plus recovery; not an isolated policy effect." | |
| }, | |
| { | |
| "task": "tool-reach", | |
| "case_id": "reach-heldout-heavy", | |
| "valid_pair": true, | |
| "baseline_success": false, | |
| "recovery_success": false, | |
| "baseline_retrieved": false, | |
| "with_tool_retrieved": true, | |
| "with_tool_retained_lift": false, | |
| "comparison_scope": "No-tool capability control versus mounted rake plus recovery; not an isolated policy effect." | |
| }, | |
| { | |
| "task": "tool-reach", | |
| "case_id": "reach-heldout-short", | |
| "valid_pair": true, | |
| "baseline_success": false, | |
| "recovery_success": false, | |
| "baseline_retrieved": false, | |
| "with_tool_retrieved": false, | |
| "with_tool_retained_lift": false, | |
| "comparison_scope": "No-tool capability control versus mounted rake plus recovery; not an isolated policy effect." | |
| } | |
| ] | |
| } | |