Publish complete DreamZero rollout and forecast viewer
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +60 -0
- README.md +35 -6
- app.js +51 -0
- data/cp1000/world-1020672095.json +1 -0
- data/cp1000/world-1113374521.json +1 -0
- data/cp1000/world-1493856593.json +1 -0
- data/cp1000/world-1539150920.json +1 -0
- data/cp1000/world-164200758.json +1 -0
- data/cp1000/world-1749706011.json +1 -0
- data/cp1000/world-40628185.json +1 -0
- data/cp1000/world-63490291.json +1 -0
- data/cp1000/world-82385561.json +1 -0
- data/cp1000/world-932798014.json +1 -0
- data/cp2000/world-1020672095.json +1 -0
- data/cp2000/world-1113374521.json +1 -0
- data/cp2000/world-1493856593.json +1 -0
- data/cp2000/world-1539150920.json +1 -0
- data/cp2000/world-164200758.json +1 -0
- data/cp2000/world-1749706011.json +1 -0
- data/cp2000/world-40628185.json +1 -0
- data/cp2000/world-63490291.json +1 -0
- data/cp2000/world-82385561.json +1 -0
- data/cp2000/world-932798014.json +1 -0
- index.html +38 -17
- manifest.json +272 -0
- media/cp1000/world-1020672095/predictions.mp4 +3 -0
- media/cp1000/world-1020672095/rollout-canvas.mp4 +3 -0
- media/cp1000/world-1020672095/rollout-strip.mp4 +3 -0
- media/cp1000/world-1020672095/sim-poster.jpg +0 -0
- media/cp1000/world-1020672095/wam-poster.jpg +0 -0
- media/cp1000/world-1113374521/predictions.mp4 +3 -0
- media/cp1000/world-1113374521/rollout-canvas.mp4 +3 -0
- media/cp1000/world-1113374521/rollout-strip.mp4 +3 -0
- media/cp1000/world-1113374521/sim-poster.jpg +0 -0
- media/cp1000/world-1113374521/wam-poster.jpg +0 -0
- media/cp1000/world-1493856593/predictions.mp4 +3 -0
- media/cp1000/world-1493856593/rollout-canvas.mp4 +3 -0
- media/cp1000/world-1493856593/rollout-strip.mp4 +3 -0
- media/cp1000/world-1493856593/sim-poster.jpg +0 -0
- media/cp1000/world-1493856593/wam-poster.jpg +0 -0
- media/cp1000/world-1539150920/predictions.mp4 +3 -0
- media/cp1000/world-1539150920/rollout-canvas.mp4 +3 -0
- media/cp1000/world-1539150920/rollout-strip.mp4 +3 -0
- media/cp1000/world-1539150920/sim-poster.jpg +0 -0
- media/cp1000/world-1539150920/wam-poster.jpg +0 -0
- media/cp1000/world-164200758/predictions.mp4 +3 -0
- media/cp1000/world-164200758/rollout-canvas.mp4 +3 -0
- media/cp1000/world-164200758/rollout-strip.mp4 +3 -0
- media/cp1000/world-164200758/sim-poster.jpg +0 -0
- media/cp1000/world-164200758/wam-poster.jpg +0 -0
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README.md
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---
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title:
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emoji:
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colorFrom:
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sdk: static
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---
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---
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title: DreamZero Rollout Lab
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emoji: 🎬
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colorFrom: green
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colorTo: blue
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sdk: static
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app_file: index.html
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fullWidth: true
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short_description: Ten worlds, WAM predictions, and simulator rollouts
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---
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# DreamZero Rollout Lab
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Explore ten shared bottle-task worlds at Canon DreamZero checkpoints 1000 and
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2000. Select a world, scrub the simulator timeline, and inspect any of the
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459 independently generated 48-action forecasts beside the observed rollout.
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Both the matched camera canvas and the original three-camera simulator strip
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are available. All prediction frames and all recorded simulator frames are
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included; videos are re-encoded for streaming and interactive seeking.
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The simulator recording is sampled every 60 actions, whereas each WAM forecast
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contains the current frame and eight predicted frames at six-action intervals.
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The viewer shows the actual recorded frame step and this sampling difference;
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it does not invent simulator frames between observations. Forecasts are generated
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independently at each policy call and are never fed back to the simulator.
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Evaluation: 22000 actions per world, Blender cameras, 48 actions executed per
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call, absolute canonical base-frame EEF20, ABC-source quantile normalization,
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canonical grippers and IK to simulator joints. Stats/spec hashes are included
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in each world's downloadable JSON. This Space serves saved evaluation artifacts;
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it runs no model inference and requires no GPU.
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Checkpoint 2000 is the default; checkpoint 1000 provides the earlier comparison.
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Each checkpoint has ten complete worlds. Both score 0/10 task successes; step
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1000 has mean maximum reward 0.05 and step 2000 has 0.0 on these ten worlds.
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Use the shared URL to link directly to a checkpoint, world and simulator step.
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Downloads include the original simulator camera strip, the complete WAM
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prediction reel, and the selected world's metrics, timing and provenance.
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app.js
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"use strict";
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const $ = id => document.getElementById(id);
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const state = {manifest:null,checkpoint:2000,seed:null,detail:null,step:0,decision:0,mode:"paused",load:0,layout:"canvas",chartData:[]};
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const cache = new Map();
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const sim = $("simVideo"), wam = $("wamVideo");
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const clamp = (v, lo, hi) => Math.min(hi, Math.max(lo, v));
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const number = value => Number(value).toLocaleString("en-US");
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const time = seconds => `${Math.floor(seconds/60)}:${String(Math.floor(seconds%60)).padStart(2,"0")}`;
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const asset = name => `${state.world.media}/${name}`;
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function toast(message){$("toast").textContent=message;$("toast").classList.add("visible");clearTimeout(toast.timer);toast.timer=setTimeout(()=>$("toast").classList.remove("visible"),2600);}
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function fail(error){console.error(error);$("error").hidden=false;$("error").textContent=`The viewer could not load this recording. ${error.message || error}`;}
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async function getData(path){if(!cache.has(path)){cache.set(path,fetch(path).then(r=>{if(!r.ok)throw new Error(`Recording data returned ${r.status}.`);return r.json();}).catch(e=>{cache.delete(path);throw e;}));}return cache.get(path);}
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function stop(){if(state.animation)cancelAnimationFrame(state.animation);state.mode="paused";sim.pause();wam.pause();$("play").textContent="▶ Play rollout";$("play").setAttribute("aria-label","Play simulator rollout");$("loopPrediction").classList.remove("active");$("loopPrediction").textContent="▶ Loop this forecast";}
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function seek(video,target){if(!Number.isFinite(target))return;video.pendingSeek=target;if(video.readyState>=1){const end=Math.max(0,video.duration-.002);const value=clamp(target,0,end);if(Math.abs(video.currentTime-value)>.012){try{video.currentTime=value;}catch(_){}}}}
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function url(){const value=new URL(window.location.href);value.searchParams.set("checkpoint",state.checkpoint);value.searchParams.set("world",state.seed);value.searchParams.set("step",Math.round(state.step));if(state.layout!=="canvas")value.searchParams.set("view",state.layout);else value.searchParams.delete("view");return value;}
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function saveUrl(){try{history.replaceState(null,"",url());}catch(_){}}
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function currentReward(detail,step){let low=0,high=detail.rewards.length-1;while(low<high){const mid=Math.ceil((low+high)/2);if(detail.rewards[mid][0]<=step)low=mid;else high=mid-1;}return detail.rewards[low]?.[1]||0;}
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function renderPosition(){if(!state.detail)return;const d=state.detail,anchor=state.decision*d.action_horizon;$("timeline").value=Math.round(state.step);$("stepLabel").innerHTML=`${number(Math.round(state.step))} <span>/ ${number(d.step_budget)} actions</span>`;$("timeLabel").textContent=`${time(state.step*.034)} / ${time(d.step_budget*.034)} simulated`;$("windowBadge").textContent=`FORECAST ${String(state.decision+1).padStart(3,"0")} / ${d.decisions}`;$("predictionNumber").value=state.decision+1;$("forecastLabel").textContent=`Forecast · steps ${number(anchor)}–${number(anchor+d.action_horizon)}`;$("prevPrediction").disabled=state.decision===0;$("nextPrediction").disabled=state.decision===d.decisions-1;$("predictionNumber").max=d.decisions;$("predictionCount").textContent=d.decisions;const last=state.decision===d.decisions-1&&d.steps_executed-anchor<d.action_horizon;$("forecastPosition").innerHTML=last?`Final window <span>· ${d.steps_executed-anchor} actions executed</span>`:"Current frame <span>→ +6 → +12 → … → +48 actions</span>";const x=42+state.step/d.step_budget*(state.plotWidth||1134);const line=$("chartCursor");if(line){line.setAttribute("x1",x);line.setAttribute("x2",x);}updateSampleLabel();}
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function updateSampleLabel(){if(!state.detail)return;const sample=Math.min(state.detail.sim_frames-1,Math.max(0,Math.floor(sim.currentTime*state.detail.sim_video_fps+.0001)))*state.detail.sim_sample_every;$("sampleLabel").textContent=`Recorded sample · step ${number(sample)}`;}
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function setStep(value,{pause=true,seekSim=true,deriveDecision=true,writeUrl=true}={}){if(!state.detail)return;if(pause)stop();state.step=clamp(Number(value)||0,0,state.detail.steps_executed);if(deriveDecision)state.decision=Math.min(state.detail.decisions-1,Math.floor(state.step/state.detail.action_horizon));if(seekSim)seek(sim,state.step/(state.detail.sim_sample_every*state.detail.sim_video_fps));const offset=state.decision*state.detail.prediction_window_seconds;const inWindow=clamp((state.step-state.decision*48)/30,0,1.799);if(state.mode!=="prediction")seek(wam,offset+inWindow+.0001);renderPosition();if(writeUrl)saveUrl();}
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+
function gotoPrediction(value){if(!state.detail)return;stop();state.decision=clamp(Math.round(value),0,state.detail.decisions-1);setStep(state.decision*state.detail.action_horizon,{deriveDecision:false});}
|
| 26 |
+
|
| 27 |
+
function renderWorlds(){const checkpoint=state.manifest.checkpoints.find(cp=>cp.step===state.checkpoint);$("worlds").replaceChildren();checkpoint.worlds.forEach((world,i)=>{const button=document.createElement("button");button.className="world-card";button.setAttribute("aria-pressed",String(world.seed===state.seed));button.setAttribute("aria-label",`World ${i+1}, seed ${world.seed}, maximum reward ${world.max_reward}, ${world.success?"task solved":"task not solved"}`);button.title=`Seed ${world.seed}`;button.innerHTML=`<img src="${world.media}/sim-poster.jpg" alt="Initial scene for world ${i+1}" loading="lazy"><span class="world-card-text"><strong>W${String(i+1).padStart(2,"0")}</strong><small>${world.success?"SOLVED":"NOT SOLVED"}</small></span><div class="world-card-result">Max reward ${world.max_reward.toFixed(2)}</div>`;button.addEventListener("click",()=>openWorld(world.seed,0).catch(fail));$("worlds").append(button);});$("successStat").innerHTML=`${checkpoint.successes} <small>/ ${checkpoint.worlds.length} worlds</small>`;$("rewardStat").textContent=checkpoint.mean_max_reward.toFixed(2);$("forecastStat").textContent=number(checkpoint.worlds.reduce((sum,w)=>sum+w.decisions,0));}
|
| 28 |
+
|
| 29 |
+
function renderChart(){const svg=$("rewardChart"),d=state.detail;const narrow=svg.clientWidth<600,width=narrow?480:1200,font=narrow?12:9;const plotWidth=width-66;state.plotWidth=plotWidth;svg.setAttribute("viewBox",`0 0 ${width} 190`);let html="";const y=r=>14+(1-r)*140;for(let i=0;i<=4;i++){const r=i/4;html+=`<line x1="42" y1="${y(r)}" x2="${width-24}" y2="${y(r)}" stroke="#e7ede7" stroke-dasharray="${i?"3 5":"0"}"/><text x="30" y="${y(r)+3}" text-anchor="end" fill="#7f8d7c" font-size="${font}" font-family="monospace">${Math.round(r*100)}%</text>`;}for(const step of [0,5500,11000,16500,22000]){html+=`<text x="${42+step/22000*plotWidth}" y="179" text-anchor="middle" fill="#89967e" font-size="${font}" font-family="monospace">${number(step)}</text>`;}const sorted=[...state.chartData].sort((a,b)=>(a.checkpoint===state.checkpoint)-(b.checkpoint===state.checkpoint));for(const detail of sorted){const path=detail.rewards.map((r,i)=>`${i?"L":"M"}${(42+r[0]/d.step_budget*plotWidth).toFixed(2)},${y(r[1]).toFixed(2)}`).join(" ");const active=detail.checkpoint===state.checkpoint;html+=`<path d="${path}" fill="none" stroke="${detail.checkpoint===2000?"#197b71":"#9475b3"}" stroke-width="${active?2.7:1.7}" opacity="${active?1:.65}"/>`;}html+='<line id="chartCursor" x1="42" y1="8" x2="42" y2="160" stroke="#263f30" stroke-width="1" stroke-dasharray="3 3"/>';svg.innerHTML=html;renderPosition();}
|
| 30 |
+
|
| 31 |
+
async function openWorld(seed,step=0){const version=++state.load;stop();$("error").hidden=true;state.seed=Number(seed);const cp=state.manifest.checkpoints.find(x=>x.step===state.checkpoint);state.world=cp.worlds.find(x=>x.seed===state.seed)||cp.worlds[0];state.seed=state.world.seed;renderWorlds();const [detail,...others]=await Promise.all([getData(state.world.data),...state.manifest.checkpoints.filter(x=>x.step!==state.checkpoint).map(x=>{const w=x.worlds.find(x=>x.seed===state.seed);return w?getData(w.data).catch(()=>null):null;})]);if(version!==state.load)return;state.detail=detail;state.chartData=[detail,...others.filter(Boolean)];state.step=step;state.decision=Math.min(detail.decisions-1,Math.floor(step/48));const index=cp.worlds.findIndex(x=>x.seed===state.seed);$("worldNumber").textContent=String(index+1).padStart(2,"0");$("seedLabel").textContent=state.seed;$("worldMax").textContent=detail.max_reward.toFixed(2);$("worldFinal").textContent=detail.final_reward.toFixed(2);$("outcomeBadge").textContent=detail.success?"Task solved":"Budget reached · not solved";$("outcomeBadge").classList.toggle("success",detail.success);$("simDownload").href=asset("rollout-strip.mp4");$("wamDownload").href=asset("predictions.mp4");$("dataDownload").href=state.world.data;$("timeline").max=detail.steps_executed;$("firstReward").disabled=!detail.rewards.some(r=>r[1]>0);sim.poster=asset("sim-poster.jpg");wam.poster=asset("wam-poster.jpg");$("simLoading").classList.remove("hidden");$("wamLoading").classList.remove("hidden");sim.src=asset(state.layout==="strip"?"rollout-strip.mp4":"rollout-canvas.mp4");wam.src=asset("predictions.mp4");sim.load();wam.load();renderChart();setStep(step);document.title=`World ${index+1} · Step ${number(state.checkpoint)} · DreamZero Rollout Lab`;}
|
| 32 |
+
|
| 33 |
+
async function toggleRollout(){if(!state.detail)return;if(state.mode==="rollout"){stop();saveUrl();return;}stop();if(state.step>=state.detail.steps_executed-60)setStep(0);state.mode="rollout";sim.playbackRate=Number($("speed").value)/(60*2*.034);$("play").textContent="❚❚ Pause rollout";$("play").setAttribute("aria-label","Pause simulator rollout");try{await sim.play();}catch(e){stop();toast("Press play again once the video has loaded.");}}
|
| 34 |
+
function guardPredictionLoop(){if(state.mode!=="prediction"||!state.detail)return;const start=state.decision*1.8;if(wam.readyState>=2&&!wam.seeking&&(wam.currentTime>=start+1.79||wam.currentTime<start-.02))seek(wam,start+.0001);state.animation=requestAnimationFrame(guardPredictionLoop);}
|
| 35 |
+
async function loopPrediction(){if(!state.detail)return;if(state.mode==="prediction"){stop();return;}stop();state.mode="prediction";seek(wam,state.decision*1.8+.0001);wam.playbackRate=1;$("loopPrediction").textContent="❚❚ Pause forecast";$("loopPrediction").classList.add("active");guardPredictionLoop();try{await wam.play();}catch(e){stop();toast("The prediction is loading. Please try again.");}}
|
| 36 |
+
|
| 37 |
+
for(const [video,label] of [[sim,"simLoading"],[wam,"wamLoading"]]){video.addEventListener("loadedmetadata",()=>{if(video.pendingSeek!==undefined)seek(video,video.pendingSeek);});for(const event of ["loadeddata","canplay","seeked"]){video.addEventListener(event,()=>{$(label).classList.add("hidden");if(video===sim)updateSampleLabel();});}video.addEventListener("waiting",()=>{$(label).textContent="Buffering video…";$(label).classList.remove("hidden");});video.addEventListener("error",()=>{if(video.error&&video.getAttribute("src")){ $(label).textContent="Video could not load. Try its download link.";$(label).classList.remove("hidden");}});}
|
| 38 |
+
sim.addEventListener("timeupdate",()=>{if(state.mode==="rollout")setStep(sim.currentTime*120,{pause:false,seekSim:false,writeUrl:false});else updateSampleLabel();});
|
| 39 |
+
sim.addEventListener("ended",()=>{if(state.mode==="rollout"){stop();setStep(state.detail.steps_executed);}});
|
| 40 |
+
wam.addEventListener("timeupdate",()=>{if(state.mode!=="prediction"||!state.detail)return;const start=state.decision*1.8;const relative=wam.currentTime-start;if(relative>=1.775){seek(wam,start+.0001);return;}if(relative<-.02){seek(wam,start+.0001);return;}state.step=Math.min(state.detail.steps_executed,state.decision*48+Math.min(48,Math.max(0,relative)*30));seek(sim,state.step/120);renderPosition();});
|
| 41 |
+
wam.addEventListener("ended",()=>{if(state.mode==="prediction"){seek(wam,state.decision*1.8+.0001);wam.play().catch(()=>stop());}});
|
| 42 |
+
$("play").addEventListener("click",toggleRollout);$("loopPrediction").addEventListener("click",loopPrediction);$("restart").addEventListener("click",()=>setStep(0));$("timeline").addEventListener("input",e=>setStep(e.target.value));$("speed").addEventListener("change",()=>{sim.playbackRate=Number($("speed").value)/(60*2*.034);});$("prevPrediction").addEventListener("click",()=>gotoPrediction(state.decision-1));$("nextPrediction").addEventListener("click",()=>gotoPrediction(state.decision+1));$("predictionNumber").addEventListener("change",e=>gotoPrediction(Number(e.target.value)-1));$("firstReward").addEventListener("click",()=>{const first=state.detail.rewards.find(r=>r[1]>0);if(first)setStep(first[0]);});
|
| 43 |
+
$("checkpoint").addEventListener("change",e=>{const step=state.step;state.checkpoint=Number(e.target.value);openWorld(state.seed,step).catch(fail);});
|
| 44 |
+
$("layout").addEventListener("change",e=>{stop();state.layout=e.target.value;$("simLoading").classList.remove("hidden");sim.src=asset(state.layout==="strip"?"rollout-strip.mp4":"rollout-canvas.mp4");seek(sim,state.step/120);sim.load();saveUrl();});
|
| 45 |
+
$("rewardChart").addEventListener("pointerdown",e=>{if(!state.detail)return;const rect=e.currentTarget.getBoundingClientRect();const width=e.currentTarget.viewBox.baseVal.width;const x=(e.clientX-rect.left)/rect.width*width;setStep((x-42)/(width-66)*state.detail.step_budget);});
|
| 46 |
+
$("share").addEventListener("click",async()=>{const link=url().href;try{await navigator.clipboard.writeText(link);toast("Link copied to this world and step.");}catch(_){window.prompt("Copy this recording link:",link);}});
|
| 47 |
+
document.addEventListener("keydown",e=>{if(e.target.matches("input,select,textarea,button")||!state.detail)return;if(e.code==="Space"){e.preventDefault();toggleRollout();}else if(e.code==="ArrowRight"){e.preventDefault();gotoPrediction(state.decision+1);}else if(e.code==="ArrowLeft"){e.preventDefault();gotoPrediction(state.decision-1);}});
|
| 48 |
+
window.addEventListener("pagehide",stop);let resizeTimer;window.addEventListener("resize",()=>{clearTimeout(resizeTimer);resizeTimer=setTimeout(()=>{if(state.detail)renderChart();},150);});
|
| 49 |
+
|
| 50 |
+
async function init(){state.manifest=await getData("manifest.json");const params=new URLSearchParams(location.search);const candidate=Number(params.get("checkpoint")||2000);state.checkpoint=state.manifest.checkpoints.some(x=>x.step===candidate)?candidate:state.manifest.checkpoints[0].step;$("checkpoint").value=state.checkpoint;const cp=state.manifest.checkpoints.find(x=>x.step===state.checkpoint);const requested=Number(params.get("world"));const seed=cp.worlds.some(w=>w.seed===requested)?requested:cp.worlds[0].seed;state.layout=params.get("view")==="strip"?"strip":"canvas";$("layout").value=state.layout;$("buildLabel").textContent=`${number(state.manifest.total_prediction_windows)} saved forecast windows`;await openWorld(seed,clamp(Number(params.get("step"))||0,0,state.manifest.step_budget));}
|
| 51 |
+
init().catch(fail);
|
data/cp1000/world-1020672095.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
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data/cp1000/world-1113374521.json
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data/cp1000/world-1493856593.json
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data/cp1000/world-1539150920.json
ADDED
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@@ -0,0 +1 @@
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data/cp1000/world-164200758.json
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data/cp1000/world-1749706011.json
ADDED
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@@ -0,0 +1 @@
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data/cp1000/world-40628185.json
ADDED
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@@ -0,0 +1 @@
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data/cp1000/world-63490291.json
ADDED
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data/cp1000/world-82385561.json
ADDED
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@@ -0,0 +1 @@
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data/cp1000/world-932798014.json
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data/cp2000/world-1020672095.json
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data/cp2000/world-1113374521.json
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data/cp2000/world-1493856593.json
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data/cp2000/world-1539150920.json
ADDED
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@@ -0,0 +1 @@
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data/cp2000/world-164200758.json
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data/cp2000/world-1749706011.json
ADDED
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@@ -0,0 +1 @@
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data/cp2000/world-40628185.json
ADDED
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@@ -0,0 +1 @@
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data/cp2000/world-63490291.json
ADDED
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data/cp2000/world-82385561.json
ADDED
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@@ -0,0 +1 @@
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data/cp2000/world-932798014.json
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<html lang="en">
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<meta name="viewport" content="width=device-width,initial-scale=1">
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<meta name="theme-color" content="#f5f7f7">
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<meta name="description" content="Compare DreamZero WAM forecasts with actual simulator rollouts across ten shared evaluation worlds.">
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<title>DreamZero · Rollout Lab</title>
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<script src="app.js" defer></script>
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<header class="topbar"><a class="brand" href="./"><span class="brand-mark">dz<span></span></span><span>DreamZero <span class="brand-secondary">/ Rollout Lab</span></span></a><a class="toplink" href="https://huggingface.co/OneWorld-AI" target="_blank" rel="noreferrer">OneWorld AI <span aria-hidden="true">↗</span></a></header>
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<main>
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<section class="intro">
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<div><div class="eyebrow"><span class="status-dot"></span> EXPERIMENT 10 · CANON DREAMZERO</div><h1>What the model imagined.<br><span>What the robot did.</span></h1><p class="lede">Explore generated futures beside the recorded simulation.<br>Ten shared worlds. Two checkpoints. Every prediction window.</p></div>
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<div class="intro-side"><label for="checkpoint">CHECKPOINT</label><select id="checkpoint" aria-label="Checkpoint"><option value="2000">Step 2,000</option><option value="1000">Step 1,000</option></select><span class="task-label">Throw plastic bottles into the bin</span><div class="tag-row"><span>Absolute EEF</span><span>Blender</span><span>48 actions / call</span></div></div>
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</section>
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<section class="stats" aria-label="Checkpoint results"><div><span class="stat-label">TASK SUCCESS</span><strong id="successStat">— <small>/ 10 worlds</small></strong></div><div><span class="stat-label">MEAN MAX REWARD</span><strong id="rewardStat">—</strong></div><div><span class="stat-label">BUDGET / WORLD</span><strong>22,000 <small>actions</small></strong></div><div><span class="stat-label">SAVED FORECASTS</span><strong id="forecastStat">—</strong></div><div class="stats-note">Success requires all four bottles in the bin. Partial reward shows progress toward that goal.</div></section>
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<section class="world-section" aria-labelledby="worldsTitle"><div class="section-heading"><div><span class="eyebrow">01 / CHOOSE A WORLD</span><h2 id="worldsTitle">The same scenes, at each checkpoint.</h2></div><span class="hint">Select a thumbnail to explore</span></div><div id="worlds" class="worlds" role="group" aria-label="Evaluation worlds"></div></section>
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<section id="viewer" class="viewer" aria-labelledby="viewerTitle">
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<div class="viewer-heading"><div><div class="eyebrow">02 / COMPARE OBSERVATION & FORECAST</div><h2 id="viewerTitle">World <span id="worldNumber">01</span> <span class="seed">SEED <span id="seedLabel">—</span></span></h2></div><button id="share" class="button quiet" title="Copy a link to this world and timeline position">Copy link <span aria-hidden="true">↗</span></button></div>
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<div class="players">
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<article class="player-card"><div class="player-heading"><div><span class="panel-dot sim"></span><strong>Simulator rollout</strong><span class="panel-subtitle">Recorded observation</span></div><select id="layout" aria-label="Simulator camera layout"><option value="canvas">Matched canvas</option><option value="strip">3-camera strip</option></select></div><div class="video-stage" id="simStage"><video id="simVideo" muted playsinline preload="metadata" aria-label="Recorded simulator rollout"></video><div class="video-watermark">SIMULATOR</div><span class="loading-label" id="simLoading">Loading observation…</span></div><div class="player-footer"><span id="sampleLabel">Recorded sample · step 0</span><a id="simDownload" download target="_blank" rel="noreferrer">Download original ↗</a></div></article>
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<article class="player-card"><div class="player-heading"><div><span class="panel-dot wam"></span><strong>WAM prediction</strong><span class="panel-subtitle">Generated future</span></div><button class="button mini" id="loopPrediction">▶ Loop this forecast</button></div><div class="video-stage"><video id="wamVideo" muted playsinline preload="metadata" aria-label="Generated WAM prediction"></video><div class="video-watermark amber">GENERATED</div><span class="window-badge" id="windowBadge">FORECAST 001 / 459</span><span class="loading-label" id="wamLoading">Loading prediction…</span></div><div class="player-footer"><span id="forecastLabel">Forecast · steps 0–48</span><a id="wamDownload" download target="_blank" rel="noreferrer">Download all forecasts ↗</a></div></article>
|
| 26 |
+
</div>
|
| 27 |
+
<div class="transport"><button id="play" class="button primary" aria-label="Play simulator rollout">▶ Play rollout</button><label class="speed-label">Speed <select id="speed" aria-label="Playback speed in simulated real time"><option value="1">1×</option><option value="4" selected>4×</option><option value="12">12×</option><option value="30">30×</option></select></label><div class="transport-time"><strong id="stepLabel">0 <span>/ 22,000 actions</span></strong><span id="timeLabel">0:00 / 12:28 simulated</span></div><button id="restart" class="button quiet" title="Return to the start">↺ Restart</button></div>
|
| 28 |
+
<div class="scrubber"><label class="sr-only" for="timeline">Simulator timeline, in actions</label><input id="timeline" type="range" min="0" max="22000" step="1" value="0"><div class="timeline-labels"><span>0</span><span>5,500</span><span>11,000</span><span>16,500</span><span>22,000 actions</span></div></div>
|
| 29 |
+
<div class="forecast-controls"><div><span class="control-label">INSPECT A FORECAST</span><button id="prevPrediction" class="icon-button" aria-label="Previous forecast">←</button><input id="predictionNumber" type="number" min="1" max="459" value="1" aria-label="Forecast number"><span class="muted">of <span id="predictionCount">459</span></span><button id="nextPrediction" class="icon-button" aria-label="Next forecast">→</button></div><div class="forecast-position" id="forecastPosition">Current frame <span>→ +6 → +12 → … → +48 actions</span></div><button id="firstReward" class="button quiet" disabled>Jump to first reward ↗</button></div>
|
| 30 |
+
<p class="sampling-note"><strong>Two sampling rates.</strong> Simulator frames were saved every <strong>60 actions (~2.04 s)</strong>. The WAM predicts every <strong>6 actions (~0.20 s)</strong>. The simulator holds the last recorded frame between samples. The videos show the same camera layout; their frame times are not equally dense.</p>
|
| 31 |
+
<div class="world-result"><span id="outcomeBadge" class="outcome">Budget reached</span><span>Selected world: max reward <strong id="worldMax">—</strong> · final reward <strong id="worldFinal">—</strong></span><a id="dataDownload" download target="_blank" rel="noreferrer">World data & provenance ↗</a></div>
|
| 32 |
+
</section>
|
| 33 |
+
<section class="reward-section" aria-labelledby="rewardTitle"><div class="section-heading"><div><span class="eyebrow">03 / FOLLOW THE OUTCOME</span><h2 id="rewardTitle">Reward over the rollout.</h2></div><div class="chart-legend"><span><i class="legend-line cp2000"></i>Step 2,000</span><span><i class="legend-line cp1000"></i>Step 1,000</span></div></div><div class="chart-wrap"><svg id="rewardChart" viewBox="0 0 1200 190" role="img" aria-label="Reward against simulator actions for both checkpoints"></svg><p>Click the chart to seek. Reward is measured every 50 actions. A value of 1 means the task is solved.</p></div></section>
|
| 34 |
+
<details class="method"><summary>About these recordings <span>Protocol, timing & interpretation</span></summary><div class="method-grid"><div><h3>Closed-loop simulation</h3><p>Each call sees the latest simulator cameras and measured state, predicts a 48-action block, and executes it. Generated video is saved for inspection and is never fed back as the next observation.</p></div><div><h3>Independent prediction windows</h3><p>Every forecast contains the current frame followed by eight generated frames. “Loop this forecast” isolates one window. “Play rollout” follows the full simulator timeline and selects its corresponding forecast.</p></div><div><h3>Matching the training contract</h3><p>Absolute canonical base-frame end-effector actions, ABC-source quantile normalization, canonical grippers, and inverse kinematics. The canvas puts the top camera above the left and right wrist cameras.</p></div><div><h3>Read results at the right scope</h3><p>These are ten complete, shared evaluation worlds at each checkpoint. This page reports their results, not the separate sixty-world sweep. All 22,000 actions are budgeted; the last stored simulator image is at action 21,960.</p></div></div></details>
|
| 35 |
+
<footer><span>OneWorld AI · DreamZero · Experiment 10</span><a href="manifest.json" target="_blank" rel="noreferrer">Evaluation manifest ↗</a><span id="buildLabel"></span></footer>
|
| 36 |
+
<div id="toast" class="toast" role="status" aria-live="polite"></div>
|
| 37 |
+
<div id="error" class="error" role="alert" hidden></div>
|
| 38 |
+
</main>
|
| 39 |
+
</body>
|
| 40 |
</html>
|
manifest.json
ADDED
|
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| 1 |
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