data: add fixed causal controls and selections for v182-v191

experiments/objectnav_v182_v187_v189_v191/README.md

@@ -82,6 +82,8 @@ evidence/v191_full386/               320/386 条分析、审计和中文报告
 paths.env.example                    外部资源路径模板
 release_manifest.json                权重 SHA、条件规模和预期视频数
 verify_release.py                    本地代码/HF 下载包完整性检查
+audit_hf_release.py                  Hub 路径/大小/LFS SHA 在线审计
+hf_online_audit_20260824.json        revision aa02af1 的在线验收结果
 code_provenance.json                 正式 SHA、发布 SHA 与兼容超集边界
 REPRODUCIBILITY_AUDIT.md             面向论文复现的完整性审计
 ```
@@ -111,6 +113,12 @@ experiments/objectnav_v182_v187_v189_v191/
   v191_full386/
     fresh320_runtime/         # 320 baseline + correct + raw RGB-D
     reports/
+  shared_inputs/
+    wrong_scene_bank_safe_v49.jsonl
+    v182_heldout_active_class_risk_analysis.json
+    v187_identity_fresh66_selection.json
+    v191_fresh320_selection.json
+    formal_v30_heldout386_selection.json
 ```
 
 HF 包不包含 HM3D GLB/navmesh、ObjectNav-v2 官方 episode、MTU3D/Sonata/FastSAM/MVSplat 公共权重，也不包含 117 GB 的 v177 中间点记忆缓存。后者是可由公开 episode、已授权 HM3D 与本仓库采集代码重新生成的中间产物；为验证已经发布的 checkpoint 和论文指标并不需要下载它。
@@ -153,6 +161,8 @@ python launchers/v191_v187_full386_20260824/analyze_objectnav_v191_full386.py \
 
 启动完整闭环时，先把原始 launcher 中的 `root`/`code` 指向本地路径，保持 selection、模型 SHA、传感器、24 次无目标初始扫描、GGF 参数和 `defer_commit_until_translation` 不变。推荐先运行 launcher 的 preflight，再运行正式条件。
 
+原 launcher 中的 `wrong_bank`、`mechanism`、`selection` 和 `full_selection` 应分别映射到 HF 包的 `shared_inputs/`；这些是固定实验输入，不属于需另行下载的 HM3D 公共资产。
+
 ## 7. 验收
 
 代码和轻量证据：

experiments/objectnav_v182_v187_v189_v191/SHA256SUMS

@@ -1,7 +1,12 @@
-71dde147f616c1460a164eb83f9b300d8c741c35375d4691a1579c6b7e3ac5d0  ./README.md
+4bd661d9eeac60c679fbdf6bed3efcbeb16eaca596ace8d1db77eaff27f5bb56  ./README.md
 82fa145fa5e4e9a4d23aa0618670908cc02aa5f5c7443f748114ec1ec454caf1  ./REPRODUCIBILITY_AUDIT.md
 41eabf217f6792e1c337c9cfcc1be1879425851ca825b8aa463c9902e3ea2711  ./code_provenance.json
-a1cc1776fd5a6078e665e2c73cc8f1277db1c2c9b3e30558047d70195c8199eb  ./release_manifest.json
+9f8d145ff5b4e601fcaf4c18d29927f2fb4ca1d493b2a08c81adf299bb9f49a0  ./release_manifest.json
+fa896cfd5df88c32dacc3ccffb1414f087f1622b74867c51e68780a266692005  ./shared_inputs/formal_v30_heldout386_selection.json
+a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813  ./shared_inputs/v182_heldout_active_class_risk_analysis.json
+54e2a4cb43ecb2698bc10dbe35075b9a2a57ebf6f258a2428aa7b7e7997db20b  ./shared_inputs/v187_identity_fresh66_selection.json
+113b9f4d29a5da002295b65bfad5900643a8a27d63a9691bce6481d20c6dd057  ./shared_inputs/v191_fresh320_selection.json
+a19f9b51b3222684a25643fa612a8bf7936fb8956f6154777ff3ed5e7acba238  ./shared_inputs/wrong_scene_bank_safe_v49.jsonl
 9c86806331708f32e3d7592fa3a8cd4bec10f2beff4c2dbc91b29b4bb772e448  ./v182_offline/aggregate/formal_phase_a_amendment_r1_to_r2.json
 f0d1073532b97d9fc7840429a53de796e930c589a61131f97e86b3a6d6fa8beb  ./v182_offline/aggregate/formal_phase_a_amendment_r2_to_r3.json
 0a9df85e9308091b83c1f16b0caab6b19077a1125ba8f8412b235ad860238b1e  ./v182_offline/aggregate/gate_formal_r2_seed123.controller.log

experiments/objectnav_v182_v187_v189_v191/release_manifest.json

@@ -23,6 +23,13 @@
   },
   "combined_v191_episode_count": 386,
   "hf_payload_expected_video_count": 1620,
+  "hf_shared_inputs_sha256": {
+    "shared_inputs/wrong_scene_bank_safe_v49.jsonl": "a19f9b51b3222684a25643fa612a8bf7936fb8956f6154777ff3ed5e7acba238",
+    "shared_inputs/v182_heldout_active_class_risk_analysis.json": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813",
+    "shared_inputs/v187_identity_fresh66_selection.json": "54e2a4cb43ecb2698bc10dbe35075b9a2a57ebf6f258a2428aa7b7e7997db20b",
+    "shared_inputs/v191_fresh320_selection.json": "113b9f4d29a5da002295b65bfad5900643a8a27d63a9691bce6481d20c6dd057",
+    "shared_inputs/formal_v30_heldout386_selection.json": "fa896cfd5df88c32dacc3ccffb1414f087f1622b74867c51e68780a266692005"
+  },
   "external_assets_intentionally_omitted": [
     "HM3D scene assets and navmeshes",
     "HM3D ObjectNav-v2 official episodes",

experiments/objectnav_v182_v187_v189_v191/shared_inputs/v187_identity_fresh66_selection.json

@@ -0,0 +1,660 @@
+{
+  "schema": "nav3r-hm3d-objectnav-selection/v187-identity-fresh66",
+  "dataset": "official HM3D ObjectNav-v2",
+  "split": "val",
+  "seed": 2026082307,
+  "episode_count": 66,
+  "selection_mode": "exclude_historical_v183_v184_then_hash_milp_category_scene_balance_without_navigation_metrics",
+  "category_counts": {
+    "bed": 11,
+    "chair": 11,
+    "plant": 11,
+    "sofa": 11,
+    "toilet": 11,
+    "tv_monitor": 11
+  },
+  "unique_scene_count": 14,
+  "maximum_episodes_per_scene": 5,
+  "scene_episode_counts": {
+    "4ok3usBNeis": 5,
+    "5cdEh9F2hJL": 5,
+    "6s7QHgap2fW": 5,
+    "GLAQ4DNUx5U": 5,
+    "HY1NcmCgn3n": 4,
+    "VBzV5z6i1WS": 5,
+    "bxsVRursffK": 5,
+    "h1zeeAwLh9Z": 5,
+    "k1cupFYWXJ6": 5,
+    "mL8ThkuaVTM": 5,
+    "p53SfW6mjZe": 5,
+    "qyAac8rV8Zk": 5,
+    "yr17PDCnDDW": 2,
+    "ziup5kvtCCR": 5
+  },
+  "freshness_scope": "episode_identity_only_not_scene_pristine",
+  "all_validation_scenes_historically_touched": true,
+  "navigation_metrics_read_or_used": false,
+  "navigation_metric_fields_copied_to_output": false,
+  "uses_goal_coordinates_for_policy": false,
+  "source_selection_sha256": "fa896cfd5df88c32dacc3ccffb1414f087f1622b74867c51e68780a266692005",
+  "historical_exclusion_sha256": "5e7a0e2a3f131655b2d1be040e220c536d361c0eb6019ac9890a244f334ecc91",
+  "v183_selection_sha256": "02f4147d134a6858998001931c347101865ce2ca6ead23b4c9f6747689c0f546",
+  "v184_selection_sha256": "577b163b49d5c9b210c8514e5619be2c2ffdc3d8139f2df2bf689b03a96b0d81",
+  "historically_touched_identity_count": 202,
+  "v183_identity_count": 66,
+  "v184_identity_count": 66,
+  "total_excluded_identity_count": 334,
+  "remaining_identity_count_before_selection": 128,
+  "remaining_category_counts_before_selection": {
+    "bed": 11,
+    "chair": 38,
+    "plant": 18,
+    "sofa": 27,
+    "toilet": 15,
+    "tv_monitor": 19
+  },
+  "allocation_solver": {
+    "name": "scipy.optimize.milp",
+    "success": true,
+    "status": 0,
+    "message": "Optimization terminated successfully. (HiGHS Status 7: Optimal)",
+    "objective_uses_navigation_metrics": false
+  },
+  "episodes": [
+    {
+      "identity_sha256": "07bf910eb21f1a740ac3f05f125a56a0373ec554a281fcc5f4d24bae64539b6e",
+      "scene_id": "6s7QHgap2fW",
+      "episode_index": 11,
+      "episode_id": "4",
+      "object_category": "bed",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/6s7QHgap2fW.json.gz",
+      "source_selection_index": 42
+    },
+    {
+      "identity_sha256": "f1cbf073bea88438376193a3ea11c99392dbc267de9d6d89b3fe05d719f89f58",
+      "scene_id": "bxsVRursffK",
+      "episode_index": 7,
+      "episode_id": "2",
+      "object_category": "chair",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/bxsVRursffK.json.gz",
+      "source_selection_index": 49
+    },
+    {
+      "identity_sha256": "024b80225b608377f2bf71234792e046e395909f488a463e590cdc96f4b37890",
+      "scene_id": "k1cupFYWXJ6",
+      "episode_index": 14,
+      "episode_id": "5",
+      "object_category": "chair",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/k1cupFYWXJ6.json.gz",
+      "source_selection_index": 55
+    },
+    {
+      "identity_sha256": "072c2ecf160bb68df16b607e9ded4a7c2cde28ab8297c230e4553fa8f63bd27f",
+      "scene_id": "ziup5kvtCCR",
+      "episode_index": 11,
+      "episode_id": "0",
+      "object_category": "plant",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/ziup5kvtCCR.json.gz",
+      "source_selection_index": 68
+    },
+    {
+      "identity_sha256": "e4a82579b333506c9462e5943cfd45a44a76c80c1fd9eb6a6660e234423ff7eb",
+      "scene_id": "HY1NcmCgn3n",
+      "episode_index": 14,
+      "episode_id": "5",
+      "object_category": "tv_monitor",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/HY1NcmCgn3n.json.gz",
+      "source_selection_index": 77
+    },
+    {
+      "identity_sha256": "26a18b5626b5b6d76858eef9edb6db5f5c6b54085d8d634f49be7f5ef54ba6ad",
+      "scene_id": "6s7QHgap2fW",
+      "episode_index": 25,
+      "episode_id": "4",
+      "object_category": "toilet",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/6s7QHgap2fW.json.gz",
+      "source_selection_index": 106
+    },
+    {
+      "identity_sha256": "0f1e8944d0e45e10acc18c1d4037cd43b2701c3d210b953cc2f4f7cdc67eff6a",
+      "scene_id": "bxsVRursffK",
+      "episode_index": 2,
+      "episode_id": "0",
+      "object_category": "bed",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/bxsVRursffK.json.gz",
+      "source_selection_index": 108
+    },
+    {
+      "identity_sha256": "3bba9e0e67d4bd550e3664e35c1145b17abe6e5f0c7fce2ca7bd861bf7c94e10",
+      "scene_id": "HY1NcmCgn3n",
+      "episode_index": 4,
+      "episode_id": "4",
+      "object_category": "plant",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/HY1NcmCgn3n.json.gz",
+      "source_selection_index": 110
+    },
+    {
+      "identity_sha256": "6464f30fcaf247ae69b3fc0737c83ca6afe72fcff38318895513d697da8460ea",
+      "scene_id": "GLAQ4DNUx5U",
+      "episode_index": 9,
+      "episode_id": "3",
+      "object_category": "tv_monitor",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/GLAQ4DNUx5U.json.gz",
+      "source_selection_index": 119
+    },
+    {
+      "identity_sha256": "c72307a640b24f655bf7d6b38268874bb1d4eb652ff8951ed7c2494b4e2962e3",
+      "scene_id": "p53SfW6mjZe",
+      "episode_index": 19,
+      "episode_id": "2",
+      "object_category": "tv_monitor",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/p53SfW6mjZe.json.gz",
+      "source_selection_index": 125
+    },
+    {
+      "identity_sha256": "aa61c09ddc17e74e7aedaca199c224228cae4c065c3c4f8c08b1277eed976bcb",
+      "scene_id": "VBzV5z6i1WS",
+      "episode_index": 17,
+      "episode_id": "1",
+      "object_category": "bed",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/VBzV5z6i1WS.json.gz",
+      "source_selection_index": 126
+    },
+    {
+      "identity_sha256": "b8d8e37d04fe6ea27611c113975cc3056d9eb2795bd7650899fac861d8a26941",
+      "scene_id": "5cdEh9F2hJL",
+      "episode_index": 1,
+      "episode_id": "1",
+      "object_category": "tv_monitor",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/5cdEh9F2hJL.json.gz",
+      "source_selection_index": 131
+    },
+    {
+      "identity_sha256": "e7a3f6f086929bebf4d1c15955244bf8dee5c455244ddc73805e319382df449e",
+      "scene_id": "6s7QHgap2fW",
+      "episode_index": 22,
+      "episode_id": "0",
+      "object_category": "toilet",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/6s7QHgap2fW.json.gz",
+      "source_selection_index": 160
+    },
+    {
+      "identity_sha256": "b341701329cd179068f1db6fc3eea218c5f4ef7aea5e865eadda695dc78b7bd5",
+      "scene_id": "VBzV5z6i1WS",
+      "episode_index": 16,
+      "episode_id": "4",
+      "object_category": "sofa",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/VBzV5z6i1WS.json.gz",
+      "source_selection_index": 165
+    },
+    {
+      "identity_sha256": "bbe513616b37669fa3e1337755f2b9ebf0d23be61e0b6f54f179947c5528704b",
+      "scene_id": "h1zeeAwLh9Z",
+      "episode_index": 2,
+      "episode_id": "1",
+      "object_category": "toilet",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/h1zeeAwLh9Z.json.gz",
+      "source_selection_index": 166
+    },
+    {
+      "identity_sha256": "512b73463cfe0f64cd68ef9ffb420e3ecfc86f51c078d9ea486859bf0587a103",
+      "scene_id": "bxsVRursffK",
+      "episode_index": 8,
+      "episode_id": "1",
+      "object_category": "chair",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/bxsVRursffK.json.gz",
+      "source_selection_index": 169
+    },
+    {
+      "identity_sha256": "bbc5d52754129ff6e7345bf7e98b2efb997a8f8e83ec264b2205c2e9687befba",
+      "scene_id": "mL8ThkuaVTM",
+      "episode_index": 7,
+      "episode_id": "3",
+      "object_category": "toilet",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/mL8ThkuaVTM.json.gz",
+      "source_selection_index": 172
+    },
+    {
+      "identity_sha256": "8e3f0bb3539d5c48cf752a2e10236d2297ba9a065045233c05fef83fc31c123a",
+      "scene_id": "yr17PDCnDDW",
+      "episode_index": 6,
+      "episode_id": "6",
+      "object_category": "plant",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/yr17PDCnDDW.json.gz",
+      "source_selection_index": 182
+    },
+    {
+      "identity_sha256": "6a2f459eee8379e246c1c747354652a12f0d677e5c73479e733212ffcce79b84",
+      "scene_id": "k1cupFYWXJ6",
+      "episode_index": 8,
+      "episode_id": "8",
+      "object_category": "sofa",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/k1cupFYWXJ6.json.gz",
+      "source_selection_index": 183
+    },
+    {
+      "identity_sha256": "88a69723948c4af044652c279bd3cac491379ba045257230fc6ea147f3095ec8",
+      "scene_id": "4ok3usBNeis",
+      "episode_index": 18,
+      "episode_id": "5",
+      "object_category": "tv_monitor",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/4ok3usBNeis.json.gz",
+      "source_selection_index": 185
+    },
+    {
+      "identity_sha256": "b9d7fca6d95101f80274adb1efa0065c9d801efcf150cbeb04cf38d6f6f5014e",
+      "scene_id": "6s7QHgap2fW",
+      "episode_index": 16,
+      "episode_id": "3",
+      "object_category": "bed",
+      "content_path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/data/datasets/objectnav_hm3d_v2/val/content/6s7QHgap2fW.json.gz",
+      "source_selection_index": 186
+    },
+    {
+      "identity_sha256": "9289d8e0425e95f821daee2ad51a8672d5bf1a698d6545a2869a565dedc30916",
+      "scene_id": "qyAac8rV8Zk",
+      "episode_index": 2,
+      "episode_id": "2",
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