[DATA-011] DATA-009-local-ten-20260926T130524Z payload 337/337

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 raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_07-a1/capture.json filter=lfs diff=lfs merge=lfs -text
 raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_08-a1/capture.json filter=lfs diff=lfs merge=lfs -text
+raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_09-a1/capture.json filter=lfs diff=lfs merge=lfs -text

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releases/DATA-009-local-ten-20260926T130524Z/distribution.json

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releases/DATA-009-local-ten-20260926T130524Z/evidence/asset-integrity-final.json

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releases/DATA-009-local-ten-20260926T130524Z/evidence/dataset-contract.md

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+---
+id: CURRENT-DATASET-V2-1
+type: current
+status: accepted
+source_map:
+  - source/rambo/rambo/dataset_v2/spec/schemas.json
+  - source/rambo/rambo/dataset_v2/spec/profile.json
+  - source/rambo/rambo/dataset_v2/validation.py
+  - source/rambo/rambo/dataset_v2/media.py
+  - source/rambo/rambo/dataset_v2/finalization.py
+---
+# adaptation_v2_dataset_contract.md
+
+# WAM-Policy Adaptation v2 Dataset Contract
+
+> Work ID: `DATA-002` in the independent adaptation-v2 namespace.
+
+> Dataset schema: `wam-quadruped-v2.1.0`; LeRobot codebase: `v2.1`; library: `lerobot==0.3.3`.
+> DATA-002原验收范围：contract/schema、最小CPU读取/校验/映射适配与人工测试。
+> 当前验收（DOC-002核对）：DATA-005/006已完成50条可用脚本示范、24,335动作、40/5/5 split和真实冻结VAE/T5缓存重载；归一化仅拟合train的19,340动作。DATA-007数据发布及源码推送完成。Adaptation v2 SFT与学习策略闭环仍未运行；历史AMD OPD证据不属于本批次训练。详见[当前概览](overview.md)与[发布状态](publication-v2.md)。
+> 原PNG数据契约2.0.0只用于历史审计；同步runtime协议不因落盘格式变化自动升级。
+
+## 0. Purpose
+
+本文档定义 **WAM-Policy Adaptation v2** 的数据采集、组织、打包、存储与模型侧派生缓存规范，用于在 `RAMBO_Data` 与 `WAM-Policy` 两个仓库之间建立稳定、可复现、可审计的数据边界。
+
+该 contract 覆盖以下模态与元数据：
+
+- RGB / multi-camera video
+- 9D high-level action
+- Language / text
+- Robot proprioceptive state
+- RAMBO controller telemetry
+- Physics / contact telemetry
+- Task / object state
+- Episode metadata
+- Asset provenance
+- Camera calibration
+- Multi-rate timestamp synchronization
+- Canonical LeRobot packaging
+- Train / validation / test splitting
+- WAM-Policy model-specific latent / text / normalization cache
+
+本版本的核心原则是：
+
+```text
+Raw Acquisition
+      ↓
+Canonical Robot Dataset
+      ↓
+LingBot Model Cache
+```
+
+三层必须严格分离，不允许将 simulator telemetry、canonical robot data 和 model-specific cache 混为一套数据。
+
+---
+
+# 1. Scope and Non-goals
+
+## 1.1 Scope
+
+本 contract 适用于当前 Adaptation v2 主线：
+
+- Embodiment: quadruped only
+- Manipulation leg: front-left (FL) only
+- High-level action: 9D RAMBO-compatible command
+- Policy cameras:
+  - ego
+  - task-centric
+- Additional monitor camera:
+  - observer
+- Policy action frequency: 50 Hz
+- Model RGB frequency: 12.5 Hz
+- RAMBO control frequency: 100 Hz
+- Isaac physics frequency: 500 Hz
+
+## 1.2 Non-goals
+
+本 contract 当前不解决：
+
+- biped mode
+- dual manipulation legs
+- explicit proprioception as LingBot input
+- non-zero desired EEF force learning
+- learned bridge
+- new WBC / manipulation-centric controller
+- OPD / AnyFlow training data
+- real-robot data collection
+- tactile/audio modalities
+- large-scale domain randomization
+
+这些内容如需加入，必须通过新的 schema / dataset version 进行，不允许静默扩展当前 contract。
+
+---
+
+# 2. Repository Ownership
+
+`RAMBO_Data` 对“机器人和仿真中实际发生了什么”负责；`WAM-Policy` 对“模型如何消费这些数据”负责。
+
+| 内容 | RAMBO_Data | WAM-Policy |
+|---|:---:|:---:|
+| Isaac environment / assets | ✓ | |
+| RAMBO controller | ✓ | |
+| Task implementation | ✓ | |
+| Teleoperation / expert trajectory | ✓ | |
+| RGB / state / action recording | ✓ | |
+| Raw multi-rate archive | ✓ | |
+| Success annotation | ✓ | |
+| Asset provenance | ✓ | |
+| Canonical LeRobot dataset | ✓ | |
+| Dataset validation / release | ✓ | |
+| 9D action interface definition | shared | shared |
+| LingBot dataset reader | | ✓ |
+| 50 → 12.5 Hz video sampling | | ✓ |
+| Multi-view latent composition | | ✓ |
+| Wan VAE latent extraction | | ✓ |
+| T5 / text embedding | | ✓ |
+| Action normalization | | ✓ |
+| SFT / inference / evaluation | | ✓ |
+
+### Hard boundary
+
+`WAM-Policy` 不应再包含：
+
+```text
+Isaac task implementation
+teleoperation code
+raw dataset recorder
+asset importer
+dataset release publisher
+RAMBO controller implementation
+```
+
+`RAMBO_Data` 不应包含：
+
+```text
+Wan VAE latent cache
+T5 embeddings
+LingBot training windows
+model normalization cache
+SFT checkpoints
+```
+
+---
+
+# 3. Three-layer Data Architecture
+
+## 3.1 Layer A — Raw Acquisition Archive
+
+Owner: `RAMBO_Data`
+
+特性：
+
+- 保留 native multi-rate streams
+- 尽量保留原始物理量
+- 不做模型 normalization
+- 不强行将所有 modality 对齐到单一 FPS
+- 以 authoritative simulation timestamp 对齐
+- 用于 replay / debug / audit / future reprocessing
+
+## 3.2 Layer B — Canonical Robot Dataset
+
+Owner: `RAMBO_Data`
+
+当前 training-facing format 优先采用 **LingBot-VA 当前官方 pipeline 容易直接消费的 LeRobot v2.1-style / `lerobot==0.3.3` compatible organization**。
+
+特性：
+
+- 50 Hz canonical timeline
+- two policy RGB streams
+- executed 9D action
+- requested 9D action
+- 50 Hz robot state snapshot
+- task/object state
+- raw UTF-8 language
+- episode metadata
+- LingBot-compatible `action_config`
+
+Canonical dataset 是正式、可版本化、不可静默覆盖的数据产品。
+
+## 3.3 Layer C — LingBot Model Cache
+
+Owner: `WAM-Policy`
+
+包括：
+
+```text
+Wan causal VAE latents
+T5/text embeddings
+action normalization statistics
+sampled frame IDs
+training windows / segment manifests
+model-specific metadata
+```
+
+必须保证：
+
+> 删除 Layer C 后，能够仅依赖 Layer B 中的数据，以及固定的模型/预处理/数据划分版本，重新生成全部 model-specific cache。Terminal RGB/state随canonical保留；不得隐式读取Raw才能补齐cache。
+
+---
+
+# 4. Global Time and Canonical Row Contract
+
+所有stream以单一monotonic simulation clock的`simulation_time_ns:int64`为权威时间；reset完成后为0。
+wall-clock仅用于性能和超时，不用于物理对齐。Physics step/controller tick/policy tick用于一致性检查。
+同一stream时间严格递增；不同stream在同一采样时刻可以具有相同timestamp。
+
+| Stream | Rate | Period |
+|---|---:|---:|
+| Physics | 500 Hz | 2 ms |
+| RAMBO controller | 100 Hz | 10 ms |
+| High-level action | 50 Hz | 20 ms |
+| Ego/task raw RGB | 50 Hz | 20 ms |
+| Ego/task canonical RGB | 50 Hz | 20 ms |
+| Observer | 25 Hz | 40 ms |
+| Model RGB | 12.5 Hz | 80 ms |
+
+## 4.1 Row k 是动作前观测与后续动作区间
+
+```text
+t_k: sample RGB_k / state_k
+  -> obtain requested_action_k
+  -> currently enabled execution transform chain
+  -> submitted high-level executed_action_k
+  -> hold over [t_k, t_k+20ms), two RAMBO control steps
+  -> confirm completed interval
+t_{k+1}: sample next RGB/state
+```
+
+`observation_k/state_k`是动作执行前状态。`action.requested_k`基于该观测产生。
+`action.executed_k`是最终提交给RAMBO并保持的50Hz高层命令；不是100Hz低层输出或500Hz物理结果。
+数值在提交前确定，完整区间的执行确认在20ms后产生。只有确认完成的区间进入有效训练action/history。
+部分执行保存实际结束时间和trace，不伪装为完整20ms标签。
+
+## 4.2 N/N+1 和 terminal
+
+Raw必须保留N个完整actions和N+1个boundary observations/states。
+Canonical主体保留N行、两路各N帧主视频，paired range为[0,N)。不生成terminal action。
+Terminal metadata记录第N个边界的simulation timestamp、physics step和state；canonical另附两路terminal PNG快照。
+快照由已验证Raw MP4的第N帧解码导出，保存source video hash/source frame index/timestamp；无额外resize或增强。
+这两张快照不是新的optional lossless archival mode，也不意味着压缩前exact pixels被保留。
+
+Canonical的普通LeRobot读取只遍历N行；WAM可通过terminal metadata读取额外边界图像。
+最后一个action是否进入某个训练窗口由合法future visual target和VAE grouping决定，不能据此删改Raw/Canonical。
+DATA-004替代pilot已实测50Hz采集及terminal-before-reset；不得通过复制12.5Hz帧伪装50Hz采集。
+
+---
+
+# 5. Camera Contract
+
+## 5.1 Camera Keys
+
+Policy cameras:
+
+```text
+observation.images.ego
+observation.images.task_centric
+```
+
+Monitor-only camera:
+
+```text
+monitor.images.observer
+```
+
+## 5.2 Roles
+
+| Camera | Raw Rate | Canonical LeRobot | LingBot Input | Inference Input |
+|---|---:|:---:|:---:|:---:|
+| `ego` | 50 Hz | ✓ | 12.5 Hz | ✓ |
+| `task_centric` | 50 Hz | ✓ | 12.5 Hz | ✓ |
+| `observer` | 25 Hz | ✗ | ✗ | ✗ |
+
+### Ego
+
+负责：
+
+- locomotion direction
+- obstacle / target relation
+- global scene context
+
+### Task-centric
+
+负责：
+
+- FL manipulation leg
+- target object
+- contact region
+- local interaction geometry
+
+### Observer
+
+固定 elevated oblique third-person camera，用于：
+
+- human review
+- debugging
+- failure analysis
+- paper/demo video
+
+Observer camera:
+
+- MUST NOT be enumerated as policy observation
+- MUST NOT enter LingBot training
+- MUST NOT enter LingBot inference
+- MUST NOT be used as task success ground truth
+
+---
+
+# 6. RGB Storage and Encoding Contract
+
+连续视频使用明确的有损MP4编码；不得将其描述为“无损Raw RGB”。这里Raw表示未经模型预处理的采集视频。
+
+## 6.1 Policy video
+
+| Parameter | Fixed value |
+|---|---|
+| Container | MP4 |
+| Codec/encoder | H.264/AVC, libx264 |
+| Rate | 50 Hz CFR |
+| Pixel format | yuv420p |
+| Primaries / transfer / colorspace | BT.709 |
+| Range | limited/tv; explicit RGB full-range to BT.709 limited YUV conversion |
+| Quality | high-quality lossy, CRF 18 |
+| Preset | medium |
+| GOP / minimum keyframe interval | 50 / 50 |
+| Scene-cut keyframe insertion | disabled |
+
+不增加未批准的resize、颜色增强、filter或clamp。编码所需颜色表示转换及参数必须进入manifest。
+Observer使用MP4/H.264、25Hz CFR、yuv420p；CRF默认23，允许显式20���23并记录，不额外冻结observer GOP/preset。
+如未来需要exact-pixel原始归档，另增版本化optional模式；当前默认保持有损。
+
+## 6.2 Camera index and PTS
+
+`camera_index.parquet`字段：camera_key:string、frame_index:int32、simulation_time_ns:int64、physics_step:int64、valid:bool。
+Raw policy视频/index包含N+1个边界；canonical主视频/index包含N帧，terminal单独引用。
+权威映射是`frame_index -> simulation_time_ns`；MP4 PTS仅用于播放/seek与一致性检查。
+Canonical视频以零起点CFR PTS供LeRobot按episode-relative timestamp查询，不能反过来以PTS替代仿真时钟。
+
+校验decoded frame count、显示帧顺序、CFR、ffprobe/decoder完整读取、camera_index与视频数量及仿真schedule。
+编码receipt记录实际command、encoder/version、CRF、preset、GOP和颜色配置；文件hash绑定载荷。
+CRF/preset来源于实际编码命令及receipt，不声称仅凭ffprobe能反推出所有编码参数。
+
+## 6.3 Completion and PNG policy
+
+先写`*.partial.mp4`；正常close、完整validation成功后在同一文件系统atomic rename为最终`.mp4`。
+不得覆盖已有最终文件。失败保留partial、episode标记invalid，不修复后悄悄进入正式dataset。
+single-writer辅助逻辑在DATA-002时仅做CPU验收；DATA-004/005/006随后完成真实recorder、媒体关闭/验证、Canonical转换和terminal-before-reset验收。
+
+PNG仅用于asset/calibration/debug/contact/success/terminal快照，禁止将连续训练视频主要保存为PNG序列。
+LeRobot测试工具生成的临时PNG会在编码后清理，它们不是正式Raw或Canonical产品。
+
+---
+
+# 7. Native 9D and Explicit Name Mapping
+
+Action为float32[9]、50Hz，保留全部force通道，不改成6D。
+
+| Index | RAMBO source field | Canonical name | Model name/index |
+|---:|---|---|---|
+|0|_velocity_commands[0]|base_vx|base_vx / 0|
+|1|_velocity_commands[1]|base_vy|base_vy / 1|
+|2|_velocity_commands[2]|base_yaw_rate|base_yaw_rate / 2|
+|3|_ee_pos_commands[0]|fl_ee_x|fl_ee_x / 3|
+|4|_ee_pos_commands[1]|fl_ee_y|fl_ee_y / 4|
+|5|_ee_pos_commands[2]|fl_ee_z|fl_ee_z / 5|
+|6|_ee_force_commands[0]|fl_force_x|fl_ee_fx / 6|
+|7|_ee_force_commands[1]|fl_force_y|fl_ee_fy / 7|
+|8|_ee_force_commands[2]|fl_force_z|fl_ee_fz / 8|
+
+单位依次为m/s、m/s、rad/s、m、m、m、N、N、N。
+保留`rambo-native9-v2`语义身份，名称映射不改变物理量，也不是30D桥接。
+
+经现有RAMBO代码审计，速度使用`projected_com_controller`，FL位置/力使用`projected_com`。
+该frame沿用重力投影旋转矩阵，位置原点为base world x/y投影到world z=0、当前com_offset=0；不是在线估计的整机质心。
+FL reference为现有解析运动学足端点，目标是absolute position；z不是相对base高度。
+不新增坐标旋转或重定向来“修正”现有controller。Quaternion元数据明确XYZW。
+
+## 7.1 Camera source -> canonical -> model
+
+| Runtime registry / alias | Source identity | Canonical key | Model role / existing Python key |
+|---|---|---|---|
+|front_camera / ego|go2_ego|observation.images.ego|ego / go2_ego|
+|task_camera / task|d435i_rgb_task|observation.images.task_centric|task_centric / d435i_rgb_task|
+|approved recorder configuration|recorded observer source|monitor.images.observer|NEVER_MODEL_INPUT / none|
+
+Model role与Python输入key分开；阶段2的`go2_ego/d435i_rgb_task`输入保持不变。
+Observer source key/机位由已验收的RAMBO recorder与camera配置绑定；DATA-004/005/006已验证真实25Hz observer录制。本contract不新增机位。它不能进入`observation.images.*`。
+
+---
+
+# 8. Requested, Execution Transform Chain and Confirmation
+
+```text
+requested_action -> explicitly enabled execution transform chain -> submitted_action
+                 -> RAMBO hold -> execution confirmation -> executed history
+```
+
+Raw每个policy tick保存`action.requested`和`action.executed`；canonical训练列`action=action.executed`。
+它们都是高层9D命令，不能用18D residual、关节目标或实际足端运动替换。
+
+当前代码的精确顺序：
+
+1. 标识/时间/9D shape、numeric dtype、finite及float32可表示范围检查；
+2. 保留requested值；
+3. 转成现有setter所需float32表示；
+4. baseline force维6:9清零；
+5. 已确认的identity/no-op高层filter；
+6. 提交并保持两个100Hz控制步；
+7. 区间完成后生成执行确认。
+
+源数据按float32 schema保存；既有helper中的表示转换不构成新增限幅或平滑。
+未来新增bounds/clamp/filter必须参数化、固定顺序、写config及transform/version hash，记录修改来源。
+本版本没有新增workspace bounds、safety clamp、validity correction或command smoothing。
+数据中executed与requested的修改必须能追溯到明确chain；当前canonical验证允许的值变化仅为force清零。
+保留ordered-chain hash和force modification flag；不得以训练方便为由静默修改命令。
+
+原controller内部的residual裁剪、IK、关节滤波/限幅保持原样，不属于新增高层链。
+Residual observation和FL IK使用的source command ID/消费时间继续作为独立trace；不混成另一条9D history。
+
+---
+
+# 9. Force and Wrench Semantics
+
+严格区分desired EEF force、实际contact measurement、QP force estimate和external injected wrench。
+Baseline desired force维6:9为零；external force与external torque也均为零。接触力可以非零。
+
+External wrench正式为6D：`external_force:float32[3]`、`external_torque:float32[3]`，必须记录frame及既有作用点信息。
+当前旧控制路径会将negative desired force转换到FL body-local并作用于该body CoM；本轮不改动该路径。
+
+经当前IsaacLab PhysX源码审计：
+
+- `net_forces_w`：world frame下按body聚合的net normal contact force，不含独立friction字段。
+- `force_matrix_w`：按配置body pair过滤的normal contact force；不等同于任意单接触点force。
+- `friction_forces_w`：另行启用的切向/摩擦力总和。
+- 当前ContactSensorData没有直接torque输出；缺失时标为不可用，不推导或填假零测量。
+- `get_net_contact_forces(dt=physics_dt)`沿用原API调用；不额外做average/filter。
+- history窗口或逐分量peak不应标成一次瞬时测量。
+
+`actual_contact_force`在本profile绑定上述world-frame net normal量；对象pair接触必须明确其过滤配置。
+proximity+net-force只能是推断指标，不得作为已确认FL-object接触。
+
+---
+
+# 10. Language / Text Contract
+
+## 10.1 Task-level Text
+
+标准 task instruction：
+
+```text
+task.text
+```
+
+例如：
+
+```text
+"Push the box into the target area."
+```
+
+这是主要 policy language condition。
+
+## 10.2 Episode-level Text
+
+每个 episode 保存：
+
+```json
+{
+  "tasks": [
+    "Push the box into the target area."
+  ]
+}
+```
+
+## 10.3 LingBot `action_config`
+
+每个 episode 必须带 LingBot-compatible `action_config`。
+
+Baseline 默认：
+
+```text
+one episode = one action segment
+```
+
+示例：
+
+```json
+{
+  "episode_index": 0,
+  "tasks": [
+    "Push the box into the target area."
+  ],
+  "length": 412,
+  "action_config": [
+    {
+      "start_frame": 0,
+      "end_frame": 412,
+      "action_text": "Push the box into the target area."
+    }
+  ]
+}
+```
+
+未来只有在确实需要 long-horizon subtask supervision 时才引入：
+
+```text
+approach object
+make contact
+push object
+...
+```
+
+等多 segment annotation。
+
+## 10.4 Text Embedding
+
+Canonical dataset 只保存：
+
+```text
+UTF-8 raw text
+```
+
+禁止把以下内容当作 canonical data：
+
+```text
+T5 embedding
+Wan text embedding
+CLIP embedding
+```
+
+这些全部属于 WAM-Policy derived cache，必须位于独立cache_root，不写入RAMBO canonical tree。
+
+---
+
+# 11. Robot State Contract
+
+Adaptation v2 baseline 暂时不把 proprioception 作为 LingBot input，但必须完整采集。
+
+## 11.1 Canonical 50 Hz Snapshot
+
+每个 policy tick 保存：
+
+```text
+observation.state.base.position          float32[3]
+observation.state.base.orientation       float32[4]
+
+observation.state.base.linear_velocity   float32[3]
+observation.state.base.angular_velocity  float32[3]
+
+observation.state.projected_gravity      float32[3]
+
+observation.state.joint_position         float32[N_joint]
+observation.state.joint_velocity         float32[N_joint]
+
+observation.state.fl_ee_position         float32[3]
+observation.state.fl_ee_velocity         float32[3]
+
+observation.state.foot_contact           bool[4]
+
+observation.state.fl_contact_force       float32[3]
+```
+
+当前：
+
+```text
+Canonical dataset: 保存
+LingBot v2 input: 暂不使用
+```
+
+这样未来若需要 proprioception-conditioned variant，不需要重新采数据。
+
+---
+
+# 12. Controller Telemetry
+
+RAMBO controller:
+
+```text
+100 Hz
+```
+
+属于 raw/audit modality，不进入当前 canonical 50 Hz training table。
+
+推荐：
+
+```text
+controller_100hz.parquet
+```
+
+至少记录：
+
+```text
+timestamp_ns
+controller_tick
+
+high_level_command
+reference_state
+policy_residual
+desired_joint_target
+desired_joint_velocity
+desired_joint_torque
+safety_flags
+controller_mode
+```
+
+最终字段以 RAMBO runtime 能稳定导出的 telemetry 为准。
+
+---
+
+# 13. Physics State and Sensor-native Contact Streams
+
+`physics_500hz.parquet`保存500Hz simulator-native state：base pose/twist、joint position/velocity/torque、object pose/velocity和完整external wrench。
+初始边界另可记录；必须区分physics steps数与包含初始状态的snapshot数。
+
+`contact_sensor.parquet`每row只对应一次真实sensor buffer update：
+
+```text
+measurement_timestamp_ns
+sensor_sequence_index
+force
+force_kind / frame
+valid
+torque / wrench if actually available
+```
+
+当前配置`update_period=0.005s`只代表标称200Hz。2ms物理步和lazy buffer更新机制不能证明实际严格200Hz。
+实际节奏以fresh update时间戳/sequence为准；本��不改sensor period、不提高查询频率来改变lazy update行为。
+不得把旧contact值每2ms复制一次并称为新的500Hz measurement。
+
+若physics snapshot附带latest contact，必须包含：
+
+```text
+contact_measurement_timestamp_ns
+contact_measurement_is_fresh
+```
+
+用以明确sample-and-hold。新contact字段的net/per-pair、normal/friction、frame、是否available沿用第9节审计结论。
+缺失数据显式标记；DATA-004/005/006已完成真实500Hz记录和sensor freshness验收，contact pair缺失仍明确为unknown。
+
+---
+
+# 14. Task / Object State Contract
+
+## First-task status and conditional Push Box observability — DATA-003
+
+Approach-and-Push Box / Box 05 is **approved under DATA-004**. The current task requires full-footprint containment for 3 policy ticks; contact provenance is diagnostic only.
+
+Push Box 已批准。以下 pair evidence 要求仅在可用时作为诊断解释；不阻塞任务冻结、success或采集：
+
+- `task.contact.fl_object`必须来自可识别FL接触body与目标object的pair证据；`task.contact.body_object`独立记录非操作腿/机器人body与目标object的接触，并在task profile中明确body集合，不能把FL混入后者。
+- 接触证据记录两端body/object身份、measurement timestamp/sequence、来源/API、坐标系、可用force分量，以及validity和不可用原因；法向力与可用摩擦分量分别解释，torque不可用时不伪造。
+- Body-aggregated contact force（包括FL body净力）不能单独证明接触了目标物体，更不能单独证明任务由FL manipulation完成。距离+净力只作为inferred指标。
+- 未观测到pair数据必须视为unknown，不能写成confirmed false。现有bool列不能单独表达unknown；当前已验收的证据保存在Raw/Canonical逐episode诊断sidecar并绑定对应task profile，不能仅凭bool值通过任务归因/发布验收。
+- 任务判定必须能区分FL-object、body-object及两者同时发生的情况。用户已明确：接触不作为success/collection gate；success只依赖整个XY footprint进入区域且机器人未摔倒，连续3个50Hz policy ticks。
+
+这些是条件性的task contract要求，不表示sensor接线或真实pair观测已完成；现有通用schema与profile保持原版本和hash。
+
+## Recorded task state
+
+
+每个 50 Hz policy tick 同步保存：
+
+```text
+task.object.position
+task.object.orientation
+task.object.linear_velocity
+task.object.angular_velocity
+
+task.goal.position / region
+task.progress
+task.success
+
+task.contact.fl_object
+task.contact.body_object
+```
+
+用途：
+
+```text
+ground-truth success
+failure diagnosis
+evaluation metric
+episode filtering
+```
+
+原则：
+
+> task success MUST 来自 simulator ground-truth state，不允许通过 observer video 人工判断。
+
+---
+
+# 15. Success / Termination Contract
+
+Episode-level:
+
+```text
+episode.status
+```
+
+枚举：
+
+```text
+success
+failure
+aborted
+invalid
+```
+
+另外记录：
+
+```text
+success_timestamp_ns
+termination_timestamp_ns
+termination_reason
+```
+
+推荐 termination reason：
+
+```text
+task_success
+timeout
+robot_fall
+workspace_violation
+asset_failure
+operator_abort
+recording_failure
+```
+
+Raw archive 不删除失败 episode。
+
+Training subset 可以 filter：
+
+```text
+status == success
+```
+
+---
+
+# 16. Asset Metadata and Approval
+
+每个 simulation asset 必须保存：
+
+```text
+asset_id
+asset_name
+source_url
+source_repository
+license
+sha256
+scale
+collision_type
+articulation_config
+material_config
+```
+
+同时保存：
+
+```text
+approval.status
+approval.timestamp
+```
+
+Production collection gate：
+
+```text
+if approval.status != approved:
+    production_collection_allowed = false
+```
+
+每个新任务必须走：
+
+```text
+asset search
+    ↓
+candidate import
+    ↓
+physics validation
+    ↓
+three-camera preview
+    ↓
+USER APPROVAL
+    ↓
+task implementation / production collection
+```
+
+不允许 Codex 自主找到资产后直接开始 production collection。
+
+---
+
+# 17. Camera Calibration Metadata
+
+每个 camera 必须记录：
+
+```text
+camera_id
+role
+policy_input
+resolution
+fps
+
+fx
+fy
+cx
+cy
+
+horizontal_fov
+vertical_fov
+
+position
+orientation
+parent_link
+extrinsic_matrix
+```
+
+同时记录：
+
+```text
+camera_config_hash
+```
+
+任何 policy camera pose / intrinsics / resolution 的 substantive change 都必须触发新的 camera config version。
+
+---
+
+# 18. Episode Provenance
+
+每个 episode 至少记录：
+
+```text
+episode_uid
+episode_index
+task_id
+
+dataset_schema_version
+action_schema_version
+camera_schema_version
+
+random_seed
+
+Isaac_Sim_version
+Isaac_Lab_version
+
+RAMBO_Data_commit
+RAMBO_commit
+
+task_config_hash
+controller_config_hash
+camera_config_hash
+
+asset_ids
+asset_hashes
+```
+
+建议同时记录：
+
+```text
+collection_timestamp
+operator_id / collector_type
+teleop_method
+```
+
+---
+
+# 19. Configurable Resource Roots and Raw Layout
+
+`datasets/`和`cache/`仅为逻辑结构，不表示大数据存入Git repository。
+
+```text
+RAMBO_DATA_ROOT/
+  raw/v2/<task>/<episode>/
+    manifest.json
+    cameras/{ego,task_centric,observer}.mp4
+    streams/{camera_index,policy_50hz,controller_100hz,physics_500hz,contact_sensor}.parquet
+    metadata/{task,cameras,assets,provenance}.json
+    review/{start,contact,success}.png
+  canonical/lerobot_v2_1/<release>/
+
+WAM_POLICY_CACHE_ROOT/
+  latents/
+  text_embeddings/
+  normalization/
+  manifests/
+```
+
+具体入口来自显式config字段`dataset_root`、`canonical_root`、`cache_root`，允许引用上述environment变量。
+配置缺失或环境变量未解析时报错；源码中不猜测fallback路径。cache_root与canonical_root必须分离。
+本地root取值沿用workspace资源层；不搬迁、删除或重写旧数据。
+Git只保存schema/config/templates/converters/validators/tests及small fixtures，不保存正式大规模数据或cache。
+
+---
+
+# 20. Raw policy_50hz.parquet
+
+每row对应完整20ms policy interval起点的observation/state和该区间的高层动作。
+
+必须包含simulation_time_ns、policy tick或等价physics step、`action.requested:float32[9]`、`action.executed:float32[9]`、
+50Hz robot/task state及execution confirmation/修改标记。完整chain hash写入配置/manifest。
+Terminal state单独保存，不在policy表追加fake terminal action。
+Canonical列名`action`显式映射自Raw的`action.executed`；名称转换不改数值。
+实际未完成区间继续保留其partial记录，但不能作为完整20ms训练行。
+
+---
+
+# 21. Canonical 50 Hz LeRobot Dataset
+
+Canonical dataset fps、两路主视频、action和state均为50Hz。第k行是动作前RGB/state与后续[t_k,t_{k+1})动作。
+Main table有N行，主视频各N帧；terminal boundary通过额外metadata和两路PNG快照保留，不伪造action。
+
+WAM随后执行固定相位0的50->12.5Hz RGB抽样，action保持50Hz。
+它不改变canonical row count，不为VAE group缩短或补齐canonical数据。
+Camera geometry、normalization和model input结构不因这个存储变化被重新设计。
+
+---
+
+# 22. Canonical LeRobot-compatible Layout
+
+当前第一阶段优先兼容 LingBot 官方 post-training pipeline，而不是优先迁移到 LeRobot v3。
+
+推荐：
+
+```text
+RAMBO_DATA_ROOT/
+└── canonical/lerobot_v2_1/<release>/
+    │
+    ├── meta/
+    │   ├── info.json
+    │   ├── episodes_stats.jsonl  # LeRobot v2.1 reader使用
+│   ├── stats.json            # 可选描述性聚合统计
+    │   ├── tasks.jsonl
+    │   └── episodes.jsonl
+    │
+    ├── data/
+    │   └── chunk-000/
+    │       ├── episode_000000.parquet
+    │       ├── episode_000001.parquet
+    │       └── ...
+    │
+    └── videos/
+        └── chunk-000/
+            ├── observation.images.ego/
+            │   ├── episode_000000.mp4
+            │   └── ...
+            │
+            └── observation.images.task_centric/
+                ├── episode_000000.mp4
+                └── ...
+```
+
+Canonical额外包含terminal metadata与两路terminal PNG快照，供WAM在合法采样点使用；它们不新增LeRobot action row。
+
+Observer camera 不进入该 training package。
+
+如需公开 observer video，可作为 sidecar / review artifact 发布。
+
+---
+
+# 23. Canonical LeRobot Row Schema
+
+正式训练 action：
+
+```text
+action = action.executed
+```
+
+shape:
+
+```text
+float32[9]
+```
+
+另外保留：
+
+```text
+action.requested
+```
+
+作为 audit-only feature。
+
+Canonical row 至少包括：
+
+```text
+timestamp
+frame_index
+episode_index
+task_index
+
+action                         float32[9]
+action.requested               float32[9]
+
+observation.state.*
+task.*
+```
+
+RGB 保存在对应 MP4，不嵌入 Parquet。
+
+---
+
+# 24. Observer Camera Exclusion Rule
+
+禁止使用：
+
+```text
+observation.images.observer
+```
+
+作为 canonical training key。
+
+推荐仅保留：
+
+```text
+raw/.../cameras/observer.mp4
+```
+
+或公开 release 中：
+
+```text
+review/
+└── observer/
+```
+
+这样避免任何自动 camera enumeration 将 observer 意外送入模型。
+
+---
+
+# 25. LingBot `episodes.jsonl`
+
+Baseline 示例：
+
+```json
+{
+  "episode_index": 0,
+  "tasks": [
+    "Push the box into the target area."
+  ],
+  "length": 412,
+  "action_config": [
+    {
+      "start_frame": 0,
+      "end_frame": 412,
+      "action_text": "Push the box into the target area."
+    }
+  ]
+}
+```
+
+第一阶段：
+
+```text
+one episode = one action segment
+```
+
+以后只有明确需要 long-horizon subtask annotation 时才允许拆分：
+
+```json
+{
+  "action_config": [
+    {
+      "start_frame": 0,
+      "end_frame": 140,
+      "action_text": "Approach the box."
+    },
+    {
+      "start_frame": 140,
+      "end_frame": 412,
+      "action_text": "Push the box into the target area."
+    }
+  ]
+}
+```
+
+---
+
+# 26. Dataset Statistics and Normalization
+
+已核对lerobot==0.3.3默认保存`meta/episodes_stats.jsonl`并在读取时聚合；
+下面的`meta/stats.json`是可选描述性统计，不替代该版本实际需要的episode stats文件。
+
+Canonical dataset 可以在：
+
+```text
+meta/stats.json
+```
+
+保存描述性统计：
+
+```text
+mean
+std
+min
+max
+```
+
+但训练 normalization MUST NOT 直接等同于 canonical stats。
+
+WAM-Policy 应仅使用：
+
+```text
+training split
+```
+
+计算：
+
+```text
+per-dimension action quantiles
+```
+
+防止 validation / test leakage。
+
+---
+
+# 27. Train / Validation / Test Split
+
+切分单位必须是：
+
+```text
+episode
+```
+
+禁止按：
+
+```text
+frame
+window
+latent chunk
+```
+
+随机切分。
+
+更严格时按：
+
+```text
+initial configuration
+random seed
+task geometry
+```
+
+隔离。
+
+示例：
+
+```text
+50 demos
+
+40 train
+5 val
+5 test
+```
+
+正式论文 evaluation 最终应使用独立 evaluation episodes，而不是简单复用 demonstration test split。
+
+---
+
+# 28. WAM-Policy Model-specific Cache
+
+Canonical dataset 进入 WAM-Policy 后：
+
+```text
+50 Hz ego video
+50 Hz task-centric video
+50 Hz 9D action
+raw text
+        ↓
+video frame sampling
+        ↓
+12.5 Hz policy video
+        ↓
+Wan causal VAE
+        ↓
+multi-view latent composition
+        ↓
+LingBot SFT
+```
+
+推荐：
+
+```text
+WAM_POLICY_CACHE_ROOT/
+├── latents/
+├── text_embeddings/
+├── normalization/
+│   ├── action_quantiles.json
+│   └── ...
+└── manifests/
+```
+
+Cache metadata 至少应记录：
+
+```text
+source dataset version
+source episode
+source video FPS
+target video FPS
+sampled frame IDs
+segment start/end
+raw text
+latent shape
+camera composition rule
+action schema version
+normalization version
+```
+
+---
+
+# 29. Deterministic Sampling, Causal Start and Episode Tail
+
+50Hz source RGB固定选择`0,4,8,12,...`，sampling_phase=0；action保持50Hz。
+Factor-4只决定选择哪些canonical rows。sampled timestamp必须逐项继承对应row的authoritative `simulation_time_ns`；选择terminal边界时继承terminal timestamp。尾部action timestamps同样读取source rows，不通过`index * 20 ms`合成。Nominal 20ms grid只用于validation，不能替代source clock；保留int64纳秒精度，不经float时间戳转换。
+每个12.5Hz model RGB interval对应4个50Hz action；一个后续VAE group覆盖4个model RGB间隔，对应16个action slots。
+不要把model RGB frame与VAE latent frame混用。
+
+初始latent的历史action slots仅为结构占位：zero、mask=false，不参与loss，不能解释为真实executed action。
+占位只出现在WAM derived preprocessing，绝不写入Raw/Canonical物理action表。
+
+Raw和Canonical尾部全部保留；model cache仅使用完整合法group，manifest记录tail length、dropped indices、timestamps。
+不padding fake actions。Canonical terminal快照只有落在固定抽样相位且能形成合法group时才使用。
+例如N=64：64行/64个主视频帧+terminal64，模型选0..64步长4得到17RGB、5latent、64有效actions+16无效初始slots。
+N=65仍保留65行，当前完整group使用前64动作，剩余动作在cache manifest中记录。
+
+新episode重置两路causal VAE temporal state、pending frames、KV/history；不继承跨episode上下文。
+若训练时pack多个episode，attention mask必须阻断跨episode attention。
+DATA-002最小reader最初使用人工cache测试；DATA-005/006随后完成实际冻结VAE/T5生成与重载，逐episode重置。Packing/训练采样器仍未实现。
+
+---
+
+# 30. Dataset QA and Compatibility Gates
+
+进入正式canonical前验证：逐stream timestamp/schedule、physics/controller/action连续性、50Hz policy视频decoded count与index、
+observer缺失的显式原因、9D dtype/单位/有限值及当前transform chain、Raw N/N+1与canonical terminal、
+robot/object state及quaternion、force/contact/wrench含义、资产批准、provenance、UTF-8 text和完整action_config。
+MP4须满足第6节编码/close/validation要求；不得silent repair。修复必须产生新派生版本、记录过程并保留原episode。
+
+Compatibility分层报告：
+
+1. lerobot==0.3.3实际读取canonical两路key、MP4、Parquet、tasks/episodes/action_config、9D action；
+2. 固定LingBot reader的原始行为对照；
+3. 最小WAM适配后native9、ego-above-task、false初始mask、独立cache root及model batch符合阶段2接口。
+
+不得只因目录类似就声明兼容。原reader默认把latent放dataset内、按RoboTwin做拼接/动作处理，必须通过明确适配复用已有v2规则。
+第三方源码与阶段2模型保持不变。
+CPU人工样例通过只表示格式/语义适配通过，不表示真实采集、传感器节奏、runtime或任务效果通过。
+
+---
+
+# 31. Versions and Historical Contracts
+
+```text
+dataset_schema_version: wam-quadruped-v2.1.0
+LeRobot codebase_version: v2.1
+LeRobot library version: 0.3.3
+action semantic identity: rambo-native9-v2
+```
+
+这几个版本不可混同。旧PNG数据contract 2.0.0只供历史审计，不能原地修改profile内容后复用旧hash。
+当前runtime消息协议2.0.0不因dataset落盘格式变化自动升级。
+数据profile、camera mapping、encoding和transform chain分别固定hash；任何substantive变化使用新的dataset/profile版本。
+正式release不可覆盖；历史run/manifests/模型身份保持不变。
+
+---
+
+# 32. End-to-end Data Flow
+
+```text
+                         Isaac Sim
+                             │
+       ┌─────────────────────┼─────────────────────┐
+       │                     │                     │
+       ▼                     ▼                     ▼
+    Cameras                RAMBO                Physics
+   ego 50 Hz              100 Hz                500 Hz
+   task 50 Hz
+   observer 25 Hz
+       │                     │                     │
+       └──────────────┬──────┴──────────────┬─────┘
+                      │                     │
+                9D command 50 Hz        task/object state
+                      │
+                      ▼
+              RAMBO_Data RAW ARCHIVE
+                      │
+        ┌─────────────┴──────────────┐
+        │                            │
+ multi-rate telemetry         observer/debug
+        │
+        ▼
+     validation
+        │
+        ▼
+ Canonical LeRobot 50 Hz
+        │
+        ├── ego RGB             MP4
+        ├── task-centric RGB    MP4
+        ├── action              Parquet
+        ├── robot state         Parquet
+        ├── task/object state   Parquet
+        ├── task text           metadata
+        ├── action_config       metadata
+        └── episode metadata    JSONL
+        │
+        ▼
+                  WAM-Policy
+        │
+        ├── RGB 50 → 12.5 Hz
+        ├── action stays 50 Hz
+        ├── 1 video : 4 actions
+        ├── Wan causal VAE
+        └── T5 / text encoding
+        │
+        ▼
+  LingBot-specific latent/text cache
+        │
+        ▼
+       SFT
+```
+
+---
+
+# 33. Final Schema Boundary
+
+## 33.1 Canonical 50 Hz Robot Dataset
+
+逻辑上：
+
+```text
+Canonical sample at 50 Hz
+=
+{
+    two policy RGB streams,
+    executed 9D action,
+    requested 9D action,
+    robot state,
+    task/object state,
+    language text,
+    timestamp,
+    episode metadata
+}
+```
+
+## 33.2 Current LingBot v2 Model Inputs
+
+当前真正输入模型的只有：
+
+```text
+ego RGB @ 12.5 Hz
++
+task-centric RGB @ 12.5 Hz
++
+executed 9D action @ 50 Hz
++
+language text
+```
+
+## 33.3 Stored but Not Used as Current Policy Input
+
+以下内容必须保存，但不作为当前 baseline 输入：
+
+```text
+robot proprioception
+contact state
+task/object state
+RAMBO controller telemetry @ 100 Hz
+Isaac physics telemetry @ 500 Hz
+observer video @ 25 Hz
+requested 9D action
+actual contact force
+external wrench
+```
+
+---
+
+# 34. Codex Implementation Requirements
+
+Codex 在执行本 contract 时应遵守以下约束：
+
+1. 先实现 schema / manifest / validation，再开始 production collection。
+2. 不允许为了方便训练而丢弃 raw multi-rate telemetry。
+3. 不允许把 model-specific cache 放进 RAMBO_Data canonical dataset。
+4. 不允许将 observer camera 加入 policy observation namespace。
+5. 不允许只保存 requested action；必须保存 requested + executed。
+6. 不允许把 desired force / contact force / external wrench 混成一个字段。
+7. 不允许在未明确 user approval asset 前开始正式数据采集。
+8. 不允许 silent repair invalid episode。
+9. 不允许按 frame/window 做 train/val/test split。
+10. 不允许在 canonical dataset 中保存 T5 / VAE / CLIP 等 model-specific embedding。
+11. 不允许修改 50 Hz → 12.5 Hz temporal sparsification rule，除非显式产生新 dataset/model preprocessing version。
+12. 数据 contract 的任何 substantive change 必须通过 schema version bump 体现。
+
+---
+
+# 35. Implementation Milestones and Current Authorization
+
+以下是DATA-002定义的历史实施顺序；A–E的数据准备链路已由DATA-004/005/006实际验收，50条示范已由DATA-007发布，不应重新列为待执行采集任务。当前只授权DOC-002状态修订和历史AMD证据调查；训练实现、连接服务器和任务提交仍待范围讨论。
+
+历史gate定义（保留验收含义）：
+
+### Milestone A — Schema
+
+完成：
+
+```text
+action schema
+camera schema
+time schema
+robot-state schema
+task-state schema
+episode manifest schema
+asset provenance schema
+```
+
+### Milestone B — Recorder
+
+验证：
+
+```text
+50 Hz ego
+50 Hz task-centric
+25 Hz observer
+50 Hz requested/executed 9D
+100 Hz controller telemetry
+500 Hz physics telemetry
+```
+
+全部在同一个 simulation clock 下稳定记录。
+
+### Milestone C — One Pilot Episode
+
+仅采 1 条 episode，用于验证：
+
+```text
+timestamps
+frame counts
+action/state completeness
+observer isolation
+force semantics
+task success state
+provenance
+```
+
+### Milestone D — Canonical Conversion
+
+从 pilot raw episode 转出一条：
+
+```text
+LeRobot-compatible canonical episode
+```
+
+检查：
+
+```text
+50 Hz row alignment
+two policy camera streams
+task text
+action_config
+executed 9D action
+state fields
+```
+
+### Milestone E — WAM-Policy Read Test
+
+WAM-Policy 能够：
+
+```text
+load canonical dataset
+sample 50 Hz RGB
+deterministically downsample to 12.5 Hz
+retain 50 Hz action
+form 1 video : 4 action relation
+generate VAE/text cache
+```
+
+历史顺序是先完成以上gate，再进入3-pilot/10-demo；这些阶段及后续50-demo扩展现已完成。
+
+---
+
+# 36. Reference Basis
+
+本 contract 主要遵循以下设计来源：
+
+- LingBot-VA / *Causal World Modeling for Robot Control*
+  - 50 Hz action
+  - 50 Hz source video → 12.5 Hz model video
+  - action-per-video-frame temporal interleaving
+  - LeRobot-based custom-data pipeline
+  - `action_config`
+  - Wan causal VAE latent preprocessing
+- Hugging Face LeRobot
+  - low-dimensional tabular data + MP4 video + metadata organization
+- Current RAMBO_Data / WAM-Policy v2 engineering decisions
+  - quadruped-only
+  - single FL manipulation leg
+  - 9D high-level RAMBO command
+  - ego + task-centric policy cameras
+  - observer-only third-person camera
+  - raw/canonical/model-cache repository separation
+
+This versioned document is the authoritative dataset specification for Adaptation v2. Specification acceptance does not assert production runtime or collection acceptance.
+
+
+## Current DATA-004 valid replacement pilot
+
+The prior 8.04s/402-action center-only pilot is invalid for current DATA-004 and excluded from future training. No legacy/compatibility path or history rewrite was introduced. The only current valid technical pilot is the new straight-push replacement under task profile `push-box-v2-2`.
+
+The reviewed narrow `local_x_min` face is allowed. Actual mesh bounds define its center/normal and all corners. Box dimensions are about30.0763x17.4538x22.6464cm. Nominal geometric center is(0.690382,0.142000,0.133114)m, face center(0.540000,0.142000,0.133114)m and normal(-1,0,0), yaw0. Robot stays at native reset XY origin; FL's neutral lateral command aligns the push line. No yaw randomization, controller replacement or model architecture change.
+
+The scripted expert approaches until the measured face distance is suitable, then approaches normally and advances the body with about0.38m FL forward reference. World-axis references are transformed into the existing projected-com native9 frame. This is demonstration generation using simulator state, not a learned-policy result. Intended face/commanded contact/actual FL EEF/box pose/yaw are recorded in audit-only task-review metadata.
+
+Success requires the entire projected source-box bounding volume inside goal x=[0.95,1.35], y=[-0.10,0.40]m and robot not fallen for3 consecutive50Hz policy ticks. Four XY envelope corners are computed from all8 pose-transformed3D corners, including roll/pitch. Contact remains diagnostic/unknown and never gates success; yaw is reported without a success threshold.
+
+The valid pilot lasts9.08s with454 completed actions. Full containment first appears at physics timestamp9036000000ns and policy timestamp9040000000ns; success ticks are9.04/9.06/9.08s. Terminal footprint X=[0.956747,1.297620],Y=[0.038445,0.257470]m is fully inside. Forward displacement0.436802m, net lateral displacement0.005958m. Yaw range[-12.405,1.875]degrees, final-7.396degrees; residual rotation is disclosed.
+
+Real terminal-before-reset/reset isolation passed on the current implementation and final pilot. Raw/canonical validation and MP4 decode passed:455 dual50Hz Raw boundaries,454 canonical rows/frames plus separate terminal state/RGB,908 controller steps,4540 physics steps/4541 snapshots,909 actual sensor updates,228 observer25Hz frames. Requested/executed native9 and zero desired force/external wrench retained. Observer is never a model input or success ground truth. DATA-002 schema/profile bytes are unchanged.
+
+WAM reads113 sampled RGB frames per view with inherited source timestamps, encodes real frozen VAE/T5, and reloads latents[1,48,29,24,20], actions/mask[1,9,29,16,1], text[1,512,4096]. Initial mask is false.448 actions enter complete groups;6 tail actions and their timestamps remain in Raw/canonical and are explicitly reported by cache metadata. Normalizer is diagnostic identity, not training statistics.
+
+Evidence: workspace `runs/audit/v2/DATA-004/straight-push-20260916T042259Z`. Two failed development collection attempts are excluded (spawn XY/controller reference mismatch; expert overreach and lateral deflection). Only the replacement is the current valid pilot. WAM73 and RAMBO220 CPU tests passed; real data/model gates were executed separately. The user accepted this replacement pilot and authorized DATA-004 commit/push. DATA-005/006 later completed the authorized demonstration batches and DATA-007 completed publication/source pushes. Adaptation v2 formal training and learned-model server closed-loop remain not_run.
+
+
+## DATA-005 bounded collection result
+
+The user authorized three repeatability pilots and, after their gates passed, ten successful small-XY-variation demonstrations. All 3 pilots and 10 demonstrations passed the real acquisition, terminal-before-reset/reset isolation, independent whole-footprint/not-fallen behavior checks, Raw/canonical media validation and real frozen VAE/T5 cache reload. The predefined seed42 scenarios vary only initial box XY; the DATA-004 task profile, expert/controller, robot native origin, asset and cameras are unchanged. No yaw randomization or contact gate was added.
+
+The ten demonstration episodes contain 4567 actions, with durations 9.08–9.20s. Net lateral displacement is 0.56–1.23cm; final box yaw is -11.40–-6.96 degrees. Residual rotation remains disclosed and is not a task-success gate. Contact is explicitly unknown/invalid diagnostic evidence.
+
+The demonstration collection has explicit whole-episode train/validation/test splits of8/1/1. Pilots, old center-only DATA-004 records and failures are absent from this collection. Merging copies videos/terminal images without further encoding, rebases only global row/episode indices and keeps episode timestamps local and authoritative. Per-episode provenance/contact sidecars are validated independently. The single-export train alias is not an SFT split; `meta/split.json` is authoritative for the merged collection.
+
+WAM fits a non-diagnostic affine q01/q99 normalizer on the 3655 actions from the8 train episodes only, with no clipping, scale1 for constant dimensions and force offsets0/scales1. Validation/test episodes do not affect fitting. VAE temporal state resets per episode; observer never enters model data. Sampling inherits canonical/terminal timestamps. Incomplete tail groups remain in source data and are explicitly listed in cache metadata; the initial action mask is false.
+
+Evidence: workspace `runs/audit/v2/DATA-005/20260916T055512Z/README.md` and `acceptance.json`. Versioned path configs are `pilots-paths.json` and `demonstrations-paths.json` there. This is bounded scripted-expert data acceptance, not learned-policy evaluation, generalization statistics or permission to start SFT. Those were the DATA-005 acceptance-time limits. DATA-007 subsequently completed dataset publication and DATA-005/006/007 source commits/pushes. Adaptation v2 training, remote jobs and learned-policy server integration remain not_run.

releases/DATA-009-local-ten-20260926T130524Z/evidence/lift_demo_00-a1-behavior.json

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+{
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+}

releases/DATA-009-local-ten-20260926T130524Z/evidence/lift_demo_01-a1-behavior.json

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+{
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+}

releases/DATA-009-local-ten-20260926T130524Z/evidence/lift_demo_02-a1-behavior.json

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+}

releases/DATA-009-local-ten-20260926T130524Z/evidence/lift_demo_03-a1-behavior.json

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+{
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+}

releases/DATA-009-local-ten-20260926T130524Z/evidence/lift_demo_04-a1-behavior.json

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+{
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+}

releases/DATA-009-local-ten-20260926T130524Z/evidence/lift_demo_05-a2-behavior.json

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+{
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+}

releases/DATA-009-local-ten-20260926T130524Z/evidence/lift_demo_06-a1-behavior.json

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+{
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+}

releases/DATA-009-local-ten-20260926T130524Z/evidence/lift_demo_07-a1-behavior.json

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+{
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+}

releases/DATA-009-local-ten-20260926T130524Z/evidence/lift_demo_08-a1-behavior.json

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+{
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+}

releases/DATA-009-local-ten-20260926T130524Z/evidence/lift_demo_09-a1-behavior.json

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+{
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releases/DATA-009-local-ten-20260926T130524Z/evidence/original-collection-acceptance.json

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+{
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releases/DATA-009-local-ten-20260926T130524Z/manifest.json

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+{
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+  "repo_id": "dontKnow23456/QLM-Bench",
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+  "acceptance_interpretation": "Original acceptance records collection-time local-only status; this manifest records the later authorized publication."
+}

releases/DATA-009-local-ten-20260926T130524Z/review/episodes.json

@@ -0,0 +1,372 @@
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+      ],
+      "contact": "unknown_diagnostic_only"
+    }
+  },
+  {
+    "uid": "lift_demo_06-a1",
+    "raw": "../../../raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_06-a1",
+    "split": "train",
+    "scenario": {
+      "asset": "oasis_basket",
+      "motion": "thread_then_lift",
+      "split": "train",
+      "offset_x_m": 0.007000000000000001,
+      "offset_y_m": 0.0035000000000000005
+    },
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+      "actions": 703,
+      "boundaries": 704,
+      "duration_s": 14.06,
+      "terminal_before_reset": true,
+      "terminal_clearance_m": 0.0278858349722274,
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+      "geometry_method": "independent source mesh vertices + authored root scale + convex-hull extrema + recorded pose",
+      "source_vertex_count": 956385,
+      "support_vertices": 5239,
+      "phases": [
+        "approach",
+        "lift",
+        "present_at_handle",
+        "raise_before_rim",
+        "settle",
+        "thread_handle"
+      ],
+      "contact": "unknown_diagnostic_only"
+    }
+  },
+  {
+    "uid": "lift_demo_07-a1",
+    "raw": "../../../raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_07-a1",
+    "split": "train",
+    "scenario": {
+      "asset": "oasis_basket",
+      "motion": "thread_then_lift",
+      "split": "train",
+      "offset_x_m": -0.002999999999999999,
+      "offset_y_m": -0.0035
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+      "support_vertices": 5239,
+      "phases": [
+        "approach",
+        "lift",
+        "present_at_handle",
+        "raise_before_rim",
+        "settle",
+        "thread_handle"
+      ],
+      "contact": "unknown_diagnostic_only"
+    }
+  },
+  {
+    "uid": "lift_demo_08-a1",
+    "raw": "../../../raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_08-a1",
+    "split": "validation",
+    "scenario": {
+      "asset": "oasis_basket",
+      "motion": "thread_then_lift",
+      "split": "validation",
+      "offset_x_m": -0.007,
+      "offset_y_m": 0.0004999999999999996
+    },
+    "behavior": {
+      "passed": true,
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+      "pre_lift_rear_clearance_m": 0.019345750520697647,
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+      "terminal_before_reset": true,
+      "terminal_clearance_m": 0.02306464749040852,
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+      "phases": [
+        "approach",
+        "lift",
+        "present_at_handle",
+        "raise_before_rim",
+        "settle",
+        "thread_handle"
+      ],
+      "contact": "unknown_diagnostic_only"
+    }
+  },
+  {
+    "uid": "lift_demo_09-a1",
+    "raw": "../../../raw/v2/lift_basket/DATA-009-local-ten-20260926T130524Z/lift_demo_09-a1",
+    "split": "test",
+    "scenario": {
+      "asset": "oasis_basket",
+      "motion": "thread_then_lift",
+      "split": "test",
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+      "offset_y_m": -0.0014999999999999996
+    },
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+      "support_vertices": 5239,
+      "phases": [
+        "approach",
+        "lift",
+        "present_at_handle",
+        "raise_before_rim",
+        "settle",
+        "thread_handle"
+      ],
+      "contact": "unknown_diagnostic_only"
+    }
+  }
+]

releases/DATA-009-local-ten-20260926T130524Z/review/index.html

@@ -0,0 +1,16 @@
+<!doctype html><html lang="en"><meta charset="utf-8">
+<meta name="viewport" content="width=device-width,initial-scale=1"><title>QLM-Bench · Lift Basket</title>
+<style>body{font:16px/1.5 system-ui;background:#eef3f6;color:#17313e;margin:24px}main{max-width:1440px;margin:auto}section{background:white;padding:22px;border-radius:12px;margin-bottom:20px}.grid{display:grid;grid-template-columns:repeat(3,1fr);gap:12px}video{width:100%}select,button{padding:10px;font:inherit}a{color:#086d84}@media(max-width:800px){.grid{grid-template-columns:1fr}}</style>
+<main><section><h1>QLM-Bench · Lift Basket · 10 usable demonstrations</h1>
+<p>Scripted demonstrations, Go2 FL manipulation, native9. Measured whole-basket minimum clearance &gt;=2cm, not fallen for 3 policy ticks; complete foot threading before controlled lift. Ego visibility and contact are diagnostic. License pending.</p>
+<p>Publication only for current adaptation use: excluded from first adaptation v2/v3 training, validation, test and evaluation. This release's split is standalone metadata.</p>
+<p>Ego/task: 50Hz. Observer: 25Hz, review only. Select an episode and play the three views.</p>
+<select id="pick"></select> <button id="play">Play all from start</button> <button id="pause">Pause</button><p id="details"></p>
+<div class="grid"><div>Ego<video controls preload="metadata"></video></div><div>Task<video controls preload="metadata"></video></div><div>Observer<video controls preload="metadata"></video></div></div>
+<p><a href="../manifest.json">Manifest / source mapping</a> · <a href="../distribution.json">Distribution</a> · <a href="../evidence/collection-acceptance.json">Acceptance</a></p>
+</section></main><script>
+const pick=document.querySelector('#pick'),videos=[...document.querySelectorAll('video')];let rows=[];
+function show(){const e=rows.find(e=>e.uid===pick.value);videos.forEach((v,i)=>{v.src=e.raw+'/cameras/'+['ego','task_centric','observer'][i]+'.mp4';v.load()});document.querySelector('#details').textContent=e.uid+' · '+JSON.stringify(e.scenario)+' · '+e.split+' · '+e.behavior.duration_s+'s';}
+fetch('episodes.json').then(r=>r.json()).then(r=>{rows=r;for(const e of rows){let o=document.createElement('option');o.value=e.uid;o.textContent=e.uid;pick.append(o)}show()});pick.onchange=show;
+document.querySelector('#play').onclick=()=>videos.forEach(v=>{v.currentTime=0;v.play()});document.querySelector('#pause').onclick=()=>videos.forEach(v=>v.pause());
+</script></html>