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file mode 100644 index 0000000000000000000000000000000000000000..883b19d14dcb6a68a1b88471c8debe356f6d5ca9 --- /dev/null +++ b/releases/DATA-006-20260916T075451Z/distribution.json @@ -0,0 +1,25 @@ +{ + "asset": { + "box05": 30, + "box01": 10, + "box04": 10 + }, + "yaw_deg": { + "0": 20, + "90": 10, + "180": 10, + "270": 10 + }, + "motion": { + "DATA005 baseline": 10, + "body_finish": 13, + "coordinated": 14, + "leg_finish": 13 + }, + "color": { + "green": 20, + "purple": 10, + "cyan": 10, + "orange": 10 + } +} diff --git a/releases/DATA-006-20260916T075451Z/evidence/asset-attribution-source.md b/releases/DATA-006-20260916T075451Z/evidence/asset-attribution-source.md new file mode 100644 index 0000000000000000000000000000000000000000..af24a5352ffc422aa0500c57ceaf802014e19db1 --- /dev/null +++ b/releases/DATA-006-20260916T075451Z/evidence/asset-attribution-source.md @@ -0,0 +1,90 @@ +# Free USD Cardboard Box Assets for Robotics Simulation + +This is a small v0.1 asset pack containing 3 USD/USDC cardboard box assets intended for robotics simulation workflows, especially NVIDIA Isaac Sim / Omniverse-style scene building. + +I am a 3D artist, not a robotics software engineer. I am releasing these assets for free and mainly looking for technical feedback from robotics engineers, simulation engineers, and people working with robotic manipulation, warehouse robotics, pick-and-place simulation, and synthetic scene generation. + +## What is included + +- 3 cardboard box assets in USD/USDC format +- Baked textures from real-world capture +- Preview images for each box +- A simple drop test GIF preview +- Basic physics / collision setup +- Semantic labeling for cardboard box use cases + +## Production process + +These assets were created from real cardboard boxes using a turntable photogrammetry workflow. + +Production steps: + +- Real cardboard box capture +- Canon 6D photo source +- Turntable-based photogrammetry workflow +- Mesh cleanup in Blender +- Low-poly optimization / mesh reduction +- Normal map and texture baking +- USD/USDC export +- Collision setup +- Basic rigid-body physics setup +- Drop test preview + +## Asset list + +### Box 01 — `Box_01_16x11x24_Low` + +Approximate physical size: 15.4 x 11.1 x 24.0 cm +Format: USDC +Notes: Low-poly optimized cardboard box asset with texture and collision setup. + +### Box 04 — `Box__04_53X43X50CM_LOW` + +Approximate physical size: 52.9 x 43.1 x 50.1 cm +Format: USDC +Notes: Larger cardboard box asset for warehouse / parcel simulation scenes. + +### Box 05 — `Collected_BOX_5.30X17X22_HIGH` + +Approximate physical size: 30 x 17 x 22 cm +Format: USDC +Notes: This is the most detailed test asset in the pack. It uses a more semantic/material-aware setup, where the cardboard body and tape area can use different friction behavior instead of being treated as one uniform surface. + +## Intended use cases + +- Isaac Sim scene assets +- Robotic manipulation testing +- Pick-and-place simulation +- Warehouse robotics simulation +- Parcel handling scenes +- Synthetic data scene construction +- Contact/collision behavior experiments + +## What I would like feedback on + +I would especially appreciate feedback on the following points: + +1. Are the collision meshes suitable for Isaac Sim workflows? +2. Are the scale, origin, hierarchy, and unit settings reasonable? +3. Are the physics settings useful for pick-and-place or warehouse simulation? +4. For Box 05, is it useful to separate cardboard and tape surface behavior with different friction settings? +5. Is the mesh density appropriate, or should the assets be simplified further? +6. Are the baked textures useful for robotics simulation, or are they too detailed/heavy? +7. What metadata or structure would make these assets closer to production-ready simulation assets? +8. Would you prefer additional formats such as `.usd`, `.usdz`, `.fbx`, URDF reference scenes, or an Isaac Sim demo scene? + +## Current status + +This is a v0.1 test release. I do not want to claim that these assets are already industrial-standard. The goal is to learn what robotics engineers actually need from 3D simulation assets and improve the package based on feedback. + +## Known limitations + +- The assets have not yet been validated by a professional robotics simulation engineer. +- The package is currently focused on USD/USDC assets and does not include a full Isaac Sim demo scene. +- Mass, inertia, friction, and collision settings may need adjustment depending on the target simulation use case. + +## License + +Recommended license: CC BY 4.0. + +You may use and modify the assets, but please attribute the creator if you redistribute them. If you need a different license for commercial or research use, please contact the creator. diff --git a/releases/DATA-006-20260916T075451Z/evidence/asset-source-manifest-historical.json b/releases/DATA-006-20260916T075451Z/evidence/asset-source-manifest-historical.json new file mode 100644 index 0000000000000000000000000000000000000000..b1b008f0ac684c1ecd51f02cee35b6efcd791f8e --- /dev/null +++ b/releases/DATA-006-20260916T075451Z/evidence/asset-source-manifest-historical.json @@ -0,0 +1,47 @@ +{ + "work_id": "DATA-004", + "source_repository": "https://github.com/1057822006-svg/usd-cardboard-box-assets", + "release": "v0.1", + "release_commit": "cb386b4cba6c6adf2d42b54be37a78f9d4f01589", + "download_url": "https://github.com/1057822006-svg/usd-cardboard-box-assets/releases/download/v0.1/usd-cardboard-box-assets-v0.1-ready.zip", + "zip_sha256": "b7931855ff2fa37c746182780bb7f126b64c156f1fe2bb431cfec1b632962001", + "license": { + "declaration": "README: Recommended license CC BY 4.0; 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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。 +> DATA-004已验证一条真实50Hz/25Hz替代technical pilot及完整模型缓存链路；本页末尾记录当前结果。大规模生产及训练仍未运行。 +> 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。 +当前提供single-writer辅助逻辑，未接生产recorder。 + +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| +|configured later|configured 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在后续实现中配置；本轮不创建或选择新的物理机位。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；本轮不改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；真实500Hz记录与sensor freshness仍需后续运行验收。 + +--- + +# 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；证据应保存在Raw或具名extensions并由后续版本化task profile绑定，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/// + 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// + +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// + │ + ├── 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。 +本轮最小reader使用人工cache测试；正式VAE/T5生成与packing训练器未在本轮实现。 + +--- + +# 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 + +当前只实施schema/manifest/validation、最小读取/映射适配和CPU人工兼容性测试。 +以下Recorder、Pilot、生产转换、真实VAE/T5步骤是后续gate，不因本文存在就自动授权执行。 + +Codex 应按以下顺序推进： + +### 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 +``` + +完成以上 gate 后，才进入正式 3-episode / 10-demo data collection。 + +--- + +# 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. Further batch demonstrations require separate authorization; formal training/release and 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. Training, remote jobs, learned-policy server integration and formal release remain not_run. DATA-005 is not committed or pushed. diff --git a/releases/DATA-006-20260916T075451Z/evidence/demo_00-behavior.json b/releases/DATA-006-20260916T075451Z/evidence/demo_00-behavior.json new file mode 100644 index 0000000000000000000000000000000000000000..aa7b816b4a13d633b9fea4e9f87b36f5b124df78 --- /dev/null +++ b/releases/DATA-006-20260916T075451Z/evidence/demo_00-behavior.json @@ -0,0 +1,51 @@ +{ + "passed": true, + "task_success": true, + "scenario": { + "id": "demo_00", + "offset_x_m": -0.02, + "offset_y_m": -0.008, + "seed": 42, + "yaw_rad": 0.0 + }, + "work_id": "DATA-005", + "actions": 459, + "boundaries": 460, + "duration_s": 9.18, + "terminal_before_reset": true, + "terminal_footprint": [ + [ + 0.9600416929954513, + 0.02761785039864803 + ], + [ + 1.3054685421484682, + 0.02761785039864803 + ], + [ + 1.3054685421484682, + 0.25818930973977344 + ], + [ + 0.9600416929954513, + 0.25818930973977344 + ] + ], + "terminal_center": [ + 1.1327551175719597, + 0.14290358006921075, + 0.10491156426280016 + ], + "first_full_policy_ns": 9140000000, + "success_ns": 9180000000, + "delta_x_m": 0.4623735287922489, + "delta_y_m": 0.008903584201093634, + "yaw_min_deg": -12.109991175461058, + "yaw_max_deg": 1.8757585584383272, + "yaw_final_deg": -9.61210926568937, + "lateral_range_m": 0.013141597826130114, + "near_face_tangent_median_m": 0.026042356821579966, + "contact": "unknown; geometry metrics are diagnostic only", + "review_flags": [], + "review_flags_are_not_task_success_gates": true +} diff --git a/releases/DATA-006-20260916T075451Z/evidence/demo_01-behavior.json b/releases/DATA-006-20260916T075451Z/evidence/demo_01-behavior.json new file mode 100644 index 0000000000000000000000000000000000000000..23efe9e8896cea0d455315770b4f745aa465677c --- /dev/null +++ b/releases/DATA-006-20260916T075451Z/evidence/demo_01-behavior.json @@ -0,0 +1,51 @@ +{ + "passed": true, + "task_success": true, + "scenario": { + "id": "demo_01", + "offset_x_m": -0.015, + "offset_y_m": 0.004, + "seed": 42, + "yaw_rad": 0.0 + }, + "work_id": "DATA-005", + "actions": 460, + "boundaries": 461, + "duration_s": 9.2, + "terminal_before_reset": true, + "terminal_footprint": [ + [ + 0.9583029728125848, + 0.0372182504580969 + ], + [ + 1.3070907502589528, + 0.0372182504580969 + ], + [ + 1.3070907502589528, + 0.2765951687646263 + ], + [ + 0.9583029728125848, + 0.2765951687646263 + ] + ], + "terminal_center": [ + 1.1326968615357687, + 0.1569067096113616, + 0.10491237902555664 + ], + "first_full_policy_ns": 9160000000, + "success_ns": 9200000000, + "delta_x_m": 0.45731527752442946, + "delta_y_m": 0.01090668942454942, + "yaw_min_deg": -12.578304115173976, + "yaw_max_deg": 3.3829296990230033, + "yaw_final_deg": -11.396452182218855, + "lateral_range_m": 0.016796640468879798, + "near_face_tangent_median_m": 0.026052361086066973, + "contact": "unknown; geometry metrics are diagnostic only", + "review_flags": [], + "review_flags_are_not_task_success_gates": true +} diff --git a/releases/DATA-006-20260916T075451Z/evidence/demo_02-behavior.json b/releases/DATA-006-20260916T075451Z/evidence/demo_02-behavior.json new file mode 100644 index 0000000000000000000000000000000000000000..888f81a4c8e0f9971e92b08022e6a29f9386999a --- /dev/null +++ b/releases/DATA-006-20260916T075451Z/evidence/demo_02-behavior.json @@ -0,0 +1,51 @@ +{ + "passed": true, + "task_success": true, + "scenario": { + "id": "demo_02", + "offset_x_m": -0.01, + "offset_y_m": 0.01, + "seed": 42, + "yaw_rad": 0.0 + }, + "work_id": "DATA-005", + "actions": 458, + "boundaries": 459, + "duration_s": 9.16, + "terminal_before_reset": true, + "terminal_footprint": [ + [ + 0.9610244516110849, + 0.045977299239004066 + ], + [ + 1.3079845630115463, + 0.045977299239004066 + ], + [ + 1.3079845630115463, + 0.28050397771344754 + ], + [ + 0.9610244516110849, + 0.28050397771344754 + ] + ], + "terminal_center": [ + 1.1345045073113156, + 0.1632406384762258, + 0.10491115148125928 + ], + "first_full_policy_ns": 9120000000, + "success_ns": 9160000000, + "delta_x_m": 0.454122928068348, + "delta_y_m": 0.01124063593238847, + "yaw_min_deg": -12.669259629564348, + "yaw_max_deg": 2.427244499061229, + "yaw_final_deg": -10.405428525850906, + "lateral_range_m": 0.015055624604988688, + "near_face_tangent_median_m": 0.02682604010036523, + "contact": "unknown; 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geometry metrics are diagnostic only", + "review_flags": [], + "review_flags_are_not_task_success_gates": true +} diff --git a/releases/DATA-006-20260916T075451Z/evidence/demo_13-a4-behavior.json b/releases/DATA-006-20260916T075451Z/evidence/demo_13-a4-behavior.json new file mode 100644 index 0000000000000000000000000000000000000000..0957416873995aadfc2226a9b0fbb7dcf0424d4d --- /dev/null +++ b/releases/DATA-006-20260916T075451Z/evidence/demo_13-a4-behavior.json @@ -0,0 +1,91 @@ +{ + "passed": true, + "task_success": true, + "scenario": { + "corner_recovery": true, + "work_id": "DATA-006", + "authorization": "data006-expansion-v1", + "id": "demo_13", + "asset": "box05", + "asset_path": "assets/push_box/v2/candidates/cardboard_pack_v0_1/source/usd-cardboard-box-assets/Collected_BOX_5.30X17X22_HIGH/BOX_30X17X22.usdc", + "asset_sha256": "3f67cf9ed445fa1c12b061310af897e1754ffb2b1d54bfe1cca2e029353202d5", + "yaw_deg": 270, + "motion": "leg_finish", + "color": "purple", + "goal_color": [ + 0.65, + 0.15, + 0.9 + ], + "split": "validation", + "parameters": { + "attempt": 4, + "seed": 600630, + "face_x_m": 0.5228376118863499, + "center_y_m": 0.1411799287969109, + "goal_margin_x_m": 0.12555324867297374, + "goal_margin_y_m": 0.169182751401875, + "base_speed_m_s": 0.1387693926263121, + "foot_x_m": 0.3330121286633712, + "transition_s": 0.33371595532430165 + }, + "selected_face": "local_y_min" + }, + "work_id": "DATA-006", + "actions": 698, + "boundaries": 699, + "duration_s": 13.96, + "terminal_before_reset": true, + "terminal_footprint": [ + [ + 0.9668491149684411, + 0.05514503816081334 + ], + [ + 1.1788465698704067, + 0.05514503816081334 + ], + [ + 1.1788465698704067, + 0.3952974492653618 + ], + [ + 0.9668491149684411, + 0.3952974492653618 + ] + ], + "terminal_center": [ + 1.0728478424194239, + 0.22522124371308758, + 0.10493986221808527 + ], + "first_full_policy_ns": 13920000000, + "success_ns": 13960000000, + "delta_x_m": 0.4627412362427079, + "delta_y_m": 0.08404132604110626, + "yaw_min_deg": -91.2236512816233, + "yaw_max_deg": -78.45471575159131, + "yaw_final_deg": -83.0384198650454, + "lateral_range_m": 0.10391455188590831, + "near_face_tangent_median_m": 0.012914436628848683, + "contact": "unknown; 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