Clarify v1.1 multiview graph schema and feature tensors

docs/SCHEMA.md

@@ -391,3 +391,269 @@ data/v1_no_depth/
 ```
 
 This LeRobot-like chunked layout is the publication target. Per-episode directories in the extraction plan are an intermediate/debugging layout.
+
+
+# Schema v1.1 normative update
+
+
+
+Fable 5 and Codex both reviewed the six design questions about multi-view graphs, velocity, feature balance, source availability, task-family coverage, and vocabulary edges. The v1.1 clarification is now the normative design.
+
+### 1. One global graph, not one graph per camera
+
+Use one authoritative global graph per timestep:
+
+```text
+G_t = (V_t, E_state_t, E_prior, globals_t)
+```
+
+Do not create separate physical graphs for `robot0_agentview_right`, `robot0_agentview_left`, and `robot0_eye_in_hand`.
+
+Reason:
+
+- Object identity is global. A mug visible in the right camera and wrist camera is the same MuJoCo body/node.
+- Physical relations are global. Contact, support, containment, qpos, held state, and robot interaction do not become false because a camera cannot see one endpoint.
+- Per-camera graphs would confuse occlusion with object deletion and make physical edges view-dependent.
+- RoboCasa/MuJoCo already gives free cross-view association through `segmentation objid -> geom -> body -> node`.
+
+But the user’s concern is correct: camera evidence is different. Therefore v1.1 stores **one global graph with per-view node evidence and per-view visual features**.
+
+Normative multi-view tensors:
+
+```text
+visual_views   float16[T, N_max, 3, 256]   # per-view masked RGB/SAM2-style visual features
+view_visible   bool[T, N_max, 3]
+view_centroid  float16[T, N_max, 3, 2]
+view_area      float16[T, N_max, 3, 1]
+```
+
+View order:
+
+```text
+0 = robot0_agentview_right
+1 = robot0_agentview_left
+2 = robot0_eye_in_hand
+```
+
+The canonical side visual feature remains in the flat compatibility node tensor, but the complete visual evidence is `visual_views`.
+
+### 2. Velocity definition
+
+Velocity means node-level physical velocity from the simulator, source-tagged.
+
+Recommended source in RoboCasa/MuJoCo:
+
+```text
+mujoco.mj_objectVelocity(model, data, mjOBJ_BODY, body_id, res, flg_local=0)
+```
+
+This gives 6D world-frame body velocity. Store as linear and angular world velocity after confirming convention in the exporter.
+
+Do not use raw free-joint `qvel` as object angular velocity without care: MuJoCo free-joint angular velocity conventions can be body-local. Use `mj_objectVelocity` for body-level velocity and store raw `qvel` only for joint/articulation state.
+
+Per family:
+
+| Family | Body velocity | Joint velocity |
+|---|---|---|
+| `object` / movable item | root body world velocity | zero unless jointed |
+| `articulated_part` | part body world velocity | scalar qvel is primary articulation signal |
+| `control` | body velocity if meaningful | scalar qvel / control state if jointed |
+| `surface` / `receptacle` / `fixture` | zero, with `velocity_source=static_fixture` | zero unless fixture state joint exists |
+| optional robot node | TCP/eef velocity from robot state or MuJoCo body velocity | robot proprio stream remains primary |
+
+Add QA:
+
+```text
+finite_difference(position_world) ~= stored_linear_velocity
+```
+
+on contact-free segments, and assert static fixtures have zero velocity.
+
+### 3. Feature balance: 256D visual block should not dominate by raw concat
+
+The dataset stores typed feature blocks. It does not recommend feeding a raw 300D+ concatenation directly into a GNN.
+
+Downstream models should use per-block projections:
+
+```text
+static_proj = MLP(node_static_feats)
+dynamic_proj = MLP(node_dynamic_feats)
+view_proj = PerViewEncoder(view_geom_feats, visual_views, view_visible)
+edge_proj = EdgeEncoder(rel_state, rel_prior)
+```
+
+Then fuse into common `d_model` tokens.
+
+Export rules:
+
+- L2-normalize masked visual embeddings.
+- Store per-block normalization stats.
+- Keep visual features physically separate from symbolic state features.
+- Publish a `symbolic_only_v1_1` tensor view for ablation.
+- Treat the old flat `node_feats` as a compatibility view, not the only model input.
+
+### 4. Final v1.1 tensor layout
+
+Published graph tensor file:
+
+```text
+graph_tensors.npz
+  node_feats        float32[T, N_max, 323]       # flat compatibility typed-block view
+  node_mask         bool[N_max]
+  category_ids      int16[N_max]
+
+  visual_views      float16[T, N_max, 3, 256]
+  view_visible      bool[T, N_max, 3]
+  view_centroid     float16[T, N_max, 3, 2]
+  view_area         float16[T, N_max, 3, 1]
+
+  rel_state         float32[T, N_max, N_max, 8]
+  rel_prior         float32[N_max, N_max, 5]
+  event_masks       uint8[T, 13]
+```
+
+`node_feats` v1.1 slicing map, D = 323:
+
+```text
+[0:256]    visual_256        canonical-side visual feature = visual_views[:, :, 0]
+[256:259]  pos_world_3
+[259:263]  quat_xyzw_4
+[263:266]  linvel_world_3
+[266:269]  angvel_world_3
+[269:270]  qpos_norm_1
+[270:271]  qvel_norm_1
+[271:272]  binary_state_1
+[272:274]  movability_2      [free_movable, articulated]
+[274:275]  robot_contact_1
+[275:276]  held_1
+[276:279]  visibility_3      [side_right, side_left, wrist]
+[279:291]  family_12
+[291:323]  type_clip_32
+```
+
+### 5. Updated node families
+
+Use 12 frozen family slots. Family is the relational role, not the full semantic class. Semantic class is carried by `category_text`, `category_id`, and CLIP type encoding.
+
+```text
+0  object              free movable item: mug, can, food
+1  distractor          free movable non-task item; metadata-derived, not language-derived
+2  surface             static support plane: counter, stove top
+3  receptacle          containment volume: cabinet/drawer/fridge/sink basin
+4  fixture             appliance/furniture body: stove, microwave, kettle, blender, fridge
+5  articulated_part    door, drawer, lid, rack, mixer head
+6  handle              grasp point rigidly attached to articulated part
+7  control             knob, button, switch, faucet lever; actuates fixture state
+8  region              named zone: burner zone, rack slot, navigation region; v1 optional/reserved
+9  robot               optional aggregate robot/TCP node for ablations
+10 reserved
+11 reserved
+```
+
+`appliance_part` is removed because it is ambiguous. Use `articulated_part`, `handle`, or `control` instead.
+
+### 6. Updated relation tensors
+
+State relation tensor:
+
+```text
+rel_state: float32[T, N_max, N_max, 8]
+channels:
+  contact
+  support
+  near
+  inside
+  rel_dx
+  rel_dy
+  rel_dz
+  dist_norm
+```
+
+Prior relation tensor:
+
+```text
+rel_prior: float32[N_max, N_max, 5]
+channels:
+  part_of
+  controls
+  same_fixture_group
+  can_contain
+  can_support
+```
+
+Direction conventions:
+
+```text
+support[i,j] = 1       means node i rests on/supports-contact with node j as support destination
+inside[i,j] = 1        means node i is inside node j
+part_of[i,j] = 1       means node i is part of node j
+controls[i,j] = 1      means node i actuates/controls node j
+can_contain[i,j] = 1   means node i can contain node j
+can_support[i,j] = 1   means node i can support node j
+```
+
+Robot contact and held state are node flags by default. Robot-object edges are created only in a robot-node ablation.
+
+### 7. Vocabulary information
+
+Node vocabulary is included:
+
+```text
+category_text
+category_id
+type_clip_32
+full CLIP 512D type table
+```
+
+Edge vocabulary is primarily discrete and rule-table based:
+
+```text
+relation channel IDs
+human-reviewed affordance matrix
+sim kinematic tree relations
+```
+
+Optional metadata may include CLIP embeddings of relation names, but relation CLIP vectors are not part of the default relation tensor.
+
+Reasoning/VLM/LLM policy:
+
+- No reasoning-model dependency in sim v1.
+- LLM may draft rule tables, but committed source is `human_reviewed_rule_table`.
+- `category_text` comes only from fixed rename tables keyed by asset/sim metadata; no per-episode language edits.
+- No reasoning output is allowed for contact, support, held state, qpos, current inside state, or physical relations.
+
+### 8. Feature source table
+
+| Feature | Source in v1 | Needs CLIP/VLM/LLM? |
+|---|---|---|
+| node inventory | sim metadata + deterministic grouping rules | no |
+| body/geom/joint IDs | MuJoCo model | no |
+| family | deterministic role rules | no |
+| category_text/category_id | fixed rename table from sim metadata | no |
+| type_clip_32 | frozen CLIP text encoder | CLIP yes, VLM/LLM no |
+| RGB | replay render or stored video | no |
+| masks/segmentation | MuJoCo segmentation render | no |
+| bbox/centroid/area | masks | no |
+| visual_views 256D | masked RGB visual encoder pooled by oracle mask | visual encoder yes; not reasoning |
+| pose/orientation | sim state xpose/xquat | no |
+| velocity | `mj_objectVelocity`; FD only QA/fallback | no |
+| qpos/qvel | sim qpos/qvel via joint addresses | no |
+| binary state | qpos/state thresholds | no |
+| contact/support | sim contacts + deterministic filter/rule | no |
+| inside/near/relative geometry | sim pose/AABB geometry | no |
+| part_of/controls | kinematic tree/fixture metadata | no |
+| can_contain/can_support | human-reviewed rule table | no LLM dependency |
+| target labels | task metadata | supervision/eval only |
+| depth-derived geometry | not in v1 | not available |
+
+### 9. New sanity checks
+
+- Swapping instruction text must not change node features, edge features, node inventory, or relation tensors.
+- A node hidden in one camera but visible in another remains one global node.
+- `visual_views[t,n,v]` is valid only when `view_visible[t,n,v]` is true.
+- `visual_views[:, :, 0]` must match `node_feats[:, :, 0:256]` for the compatibility block.
+- Every category ID resolves in the type table.
+- Static fixtures have zero velocity.
+- FD velocity approximately agrees with stored velocity on contact-free segments.
+- Affordance channels must reproduce exactly from the published matrix gather.
+- Event vocabulary must match across README, SCHEMA, relation vocab, and exporter output.