| { |
| "time_utc": "2026-10-26T03:14:18.885162+00:00", |
| "technical_acceptance_complete": true, |
| "tasks": [ |
| { |
| "task": "hammer", |
| "reference_run": "hammer_generic_full_001", |
| "frames": 1403, |
| "duration_s": 23.383333333333333, |
| "physical_success": true, |
| "loader": "lerobot 0.3.3 / pyav", |
| "action_horizon": 16, |
| "boundary_padding_verified": true, |
| "full_decoded_videos": 14, |
| "decoded_video_frames": 19642, |
| "actual_frame_review": true, |
| "command_statistics": { |
| "episode": 0, |
| "frames": 1403, |
| "duration_s": 23.383333333333333, |
| "max_command_step_rad": 0.03761745884548873, |
| "peak_joint_speed_rad_s": 2.257081971067017, |
| "peak_joint_acceleration_rad_s2": 23.839557514209986, |
| "p99_frame_peak_speed_rad_s": 1.7380444659186505, |
| "command_holds_over_250ms": [], |
| "command_hold_total_s": 0 |
| }, |
| "repository_evidence": "reference_evidence/hammer" |
| }, |
| { |
| "task": "plug_charger", |
| "reference_run": "charger_generic_full_001", |
| "frames": 2457, |
| "duration_s": 40.95, |
| "physical_success": true, |
| "loader": "lerobot 0.3.3 / pyav", |
| "action_horizon": 16, |
| "boundary_padding_verified": true, |
| "full_decoded_videos": 14, |
| "decoded_video_frames": 34398, |
| "actual_frame_review": true, |
| "command_statistics": { |
| "episode": 0, |
| "frames": 2457, |
| "duration_s": 40.95, |
| "max_command_step_rad": 0.018723249435424805, |
| "peak_joint_speed_rad_s": 1.123412108033875, |
| "peak_joint_acceleration_rad_s2": 6.198452328644964, |
| "p99_frame_peak_speed_rad_s": 1.1006484987717569, |
| "command_holds_over_250ms": [], |
| "command_hold_total_s": 0 |
| }, |
| "repository_evidence": "reference_evidence/plug_charger" |
| }, |
| { |
| "task": "tray_carry", |
| "reference_run": "tray_thumb_down_generic_full_001", |
| "frames": 1676, |
| "duration_s": 27.933333333333334, |
| "physical_success": true, |
| "loader": "lerobot 0.3.3 / pyav", |
| "action_horizon": 16, |
| "boundary_padding_verified": true, |
| "full_decoded_videos": 14, |
| "decoded_video_frames": 23464, |
| "actual_frame_review": true, |
| "command_statistics": { |
| "episode": 0, |
| "frames": 1676, |
| "duration_s": 27.933333333333334, |
| "max_command_step_rad": 0.033385276794433594, |
| "peak_joint_speed_rad_s": 2.0031185179886988, |
| "peak_joint_acceleration_rad_s2": 2.467637000342987, |
| "p99_frame_peak_speed_rad_s": 1.9521448454268424, |
| "command_holds_over_250ms": [ |
| { |
| "start_s": 15.050000190734863, |
| "end_s": 16.200000762939453, |
| "duration_s": 1.1500005722045898 |
| } |
| ], |
| "command_hold_total_s": 1.1500005722045898 |
| }, |
| "repository_evidence": "reference_evidence/tray_carry" |
| }, |
| { |
| "task": "pour_can", |
| "reference_run": "pour_generic_full_002", |
| "frames": 3720, |
| "duration_s": 62.0, |
| "physical_success": true, |
| "loader": "lerobot 0.3.3 / pyav", |
| "action_horizon": 16, |
| "boundary_padding_verified": true, |
| "full_decoded_videos": 14, |
| "decoded_video_frames": 52080, |
| "actual_frame_review": true, |
| "command_statistics": { |
| "episode": 0, |
| "frames": 3720, |
| "duration_s": 62.0, |
| "max_command_step_rad": 0.0177881121635437, |
| "peak_joint_speed_rad_s": 1.0673030155642023, |
| "peak_joint_acceleration_rad_s2": 1.6440292274944548, |
| "p99_frame_peak_speed_rad_s": 0.925507481689174, |
| "command_holds_over_250ms": [ |
| { |
| "start_s": 30.96666717529297, |
| "end_s": 34.150001525878906, |
| "duration_s": 3.1833343505859375 |
| }, |
| { |
| "start_s": 52.43333435058594, |
| "end_s": 53.0, |
| "duration_s": 0.5666656494140625 |
| } |
| ], |
| "command_hold_total_s": 3.75 |
| }, |
| "repository_evidence": "reference_evidence/pour_can" |
| }, |
| { |
| "task": "cup_hang", |
| "reference_run": "cup_supported_setdown_generic_full_001", |
| "frames": 3892, |
| "duration_s": 64.86666666666666, |
| "physical_success": true, |
| "loader": "lerobot 0.3.3 / pyav", |
| "action_horizon": 16, |
| "boundary_padding_verified": true, |
| "full_decoded_videos": 14, |
| "decoded_video_frames": 54488, |
| "actual_frame_review": true, |
| "command_statistics": { |
| "episode": 0, |
| "frames": 3892, |
| "duration_s": 64.86666666666666, |
| "max_command_step_rad": 0.04655176401138306, |
| "peak_joint_speed_rad_s": 2.793148460746166, |
| "peak_joint_acceleration_rad_s2": 24.631053160518118, |
| "p99_frame_peak_speed_rad_s": 1.328873352494028, |
| "command_holds_over_250ms": [], |
| "command_hold_total_s": 0 |
| }, |
| "repository_evidence": "reference_evidence/cup_hang" |
| }, |
| { |
| "task": "rotate_knob", |
| "reference_run": "knob_continuous_generic_full_001", |
| "frames": 2230, |
| "duration_s": 37.166666666666664, |
| "physical_success": true, |
| "loader": "lerobot 0.3.3 / pyav", |
| "action_horizon": 16, |
| "boundary_padding_verified": true, |
| "full_decoded_videos": 14, |
| "decoded_video_frames": 31220, |
| "actual_frame_review": true, |
| "command_statistics": { |
| "episode": 0, |
| "frames": 2230, |
| "duration_s": 37.166666666666664, |
| "max_command_step_rad": 0.029411882162094116, |
| "peak_joint_speed_rad_s": 1.764739857518883, |
| "peak_joint_acceleration_rad_s2": 18.00058580813521, |
| "p99_frame_peak_speed_rad_s": 1.3132213440282543, |
| "command_holds_over_250ms": [ |
| { |
| "start_s": 5.733333110809326, |
| "end_s": 5.983333110809326, |
| "duration_s": 0.25 |
| }, |
| { |
| "start_s": 15.850000381469727, |
| "end_s": 16.91666603088379, |
| "duration_s": 1.0666656494140625 |
| } |
| ], |
| "command_hold_total_s": 1.3166656494140625 |
| }, |
| "repository_evidence": "reference_evidence/rotate_knob" |
| }, |
| { |
| "task": "insert_pipette", |
| "reference_run": "pipette_generic_full_001", |
| "frames": 2551, |
| "duration_s": 42.516666666666666, |
| "physical_success": true, |
| "loader": "lerobot 0.3.3 / pyav", |
| "action_horizon": 16, |
| "boundary_padding_verified": true, |
| "full_decoded_videos": 14, |
| "decoded_video_frames": 35714, |
| "actual_frame_review": true, |
| "command_statistics": { |
| "episode": 0, |
| "frames": 2551, |
| "duration_s": 42.516666666666666, |
| "max_command_step_rad": 0.018638353794813156, |
| "peak_joint_speed_rad_s": 1.1182543038708017, |
| "peak_joint_acceleration_rad_s2": 5.8558701385638985, |
| "p99_frame_peak_speed_rad_s": 0.9795693021858549, |
| "command_holds_over_250ms": [ |
| { |
| "start_s": 39.349998474121094, |
| "end_s": 42.5, |
| "duration_s": 3.1500015258789062 |
| } |
| ], |
| "command_hold_total_s": 3.1500015258789062 |
| }, |
| "repository_evidence": "reference_evidence/insert_pipette" |
| }, |
| { |
| "task": "insert_peg", |
| "reference_run": "peg_generic_full_001", |
| "frames": 3033, |
| "duration_s": 50.55, |
| "physical_success": true, |
| "loader": "lerobot 0.3.3 / pyav", |
| "action_horizon": 16, |
| "boundary_padding_verified": true, |
| "full_decoded_videos": 14, |
| "decoded_video_frames": 42462, |
| "actual_frame_review": true, |
| "command_statistics": { |
| "episode": 0, |
| "frames": 3033, |
| "duration_s": 50.55, |
| "max_command_step_rad": 0.03632622957229614, |
| "peak_joint_speed_rad_s": 2.1796070325017167, |
| "peak_joint_acceleration_rad_s2": 22.74196408967841, |
| "p99_frame_peak_speed_rad_s": 0.8500707398718242, |
| "command_holds_over_250ms": [], |
| "command_hold_total_s": 0 |
| }, |
| "repository_evidence": "reference_evidence/insert_peg" |
| }, |
| { |
| "task": "kitchen", |
| "reference_run": "kitchen_original_generic_full_001", |
| "frames": 5424, |
| "duration_s": 90.4, |
| "physical_success": true, |
| "loader": "lerobot 0.3.3 / pyav", |
| "action_horizon": 16, |
| "boundary_padding_verified": true, |
| "full_decoded_videos": 14, |
| "decoded_video_frames": 75936, |
| "actual_frame_review": true, |
| "command_statistics": { |
| "episode": 0, |
| "frames": 5424, |
| "duration_s": 90.4, |
| "max_command_step_rad": 0.041196200996637344, |
| "peak_joint_speed_rad_s": 2.4718097766222247, |
| "peak_joint_acceleration_rad_s2": 67.53093743895498, |
| "p99_frame_peak_speed_rad_s": 0.9984287246978041, |
| "command_holds_over_250ms": [], |
| "command_hold_total_s": 0 |
| }, |
| "repository_evidence": "reference_evidence/kitchen" |
| }, |
| { |
| "task": "power_drill", |
| "reference_run": "drill_replanned_placement_generic_full_001", |
| "frames": 2784, |
| "duration_s": 46.4, |
| "physical_success": true, |
| "loader": "lerobot 0.3.3 / pyav", |
| "action_horizon": 16, |
| "boundary_padding_verified": true, |
| "full_decoded_videos": 14, |
| "decoded_video_frames": 38976, |
| "actual_frame_review": true, |
| "command_statistics": { |
| "episode": 0, |
| "frames": 2784, |
| "duration_s": 46.4, |
| "max_command_step_rad": 0.025313258171081543, |
| "peak_joint_speed_rad_s": 1.5188186655985352, |
| "peak_joint_acceleration_rad_s2": 36.03552548546052, |
| "p99_frame_peak_speed_rad_s": 1.1520174095902953, |
| "command_holds_over_250ms": [ |
| { |
| "start_s": 25.866666793823242, |
| "end_s": 27.91666603088379, |
| "duration_s": 2.049999237060547 |
| } |
| ], |
| "command_hold_total_s": 2.049999237060547 |
| }, |
| "repository_evidence": "reference_evidence/power_drill" |
| } |
| ], |
| "total_native_frames": 29170, |
| "total_decoded_video_frames": 408380, |
| "shared_optical_model": "physical_geometry_optical_intervals_v1_candidate", |
| "shared_joint_count": 56, |
| "global_profile": "reference_evidence/shared_configuration.json", |
| "randomized_success_instances_per_task_at_least": 1, |
| "additional_hammer_randomized_run": "hammer_randomized_full_001", |
| "architecture": { |
| "time_utc": "2026-10-26T02:39:10.753317+00:00", |
| "passed": true, |
| "modules": 127, |
| "recorder_definitions": [ |
| "data/recorder.py" |
| ], |
| "gain_writers": [ |
| { |
| "file": "control/gains.py", |
| "line": 25, |
| "method": "write_joint_stiffness_to_sim" |
| }, |
| { |
| "file": "control/gains.py", |
| "line": 26, |
| "method": "write_joint_damping_to_sim" |
| } |
| ], |
| "legacy_workflow_imports": [], |
| "task_directories": [ |
| "cup_hang", |
| "hammer", |
| "insert_peg", |
| "insert_pipette", |
| "kitchen", |
| "plug_charger", |
| "pour_can", |
| "power_drill", |
| "rotate_knob", |
| "tray_carry" |
| ], |
| "scope": "Static source inspection complements measured interface/recording evidence; does not prove physical behavior or external policy performance." |
| }, |
| "interfaces": { |
| "passed": true, |
| "sources": [ |
| { |
| "source": "planner", |
| "frames": 3, |
| "causal_pre_action_observation": true, |
| "named_56d_commands": true, |
| "shared_rollout_and_recorder": true |
| }, |
| { |
| "source": "teleop", |
| "frames": 3, |
| "causal_pre_action_observation": true, |
| "named_56d_commands": true, |
| "shared_rollout_and_recorder": true |
| }, |
| { |
| "source": "policy", |
| "frames": 3, |
| "causal_pre_action_observation": true, |
| "named_56d_commands": true, |
| "shared_rollout_and_recorder": true |
| } |
| ], |
| "policy_replan_frames": [ |
| 0, |
| 2 |
| ], |
| "privileged_fields_not_passed": true, |
| "stale_teleop_packet_rejected": true, |
| "scope": "CPU wiring/ordering only. No ROS transport, model inference, hardware or physical simulation certification." |
| }, |
| "external_task_registry": { |
| "passed": true, |
| "tasks": [ |
| "cup_hang", |
| "hammer", |
| "insert_peg", |
| "insert_pipette", |
| "kitchen", |
| "new_task", |
| "plug_charger", |
| "pour_can", |
| "power_drill", |
| "rotate_knob", |
| "tray_carry" |
| ], |
| "external_entry_loaded": true, |
| "core_registry_edited": false, |
| "scope": "External declaration discovery and lazy module entry loading only; no physical execution claim." |
| }, |
| "package": { |
| "passed": true, |
| "wheel": "revobench_refactor-0.1.0-py3-none-any.whl", |
| "sha256": "ef291c266c178128c328155ce9cbdff0df522ff517a70e5146443136d99c17ee", |
| "python_modules": 127, |
| "source_python_json_files": 165, |
| "source_bytes_match": true, |
| "cache_files": 0, |
| "optical_calibration_files_preserved": [ |
| "revobench/sensors/tactile/backends/third_party/tacex_gpu_taxim/calibs/640x480/0.png", |
| "revobench/sensors/tactile/backends/third_party/tacex_gpu_taxim/calibs/640x480/dataPack.npz", |
| "revobench/sensors/tactile/backends/third_party/tacex_gpu_taxim/calibs/640x480/gelmap.npy", |
| "revobench/sensors/tactile/backends/third_party/tacex_gpu_taxim/calibs/640x480/params.json", |
| "revobench/sensors/tactile/backends/third_party/tacex_gpu_taxim/calibs/640x480/polycalib.npz", |
| "revobench/sensors/tactile/backends/third_party/tacex_gpu_taxim/calibs/640x480/shadowTable.npz" |
| ], |
| "isolated_discovery": { |
| "tasks": [ |
| "cup_hang", |
| "hammer", |
| "insert_peg", |
| "insert_pipette", |
| "kitchen", |
| "plug_charger", |
| "pour_can", |
| "power_drill", |
| "rotate_knob", |
| "tray_carry" |
| ], |
| "joints": 56, |
| "heavy_modules": [], |
| "package_file": "/Users/xulixin/RevoBench-refactor/outputs/package_release_005/unpacked/revobench/__init__.py" |
| }, |
| "tests": "............ [100%]\n12 passed in 3.04s", |
| "scope": "Clean final wheel matches main source, including task acceptance metadata; original calibration files and notices retained. This CPU discovery check does not replace recorded simulation evidence." |
| }, |
| "asset_bundle": { |
| "verified": true, |
| "files": 659, |
| "manifest": "configs/assets/bundle_manifest.json" |
| }, |
| "tests": "12 passed", |
| "limitations": [ |
| "Individual executions are not measured success rates or guarantees over the full randomization range.", |
| "Fresh CPU reader installation verified; blank-machine Isaac installation not executed.", |
| "Policy model inference and real teleoperation transports remain external adapters.", |
| "Optical ray depth is not measured real-gel deformation; tactile contact scope is single-target.", |
| "Pouring uses a provisional granular surrogate; drill task is non-contact alignment, not drilling." |
| ], |
| "publication": "Technical gate complete. Git remote publication is verified separately after committing these artifacts.", |
| "randomization_evidence": "randomization_validation.json" |
| } |
|
|
