Publish three-arm native interface benchmark and installation evidence
Browse files- LICENSE +21 -0
- README.md +43 -0
- arm-interfaces-v01-evidence.zip +3 -0
- independent-audit.json +12 -0
- installation-smoke.json +2423 -0
- summary.json +1263 -0
LICENSE
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MIT License
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Copyright (c) 2026 DVIDIA contributors
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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README.md
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---
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license: mit
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language:
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- en
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tags:
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- robotics
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- simulation
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- mujoco
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- benchmark
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- dvidia
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size_categories:
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- n<1K
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---
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# DVIDIA arm interfaces v0.1
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Three native CPU simulation interfaces: PiPER, SO-101, and UR5e with Robotiq 2F-85.
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54 fixed unloaded mechanics attempts were numerically valid. This is **not 54 successful manipulation tasks**. All traces are retained: 21,654 state rows, 1,260 commands and **21 offline compute-budget exceedances**. An independent audit reconstructed 648 RMS/max values without a mismatch. Deterministic repeats measure timing variability, not unseen-task generalization.
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Arm error is in radians. Each gripper retains its actual command units: PiPER single-finger metres, SO-101 hinge radians, and Robotiq native 0–255. These are not interchangeable jaw gaps or calibrated force readings. Terminal-frame tracking is not calibrated fingertip accuracy. The interactive shared host is not a real-time test rig.
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## Run locally
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The 0.1.3.dev3 preview provides `dvidia-arm list`, `describe`, `check`, `install`, `inspect`, `run`, `benchmark`, `task-template` and `assess-task`.
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[Install the preview](https://github.com/Dvidia-Inference/dvidia-training/releases/tag/arm-interfaces-v0.1-preview) · [Source and commands](https://github.com/Dvidia-Inference/dvidia-training/blob/feat/arm-interfaces-v01/docs/arm-interfaces-v01.md) · [Research](https://research.dvidia.org/papers/arm-interfaces-v01/) · [Skillspaces](https://dvidia.org/store?view=spaces)
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Only the existing PiPER learned block policy has a runner in this installer. Its frozen held-out placement result remains 5/12; this dataset does not train a new model. The policy is rejected on the other arms. Setup needs network access; local simulation uses CPU and verified assets without a CUDA requirement. Hardware minimums and physical transfer remain unqualified.
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## Evidence
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- `arm-interfaces-v01-evidence.zip`: every native trace, commands, results, fixed protocol, source snapshots, independent auditor, portable verifier and upstream notices.
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- `summary.json`: all 27 condition summaries and measurement scope.
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- `independent-audit.json`: read-only numerical and digest verification.
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- `installation-smoke.json`: isolated installed-wheel validation; one selected simulation example passed, but is not a new held-out benchmark. Its full control-step compute p95 was 34.924 ms with 179/1,000 nominal 20 ms budgets exceeded on the shared host; no real-time qualification.
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Extract the evidence ZIP and run its `verify.py` to check the inventory and numerical audit. `native_step_compute_s` measures the complete observed-step wrapper, including snapshots and reference forward kinematics; it is not isolated physics cost.
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The task-feasibility command is a data-only planning assessment. Caller-declared reach, object width, mass/friction uncertainty, force budget, calibration, freshness and test-lift status produce blocked/probe/test-lift/ready-for-simulated-transport decisions. It performs no sensing or motion and is not integrated into the learned controller.
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## Rights and limits
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Original DVIDIA tooling and synthetic records are MIT. The archive preserves distinct upstream PiPER MIT, SO-101 Apache-2.0, UR5e BSD-3-Clause and Robotiq BSD-2-Clause notices. No raw human footage, downloaded robot meshes, credentials or new learned weights are included. There is no hardware adapter, physical skill qualification or automatic cross-arm transfer.
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arm-interfaces-v01-evidence.zip
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version https://git-lfs.github.com/spec/v1
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oid sha256:48200eb5c647badff7db5ee14272571b93d9c31003d9f5f92dd6e28d062b272b
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size 11159124
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independent-audit.json
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{
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"schema": "dvidia.arm-interface-audit/v1",
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"report_sha256": "5dd90299bd17515aee578631b46e3146c07ad18909eea838153d37bc4e9b1c5d",
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"attempts": 54,
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"state_rows": 21654,
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"issued_command_events": 1260,
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"independent_metric_comparisons": 648,
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"source_and_trace_digest_mismatches": 0,
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"command_time_alignment_mismatches": 0,
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"offline_control_budget_exceedances": 21,
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"scope": "Read-only numerical/digest audit; not a repeat run or physical validation."
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}
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installation-smoke.json
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|
| 1 |
+
{
|
| 2 |
+
"schema": "dvidia.arm-interface-installed-smoke/v1",
|
| 3 |
+
"classification": "installation_smoke_not_additional_benchmark",
|
| 4 |
+
"wheel": {
|
| 5 |
+
"filename": "dvidia_training-0.1.3.dev3-py3-none-any.whl",
|
| 6 |
+
"bytes": 5707568,
|
| 7 |
+
"sha256": "e8b03e4d718dde277d467f7fcca97b5540620fbf03b737b5a34ec3ff4b4ae8f9",
|
| 8 |
+
"built_from_source_inventory": "source-final-before.json",
|
| 9 |
+
"extra": "arm"
|
| 10 |
+
},
|
| 11 |
+
"runtime": {
|
| 12 |
+
"PYTHONPATH_unset": true,
|
| 13 |
+
"checkout_not_on_sys_path": true,
|
| 14 |
+
"cwd_is_outside_checkout": true,
|
| 15 |
+
"distribution_version": "0.1.3.dev3",
|
| 16 |
+
"module_loaded_from_fresh_venv_site_packages": true,
|
| 17 |
+
"module_version": "0.1.3.dev3",
|
| 18 |
+
"mujoco": "3.15.0",
|
| 19 |
+
"numpy": "2.5.3",
|
| 20 |
+
"python": "3.12.9"
|
| 21 |
+
},
|
| 22 |
+
"source_unchanged_after_commands": true,
|
| 23 |
+
"changed_source_paths": [],
|
| 24 |
+
"all_command_exits_expected": true,
|
| 25 |
+
"commands": [
|
| 26 |
+
{
|
| 27 |
+
"id": "08-runtime-info",
|
| 28 |
+
"argv": [
|
| 29 |
+
"python",
|
| 30 |
+
"-c",
|
| 31 |
+
"import sys,json,importlib.metadata,pathlib,dvidia_training,mujoco,numpy; p=pathlib.Path(dvidia_training.__file__).resolve(); print(json.dumps({'python':sys.version.split()[0],'distribution_version':importlib.metadata.version('dvidia-training'),'module_version':dvidia_training.__version__,'mujoco':mujoco.__version__,'numpy':numpy.__version__,'module_loaded_from_fresh_venv_site_packages':'site-packages' in p.parts and str(p).startswith(sys.prefix),'cwd_is_outside_checkout':'dvidia-arm-interfaces-20261031' not in str(pathlib.Path.cwd()),'PYTHONPATH_unset':__import__('os').environ.get('PYTHONPATH') is None,'checkout_not_on_sys_path':not any('dvidia-arm-interfaces-20261031' in str(x) for x in sys.path)},sort_keys=True))"
|
| 32 |
+
],
|
| 33 |
+
"exit_code": 0,
|
| 34 |
+
"expected_exit_codes": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"exit_expected": true,
|
| 38 |
+
"wall_seconds": 15.071509167086333,
|
| 39 |
+
"stdout": "08-runtime-info.stdout.txt",
|
| 40 |
+
"stderr": "08-runtime-info.stderr.txt",
|
| 41 |
+
"working_directory": "outside_source_checkout",
|
| 42 |
+
"PYTHONPATH": "unset"
|
| 43 |
+
},
|
| 44 |
+
{
|
| 45 |
+
"id": "09-pip-check",
|
| 46 |
+
"argv": [
|
| 47 |
+
"python",
|
| 48 |
+
"-m",
|
| 49 |
+
"pip",
|
| 50 |
+
"check"
|
| 51 |
+
],
|
| 52 |
+
"exit_code": 0,
|
| 53 |
+
"expected_exit_codes": [
|
| 54 |
+
0
|
| 55 |
+
],
|
| 56 |
+
"exit_expected": true,
|
| 57 |
+
"wall_seconds": 5.282357417047024,
|
| 58 |
+
"stdout": "09-pip-check.stdout.txt",
|
| 59 |
+
"stderr": "09-pip-check.stderr.txt",
|
| 60 |
+
"working_directory": "outside_source_checkout",
|
| 61 |
+
"PYTHONPATH": "unset"
|
| 62 |
+
},
|
| 63 |
+
{
|
| 64 |
+
"id": "10-list",
|
| 65 |
+
"argv": [
|
| 66 |
+
"dvidia-arm",
|
| 67 |
+
"list"
|
| 68 |
+
],
|
| 69 |
+
"exit_code": 0,
|
| 70 |
+
"expected_exit_codes": [
|
| 71 |
+
0
|
| 72 |
+
],
|
| 73 |
+
"exit_expected": true,
|
| 74 |
+
"wall_seconds": 2.629831749945879,
|
| 75 |
+
"stdout": "10-list.stdout.txt",
|
| 76 |
+
"stderr": "10-list.stderr.txt",
|
| 77 |
+
"working_directory": "outside_source_checkout",
|
| 78 |
+
"PYTHONPATH": "unset"
|
| 79 |
+
},
|
| 80 |
+
{
|
| 81 |
+
"id": "11-describe-piper",
|
| 82 |
+
"argv": [
|
| 83 |
+
"dvidia-arm",
|
| 84 |
+
"describe",
|
| 85 |
+
"piper"
|
| 86 |
+
],
|
| 87 |
+
"exit_code": 0,
|
| 88 |
+
"expected_exit_codes": [
|
| 89 |
+
0
|
| 90 |
+
],
|
| 91 |
+
"exit_expected": true,
|
| 92 |
+
"wall_seconds": 0.8112794170156121,
|
| 93 |
+
"stdout": "11-describe-piper.stdout.txt",
|
| 94 |
+
"stderr": "11-describe-piper.stderr.txt",
|
| 95 |
+
"working_directory": "outside_source_checkout",
|
| 96 |
+
"PYTHONPATH": "unset"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"id": "11-describe-so101",
|
| 100 |
+
"argv": [
|
| 101 |
+
"dvidia-arm",
|
| 102 |
+
"describe",
|
| 103 |
+
"so101"
|
| 104 |
+
],
|
| 105 |
+
"exit_code": 0,
|
| 106 |
+
"expected_exit_codes": [
|
| 107 |
+
0
|
| 108 |
+
],
|
| 109 |
+
"exit_expected": true,
|
| 110 |
+
"wall_seconds": 0.5200761668384075,
|
| 111 |
+
"stdout": "11-describe-so101.stdout.txt",
|
| 112 |
+
"stderr": "11-describe-so101.stderr.txt",
|
| 113 |
+
"working_directory": "outside_source_checkout",
|
| 114 |
+
"PYTHONPATH": "unset"
|
| 115 |
+
},
|
| 116 |
+
{
|
| 117 |
+
"id": "11-describe-ur5e-2f85",
|
| 118 |
+
"argv": [
|
| 119 |
+
"dvidia-arm",
|
| 120 |
+
"describe",
|
| 121 |
+
"ur5e-2f85"
|
| 122 |
+
],
|
| 123 |
+
"exit_code": 0,
|
| 124 |
+
"expected_exit_codes": [
|
| 125 |
+
0
|
| 126 |
+
],
|
| 127 |
+
"exit_expected": true,
|
| 128 |
+
"wall_seconds": 0.5499142920598388,
|
| 129 |
+
"stdout": "11-describe-ur5e-2f85.stdout.txt",
|
| 130 |
+
"stderr": "11-describe-ur5e-2f85.stderr.txt",
|
| 131 |
+
"working_directory": "outside_source_checkout",
|
| 132 |
+
"PYTHONPATH": "unset"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"id": "12-check-piper",
|
| 136 |
+
"argv": [
|
| 137 |
+
"dvidia-arm",
|
| 138 |
+
"check",
|
| 139 |
+
"--model",
|
| 140 |
+
"model.json",
|
| 141 |
+
"--robot",
|
| 142 |
+
"piper"
|
| 143 |
+
],
|
| 144 |
+
"exit_code": 0,
|
| 145 |
+
"expected_exit_codes": [
|
| 146 |
+
0
|
| 147 |
+
],
|
| 148 |
+
"exit_expected": true,
|
| 149 |
+
"wall_seconds": 1.772932541090995,
|
| 150 |
+
"stdout": "12-check-piper.stdout.txt",
|
| 151 |
+
"stderr": "12-check-piper.stderr.txt",
|
| 152 |
+
"working_directory": "outside_source_checkout",
|
| 153 |
+
"PYTHONPATH": "unset"
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"id": "13-reject-so101",
|
| 157 |
+
"argv": [
|
| 158 |
+
"dvidia-arm",
|
| 159 |
+
"check",
|
| 160 |
+
"--model",
|
| 161 |
+
"model.json",
|
| 162 |
+
"--robot",
|
| 163 |
+
"so101"
|
| 164 |
+
],
|
| 165 |
+
"exit_code": 2,
|
| 166 |
+
"expected_exit_codes": [
|
| 167 |
+
2
|
| 168 |
+
],
|
| 169 |
+
"exit_expected": true,
|
| 170 |
+
"wall_seconds": 0.8400740409269929,
|
| 171 |
+
"stdout": "13-reject-so101.stdout.txt",
|
| 172 |
+
"stderr": "13-reject-so101.stderr.txt",
|
| 173 |
+
"working_directory": "outside_source_checkout",
|
| 174 |
+
"PYTHONPATH": "unset"
|
| 175 |
+
},
|
| 176 |
+
{
|
| 177 |
+
"id": "14-reject-ur5e",
|
| 178 |
+
"argv": [
|
| 179 |
+
"dvidia-arm",
|
| 180 |
+
"check",
|
| 181 |
+
"--model",
|
| 182 |
+
"model.json",
|
| 183 |
+
"--robot",
|
| 184 |
+
"ur5e-2f85"
|
| 185 |
+
],
|
| 186 |
+
"exit_code": 2,
|
| 187 |
+
"expected_exit_codes": [
|
| 188 |
+
2
|
| 189 |
+
],
|
| 190 |
+
"exit_expected": true,
|
| 191 |
+
"wall_seconds": 1.2321779169142246,
|
| 192 |
+
"stdout": "14-reject-ur5e.stdout.txt",
|
| 193 |
+
"stderr": "14-reject-ur5e.stderr.txt",
|
| 194 |
+
"working_directory": "outside_source_checkout",
|
| 195 |
+
"PYTHONPATH": "unset"
|
| 196 |
+
},
|
| 197 |
+
{
|
| 198 |
+
"id": "15-reject-hardware",
|
| 199 |
+
"argv": [
|
| 200 |
+
"dvidia-arm",
|
| 201 |
+
"check",
|
| 202 |
+
"--model",
|
| 203 |
+
"model.json",
|
| 204 |
+
"--robot",
|
| 205 |
+
"piper",
|
| 206 |
+
"--interface",
|
| 207 |
+
"piper-sdk-planned"
|
| 208 |
+
],
|
| 209 |
+
"exit_code": 2,
|
| 210 |
+
"expected_exit_codes": [
|
| 211 |
+
2
|
| 212 |
+
],
|
| 213 |
+
"exit_expected": true,
|
| 214 |
+
"wall_seconds": 0.8657266246154904,
|
| 215 |
+
"stdout": "15-reject-hardware.stdout.txt",
|
| 216 |
+
"stderr": "15-reject-hardware.stderr.txt",
|
| 217 |
+
"working_directory": "outside_source_checkout",
|
| 218 |
+
"PYTHONPATH": "unset"
|
| 219 |
+
},
|
| 220 |
+
{
|
| 221 |
+
"id": "16-install",
|
| 222 |
+
"argv": [
|
| 223 |
+
"dvidia-arm",
|
| 224 |
+
"install",
|
| 225 |
+
"--model",
|
| 226 |
+
"model.json",
|
| 227 |
+
"--robot",
|
| 228 |
+
"piper",
|
| 229 |
+
"--assets",
|
| 230 |
+
"robot-assets",
|
| 231 |
+
"--output",
|
| 232 |
+
"installation"
|
| 233 |
+
],
|
| 234 |
+
"exit_code": 0,
|
| 235 |
+
"expected_exit_codes": [
|
| 236 |
+
0
|
| 237 |
+
],
|
| 238 |
+
"exit_expected": true,
|
| 239 |
+
"wall_seconds": 9.095292792189866,
|
| 240 |
+
"stdout": "16-install.stdout.txt",
|
| 241 |
+
"stderr": "16-install.stderr.txt",
|
| 242 |
+
"working_directory": "outside_source_checkout",
|
| 243 |
+
"PYTHONPATH": "unset"
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"id": "17-inspect",
|
| 247 |
+
"argv": [
|
| 248 |
+
"dvidia-arm",
|
| 249 |
+
"inspect",
|
| 250 |
+
"installation",
|
| 251 |
+
"--assets",
|
| 252 |
+
"robot-assets"
|
| 253 |
+
],
|
| 254 |
+
"exit_code": 0,
|
| 255 |
+
"expected_exit_codes": [
|
| 256 |
+
0
|
| 257 |
+
],
|
| 258 |
+
"exit_expected": true,
|
| 259 |
+
"wall_seconds": 9.849826000165194,
|
| 260 |
+
"stdout": "17-inspect.stdout.txt",
|
| 261 |
+
"stderr": "17-inspect.stderr.txt",
|
| 262 |
+
"working_directory": "outside_source_checkout",
|
| 263 |
+
"PYTHONPATH": "unset"
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"id": "18-run-selected-once",
|
| 267 |
+
"argv": [
|
| 268 |
+
"dvidia-arm",
|
| 269 |
+
"run",
|
| 270 |
+
"installation",
|
| 271 |
+
"--assets",
|
| 272 |
+
"robot-assets",
|
| 273 |
+
"--start-x",
|
| 274 |
+
".309",
|
| 275 |
+
"--start-y",
|
| 276 |
+
"-.04",
|
| 277 |
+
"--goal",
|
| 278 |
+
"1",
|
| 279 |
+
"--output",
|
| 280 |
+
"placement-attempt"
|
| 281 |
+
],
|
| 282 |
+
"exit_code": 0,
|
| 283 |
+
"expected_exit_codes": [
|
| 284 |
+
0,
|
| 285 |
+
1
|
| 286 |
+
],
|
| 287 |
+
"exit_expected": true,
|
| 288 |
+
"wall_seconds": 24.44059733301401,
|
| 289 |
+
"stdout": "18-run-selected-once.stdout.txt",
|
| 290 |
+
"stderr": "18-run-selected-once.stderr.txt",
|
| 291 |
+
"working_directory": "outside_source_checkout",
|
| 292 |
+
"PYTHONPATH": "unset"
|
| 293 |
+
},
|
| 294 |
+
{
|
| 295 |
+
"id": "19-task-template",
|
| 296 |
+
"argv": [
|
| 297 |
+
"dvidia-arm",
|
| 298 |
+
"task-template"
|
| 299 |
+
],
|
| 300 |
+
"exit_code": 0,
|
| 301 |
+
"expected_exit_codes": [
|
| 302 |
+
0
|
| 303 |
+
],
|
| 304 |
+
"exit_expected": true,
|
| 305 |
+
"wall_seconds": 1.374279208946973,
|
| 306 |
+
"stdout": "19-task-template.stdout.txt",
|
| 307 |
+
"stderr": "19-task-template.stderr.txt",
|
| 308 |
+
"working_directory": "outside_source_checkout",
|
| 309 |
+
"PYTHONPATH": "unset"
|
| 310 |
+
},
|
| 311 |
+
{
|
| 312 |
+
"id": "20-assess-task",
|
| 313 |
+
"argv": [
|
| 314 |
+
"dvidia-arm",
|
| 315 |
+
"assess-task",
|
| 316 |
+
"lift-conditions.json"
|
| 317 |
+
],
|
| 318 |
+
"exit_code": 0,
|
| 319 |
+
"expected_exit_codes": [
|
| 320 |
+
0
|
| 321 |
+
],
|
| 322 |
+
"exit_expected": true,
|
| 323 |
+
"wall_seconds": 0.694312334060669,
|
| 324 |
+
"stdout": "20-assess-task.stdout.txt",
|
| 325 |
+
"stderr": "20-assess-task.stderr.txt",
|
| 326 |
+
"working_directory": "outside_source_checkout",
|
| 327 |
+
"PYTHONPATH": "unset"
|
| 328 |
+
}
|
| 329 |
+
],
|
| 330 |
+
"selected_placement_attempts": 1,
|
| 331 |
+
"selected_start_xy_m": [
|
| 332 |
+
0.309,
|
| 333 |
+
-0.04
|
| 334 |
+
],
|
| 335 |
+
"selected_goal_index": 1,
|
| 336 |
+
"no_retry_or_retuning": true,
|
| 337 |
+
"model_sha256": "2976a605575d9edefb5db366e72c5e006c0ce85a5531ad3d61512436864c8ded",
|
| 338 |
+
"model_binding": {
|
| 339 |
+
"installation_sha256": "459b1ccc8aae0c586d718e44b03259f824fdd92331065b813d2898ee43e09638",
|
| 340 |
+
"model_sha256": "2976a605575d9edefb5db366e72c5e006c0ce85a5531ad3d61512436864c8ded",
|
| 341 |
+
"physical_robot_ready": false,
|
| 342 |
+
"run_model_matches_installation": true,
|
| 343 |
+
"schema": "dvidia.arm-skill-run-binding/v1"
|
| 344 |
+
},
|
| 345 |
+
"installation_sha256": "459b1ccc8aae0c586d718e44b03259f824fdd92331065b813d2898ee43e09638",
|
| 346 |
+
"profile_static_contract_sha256": "c7d4bd0f28a3e19c6241072eb09ec8e1798356da82aa9396af1530417aaf69de",
|
| 347 |
+
"native_adapter_binding": {
|
| 348 |
+
"compiled_model_sha256": "e794fa258065f2bc91905926359f66cb998401e331dccc7cdd6bc10a36f27de5",
|
| 349 |
+
"mujoco_version": "3.15.0",
|
| 350 |
+
"numpy_version": "2.5.3",
|
| 351 |
+
"timestep_s": 0.001
|
| 352 |
+
},
|
| 353 |
+
"task_result": {
|
| 354 |
+
"success": true,
|
| 355 |
+
"native_valid": true,
|
| 356 |
+
"reason": "success",
|
| 357 |
+
"score": {
|
| 358 |
+
"success": true,
|
| 359 |
+
"reason": "success",
|
| 360 |
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| 2375 |
+
0.03020104207098484,
|
| 2376 |
+
0.025685790926218033,
|
| 2377 |
+
0.021710500121116638,
|
| 2378 |
+
0.03378866706043482,
|
| 2379 |
+
0.03032379224896431,
|
| 2380 |
+
0.03243133379146457,
|
| 2381 |
+
0.015653500333428383,
|
| 2382 |
+
0.03359175007790327,
|
| 2383 |
+
0.008347666822373867,
|
| 2384 |
+
0.024942167103290558,
|
| 2385 |
+
0.024593625217676163,
|
| 2386 |
+
0.03202591696754098,
|
| 2387 |
+
0.03496820805594325,
|
| 2388 |
+
0.045455874875187874,
|
| 2389 |
+
0.03498570900410414,
|
| 2390 |
+
0.01344624999910593,
|
| 2391 |
+
0.042080583050847054,
|
| 2392 |
+
0.010987875051796436,
|
| 2393 |
+
0.021931250113993883,
|
| 2394 |
+
0.02948775002732873,
|
| 2395 |
+
0.03127441694959998,
|
| 2396 |
+
0.018714083824306726,
|
| 2397 |
+
0.02984629198908806,
|
| 2398 |
+
0.03805937524884939,
|
| 2399 |
+
0.017638332676142454,
|
| 2400 |
+
0.023371999617666006
|
| 2401 |
+
],
|
| 2402 |
+
"process_peak_rss_bytes": 578879488
|
| 2403 |
+
},
|
| 2404 |
+
"episode_simulated_seconds": 20.00000000000146,
|
| 2405 |
+
"episode_trajectory_rows": 1001,
|
| 2406 |
+
"speed_summary": {
|
| 2407 |
+
"simulated_seconds": 20.00000000000146,
|
| 2408 |
+
"rollout_compute_wall_seconds": 18.355436959303916,
|
| 2409 |
+
"simulated_seconds_per_rollout_wall_second": 1.0895954176598317,
|
| 2410 |
+
"inference_p95_s": 0.0041410667123273,
|
| 2411 |
+
"control_step_p95_s": 0.03492438916582614,
|
| 2412 |
+
"missed_nominal_20ms_compute_boundaries": 179,
|
| 2413 |
+
"control_boundaries": 1000,
|
| 2414 |
+
"interpretation": "Unpaced CPU compute in this one installation smoke on the current machine; 179/1000 nominal 20ms compute budgets exceeded. Not a hard-real-time, sensor or hardware latency result."
|
| 2415 |
+
}
|
| 2416 |
+
},
|
| 2417 |
+
"task_assessment_status": "test_lift_required",
|
| 2418 |
+
"physical_robot_ready": false,
|
| 2419 |
+
"fresh_model_download": false,
|
| 2420 |
+
"fresh_asset_fetch": false,
|
| 2421 |
+
"dependency_install": "Fresh final venv from existing cached official wheels; no index.",
|
| 2422 |
+
"scope": "Single selected local native installation smoke, not a held-out evaluation or hardware test. Prior frozen 5/12 learned held-out benchmark is unchanged. Speed includes local simulation compute only, not sensing, bus or physical actuation."
|
| 2423 |
+
}
|
summary.json
ADDED
|
@@ -0,0 +1,1263 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "dvidia.arm-interface-benchmark-summary/v1",
|
| 3 |
+
"scope": "Unloaded native CPU tracking of authored setpoints using pinned upstream mechanics. Privileged simulator state; unpaced offline computation. No object task, learned policy, hardware latency, calibrated jaw gap/force or physical robot qualification.",
|
| 4 |
+
"settings": {
|
| 5 |
+
"accuracy": "Every post-step native millisecond, against both the applied held target and continuous reference at observation time.",
|
| 6 |
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"arm_amplitude_limit_rad": 0.04,
|
| 7 |
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"cases": [
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| 8 |
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"hold",
|
| 9 |
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"arm_perturbation",
|
| 10 |
+
"gripper_cycle"
|
| 11 |
+
],
|
| 12 |
+
"command_sampling": "At interval start; held until the next control boundary. No terminal command after the horizon.",
|
| 13 |
+
"control_periods_s": [
|
| 14 |
+
0.01,
|
| 15 |
+
0.02,
|
| 16 |
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0.04
|
| 17 |
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],
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| 18 |
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"duration_s": 0.4,
|
| 19 |
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|
| 20 |
+
"pacing": "Unpaced offline; budget exceedances compare computation with nominal control periods only.",
|
| 21 |
+
"physics_timestep_s": 0.001,
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| 22 |
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"profiles": [
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| 23 |
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"piper",
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| 24 |
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"so101",
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| 25 |
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| 26 |
+
],
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| 27 |
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"repeats": 2,
|
| 28 |
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"waveforms": {
|
| 29 |
+
"arm": "home + signed amplitude*sin(2*pi*t/duration)",
|
| 30 |
+
"gripper": "home + amplitude*sin(pi*t/duration)^2"
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"platform": {
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| 34 |
+
"machine": "arm64",
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| 35 |
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"python": "3.12.9",
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| 36 |
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"system": "Darwin"
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 45 |
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| 70 |
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| 71 |
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| 73 |
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| 75 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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