| { |
| "arm_command_contract": "binary hold/advance of frozen v0.1 path; no learned geometry correction", |
| "base_sha256": "524d4c3e45c7708d72e75125420cbdd1d9878568514e32464fea31de21a1bd01", |
| "blind": false, |
| "control_interval_s": 0.02, |
| "decision_rule": "advance_probability > 0.5; ties hold", |
| "feature_contract": "grip56-physical-time-plus-causal-progress-and-debt/v1", |
| "feature_names": [ |
| "reset_object_x_m/.5", |
| "reset_object_y_m/.5", |
| "fixed_goal_x_m/.5", |
| "fixed_goal_y_m/.5", |
| "elapsed_seconds/20", |
| "frozen_nominal_jaw_m/.035", |
| "lag40_actual_age_s/.12", |
| "lag120_actual_age_s/.12", |
| "current:object_minus_tcp_x_m/.05", |
| "current:object_minus_tcp_y_m/.05", |
| "current:object_minus_tcp_z_m/.05", |
| "current:target_minus_object_x_m/.2", |
| "current:target_minus_object_y_m/.2", |
| "current:target_minus_object_z_m/.2", |
| "current:object_linear_velocity_x_m_s/.2", |
| "current:object_linear_velocity_y_m_s/.2", |
| "current:object_linear_velocity_z_m_s/.2", |
| "current:jaw_left_m/.035", |
| "current:jaw_right_m/.035", |
| "current:log1p_left_force_n/3", |
| "current:log1p_right_force_n/3", |
| "current:left_finger_contacts/2", |
| "current:right_finger_contacts/2", |
| "current:table_contacts/2", |
| "lag40:object_minus_tcp_x_m/.05", |
| "lag40:object_minus_tcp_y_m/.05", |
| "lag40:object_minus_tcp_z_m/.05", |
| "lag40:target_minus_object_x_m/.2", |
| "lag40:target_minus_object_y_m/.2", |
| "lag40:target_minus_object_z_m/.2", |
| "lag40:object_linear_velocity_x_m_s/.2", |
| "lag40:object_linear_velocity_y_m_s/.2", |
| "lag40:object_linear_velocity_z_m_s/.2", |
| "lag40:jaw_left_m/.035", |
| "lag40:jaw_right_m/.035", |
| "lag40:log1p_left_force_n/3", |
| "lag40:log1p_right_force_n/3", |
| "lag40:left_finger_contacts/2", |
| "lag40:right_finger_contacts/2", |
| "lag40:table_contacts/2", |
| "lag120:object_minus_tcp_x_m/.05", |
| "lag120:object_minus_tcp_y_m/.05", |
| "lag120:object_minus_tcp_z_m/.05", |
| "lag120:target_minus_object_x_m/.2", |
| "lag120:target_minus_object_y_m/.2", |
| "lag120:target_minus_object_z_m/.2", |
| "lag120:object_linear_velocity_x_m_s/.2", |
| "lag120:object_linear_velocity_y_m_s/.2", |
| "lag120:object_linear_velocity_z_m_s/.2", |
| "lag120:jaw_left_m/.035", |
| "lag120:jaw_right_m/.035", |
| "lag120:log1p_left_force_n/3", |
| "lag120:log1p_right_force_n/3", |
| "lag120:left_finger_contacts/2", |
| "lag120:right_finger_contacts/2", |
| "lag120:table_contacts/2", |
| "virtual_progress_seconds/20", |
| "physical_minus_virtual_seconds/20" |
| ], |
| "jaw_command_contract": "Original primitive jaw reference evaluated at shared virtual progress; physical time retained in features", |
| "jaw_sha256": "ed2ece889eb2c9f77ac1999e7d95d9eb932ccbf44833983c2238cb2212b35457", |
| "nodes": [ |
| { |
| "advance_probability": 0.5188490380373927, |
| "feature": 17, |
| "left": 1, |
| "right": 8, |
| "samples": 64000, |
| "threshold": 0.8996731490266321, |
| "weight_sum": 117884.0 |
| }, |
| { |
| "advance_probability": 0.16445701490778386, |
| "feature": 51, |
| "left": 2, |
| "right": 7, |
| "samples": 14000, |
| "threshold": 0.06608309675933294, |
| "weight_sum": 67884.0 |
| }, |
| { |
| "advance_probability": 0.03368144879636097, |
| "feature": 11, |
| "left": 3, |
| "right": 4, |
| "samples": 4813, |
| "threshold": -0.0067817692180202616, |
| "weight_sum": 58697.0 |
| }, |
| { |
| "advance_probability": 1.0, |
| "feature": -1, |
| "left": -1, |
| "right": -1, |
| "samples": 1354, |
| "threshold": 0.0, |
| "weight_sum": 1354.0 |
| }, |
| { |
| "advance_probability": 0.010864447273424829, |
| "feature": 57, |
| "left": 5, |
| "right": 6, |
| "samples": 3459, |
| "threshold": 0.0, |
| "weight_sum": 57343.0 |
| }, |
| { |
| "advance_probability": 0.27189988623435724, |
| "feature": -1, |
| "left": -1, |
| "right": -1, |
| "samples": 542, |
| "threshold": 0.0, |
| "weight_sum": 1758.0 |
| }, |
| { |
| "advance_probability": 0.002608617432760637, |
| "feature": -1, |
| "left": -1, |
| "right": -1, |
| "samples": 2917, |
| "threshold": 0.0, |
| "weight_sum": 55585.0 |
| }, |
| { |
| "advance_probability": 1.0, |
| "feature": -1, |
| "left": -1, |
| "right": -1, |
| "samples": 9187, |
| "threshold": 0.0, |
| "weight_sum": 9187.0 |
| }, |
| { |
| "advance_probability": 1.0, |
| "feature": -1, |
| "left": -1, |
| "right": -1, |
| "samples": 50000, |
| "threshold": 0.0, |
| "weight_sum": 50000.0 |
| } |
| ], |
| "physical_robot_ready": false, |
| "progress_horizon_s": 20.0, |
| "progress_increment_classes_s": [ |
| 0.0, |
| 0.02 |
| ], |
| "schema": "dvidia.piper-grip-progress-clock/v2", |
| "scope": "Simulation-only learned binary hold/advance clock coordinating all seven frozen PiPER primitive arm/jaw references at shared virtual progress; synthetic authored-expert supervision and privileged causal grip sensing. Physical elapsed time and its nominal jaw reference remain clock features. No new jaw policy or path geometry, camera, runtime teacher, IK or physical robot qualification.", |
| "training": { |
| "algorithm": "numpy-weighted-binned-binary-cart", |
| "brier_mse": 0.004179138855588773, |
| "classification_error": 0.009734375, |
| "dataset_sha256": "524ea5effbd18b1c5fbab2e1f01c8b75b94d2676b01c17fcb12b0bbdeabb037a", |
| "group_samples": [ |
| { |
| "case_id": "train-xy00-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy00-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy00-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy00-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy01-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy01-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy01-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy01-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy02-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy02-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy02-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy02-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy03-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy03-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy03-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy03-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy04-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy04-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy04-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy04-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy05-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy05-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy05-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy05-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy06-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy06-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy06-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy06-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy07-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy07-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy07-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy07-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy08-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy08-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy08-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy08-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy09-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy09-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy09-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy09-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy10-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy10-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy10-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy10-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy11-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy11-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy11-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy11-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy12-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy12-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy12-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy12-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy13-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy13-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy13-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy13-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy14-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy14-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy14-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy14-g1-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy15-g0-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy15-g0-post_grip", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy15-g1-nominal", |
| "samples": 1000 |
| }, |
| { |
| "case_id": "train-xy15-g1-post_grip", |
| "samples": 1000 |
| } |
| ], |
| "groups_sha256": "afe97108ef538ae352ee1de956c8733192f649afa59b00d372eabeab92c144d2", |
| "max_bins": 31, |
| "max_depth": 4, |
| "min_leaf": 64, |
| "parent_artifacts": { |
| "protocol_sha256": "bff1c076594b8ed06cd7ae3d7eb3f7b819ee29226242abe577b19f9ffe97fde3", |
| "teacher_manifest_sha256": "0432fd9c396fee1acaa29947050173baa5e3b02f98e472d331264492af8ef1e0" |
| }, |
| "progress_mae_s": 0.0001946875, |
| "sample_count": 64000, |
| "scene_count": 64, |
| "train_groups": [ |
| "train-xy00-g0-nominal", |
| "train-xy00-g0-post_grip", |
| "train-xy00-g1-nominal", |
| "train-xy00-g1-post_grip", |
| "train-xy01-g0-nominal", |
| "train-xy01-g0-post_grip", |
| "train-xy01-g1-nominal", |
| "train-xy01-g1-post_grip", |
| "train-xy02-g0-nominal", |
| "train-xy02-g0-post_grip", |
| "train-xy02-g1-nominal", |
| "train-xy02-g1-post_grip", |
| "train-xy03-g0-nominal", |
| "train-xy03-g0-post_grip", |
| "train-xy03-g1-nominal", |
| "train-xy03-g1-post_grip", |
| "train-xy04-g0-nominal", |
| "train-xy04-g0-post_grip", |
| "train-xy04-g1-nominal", |
| "train-xy04-g1-post_grip", |
| "train-xy05-g0-nominal", |
| "train-xy05-g0-post_grip", |
| "train-xy05-g1-nominal", |
| "train-xy05-g1-post_grip", |
| "train-xy06-g0-nominal", |
| "train-xy06-g0-post_grip", |
| "train-xy06-g1-nominal", |
| "train-xy06-g1-post_grip", |
| "train-xy07-g0-nominal", |
| "train-xy07-g0-post_grip", |
| "train-xy07-g1-nominal", |
| "train-xy07-g1-post_grip", |
| "train-xy08-g0-nominal", |
| "train-xy08-g0-post_grip", |
| "train-xy08-g1-nominal", |
| "train-xy08-g1-post_grip", |
| "train-xy09-g0-nominal", |
| "train-xy09-g0-post_grip", |
| "train-xy09-g1-nominal", |
| "train-xy09-g1-post_grip", |
| "train-xy10-g0-nominal", |
| "train-xy10-g0-post_grip", |
| "train-xy10-g1-nominal", |
| "train-xy10-g1-post_grip", |
| "train-xy11-g0-nominal", |
| "train-xy11-g0-post_grip", |
| "train-xy11-g1-nominal", |
| "train-xy11-g1-post_grip", |
| "train-xy12-g0-nominal", |
| "train-xy12-g0-post_grip", |
| "train-xy12-g1-nominal", |
| "train-xy12-g1-post_grip", |
| "train-xy13-g0-nominal", |
| "train-xy13-g0-post_grip", |
| "train-xy13-g1-nominal", |
| "train-xy13-g1-post_grip", |
| "train-xy14-g0-nominal", |
| "train-xy14-g0-post_grip", |
| "train-xy14-g1-nominal", |
| "train-xy14-g1-post_grip", |
| "train-xy15-g0-nominal", |
| "train-xy15-g0-post_grip", |
| "train-xy15-g1-nominal", |
| "train-xy15-g1-post_grip" |
| ], |
| "weight_sum": 117884.0, |
| "weighted_classification_error": 0.005284856299412982 |
| } |
| } |
|
|
