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"asset_provenance": {
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"profile": "piper",
"repository": "https://github.com/google-deepmind/mujoco_menagerie",
"simulation_asset_license": "MIT"
},
"baseline_source_commit": "bc106d6f66367f8896787a2303aa0a124c69ea56",
"candidate_controller_contract": {
"acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
"admission": "Freeze the measured TCP pose and preceding issued target. Check the unchanged 0.08 rad initial bias and 0.02 rad joint margin. Repeat the preceding issued target exactly; initialize cumulative correction to zero.",
"anti_windup": "Refuse the unlimited cumulative proposal before slew limiting. Commit correction only after all checks pass. Refusal is terminal and leaves accumulated correction unchanged.",
"candidate": "incremental",
"control_dt_s": 0.02,
"final_observation": "Check force, original eligibility and pose error without solving, integrating or issuing another command.",
"invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
"limits": {
"initial_joint_bias_ceiling_rad": 0.08,
"joint_correction_ceiling_rad": 0.03,
"joint_correction_rate_rad_s": 0.1,
"native_joint_target_margin_rad": 0.02,
"per_finger_force_ceiling_n": 10.0,
"tcp_orientation_error_ceiling_rad": 0.05,
"tcp_position_error_ceiling_m": 0.004
},
"measured_joint_eligibility": "At admission, subsequent updates and final observations, refuse measured joints outside the native 0.02 rad target margin before solving. This prevents absolute-target clipping from manufacturing a nonzero increment at zero pose error.",
"observation_origin": "privileged_native_simulator_state",
"physical_robot_ready": false,
"qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
"rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
"refusal": "Original grip, force, pose, initial-bias, joint-margin and timeout refusals remain terminal. A valid terminal observation latches measured joints and the frozen jaw; its fallback is not active incremental regulation.",
"sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
"schema": "dvidia.piper-incremental-hold/v3",
"update_gain_per_boundary": 1.0,
"update_law": "increment = pose_action(frozen_admission_pose) - current_measured_joints; proposal = previous_correction + 1.0 * increment; refuse unlimited proposal outside +/-0.03 rad; slew accepted correction by at most 0.002 rad per joint per 20 ms; target = admission_issued_target + accepted_correction",
"variants": [
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]
},
"cases": [
{
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"friction": 0.78,
"goal_dwell_s": 0.25,
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"jaw_target_rate_m_s": 0.05,
"joint_target_rate_rad_s": 1.5,
"mass_kg": 0.0475,
"min_lift_dwell_s": 0.1,
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"id": "m0475-f78-p0",
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"joint_target_rate_rad_s": 1.5,
"mass_kg": 0.0475,
"min_lift_dwell_s": 0.1,
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"friction": 0.78,
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"mass_kg": 0.0525,
"min_lift_dwell_s": 0.1,
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"object_position_m": [
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"tool_orientation_wxyz": [
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"mass_kg": 0.0525,
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"timeout_s": 20.0,
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"variant_order": [
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}
],
"cohort": "fresh_development_method_check",
"comparison": "Shared acquisition native prefixes must be exactly equal through the earliest common treatment boundary: an admission or an explicit pre-admission hold-bound refusal in any variant. Commands strictly before that boundary must match. If no treatment begins, compare the full traces. Closed-loop hold controls may then change trajectories. These finite cells do not estimate population accuracy or isolate arbitrary physical mechanisms.",
"controller_contract": {
"acquisition": "Unchanged ProbeStopPolicy evidence acquisition, including its bounded supported retry. All variants share the same prefix through the first admission observation.",
"cartesian": "Latch measured TCP position/orientation and preceding issued targets. Fixed joint bias equals issued target minus pose_action at the admission pose. First command repeats the exact issued target; later pose_action updates receive that fixed bias.",
"control_dt_s": 0.02,
"final_observation": "Repeat force, original eligibility and Cartesian pose-error checks. Do not solve or issue a hypothetical next control at the terminal observation.",
"invalid_measurements": "Malformed, nonfinite or noncausal observations terminally refuse and raise without issuing a command. No measured-position stop is claimed from invalid measurements.",
"issued_joint": "Latch the preceding issued six joint targets and the same last issued jaw target at admission.",
"limits": {
"initial_joint_bias_ceiling_rad": 0.08,
"joint_correction_ceiling_rad": 0.03,
"joint_correction_rate_rad_s": 0.1,
"native_joint_target_margin_rad": 0.02,
"per_finger_force_ceiling_n": 10.0,
"tcp_orientation_error_ceiling_rad": 0.05,
"tcp_position_error_ceiling_m": 0.004
},
"measured_joint": "Original hold: latch measured six joint coordinates and the last issued jaw target at admission.",
"observation_origin": "privileged_native_simulator_state",
"physical_robot_ready": false,
"qualifications": "Engineering limits and the 10 N ceiling are authored synthetic assumptions, not damage limits or calibrated physical telemetry. Position targets are not physical stops or force limiters. No load/friction inference, model training or complete placement is implemented.",
"rate_scope": "The extra correction slews at at most 0.002 rad per 20 ms per joint. Original native 1 ms target slew, servos, gains and force caps remain unchanged.",
"refusal": "Original eligibility loss, unexpected contact or observed pad force >10 N terminally requests measured joint hold and the frozen jaw target. Cartesian error, initial-bias, total-correction or native-margin exhaustion also refuses terminally; it never chases an already failed grip.",
"sampling": "Control checks occur at 20 ms boundaries. Independent saved 1 ms native evidence must judge a continuous 5 s hold; missed between-boundary failures remain findings.",
"schema": "dvidia.piper-retention/v2",
"variants": [
"measured_joint",
"issued_joint",
"cartesian"
]
},
"force_ceiling_n": 10.0,
"force_ceiling_scope": "Unchanged arbitrary synthetic admission ceiling, not measured damage calibration or a force command.",
"grip_only_endpoint": {
"controller_status": "Controller retained-at-5s and final hold are reported separately; native success never grants actuator permission.",
"definition": "Correct 100 ms native admission prefix, then every native predicate sample through the next 5 s; complete valid warning-free run, no unexpected contact anywhere in the run and no force-ceiling violation on any subsequent hold row.",
"duration_s": 5.0,
"missing_followup": "No admission or less than five seconds of recorded followup is retained as failure, never padded.",
"native_dt_s": 0.001,
"predicate": "Both contact counts positive, both pad forces strictly >0.01 N and <=10 N including the admission-prefix window, no table support or unexpected contact, rise >=0.006 m from this probe origin and TCP-local drift <=0.003 m; distance epsilon1e-12."
},
"learned_policy": false,
"order": "Four Williams orders repeated twice: [0,1,3,2], [1,2,0,3], [2,3,1,0], [3,0,2,1]. Each variant occupies every position twice. One attempt per scene/variant; no resume, outcome-based retry, candidate selection or post-result tuning.",
"physical_robot_ready": false,
"planned_attempts": 32,
"primary_endpoint": {
"controller_status": "Controller retained-at-5s and final hold are reported separately; native success never grants actuator permission.",
"definition": "Correct 100 ms native admission prefix, then every native predicate sample through the next 5 s; complete valid warning-free run, no unexpected contact anywhere in the run and no force-ceiling violation on any subsequent hold row. Additionally every native TCP pose from admission through five seconds must stay within 4 mm and 0.05 rad of its admission pose.",
"duration_s": 5.0,
"missing_followup": "No admission or less than five seconds of recorded followup is retained as failure, never padded.",
"name": "grip_retention_and_tcp_stationarity",
"native_dt_s": 0.001,
"orientation_ceiling_rad": 0.05,
"position_ceiling_m": 0.004,
"predicate": "Both contact counts positive, both pad forces strictly >0.01 N and <=10 N including the admission-prefix window, no table support or unexpected contact, rise >=0.006 m from this probe origin and TCP-local drift <=0.003 m; distance epsilon1e-12. TCP displacement <=0.004 m and orientation error <=0.05 rad with epsilon 1e-12, identically for all four variants."
},
"runtime": {
"executable_sha256": "2bf9f73bce307190aa9298edd1ba8f7e86500126df8d845cf6d2bedb05968d59",
"machine": "arm64",
"mujoco": "3.15.0",
"numpy": "2.5.3",
"python": "3.12.9",
"system": "Darwin"
},
"schema": "dvidia.piper-incremental-hold-study/v1",
"scope": "One authored bounded incremental pose-hold candidate and three frozen v0.2 controls. Eight fresh finite synthetic development scenes with privileged simulator state; no learning, full placement, physical sensing or hardware qualification.",
"secondary_endpoint": {
"active_controller_conjunction": "Primary native task success AND controller qualified at the five-second endpoint. Refusal is terminal, so endpoint qualification requires uninterrupted controller admission.",
"grip_only": {
"controller_status": "Controller retained-at-5s and final hold are reported separately; native success never grants actuator permission.",
"definition": "Correct 100 ms native admission prefix, then every native predicate sample through the next 5 s; complete valid warning-free run, no unexpected contact anywhere in the run and no force-ceiling violation on any subsequent hold row.",
"duration_s": 5.0,
"missing_followup": "No admission or less than five seconds of recorded followup is retained as failure, never padded.",
"native_dt_s": 0.001,
"predicate": "Both contact counts positive, both pad forces strictly >0.01 N and <=10 N including the admission-prefix window, no table support or unexpected contact, rise >=0.006 m from this probe origin and TCP-local drift <=0.003 m; distance epsilon1e-12."
},
"maintained_claims": "At every post-admission boundary claimed qualified, check the complete native history from admission through that boundary. Count grip and pose contradictions separately; false initial admission also invalidates subsequent grip claims.",
"stationarity_details": {
"definition": "Primary native grip retention succeeds, and every native TCP pose from admission through five seconds stays within 4 mm and 0.05 rad of the admission pose. Identical bounds for all four controllers, measured from recorded native poses.",
"duration_s": 5.0,
"name": "grip_retention_and_tcp_stationarity",
"orientation_ceiling_rad": 0.05,
"position_ceiling_m": 0.004
}
},
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]
}
|