Add verified successful UR10e BC051 Phone07 seed2 showcase, with metrics and selection log

objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/commands.json

@@ -0,0 +1,69 @@
+{
+  "rollout": [
+    "/local_data/sy3535/environment/sharpa_retargeting/bin/python3.11",
+    "-m",
+    "sharpa.evaluation.student_rollout",
+    "--architecture",
+    "mlp",
+    "--checkpoint",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/bc051_epoch_5000.pt",
+    "--portable-package-root",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1",
+    "--normalization-output",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/success-seed-bc051-v1/seed_02/normalization.npz",
+    "--",
+    "--task",
+    "Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-Play-v1",
+    "--task-id",
+    "SHARPA-BC051-UR10E-P07-SEED2-SHOWCASE-V1",
+    "--checkpoint",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/bc051_epoch_5000.pt",
+    "--normalization",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/success-seed-bc051-v1/seed_02/normalization.npz",
+    "--artifact-manifest",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/phone07/artifact_manifest.json",
+    "--goal-region-contract",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/phone07/goal_contract/goal_region_contract.json",
+    "--output-root",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/success-seed-bc051-v1/seed_02/numeric",
+    "--seed",
+    "2",
+    "--steps",
+    "372",
+    "--device",
+    "cuda:0",
+    "--headless",
+    "--arm-contract",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/arm/backend.json",
+    "--reset-row-json",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/success-seed-bc051-v1/seed_02/reset_row.json"
+  ],
+  "render": [
+    "/local_data/sy3535/environment/sharpa_retargeting/bin/python3.11",
+    "-m",
+    "sharpa.evaluation.rendering.student_renderer",
+    "--portable-package-root",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1",
+    "--artifact-manifest",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/phone07/artifact_manifest.json",
+    "--rollout-npz",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/success-seed-bc051-v1/seed_02/numeric/rollout.npz",
+    "--metrics-json",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/success-seed-bc051-v1/seed_02/numeric/metrics.json",
+    "--checkpoint",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/bc051_epoch_5000.pt",
+    "--task-id",
+    "SHARPA-BC051-UR10E-P07-SEED2-SHOWCASE-V1",
+    "--demo-id",
+    "phone_07",
+    "--seed",
+    "2",
+    "--output-dir",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/success-seed-bc051-v1/seed_02/render",
+    "--device",
+    "cuda:0",
+    "--headless",
+    "--arm-contract",
+    "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/arm/backend.json"
+  ]
+}

objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/delivery_summary.json

@@ -0,0 +1,39 @@
+{
+  "schema": "sharpa_ur10e_student_selected_example_v1",
+  "checkpoint": "BC-051 Phone07 single-trajectory MLP epoch5000",
+  "checkpoint_sha256": "80d37ee38bd62783e759d08faa39e8b9c60d937a381c144649ba23c44f891bf1",
+  "episode": "phone_07",
+  "seed": 2,
+  "selection": "User-requested selected successful example across existing Stage4 checkpoints; not an aggregate success-rate estimate",
+  "rms_mm": 6.762690723701365,
+  "threshold_mm": 12,
+  "e4_rms_pass": true,
+  "legacy_e5_survival_pass": true,
+  "e6_hold_pass": true,
+  "e9_controller_pass": true,
+  "arm_contact_diagnostic_pass": true,
+  "trajectory_actions": 357,
+  "hold_actions": 15,
+  "samples": 373,
+  "rollout_sha256": "d0ffa69a4399b1a0a5c59bc8ff4f3b4060fd768a2130ad5cad574ab0555e7951",
+  "video_sha256": "30551ea8ab008d104761dd1905f973a85bc2e46c12b6786d2da3e4aeff8c762c",
+  "render_manifest_sha256": "50c283f62c46a9d7f134483349f9b5e67f68cd3bb5379b2d1a9a4a85dbebd778",
+  "reset_row_sha256": "934e4676f9a232a541327c5bbe228cb0e49d1712fcc28a42d874debd7c3b5e6c",
+  "code_commit": "a31a716da00c28023e9db50a88013ae19502efb9",
+  "ffprobe": {
+    "programs": [],
+    "streams": [
+      {
+        "codec_name": "h264",
+        "width": 1920,
+        "height": 960,
+        "r_frame_rate": "30/1",
+        "nb_frames": "373"
+      }
+    ],
+    "format": {
+      "duration": "12.433333"
+    }
+  },
+  "claim": "Selected successful physical rollout under bound metrics. No claim of 32-seed robustness or sim2real success; E5 retains bound legacy GoalContract semantics."
+}

objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/evaluation_contract.json

@@ -0,0 +1,66 @@
+{
+  "task_id": "SHARPA-BC051-UR10E-P07-SEED2-SHOWCASE-V1",
+  "seed": 2,
+  "policy": "MLP 213\u21921024\u21921024\u2192512\u219231; history3; Tp1/Ta1",
+  "checkpoint_sha256": "80d37ee38bd62783e759d08faa39e8b9c60d937a381c144649ba23c44f891bf1",
+  "training_card_sha256": "60e5685e61f70cbbf690ca1be2fe54fdc8134d1c7dd3ebc64a8d65ae901a87b6",
+  "dataset_manifest_sha256": "740ff1d0f02eab5429c97d7c6ee9054696133684d9999e57a8d1d12f57faf405",
+  "artifact_manifest_sha256": "eb10e87679fd58ee6bafd522b0896b8f8c4407c6673bba2d5544f9ac057dd54f",
+  "artifacts": {
+    "schema": "sharpa_managerbased_external_artifacts_v1",
+    "episode_id": "phone_07",
+    "stage1_npz": {
+      "path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/phone07/stage1_npz/stage1.npz",
+      "sha256": "319b656c073aaf63fb16d689009493d325714626efbdcfaf096dc6029909cff5"
+    },
+    "human_h5": {
+      "path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/phone07/human_h5/human_demo_60hz.h5",
+      "sha256": "75e4b51674ce3320f25ae2f7b4756f2c424fccdf55daa4d7e5af570e325fc4af"
+    },
+    "retarget_h5": {
+      "path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/phone07/retarget_h5/retargeted_moving28_60fps.h5",
+      "sha256": "c4c470a3aab6a25db2217a84b5f83fefeb6aa894784ee4c488eab8740b89fcf5"
+    },
+    "reference_manifest": {
+      "path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/phone07/reference_manifest/reference_manifest.json",
+      "sha256": "dd52710c39e8f12ab4ec5add43c910a3cc1f6412b0b53cb931daa903653c35b3"
+    },
+    "sharpa_usd": {
+      "path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/sharpa_usd_tree/right_sharpa_wave/right_sharpa_wave.usd",
+      "sha256": "9117d41b360f9f096eb966448cb98b301a528dd63ac38e0f5234edf4bcce9881"
+    },
+    "sharpa_usd_tree": {
+      "path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/sharpa_usd_tree/right_sharpa_wave",
+      "sha256": "b9e3d416437b1b093d43cd39912c704061f36f1fd7c6e4bc132deef8298c07a6"
+    },
+    "phone_usd": {
+      "path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/phone_asset_tree/phone/phone_isaac_v1.usd",
+      "sha256": "92deb240b3ce37e0c127099289466bb30adfa862834fcc5ad56923b4aca6820a"
+    },
+    "phone_asset_tree": {
+      "path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/phone_asset_tree/phone",
+      "sha256": "2ee9911318f58b99e2f256d362080e72f69d299afa0fe23bc63751e111082cc1"
+    },
+    "phone_keypoints": {
+      "path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/phone_keypoints/phone_mesh_fps_100.npy",
+      "sha256": "c9dfd378a587efd73f7d3830979ff28eac611993e52b5c905ebd731defbdaa17"
+    },
+    "wuji2_parent_source": {
+      "path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/wuji2_parent_source/wuji2_parent_runtime",
+      "sha256": "fba37e7b2a2c880e8dcaa091f89b28eacf3bcc89f0f2391dc65d0a87cd1d0323"
+    },
+    "goal_contract": {
+      "path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/phone07/goal_contract/goal_region_contract.json",
+      "sha256": "1df45ecd2dc7ade42b0cdfe63a4afe4a32a6c1e541317cfdebe1590f796b236d"
+    },
+    "dr_contract": {
+      "path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/dr_contract/dr_contract_refaug_reset_only_v1.json",
+      "sha256": "d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8"
+    }
+  },
+  "backend_sha256": "8dc35e62f4652f9db331a09374e6e8a98787431754ee2d4a06139d28a45ef9c2",
+  "reset_row_sha256": "934e4676f9a232a541327c5bbe228cb0e49d1712fcc28a42d874debd7c3b5e6c",
+  "trajectory_steps": 357,
+  "hold_steps": 15,
+  "coverage": "selected successful seed only; no aggregate claim"
+}

objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/numeric/action_chain.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5495d5e965efd1e1f7fc5f8171b7b87bc53b9c5debece4592aeaa59d7735d53
+size 188383

objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/numeric/arm_provenance.json

@@ -0,0 +1,12 @@
+{
+  "translation_m": [
+    0.1,
+    0,
+    1.0075
+  ],
+  "arm_contract_sha256": "8dc35e62f4652f9db331a09374e6e8a98787431754ee2d4a06139d28a45ef9c2",
+  "rollout_sha256": "d0ffa69a4399b1a0a5c59bc8ff4f3b4060fd768a2130ad5cad574ab0555e7951",
+  "policy_kind": "bc_student",
+  "reference_reads_in_arm_action": 0,
+  "state_writes_after_frame_zero": "GUARDED_FORBIDDEN"
+}

objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/numeric/evaluation_suite_card.json

@@ -0,0 +1,318 @@
+{
+  "evidence": {
+    "action_chain_sha256": "d5495d5e965efd1e1f7fc5f8171b7b87bc53b9c5debece4592aeaa59d7735d53",
+    "arm_backend_contract_sha256": "8dc35e62f4652f9db331a09374e6e8a98787431754ee2d4a06139d28a45ef9c2",
+    "arm_contact_diagnostic_pass": true,
+    "arm_forbidden_contact_max_depth_m": 0.0,
+    "arm_forbidden_contact_max_force_n": 0.0,
+    "arm_model": "ur10e",
+    "arm_runtime_readback": {
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+        200.0,
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+        150.0,
+        56.0,
+        56.0,
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+      "joint_names": [
+        "shoulder_pan_joint",
+        "shoulder_lift_joint",
+        "elbow_joint",
+        "wrist_1_joint",
+        "wrist_2_joint",
+        "wrist_3_joint"
+      ],
+      "joint_stiffness": [
+        4000.0,
+        4000.0,
+        4000.0,
+        4000.0,
+        4000.0,
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+      "joint_vel_limits": [
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+        3.1415927410125732,
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+    "artifact_manifest_sha256": "eb10e87679fd58ee6bafd522b0896b8f8c4407c6673bba2d5544f9ac057dd54f",
+    "basic_rollout_checks": {
+      "coarse_drop_detected": false,
+      "finite": true,
+      "full_horizon": true,
+      "max_wrist_object_distance_m": 0.1664578914642334
+    },
+    "bc_architecture": "mlp",
+    "bc_modality": "lowdim",
+    "case_id": "reset_seed_02",
+    "case_manifest_sha256": "1df45ecd2dc7ade42b0cdfe63a4afe4a32a6c1e541317cfdebe1590f796b236d",
+    "checkpoint_epoch": 5000,
+    "checkpoint_path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/inputs/bc051_epoch_5000.pt",
+    "checkpoint_sha256": "80d37ee38bd62783e759d08faa39e8b9c60d937a381c144649ba23c44f891bf1",
+    "code_commit": "a31a716da00c28023e9db50a88013ae19502efb9",
+    "controller_error_observable_all_samples": true,
+    "drop_observable_all_samples": true,
+    "e4_goal_region_pass": false,
+    "e4_keypoint_rms_mm": 6.762690723701365,
+    "e4_nearest_goal_exemplar_id": "phone_17",
+    "e4_object_keypoint_count": 100,
+    "e4_object_keypoints_sha256": "c9dfd378a587efd73f7d3830979ff28eac611993e52b5c905ebd731defbdaa17",
+    "e5_full_trajectory_survival_pass": true,
+    "e6_terminal_hold_pass": true,
+    "e9_applied_controller_safety_pass": true,
+    "episode_id": "phone_07",
+    "evaluation_protocol": "P0_P1_CANONICAL_PHASE0_SEED0_FULL_TRAJECTORY_PLUS_0.5S_HOLD",
+    "evaluation_status": "FAIL",
+    "evaluator_sha256": "643db28427fd18dd232b9f01aec5b6c4cadef905a7f7873bf0e89589f57373a4",
+    "expected_actions": 372,
+    "expected_samples": 373,
+    "failure_counts": {
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+      "controller_error": 0,
+      "drop": 0,
+      "invalid_state": 0,
+      "over_tolerance_penetration": 0,
+      "workspace_escape": 0
+    },
+    "first_failure_reason": null,
+    "first_failure_step": null,
+    "full_rollout_completed": true,
+    "group": "reset_only",
+    "hand_model": "sharpa",
+    "hold_rotation_slip_max_deg": 0.0006425666313539776,
+    "hold_steps": 15,
+    "hold_translation_slip_max_mm": 0.0008639105182464649,
+    "infrastructure_failure_reason": null,
+    "initialization_reset_audit": {
+      "max_abs_error": 6.533287966181689e-09,
+      "per_field_max_abs_error": {
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+        "reference_translation_m": 2.79396769609086e-10,
+        "reference_yaw_rad": 6.533287966181689e-09,
+        "relative_phone_rotvec_rad": 3.652545800536533e-10,
+        "relative_phone_translation_m": 1.3783574108472418e-10,
+        "rsi_phase0": 0.0
+      },
+      "runtime_checks": {
+        "action_dim_28": true,
+        "canonical_22_names": true,
+        "dynamic_dr_disabled": true,
+        "fixed_full_gravity": true,
+        "noise_disabled": true,
+        "push_disabled": true,
+        "reference_augmentation_enabled": true,
+        "rsi_phase0": true,
+        "zero_observation_lag": true
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+      "runtime_ledger": {
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+        "reference_yaw_rad": 0.24013197422027588,
+        "relative_phone_rotvec_rad": [
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+          -0.02017388865351677
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+        "relative_phone_translation_m": [
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+          0.00432125199586153,
+          0.00022896203154232353
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+        "rsi_phase0": 0.0
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+      "status": "PASS",
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+          0.0
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+        "common_yaw_rad": 0.2401319676869879,
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+          "middle": 0.008594193356111647,
+          "pinky": -0.020770444069057703,
+          "ring": -0.008607545914128423
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+        "phone_rotation": {
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+            0.17403256543117052,
+            -0.7858044244349003
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+          "axis_azimuth_rad": 2.8563505458253555,
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+        },
+        "phone_translation_m": [
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+          0.004321251858025789,
+          0.00022896203398704504
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+      },
+      "tolerance": 1e-07
+    },
+    "manifest_sha256": "eb10e87679fd58ee6bafd522b0896b8f8c4407c6673bba2d5544f9ac057dd54f",
+    "nearest_goal_exemplar_id": "phone_17",
+    "nearest_goal_orientation_error_deg": 6.1591184610149305,
+    "nearest_goal_position_error_mm": 4.9402922786082195,
+    "normalization_sha256": "be80ed9999e91ee3ccbb8cf47cd181a2054d1f6f76791da2b9ffdf5fe79a6fdd",
+    "normalization_source": "external_npz",
+    "penetration_depth_max_mm": 0.0,
+    "penetration_observability": "LIVE_FILTERED_PHYSX_SEPARATION",
+    "penetration_observable_all_samples": true,
+    "penetration_sensor_count": 28,
+    "phone_functional_pass": false,
+    "pointcloud_p0": null,
+    "policy_kind": "bc",
+    "reference_free_audit": {
+      "forbidden_fields_absent": [
+        "velocity",
+        "phase",
+        "frame_index",
+        "reference",
+        "teacher_action",
+        "teacher_reward",
+        "future_state"
+      ],
+      "frame_fields": [
+        "joint_position_22",
+        "wrist_pose_9",
+        "object_in_wrist_pose_9",
+        "previous_applied_target_31"
+      ],
+      "hidden_reset_before_rollout": false,
+      "history": 3,
+      "observation_dim": 71,
+      "reference_reads_after_reset": 0,
+      "status": "PASS"
+    },
+    "reference_free_audit_pass": true,
+    "reference_free_policy_input": true,
+    "reference_samples": 358,
+    "render_manifest_path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/success-seed-bc051-v1/seed_02/render/render_manifest.json",
+    "render_manifest_sha256": "50c283f62c46a9d7f134483349f9b5e67f68cd3bb5379b2d1a9a4a85dbebd778",
+    "rollout_sha256": "d0ffa69a4399b1a0a5c59bc8ff4f3b4060fd768a2130ad5cad574ab0555e7951",
+    "runtime_readback_sha256": "1c110d87145e2f8bc02ab8d84adb340b69564957a14aeeafa9e30ecc8f0c227a",
+    "samples_recorded": 373,
+    "schema": "sharpa_managerbased_reference_free_mlp_student_rollout_v1",
+    "schema_version": "reorientation-sharpa-phone-goal-region-result-v2",
+    "scientific_status": "FRESH_ISAAC_P1_DIAGNOSTIC",
+    "seed": 2,
+    "task": "Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-Play-v1",
+    "task_id": "SHARPA-BC051-UR10E-P07-SEED2-SHOWCASE-V1",
+    "terminal_sample_index": 357,
+    "thresholds": {
+      "goal_orientation_deg": 3.0,
+      "goal_position_m": 0.003,
+      "hold_rotation_slip_deg": 5.0,
+      "hold_translation_slip_m": 0.005,
+      "penetration_tolerance_m": 0.001
+    },
+    "trajectory_steps": 357,
+    "video_evidence_available": true,
+    "video_path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/success-seed-bc051-v1/seed_02/render/stage1_mano_vs_policy_actual_2x3.mp4",
+    "video_sha256": "30551ea8ab008d104761dd1905f973a85bc2e46c12b6786d2da3e4aeff8c762c"
+  },
+  "final_status": "FAIL_DIAGNOSTIC",
+  "policy_contract": {
+    "causal_audit_status": "PASS",
+    "family": "BC_STUDENT"
+  },
+  "schema_version": "reorientation-sharpa-policy-evaluation-suite-card-v1",
+  "stages": {
+    "P0_ARTIFACT": {
+      "missing_fields": [],
+      "status": "PASS"
+    },
+    "P1_CANONICAL": {
+      "components": {
+        "E4_goal_region": false,
+        "E5_survival": true,
+        "E6_terminal_hold": true,
+        "E9_controller_safety": true
+      },
+      "numeric_status": "FAIL",
+      "video_status": "PASS"
+    },
+    "P3_STATISTICS": {
+      "required_evidence": "3x1024 final evaluation",
+      "status": "NOT_RUN"
+    },
+    "RMS_SEED_SWEEP": {
+      "required_evidence": "configurable nominal/reset RMS seed table",
+      "status": "NOT_RUN"
+    }
+  }
+}

objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/numeric/evaluation_suite_card.md

@@ -0,0 +1,12 @@
+# Policy Evaluation Suite Card
+
+- Final status: `FAIL_DIAGNOSTIC`
+- Policy family: `BC_STUDENT`
+- Causal audit: `PASS`
+
+| Stage | Status |
+|---|---|
+| P0_ARTIFACT | `PASS` |
+| P1_CANONICAL | `FAIL` |
+| RMS_SEED_SWEEP | `NOT_RUN` |
+| P3_STATISTICS | `NOT_RUN` |

objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/numeric/metrics.json

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+{
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+  "e5_full_trajectory_survival_pass": true,
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+  "e9_applied_controller_safety_pass": true,
+  "episode_id": "phone_07",
+  "evaluation_protocol": "P0_P1_CANONICAL_PHASE0_SEED0_FULL_TRAJECTORY_PLUS_0.5S_HOLD",
+  "evaluation_status": "FAIL",
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+  "render_manifest_path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/success-seed-bc051-v1/seed_02/render/render_manifest.json",
+  "render_manifest_sha256": "50c283f62c46a9d7f134483349f9b5e67f68cd3bb5379b2d1a9a4a85dbebd778",
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+  "schema": "sharpa_managerbased_reference_free_mlp_student_rollout_v1",
+  "schema_version": "reorientation-sharpa-phone-goal-region-result-v2",
+  "scientific_status": "FRESH_ISAAC_P1_DIAGNOSTIC",
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+  "task": "Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-Play-v1",
+  "task_id": "SHARPA-BC051-UR10E-P07-SEED2-SHOWCASE-V1",
+  "terminal_sample_index": 357,
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+  "video_path": "/local_data/sy3535/code/reorientation/.worktrees/sharpa-stage4-ur10e-v1/outputs/success-seed-bc051-v1/seed_02/render/stage1_mano_vs_policy_actual_2x3.mp4",
+  "video_sha256": "30551ea8ab008d104761dd1905f973a85bc2e46c12b6786d2da3e4aeff8c762c"
+}

objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/numeric/rollout.npz

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objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/numeric/runtime_readback.json

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+{
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+  "status": "PASS"
+}

objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/render/render_manifest.json

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+    "common_y": 0.6633062558248639,
+    "common_yaw": 0.7293091379106045,
+    "finger_wrap": 0.027286618947982788,
+    "index_rub": 0.9873451720923185,
+    "middle_rub": 0.6718838671222329,
+    "phone_x": 0.41562642343342304,
+    "phone_y": 0.8601043215021491,
+    "phone_z": 0.5190801694989204,
+    "pinky_rub": 0.08459111861884594,
+    "ring_rub": 0.32784908171743155,
+    "rotation_axis_azimuth": 0.45460230857133865,
+    "rotation_axis_z": 0.10709778778254986,
+    "rotation_magnitude": 0.49031651485711336
+  },
+  "physical_reset": {
+    "common_translation_m": [
+      -0.005666665360331537,
+      0.016330625582486394,
+      0.0
+    ],
+    "common_yaw_rad": 0.2401319676869879,
+    "finger_offset_rad": [
+      0.0016371971368789673,
+      0.0,
+      0.0016371971368789673,
+      0.0,
+      0.0016371971368789673,
+      0.0016371971368789673,
+      0.02436725860461593,
+      0.0016371971368789673,
+      0.0016371971368789673,
+      0.0016371971368789673,
+      0.008594193356111647,
+      0.0016371971368789673,
+      0.0016371971368789673,
+      0.0016371971368789673,
+      -0.008607545914128423,
+      0.0016371971368789673,
+      0.0016371971368789673,
+      0.0016371971368789673,
+      0.0016371971368789673,
+      -0.020770444069057703,
+      0.0016371971368789673,
+      0.0016371971368789673
+    ],
+    "finger_rub_rad": {
+      "index": 0.02436725860461593,
+      "middle": 0.008594193356111647,
+      "pinky": -0.020770444069057703,
+      "ring": -0.008607545914128423
+    },
+    "finger_wrap_rad": 0.0016371971368789673,
+    "phone_rotation": {
+      "angle_rad": 0.02567291268348097,
+      "axis": [
+        -0.5934846861613031,
+        0.17403256543117052,
+        -0.7858044244349003
+      ],
+      "axis_azimuth_rad": 2.8563505458253555,
+      "axis_z": -0.7858044244349003,
+      "rotvec_rad": [
+        -0.015236480526802241,
+        0.004467922856396629,
+        -0.020173888374810215
+      ]
+    },
+    "phone_translation_m": [
+      -0.0010124829187989235,
+      0.004321251858025789,
+      0.00022896203398704504
+    ]
+  },
+  "sobol_engine_seed": 16,
+  "sobol_index": 2
+}

objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/selection_log.json

@@ -0,0 +1,109 @@
+{
+  "success-seed-search-v1": [
+    {
+      "seed": 3,
+      "rms_mm": 67.16181850303205,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 4,
+      "rms_mm": 85.85173930878837,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 5,
+      "rms_mm": 84.24675034617955,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 6,
+      "rms_mm": 85.24065227449036,
+      "status": "FAIL_DIAGNOSTIC"
+    }
+  ],
+  "success-seed-priority-v1": [
+    {
+      "seed": 23,
+      "rms_mm": 91.14576565409197,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 21,
+      "rms_mm": 83.58836603072997,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 24,
+      "rms_mm": 83.50242042438644,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 12,
+      "rms_mm": 86.10393589320273,
+      "status": "FAIL_DIAGNOSTIC"
+    }
+  ],
+  "success-seed-mlp-v1": [
+    {
+      "seed": 1,
+      "rms_mm": 82.84728369808437,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 3,
+      "rms_mm": 84.17569037072884,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 4,
+      "rms_mm": 1476.3364199728958,
+      "status": "FAIL_DIAGNOSTIC"
+    }
+  ],
+  "success-seed-gru-v1": [
+    {
+      "seed": 20,
+      "rms_mm": 579.9499030578373,
+      "status": "FAIL_DIAGNOSTIC"
+    }
+  ],
+  "success-seed-phone07-v1": [
+    {
+      "seed": 1,
+      "rms_mm": 588.253560624717,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 2,
+      "rms_mm": 37.42996225994365,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 4,
+      "rms_mm": 591.7669613797592,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 8,
+      "rms_mm": 55.402649523745445,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 0,
+      "rms_mm": 606.6166113250437,
+      "status": "FAIL_DIAGNOSTIC"
+    }
+  ],
+  "success-seed-bc051-v1": [
+    {
+      "seed": 1,
+      "rms_mm": 12.191963104754269,
+      "status": "FAIL_DIAGNOSTIC"
+    },
+    {
+      "seed": 2,
+      "rms_mm": 6.762690723701365,
+      "status": "NUMERIC_PASS"
+    }
+  ]
+}

objects/phone/evaluations/stage4-ur10e-bc051-phone07-seed02-showcase-20261005-v1/training_card.md

@@ -0,0 +1,96 @@
+# Training Card: SHARPA-BC-051 DATA-019 Phone07 Default MLP Tp1
+
+| Field | Value |
+|---|---|
+| Description | 在DATA-019 partial2763 proof-of-work snapshot上训练default history-3 MLP Student。 |
+| Role | Task ID`SHARPA-BC-051`；SHENGTAO_REQUESTED / PRELAUNCH / GATES_NOT_RUN / NOT_LAUNCHED。 |
+| Policy | MLP`213→1024→1024→512→31`；SiLU；无recurrent hidden。 |
+| Policy input | attempt-local history-3 213D deployable pose/action state。 |
+| Hidden state | false；时间信息只来自显式history-3。 |
+| Action | 31D executed absolute target；T_p=1、T_a=1；每步fresh observation replan。 |
+| Data | SHARPA-BC-DATA-019；1936 train/390,694 transitions；340 validation；311 heldout；176 reflection；infra0。 |
+| Training | AdamW LR`3e-4`、wd0；batch256；41,560 sampled contexts/epoch；5000 epochs；save100；seed0。 |
+| Reward profile | train-only normalized target MSE；无simulator reward。 |
+| Claim | 只验证DATA-019 proof-of-work snapshot上的offline MLP拟合；不宣称完整C4096 coverage或闭环成功。 |
+| Metric | fixed`epoch_5000.pt`；train normalized MSE；heldout仅在训练后audit。 |
+| W&B | entity`sy3535-new-york-university`；project`sharpa-bc`；group`sharpa-data018-data019-default-mlp-v1`；run ID/name`sharpa-bc-051-data019-phone07-default-mlp-s0-v1`。 |
+
+## Policy Inputs
+
+| Field | Dim | Description |
+|---|---:|---|
+| joint_position | 22 | actual Sharpa joint positions，rad。 |
+| wrist_pose | 9 | gravity-aligned world wrist xyz3+rot6D6。 |
+| object_in_wrist | 9 | wrist-frame phone xyz3+rot6D6。 |
+| previous_applied_target | 31 | previous executed absolute target。 |
+| Per frame | 71 | deployable state；无velocity、phase、reference或DR latent。 |
+| History-3 | 213 | oldest→newest；attempt左边界复制frame0。 |
+
+## Data, Sampling, and Normalization
+
+| Field | Contract |
+|---|---|
+| Data Card | `docs/data_cards/20260831_sharpa_bc_data019_t0149_phone07_partial2763_pow_v1.md`。 |
+| Dataset root | `outputs/sharpa_bc_data019/20260831_t0149_model7800_phone07_partial2763_pow_v1/dataset_v1`。 |
+| Manifest SHA | `740ff1d0f02eab5429c97d7c6ee9054696133684d9999e57a8d1d12f57faf405`。 |
+| Membership | train1936；validation340；heldout311；reflection176；infra0。 |
+| Sampling | 每epoch按attempt等权、attempt内transition等权有放回采样41,560 contexts。 |
+| Normalization | Dataset冻结的1936 admitted-train-only moments。 |
+| Supervision | `observation_t → final_applied_target_31[t]`。 |
+| Leakage | history不得跨attempt；validation/heldout不进入训练、normalization或checkpoint选择。 |
+| Coverage caveat | selector按用户停止时receipt availability形成；不代表完整DATA-017分布。 |
+
+## Stage2 Reference Acceptance
+
+本Card不在训练时读取H5；以下只绑定产生Teacher rollouts的上游身份，不代表Student成功。
+
+| Artifact | SHA256 | Acceptance evidence |
+|---|---|---|
+| phone07 Stage1 NPZ | `319b656c073aaf63fb16d689009493d325714626efbdcfaf096dc6029909cff5` | object-centric source。 |
+| phone07 human H5 | `75e4b51674ce3320f25ae2f7b4756f2c424fccdf55daa4d7e5af570e325fc4af` | 715 frames@60Hz。 |
+| phone07 retarget H5 | `c4c470a3aab6a25db2217a84b5f83fefeb6aa894784ee4c488eab8740b89fcf5` | 358 control states。 |
+| Snapshot selector | `430b10f833a48321fa8f8f5d7dd4c7cfab1603de73c389c25ed8351c1003dcc6` | 2763 unique terminal cases。 |
+| Dataset manifest | `740ff1d0f02eab5429c97d7c6ee9054696133684d9999e57a8d1d12f57faf405` | READY proof-of-work snapshot。 |
+
+任何Dataset manifest、view、normalization或selector bytes变化要求新Task ID、Card、W&B和output root。
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | false |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Reset randomization | not applicable | offline trainer不运行reset。 |
+| Physics randomization | not applicable | offline trainer不运行PhysX。 |
+| Observation/noise/lag | disabled | 不添加noise、lag、dropout或velocity。 |
+| Disturbance/push | disabled | 无外力或push。 |
+| Reference/trajectory augmentation | disabled | trainer只读取冻结Dataset views。 |
+
+Parent Teacher数据来自DR+RSI rollouts，但Student不读取DR latent。
+
+## Rewards
+
+| Reward | Weight | Description |
+|---|---:|---|
+| normalized_target_mse | 1.0 | 31D normalized executed-target MSE。 |
+
+## Optimization and Checkpoints
+
+| Field | Frozen value |
+|---|---|
+| Trainer commit | `254d99c61ff71edd7bd5daf00b78902d541a1412`。 |
+| Optimizer | AdamW；LR`3e-4`；weight decay0；seed0。 |
+| Exposure | batch256；samples/epoch41,560；有放回hierarchical sampling。 |
+| Budget | 5000 epochs；save interval100。 |
+| Selection | fixed final`epoch_5000.pt`；validation/heldout不选模。 |
+| Formal output | `outputs/sharpa_bc_training/20260831_bc051_data019_phone07_default_mlp_formal_v1`；create-only。 |
+| CPU gate | 1 epoch/128 samples；manifest、finite、checkpoint strict reload。 |
+| W&B gate | online 1 epoch；身份readback必须一致。 |
+
+## Evaluation and Delivery
+
+本请求只授权offline训练。Fresh simulator rollout、2×3视频和闭环判定保持`NOT_RUN`；任何部署结论必须另按Policy evaluation合同执行。