Organize one canonical directory per phone; preserve BC and teacher evidence
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +6 -0
- README.md +16 -102
- catalog.json +156 -70
- collections/data046/README.md +3 -0
- collections/data046/collection_manifest.json +126 -0
- collections/data046/data_card.md +105 -0
- collections/data046/normalization.npz +3 -0
- collections/data046/parent_snapshot.json +142 -0
- provenance/metadata.sha256 +184 -0
- provenance/migration_receipt.json +0 -0
- shared/guides/ASTRA_GUIDE.md +251 -0
- shared/legacy_evidence/0918/video_manifest.json +78 -0
- shared/legacy_evidence/0918/videos/astra_longitudinal_recovery_three_way.mp4 +3 -0
- shared/legacy_evidence/0918/videos/ur5e_sharpa_arm_policy_diagnostic_2x3.mp4 +3 -0
- shared/phone/cell_phone.stl +3 -0
- shared/phone/goal_region_contract.json +334 -0
- shared/phone/phone_mesh_fps_100.npy +3 -0
- trajectories/phone_01/README.md +5 -0
- trajectories/phone_01/raw/source_manifest.json +7 -0
- trajectories/phone_01/stage1/stage1.manifest.json +62 -0
- trajectories/phone_01/stage1/stage1.npz +3 -0
- trajectories/phone_01/stage2/canonical_retarget.h5 +3 -0
- trajectories/phone_01/stage2/contracts/goal_contract_derivation_receipt.json +10 -0
- trajectories/phone_01/stage2/contracts/goal_region_contract.json +334 -0
- trajectories/phone_01/stage2/human_demo_60hz.h5 +3 -0
- trajectories/phone_01/stage2/qa/continuity_jointlimit_report.json +19 -0
- trajectories/phone_01/stage2/qa/exact_render/keyframe_end.png +3 -0
- trajectories/phone_01/stage2/qa/exact_render/keyframe_middle.png +3 -0
- trajectories/phone_01/stage2/qa/exact_render/keyframe_start.png +3 -0
- trajectories/phone_01/stage2/qa/exact_render/render_provenance.json +483 -0
- trajectories/phone_01/stage2/qa/exact_render/stage1_stage2_exact_2x3.mp4 +3 -0
- trajectories/phone_01/stage2/qa/materialization_receipt.json +83 -0
- trajectories/phone_01/stage2/qa/nonpenetration_report.json +42 -0
- trajectories/phone_01/stage2/qa/path_audit.json +17 -0
- trajectories/phone_01/stage2/qa/stage1_stage2_2x3.mp4 +3 -0
- trajectories/phone_01/stage2/qa/stage2_validation.json +125 -0
- trajectories/phone_01/stage2/reference_manifest.json +198 -0
- trajectories/phone_01/stage2/retargeted_moving28_60fps.h5 +3 -0
- trajectories/phone_01/stage2/stage2_handoff.json +73 -0
- trajectories/phone_01/stage3/status.json +6 -0
- trajectories/phone_01/stage4/status.json +6 -0
- trajectories/phone_01/trajectory_manifest.json +23 -0
- trajectories/phone_02/README.md +5 -0
- trajectories/phone_02/raw/source_manifest.json +7 -0
- trajectories/phone_02/stage1/stage1.manifest.json +62 -0
- trajectories/phone_02/stage1/stage1.npz +3 -0
- trajectories/phone_02/stage2/canonical_retarget.h5 +3 -0
- trajectories/phone_02/stage2/contracts/goal_contract_derivation_receipt.json +10 -0
- trajectories/phone_02/stage2/contracts/goal_region_contract.json +334 -0
- trajectories/phone_02/stage2/human_demo_60hz.h5 +3 -0
.gitattributes
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@@ -65,3 +65,9 @@ objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/dr_bank.json f
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objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
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objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
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objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
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objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
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objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
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objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
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shared/phone/cell_phone.stl filter=lfs diff=lfs merge=lfs -text
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trajectories/phone_02/stage4/dr_bank.json filter=lfs diff=lfs merge=lfs -text
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trajectories/phone_03/stage4/dr_bank.json filter=lfs diff=lfs merge=lfs -text
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trajectories/phone_04/stage4/dr_bank.json filter=lfs diff=lfs merge=lfs -text
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trajectories/phone_09/stage4/dr_bank.json filter=lfs diff=lfs merge=lfs -text
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trajectories/phone_10/stage4/dr_bank.json filter=lfs diff=lfs merge=lfs -text
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README.md
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pretty_name: Sharpa Artifacts
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tags:
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- robotics
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- dexterous-manipulation
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- reinforcement-learning
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- retargeting
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- hdf5
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- mano
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---
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Public, versioned machine artifacts for the Sharpa functional-reorientation
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pipeline. Source code and download validators live in
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[`ai4ce/dex_retarget`](https://github.com/ai4ce/dex_retarget).
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## Start here: Astra trajectory augmentation
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The repository now includes eight Sharpa Stage3 AutoDR residual-teacher
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checkpoint **candidates** for generating physics-executed recovery trajectories.
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Give an Astra agent the following guide as its execution handoff:
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- [Astra guide: use the Phone8 teachers for trajectory augmentation](https://huggingface.co/datasets/FlappyHimself/sharpa-artifacts/blob/main/guides/phone8-stage3-autodr-candidates-v1/ASTRA_GUIDE.md)
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- [Immutable Phone8 checkpoint release](https://huggingface.co/datasets/FlappyHimself/sharpa-artifacts/tree/942f7cd025ae050823a817c9aff6cb7cb810d009/objects/phone/releases/phone8-stage3-autodr-candidates-v1)
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The intended loop is:
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```text
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matching Stage2 reference
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-> bounded hand/object tweak
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-> residual-teacher recovery in Isaac/PhysX
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-> functional-pose evaluation
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-> immutable rollout + action chain + diagnostics + 2x3 video
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-> optional accepted child tweak
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```
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#
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objects/<object>/releases/<release-id>/
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objects/<object>/reviews/<review-id>/
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guides/<release-id>/
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```
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### `phone8-stage3-autodr-candidates-v1`
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- Eight per-phone Stage3 residual-teacher checkpoint candidates: `phone_02`,
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`phone_03`, `phone_05`, `phone_07`, `phone_10`, `phone_14`, `phone_17`, and
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`phone_18`.
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- Each episode includes its checkpoint, Training Card, checkpoint receipt and
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evaluation summary.
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- The release also includes a Data Card, collection specification, manifest and
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SHA256 inventory.
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- Status: `CHECKPOINT_RELEASE_READY_CANDIDATES_NOT_PROMOTED`.
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### `phone20-stage12-v2`
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- Current Stage3-compatible Stage1/Stage2 release.
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- Contains 20 accepted Stage1 NPZ files, 20 final Sharpa
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`retargeted_moving28_60fps.h5` trajectories, human/canonical H5 files,
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GoalContracts, QA videos, manifests and handoffs.
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- [Open the 20-phone exact H5-to-video review index](https://huggingface.co/datasets/FlappyHimself/sharpa-artifacts/blob/main/objects/phone/reviews/phone20-stage12-v2-exact-render-v1/README.md).
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These fresh renders read the final V2 moving28 H5 bytes directly; human
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review remains pending.
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### `phone20-stage12-v1`
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- Historical first upload.
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- Superseded for Stage3 because it renamed `inputs/` to `stage1/` and omitted
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the handoff-bound QA video.
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## Consumer contract
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Pin an exact Hugging Face revision and verify `release_manifest.json` plus
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`checksums.sha256` before use. A checkpoint must be paired with the matching
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episode's Stage2 H5, GoalContract, Training Card and runtime identity; similar
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filenames are not interchangeable provenance.
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Checkpoint availability is not policy promotion. These candidates have not
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completed the full P2 robustness bank, automatic drop detection and human video
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review required for a robust-teacher claim. See the per-episode evaluation
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summary before selecting a source.
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## Data boundary
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This repository contains derived research artifacts and selected checkpoint
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candidates. It does not contain raw Vicon/MANUS capture, the proposed new
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augmentation rollout bytes, full training logs, a self-contained Isaac image,
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or unrelated third-party assets. Public access does not grant rights to
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third-party assets; consumers remain responsible for applicable licenses.
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|---|---|---|---|
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| `phone8-stage3-autodr-candidates-v1` | `942f7cd025ae050823a817c9aff6cb7cb810d009` | `d8b0c52ebb5155eef17b033167b600114efd7bca22278e966e0136c80036b277` | checkpoint candidates published; rollouts not materialized |
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| `phone20-stage12-v2` | `7c3a60460e2c953c929fbfffdc1ab5a9a8607851` | `84bd39b42ba3cdd0f9985fb4d6e1c002654d051dd7666b9fe9350b049b9b4149` | Stage3-compatible Stage1/Stage2 release |
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| [`phone20-stage12-v2-exact-render-v1`](https://huggingface.co/datasets/FlappyHimself/sharpa-artifacts/blob/main/objects/phone/reviews/phone20-stage12-v2-exact-render-v1/README.md) | `phone20-stage12-v2` | 20 exact renders machine-verified; human review pending |
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# Sharpa artifacts — one directory per phone
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20 reference trajectories, 10 located selected-teacher checkpoints (11 requested), and 10 existing BC archives.
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```
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trajectories/phone_01 ... phone_20/
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raw/source_manifest.json # source pointer; raw bytes not yet migrated
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stage1/ # selected NPZ and manifest
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stage2/ # H5, portable handoff, contracts and QA
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stage3/ # selected teacher, historical evidence, status
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stage4/ # existing BC archive, original cards/splits, producer
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shared/ # phone assets and retained legacy documentation/evidence
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collections/data046/ # ten-source view; no duplicated rollouts
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provenance/ # relocation inventory and validation
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```
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Read [catalog.json](catalog.json) for exact coverage. `phone_15` has no located selected-teacher checkpoint. Existing BC sources are phone 02,03,04,05,07,09,10,14,17,18.
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BC for phone_07 uses model7800 and phone_18 uses model7050, different from their selected teachers. Their producer identities are retained. DATA-018 has a historical Card/readiness discrepancy, recorded in its trajectory manifest. Historical cards and dataset archives retain original bytes and split membership; their old machine paths describe provenance, not portable loader paths.
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Stage2 has three H5 interfaces for the same selected reference; they are not three demonstration versions. Use `stage2/stage2_handoff.json` relative to its containing directory. `historical_unbundled_artifacts` in reference manifests are provenance-only entries from the original release.
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No new E4 evaluations were run by this migration. `NOT_MATERIALIZED` must not be interpreted as 0/32 passes. Raw is currently a session pointer, not raw bytes. Stage2 exact-render videos are kinematic reference QA, not teacher success evidence.
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See [migration receipt](provenance/migration_receipt.json) for the pinned source revision and every source-to-destination mapping. Prior data remains accessible at that Git revision after main is cleaned.
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catalog.json
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},
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{
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"artifact_revision": "7c3a60460e2c953c929fbfffdc1ab5a9a8607851",
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"episode_count": 20,
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"manifest_sha256": "84bd39b42ba3cdd0f9985fb4d6e1c002654d051dd7666b9fe9350b049b9b4149",
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"member_count": 303,
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"object": "phone",
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"path": "objects/phone/releases/phone20-stage12-v2",
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"release_id": "phone20-stage12-v2",
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"stage1_npz_count": 20,
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"stage2_final_sharpa_h5_count": 20,
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"stage2_support_h5_count": 40,
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"status": "PUBLIC_STAGE3_COMPATIBLE_RELEASE_READY"
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},
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{
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"artifact_revision": "d0f57bd8a2dfb6c5ea0d270f3c98dcee88d64f71",
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"manifest_sha256": "aa3d82494e25d45b1383ac9241bfdf5813d6d7e94c3d31e52d81aa4341cd8ae3",
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"object": "phone",
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"path": "objects/phone/releases/phone20-stage12-v1",
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"release_id": "phone20-stage12-v1",
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"status": "SUPERSEDED_FOR_STAGE3_LAYOUT"
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}
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],
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"repo_id": "FlappyHimself/sharpa-artifacts",
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"repo_type": "dataset",
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"reviews": [
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{
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"episode_count": 20,
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"object": "phone",
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"path": "objects/phone/reviews/phone20-stage12-v2-exact-render-v1",
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"review_id": "phone20-stage12-v2-exact-render-v1",
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"source_release_id": "phone20-stage12-v2",
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"status": "RENDER_COMPLETE_MACHINE_VERIFIED_HUMAN_REVIEW_PENDING"
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}
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],
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|
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|
| 73 |
}
|
| 74 |
]
|
| 75 |
}
|
|
|
|
| 1 |
{
|
| 2 |
+
"claim_boundary": "Payload preservation, not fresh policy evaluation or dataset promotion.",
|
| 3 |
+
"collection": "collections/data046/collection_manifest.json",
|
| 4 |
+
"schema": "sharpa_trajectory_catalog_v2",
|
| 5 |
+
"selected_teacher_scope": [
|
| 6 |
+
"phone_02",
|
| 7 |
+
"phone_03",
|
| 8 |
+
"phone_04",
|
| 9 |
+
"phone_05",
|
| 10 |
+
"phone_07",
|
| 11 |
+
"phone_09",
|
| 12 |
+
"phone_10",
|
| 13 |
+
"phone_14",
|
| 14 |
+
"phone_15",
|
| 15 |
+
"phone_17",
|
| 16 |
+
"phone_18"
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
| 17 |
],
|
| 18 |
+
"source_revision": "391c9d9a30f0c875ddd92ac7ae1da1fd1474262a",
|
| 19 |
+
"trajectories": [
|
| 20 |
+
{
|
| 21 |
+
"episode_id": "phone_01",
|
| 22 |
+
"stage1": true,
|
| 23 |
+
"stage2": true,
|
| 24 |
+
"stage3_checkpoint": false,
|
| 25 |
+
"stage4_archive": false
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"episode_id": "phone_02",
|
| 29 |
+
"stage1": true,
|
| 30 |
+
"stage2": true,
|
| 31 |
+
"stage3_checkpoint": true,
|
| 32 |
+
"stage4_archive": true
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"episode_id": "phone_03",
|
| 36 |
+
"stage1": true,
|
| 37 |
+
"stage2": true,
|
| 38 |
+
"stage3_checkpoint": true,
|
| 39 |
+
"stage4_archive": true
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"episode_id": "phone_04",
|
| 43 |
+
"stage1": true,
|
| 44 |
+
"stage2": true,
|
| 45 |
+
"stage3_checkpoint": true,
|
| 46 |
+
"stage4_archive": true
|
| 47 |
+
},
|
| 48 |
+
{
|
| 49 |
+
"episode_id": "phone_05",
|
| 50 |
+
"stage1": true,
|
| 51 |
+
"stage2": true,
|
| 52 |
+
"stage3_checkpoint": true,
|
| 53 |
+
"stage4_archive": true
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"episode_id": "phone_06",
|
| 57 |
+
"stage1": true,
|
| 58 |
+
"stage2": true,
|
| 59 |
+
"stage3_checkpoint": false,
|
| 60 |
+
"stage4_archive": false
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"episode_id": "phone_07",
|
| 64 |
+
"stage1": true,
|
| 65 |
+
"stage2": true,
|
| 66 |
+
"stage3_checkpoint": true,
|
| 67 |
+
"stage4_archive": true
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"episode_id": "phone_08",
|
| 71 |
+
"stage1": true,
|
| 72 |
+
"stage2": true,
|
| 73 |
+
"stage3_checkpoint": false,
|
| 74 |
+
"stage4_archive": false
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"episode_id": "phone_09",
|
| 78 |
+
"stage1": true,
|
| 79 |
+
"stage2": true,
|
| 80 |
+
"stage3_checkpoint": true,
|
| 81 |
+
"stage4_archive": true
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"episode_id": "phone_10",
|
| 85 |
+
"stage1": true,
|
| 86 |
+
"stage2": true,
|
| 87 |
+
"stage3_checkpoint": true,
|
| 88 |
+
"stage4_archive": true
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"episode_id": "phone_11",
|
| 92 |
+
"stage1": true,
|
| 93 |
+
"stage2": true,
|
| 94 |
+
"stage3_checkpoint": false,
|
| 95 |
+
"stage4_archive": false
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"episode_id": "phone_12",
|
| 99 |
+
"stage1": true,
|
| 100 |
+
"stage2": true,
|
| 101 |
+
"stage3_checkpoint": false,
|
| 102 |
+
"stage4_archive": false
|
| 103 |
+
},
|
| 104 |
+
{
|
| 105 |
+
"episode_id": "phone_13",
|
| 106 |
+
"stage1": true,
|
| 107 |
+
"stage2": true,
|
| 108 |
+
"stage3_checkpoint": false,
|
| 109 |
+
"stage4_archive": false
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"episode_id": "phone_14",
|
| 113 |
+
"stage1": true,
|
| 114 |
+
"stage2": true,
|
| 115 |
+
"stage3_checkpoint": true,
|
| 116 |
+
"stage4_archive": true
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"episode_id": "phone_15",
|
| 120 |
+
"stage1": true,
|
| 121 |
+
"stage2": true,
|
| 122 |
+
"stage3_checkpoint": false,
|
| 123 |
+
"stage4_archive": false
|
| 124 |
+
},
|
| 125 |
+
{
|
| 126 |
+
"episode_id": "phone_16",
|
| 127 |
+
"stage1": true,
|
| 128 |
+
"stage2": true,
|
| 129 |
+
"stage3_checkpoint": false,
|
| 130 |
+
"stage4_archive": false
|
| 131 |
+
},
|
| 132 |
+
{
|
| 133 |
+
"episode_id": "phone_17",
|
| 134 |
+
"stage1": true,
|
| 135 |
+
"stage2": true,
|
| 136 |
+
"stage3_checkpoint": true,
|
| 137 |
+
"stage4_archive": true
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"episode_id": "phone_18",
|
| 141 |
+
"stage1": true,
|
| 142 |
+
"stage2": true,
|
| 143 |
+
"stage3_checkpoint": true,
|
| 144 |
+
"stage4_archive": true
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"episode_id": "phone_19",
|
| 148 |
+
"stage1": true,
|
| 149 |
+
"stage2": true,
|
| 150 |
+
"stage3_checkpoint": false,
|
| 151 |
+
"stage4_archive": false
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"episode_id": "phone_20",
|
| 155 |
+
"stage1": true,
|
| 156 |
+
"stage2": true,
|
| 157 |
+
"stage3_checkpoint": false,
|
| 158 |
+
"stage4_archive": false
|
| 159 |
}
|
| 160 |
]
|
| 161 |
}
|
collections/data046/README.md
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# DATA-046 ten-source equal collection
|
| 2 |
+
|
| 3 |
+
This collection references ten trajectory-owned Stage4 releases. It stores equal-source weighting, train-only normalization, and parent identities without duplicating rollout archives.
|
collections/data046/collection_manifest.json
ADDED
|
@@ -0,0 +1,126 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"claim_boundary": "combination metadata only; Stage4 rollout bytes remain owned by each trajectory",
|
| 3 |
+
"collection_id": "data046-ten-source-equal-v1",
|
| 4 |
+
"data_task_id": "SHARPA-BC-DATA-046",
|
| 5 |
+
"dataset_id": "20260929_phone02030405070910141718_ten_source_equal_v1",
|
| 6 |
+
"layout_revision_source": "391c9d9a30f0c875ddd92ac7ae1da1fd1474262a",
|
| 7 |
+
"normalization": {
|
| 8 |
+
"path": "normalization.npz",
|
| 9 |
+
"sha256": "df6daec9228a1337ccb02eb81b64cb8a87aebc2334fd84f1cc946a74d0650c97",
|
| 10 |
+
"size_bytes": 136004
|
| 11 |
+
},
|
| 12 |
+
"original_derived_manifest_sha256": "0b7f2791fd2639864859d8d1317abeec9a9df7788c5628387a9dcea7ef85508f",
|
| 13 |
+
"parent_snapshot": {
|
| 14 |
+
"path": "parent_snapshot.json",
|
| 15 |
+
"sha256": "e74c7e180a216a865621f4e1d0ad0bdd3f3c90795a07e619e02e5f83683c0bf2",
|
| 16 |
+
"size_bytes": 4510
|
| 17 |
+
},
|
| 18 |
+
"parents": [
|
| 19 |
+
{
|
| 20 |
+
"data_task_id": "SHARPA-BC-DATA-039",
|
| 21 |
+
"dataset_id": "20260927_phone_02_s1_c4096_dr_rsi_v1",
|
| 22 |
+
"manifest_sha256": "ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f",
|
| 23 |
+
"phone_id": "phone_02",
|
| 24 |
+
"repo_id": "FlappyHimself/sharpa-artifacts",
|
| 25 |
+
"repo_type": "dataset",
|
| 26 |
+
"target_root": "trajectories/phone_02/stage4"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"data_task_id": "SHARPA-BC-DATA-040",
|
| 30 |
+
"dataset_id": "20260927_phone_03_s1_c4096_dr_rsi_v1",
|
| 31 |
+
"manifest_sha256": "d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21",
|
| 32 |
+
"phone_id": "phone_03",
|
| 33 |
+
"repo_id": "FlappyHimself/sharpa-artifacts",
|
| 34 |
+
"repo_type": "dataset",
|
| 35 |
+
"target_root": "trajectories/phone_03/stage4"
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"data_task_id": "SHARPA-BC-DATA-041",
|
| 39 |
+
"dataset_id": "20260927_phone_04_s1_c4096_dr_rsi_v1",
|
| 40 |
+
"manifest_sha256": "9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd",
|
| 41 |
+
"phone_id": "phone_04",
|
| 42 |
+
"repo_id": "FlappyHimself/sharpa-artifacts",
|
| 43 |
+
"repo_type": "dataset",
|
| 44 |
+
"target_root": "trajectories/phone_04/stage4"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"data_task_id": "SHARPA-BC-DATA-031",
|
| 48 |
+
"dataset_id": "20260903_sharpa_ac_p05_001_phone_05_c4096_dr_rsi_v1",
|
| 49 |
+
"manifest_sha256": "c14e8c19878b031a3856780fc13e006b700f9078684ba9641f29e93e8b74e5c0",
|
| 50 |
+
"phone_id": "phone_05",
|
| 51 |
+
"repo_id": "FlappyHimself/sharpa-artifacts",
|
| 52 |
+
"repo_type": "dataset",
|
| 53 |
+
"target_root": "trajectories/phone_05/stage4"
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"data_task_id": "SHARPA-BC-DATA-019",
|
| 57 |
+
"dataset_id": "20260831_t0149_model7800_phone07_partial2763_pow_v1",
|
| 58 |
+
"manifest_sha256": "740ff1d0f02eab5429c97d7c6ee9054696133684d9999e57a8d1d12f57faf405",
|
| 59 |
+
"phone_id": "phone_07",
|
| 60 |
+
"repo_id": "FlappyHimself/sharpa-artifacts",
|
| 61 |
+
"repo_type": "dataset",
|
| 62 |
+
"target_root": "trajectories/phone_07/stage4"
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"data_task_id": "SHARPA-BC-DATA-043",
|
| 66 |
+
"dataset_id": "20260927_phone_09_s1_c4096_dr_rsi_v1",
|
| 67 |
+
"manifest_sha256": "08e5f98f85fec52935c70fad2ab1a8d8910f19f2973a4cf8f5b33010f65bd859",
|
| 68 |
+
"phone_id": "phone_09",
|
| 69 |
+
"repo_id": "FlappyHimself/sharpa-artifacts",
|
| 70 |
+
"repo_type": "dataset",
|
| 71 |
+
"target_root": "trajectories/phone_09/stage4"
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"data_task_id": "SHARPA-BC-DATA-044",
|
| 75 |
+
"dataset_id": "20260927_phone_10_s1_c4096_dr_rsi_v1",
|
| 76 |
+
"manifest_sha256": "c7cac9e30db290c0751bb43948958191007cb34eba015cf4f6ef96fd7bf8cae2",
|
| 77 |
+
"phone_id": "phone_10",
|
| 78 |
+
"repo_id": "FlappyHimself/sharpa-artifacts",
|
| 79 |
+
"repo_type": "dataset",
|
| 80 |
+
"target_root": "trajectories/phone_10/stage4"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"data_task_id": "SHARPA-BC-DATA-033",
|
| 84 |
+
"dataset_id": "20260903_sharpa_ac_p14_001_phone_14_c4096_dr_rsi_v1",
|
| 85 |
+
"manifest_sha256": "1237116a7ed7f004fe0ed6d74edacf178089371f438a6147161d7d564af760d5",
|
| 86 |
+
"phone_id": "phone_14",
|
| 87 |
+
"repo_id": "FlappyHimself/sharpa-artifacts",
|
| 88 |
+
"repo_type": "dataset",
|
| 89 |
+
"target_root": "trajectories/phone_14/stage4"
|
| 90 |
+
},
|
| 91 |
+
{
|
| 92 |
+
"data_task_id": "SHARPA-BC-DATA-034",
|
| 93 |
+
"dataset_id": "20260903_sharpa_ac_p17_001_phone_17_c4096_dr_rsi_v1",
|
| 94 |
+
"manifest_sha256": "7ca167eaf9c6396785dfaabed6dcf0f90816026af576c2d06dfc7581c23b0caa",
|
| 95 |
+
"phone_id": "phone_17",
|
| 96 |
+
"repo_id": "FlappyHimself/sharpa-artifacts",
|
| 97 |
+
"repo_type": "dataset",
|
| 98 |
+
"target_root": "trajectories/phone_17/stage4"
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"data_task_id": "SHARPA-BC-DATA-018",
|
| 102 |
+
"dataset_id": "20260829_t0148_model7050_phone18_ppo_rsi_c3072_v1",
|
| 103 |
+
"manifest_sha256": "449ed73295963a97d25b7f5cbd7b230038493ad38ed2fb3b2b92383742266076",
|
| 104 |
+
"phone_id": "phone_18",
|
| 105 |
+
"repo_id": "FlappyHimself/sharpa-artifacts",
|
| 106 |
+
"repo_type": "dataset",
|
| 107 |
+
"target_root": "trajectories/phone_18/stage4"
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"publication_data_revision": null,
|
| 111 |
+
"schema": "sharpa_phone_trajectory_collection_manifest_v1",
|
| 112 |
+
"source_weights": {
|
| 113 |
+
"phone_02": 0.1,
|
| 114 |
+
"phone_03": 0.1,
|
| 115 |
+
"phone_04": 0.1,
|
| 116 |
+
"phone_05": 0.1,
|
| 117 |
+
"phone_07": 0.1,
|
| 118 |
+
"phone_09": 0.1,
|
| 119 |
+
"phone_10": 0.1,
|
| 120 |
+
"phone_14": 0.1,
|
| 121 |
+
"phone_17": 0.1,
|
| 122 |
+
"phone_18": 0.1
|
| 123 |
+
},
|
| 124 |
+
"status": "READY / DERIVED VIEW / TEN SOURCE EQUAL",
|
| 125 |
+
"transport_note": "Parent paths resolve within the downloaded repository snapshot; use its pinned revision. Source dataset hashes and splits unchanged."
|
| 126 |
+
}
|
collections/data046/data_card.md
ADDED
|
@@ -0,0 +1,105 @@
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|
|
| 1 |
+
# Data Card: SHARPA-BC-DATA-046 / 20260929_phone02030405070910141718_ten_source_equal_v1
|
| 2 |
+
|
| 3 |
+
| Field | Value |
|
| 4 |
+
|---|---|
|
| 5 |
+
| Data Task ID | SHARPA-BC-DATA-046 |
|
| 6 |
+
| Dataset ID | 20260929_phone02030405070910141718_ten_source_equal_v1 |
|
| 7 |
+
| Status | READY / DERIVED VIEW / TEN SOURCE EQUAL |
|
| 8 |
+
| Purpose | 将phone02/03/04/05/07/09/10/14/17/18十个READY Teacher-rollout数据集冻结为source-equal ACT/MLP/GRU训练视图。 |
|
| 9 |
+
| Source mode | derived_view；仅组合父数据的immutable views/indexes并重算十source train-only normalization；不改变observation、label、split或attempt bytes。 |
|
| 10 |
+
| Source lineage | DATA-018/019/031/033/034/039/040/041/043/044；各父manifest SHA见下表。 |
|
| 11 |
+
| Episodes / splits | train 27,966 attempts / 5,991,623 transitions；validation 4,670 / 999,251；heldout 4,651 / 994,812；reflection 2,340；infra 0。 |
|
| 12 |
+
| Sampling | 十source各0.1；source内attempt等权；attempt内transition等权。 |
|
| 13 |
+
| Observation | MLP/ACT history-3 213D与GRU current-frame 71D deployable views；不含velocity、phase、reference、Teacher/source ID或DR latent。 |
|
| 14 |
+
| Action / label | Teacher/controller真实执行的31D absolute final-applied target；无label重编码。 |
|
| 15 |
+
| Normalization | 仅train_imitation；source各0.1，source内attempt等权、attempt内transition等权；validation/heldout transform-only；std floor`1e-8`。 |
|
| 16 |
+
| Producer | `student.sharpa.multi_source_view`；commit `6dec608bb47a753b8d360dffe8534386ecaa5d8c`。 |
|
| 17 |
+
| Artifact / manifest | `outputs/sharpa_bc_data046/20260929_data018019031033034039040041043044_ten_source_equal_v1`；manifest SHA `0b7f2791fd2639864859d8d1317abeec9a9df7788c5628387a9dcea7ef85508f`。 |
|
| 18 |
+
| Claim boundary | 仅证明十个已列Teacher rollout collection distributions可按相同schema训练共享Student；不证明跨未见trajectory/object、闭环成功、robustness或sim2real。 |
|
| 19 |
+
|
| 20 |
+
## Source and Provenance
|
| 21 |
+
|
| 22 |
+
| Artifact | Identity / value | Evidence |
|
| 23 |
+
|---|---|---|
|
| 24 |
+
| SHARPA-BC-DATA-018 | phone18；manifest `449ed73295963a97d25b7f5cbd7b230038493ad38ed2fb3b2b92383742266076` | READY / C4096 |
|
| 25 |
+
| SHARPA-BC-DATA-019 | phone07；manifest `740ff1d0f02eab5429c97d7c6ee9054696133684d9999e57a8d1d12f57faf405` | READY / PARTIAL2763 proof-of-work |
|
| 26 |
+
| SHARPA-BC-DATA-031 | phone_05；manifest `c14e8c19878b031a3856780fc13e006b700f9078684ba9641f29e93e8b74e5c0` | READY / C4096；HF archive SHA `1cf4aa43da4f865a3761028e8b37502c65fc84d5033f055e88d7a4ada4b6e45e` |
|
| 27 |
+
| SHARPA-BC-DATA-033 | phone_14；manifest `1237116a7ed7f004fe0ed6d74edacf178089371f438a6147161d7d564af760d5` | READY / C4096；HF archive SHA `f27c1c269f33b85127d0ae3a6b173c1188f1b5e44d2fb136ab09d9c864aa4f1c` |
|
| 28 |
+
| SHARPA-BC-DATA-034 | phone_17；manifest `7ca167eaf9c6396785dfaabed6dcf0f90816026af576c2d06dfc7581c23b0caa` | READY / C4096；HF archive SHA `fef1362e9b106d41a8256cd4acf2be04066dff3c8ce2e0d9b7ad6f3e9565b5e0` |
|
| 29 |
+
| SHARPA-BC-DATA-039 | phone_02；manifest `ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f` | READY / C4096 / infra0 |
|
| 30 |
+
| SHARPA-BC-DATA-040 | phone_03；manifest `d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21` | READY / C4096 / infra0 |
|
| 31 |
+
| SHARPA-BC-DATA-041 | phone_04；manifest `9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd` | READY / C4096 / infra0 |
|
| 32 |
+
| SHARPA-BC-DATA-043 | phone_09；manifest `08e5f98f85fec52935c70fad2ab1a8d8910f19f2973a4cf8f5b33010f65bd859` | READY / C4096 / infra0 |
|
| 33 |
+
| SHARPA-BC-DATA-044 | phone_10；manifest `c7cac9e30db290c0751bb43948958191007cb34eba015cf4f6ef96fd7bf8cae2` | READY / C4096 / infra0 |
|
| 34 |
+
| Parent snapshot | SHA `e74c7e180a216a865621f4e1d0ad0bdd3f3c90795a07e619e02e5f83683c0bf2` | Parent counts and manifest identities only；不依赖可变绝对路径。 |
|
| 35 |
+
| Derived manifest | SHA `0b7f2791fd2639864859d8d1317abeec9a9df7788c5628387a9dcea7ef85508f` | 74,585 create-only members。 |
|
| 36 |
+
|
| 37 |
+
## Schema
|
| 38 |
+
|
| 39 |
+
| Field | Shape / type | Semantics |
|
| 40 |
+
|---|---|---|
|
| 41 |
+
| joint_position | `(A,22)` slice in frame / float32 / rad | Current actual Sharpa joint positions。 |
|
| 42 |
+
| wrist_pose | `(A,9)` slice / float32 | Gravity-aligned world wrist xyz3 + rotation6D6。 |
|
| 43 |
+
| object_in_wrist | `(A,9)` slice / float32 | Wrist-frame object xyz3 + rotation6D6。 |
|
| 44 |
+
| previous_applied_target | `(A,31)` slice / float32 | Previous actual controller-applied absolute target。 |
|
| 45 |
+
| GRU observation | `(A,71)` float32 | `22+9+9+31` current deployable frame。 |
|
| 46 |
+
| MLP/ACT observation | `(A,213)` float32 | Three 71D frames ordered oldest→current；attempt start repeats first frame。 |
|
| 47 |
+
| target | `(A,31)` float32 | Wrist xyz3 + rotation6D6 +22 absolute finger targets。 |
|
| 48 |
+
| transition_index | `(A,)` int64 | Attempt-local control index；starts at0 and contiguous。 |
|
| 49 |
+
| state_t1_student_frame | `(A,71)` float32 | Physics step后的next deployable state；diagnostic only。 |
|
| 50 |
+
| indexes | JSON rows | case/source/split、view relative path/SHA、transition count及parent manifest SHA。 |
|
| 51 |
+
| normalization | NPZ | MLP/GRU/target mean、second moment、std、source weights、attempt IDs/counts/weights。 |
|
| 52 |
+
|
| 53 |
+
��个attempt独立存储；history和future-action window不得跨attempt、source、split或index gap。所有父view/label bytes保持不变，derived root优先使用hardlink并重新验证SHA。
|
| 54 |
+
|
| 55 |
+
## Temporal Alignment
|
| 56 |
+
|
| 57 |
+
| Item | Contract |
|
| 58 |
+
|---|---|
|
| 59 |
+
| Physics / control | Parent rollout PhysX 120Hz；policy/control 30Hz；decimation4。 |
|
| 60 |
+
| Transition | `obs_t → Teacher residual/controller processing → final_applied_target_t → 4 physics substeps → state_t+1`。 |
|
| 61 |
+
| Stored supervision | `observation_t → applied_target_31[t:t+T_p]`；31D label不是Teacher raw residual。 |
|
| 62 |
+
| State/action count | 每个admitted attempt满足`S=A+1`。 |
|
| 63 |
+
| History | history-3 attempt-local；起点重复首帧，不读相邻attempt。 |
|
| 64 |
+
| Terminal | 父attempt执行到reference end+15 hold；失败进入reflection并保留原split身份。 |
|
| 65 |
+
|
| 66 |
+
## Splits, Sampling, and Leakage
|
| 67 |
+
|
| 68 |
+
| Split | Episodes / rows | Purpose |
|
| 69 |
+
|---|---:|---|
|
| 70 |
+
| train | 27,966 attempts / 5,991,623 transitions | 唯一optimizer和normalization来源。 |
|
| 71 |
+
| validation | 4,670 / 999,251 | 离线诊断；本实验fixed epoch5000，不用于选模。 |
|
| 72 |
+
| heldout | 4,651 / 994,812 | 所有训练决定冻结后的same-source unseen-attempt audit；不参与调参。 |
|
| 73 |
+
| reflection | 2,340 attempts | 未通过父数据admission；不训练。 |
|
| 74 |
+
| infra | 0 | 任一infra都会阻止READY。 |
|
| 75 |
+
|
| 76 |
+
父split membership原样保留，十个source case IDs互异；train、validation、heldout indexes两两不相交。任何窗口不得跨split。DATA-019仍是partial2763 proof-of-work，其coverage限制不会因合并而消失。
|
| 77 |
+
|
| 78 |
+
## Normalization
|
| 79 |
+
|
| 80 |
+
| Field | Contract |
|
| 81 |
+
|---|---|
|
| 82 |
+
| Source | 十source admitted train attempts only。 |
|
| 83 |
+
| Weighting | source各0.1；source内attempt等权；attempt内transition等权。 |
|
| 84 |
+
| Stored identity | source order/weights、27,966 train attempt IDs、transition counts和attempt weights。 |
|
| 85 |
+
| Numerical floor | std最低`1e-8`。 |
|
| 86 |
+
| Artifact | `normalization.npz` SHA `df6daec9228a1337ccb02eb81b64cb8a87aebc2334fd84f1cc946a74d0650c97`。 |
|
| 87 |
+
| Validation / heldout | 使用上述train statistics transform-only。 |
|
| 88 |
+
|
| 89 |
+
## Validation and Readiness
|
| 90 |
+
|
| 91 |
+
| Gate | Result | Evidence |
|
| 92 |
+
|---|---|---|
|
| 93 |
+
| Parent manifests | PASS | 十个manifest SHA逐字节匹配；状态均可消费。 |
|
| 94 |
+
| Parent members | PASS | Producer逐个验证所有父manifest members后才组合。 |
|
| 95 |
+
| Schema/timing | PASS | 每个父数据均为213D/71D observation、31D target与同一temporal contract。 |
|
| 96 |
+
| Split leakage | PASS | 原split不移动；消费者loader验证十source train/validation/heldout membership。 |
|
| 97 |
+
| Normalization leakage | PASS | 仅train，十source各0.1；validation/heldout transform-only。 |
|
| 98 |
+
| Finite/shape/index | PASS | `load_data006(view=mlp)`完整读取27,966/4,670/4,651 attempts并验证finite、shape与contiguous index。 |
|
| 99 |
+
| Infra | PASS | derived及所有父manifest均为0 infra。 |
|
| 100 |
+
| Member identity | PASS | 74,585 members绑定SHA。 |
|
| 101 |
+
| Dataset status | READY | manifest SHA `0b7f2791fd2639864859d8d1317abeec9a9df7788c5628387a9dcea7ef85508f`。 |
|
| 102 |
+
|
| 103 |
+
## Approved Experiment Boundary
|
| 104 |
+
|
| 105 |
+
Shengtao于2026-09-29批准把DATA-039/040/041/043/044加入原五轨共享Student实验。该批准只授权本十source derived view及其新Training Tasks；不得修改DATA-045、BC-097/098历史身份，也不得把十轨training-distribution结果表述为跨trajectory泛化。
|
collections/data046/normalization.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:df6daec9228a1337ccb02eb81b64cb8a87aebc2334fd84f1cc946a74d0650c97
|
| 3 |
+
size 136004
|
collections/data046/parent_snapshot.json
ADDED
|
@@ -0,0 +1,142 @@
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"phone07": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"heldout_attempts": 311,
|
| 5 |
+
"heldout_transitions": 62374,
|
| 6 |
+
"infra_failure_attempts": 0,
|
| 7 |
+
"reflection_attempts": 176,
|
| 8 |
+
"terminal_receipts": 2763,
|
| 9 |
+
"train_imitation_attempts": 1936,
|
| 10 |
+
"train_transitions": 390694,
|
| 11 |
+
"validation_attempts": 340,
|
| 12 |
+
"validation_transitions": 67889
|
| 13 |
+
},
|
| 14 |
+
"manifest_sha256": "740ff1d0f02eab5429c97d7c6ee9054696133684d9999e57a8d1d12f57faf405"
|
| 15 |
+
},
|
| 16 |
+
"phone18": {
|
| 17 |
+
"counts": {
|
| 18 |
+
"heldout_attempts": 479,
|
| 19 |
+
"heldout_transitions": 118849,
|
| 20 |
+
"infra_failure_attempts": 0,
|
| 21 |
+
"reflection_attempts": 324,
|
| 22 |
+
"terminal_receipts": 4096,
|
| 23 |
+
"train_imitation_attempts": 2827,
|
| 24 |
+
"train_transitions": 699769,
|
| 25 |
+
"validation_attempts": 466,
|
| 26 |
+
"validation_transitions": 115151
|
| 27 |
+
},
|
| 28 |
+
"manifest_sha256": "449ed73295963a97d25b7f5cbd7b230038493ad38ed2fb3b2b92383742266076"
|
| 29 |
+
},
|
| 30 |
+
"phone_02": {
|
| 31 |
+
"counts": {
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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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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|
| 42 |
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"manifest_sha256": "ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f"
|
| 43 |
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| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
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|
| 49 |
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| 50 |
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|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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| 56 |
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|
| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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| 63 |
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| 64 |
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|
| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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|
| 73 |
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| 74 |
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|
| 75 |
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| 80 |
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| 83 |
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| 85 |
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| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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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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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
+
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|
provenance/metadata.sha256
ADDED
|
@@ -0,0 +1,184 @@
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|
|
| 1 |
+
eaee95374760dd268812a145efe3f6e2d033e5f7cf9b2badf2586c33f0ddfa90 README.md
|
| 2 |
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9a0159a19a5d778c198500be61f2b8c202bb6130342180513ad351fd3ee1020b catalog.json
|
| 3 |
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3767e4a861efbdbafc9854edd850bee75304136a861e75007ea8771ad71b5890 collections/data046/collection_manifest.json
|
| 4 |
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74064fdabc74b7f6394258a0b453f9dc10da8b27a9ef586ae889de7c88f0179e provenance/migration_receipt.json
|
| 5 |
+
a8603739b5aec2c3ac5ffa90d9fbc556a90f00bfb308d38d4e83045310d327f7 trajectories/phone_01/README.md
|
| 6 |
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512841e19b29e1cf52d9db0b9b5a3c2635cc0d010cc00cd8f1bf625a9c741836 trajectories/phone_01/raw/source_manifest.json
|
| 7 |
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cb960a5c2cd36689af2cf196c4363851e213e8a5e8a7ede90d98b9deaa3140a1 trajectories/phone_01/stage1/stage1.manifest.json
|
| 8 |
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d100922c2a8b336393a167a77f2c620e47b8397791e18ab89e94cd83ca66c5cd trajectories/phone_01/stage2/reference_manifest.json
|
| 9 |
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f8770cf350a396229b3ca7a533feb018f586694ea4a7fce7901885fdc6cc606c trajectories/phone_01/stage2/stage2_handoff.json
|
| 10 |
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bba653602dcfcbcd179674e89510db75c1caafd3015276d5e0af787e35d595df trajectories/phone_01/stage3/status.json
|
| 11 |
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c87b3f7e588152cb229b176e46757137a7c3095dea536412edd25f338c4888d0 trajectories/phone_01/stage4/status.json
|
| 12 |
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5bb1fe1708b6c14a75a5b784b3a2a737f73dfd9a3a5349a995d88f4550446249 trajectories/phone_01/trajectory_manifest.json
|
| 13 |
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0e1231c0041c22990f47366460f36398c2233db02daad41c190945942b74a616 trajectories/phone_02/README.md
|
| 14 |
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db1abb16742916e690ee5ea6ee969cfb998fe5cca7ebb4aa4704dc1475fa9f12 trajectories/phone_02/raw/source_manifest.json
|
| 15 |
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ce96afb655cd1580e36bb21cd42f2ffe73db12e767b34f6a2ee87039c053c411 trajectories/phone_02/stage1/stage1.manifest.json
|
| 16 |
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81dafc6ac8e899a01dc62d19e5171de359736b8afa4001258f8e68b911405783 trajectories/phone_02/stage2/reference_manifest.json
|
| 17 |
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de7cf6c08c46a7c823a492a1d4ab6078bf4076a27b1b983c00fd3917a6f1f648 trajectories/phone_02/stage2/stage2_handoff.json
|
| 18 |
+
08a7471e3203d4f0fc6826680ff03f864edbf8dfcc5c143fbc4918fd3d34962e trajectories/phone_02/stage3/selected_teacher/checkpoint_receipt.json
|
| 19 |
+
b9fd1624ce5ccab3b9b7ee252127ed580609f7aaa25c1f0ce9d676c6861f4bf0 trajectories/phone_02/stage3/status.json
|
| 20 |
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72d2ee48a9900d005b39395c53a1f68ab2a815cdb40b120bd9ccd680869422d9 trajectories/phone_02/stage4/producer/source_identity.json
|
| 21 |
+
a92a2cba49d4d7fd1f1b507fdcb0a3997064bfb9a3be417ca4520eb74e94e7c5 trajectories/phone_02/stage4/status.json
|
| 22 |
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3b7b52d298f9c1c714ec416b0a1da1379934a989f1c9ddcd4e4c1d647868bb36 trajectories/phone_02/trajectory_manifest.json
|
| 23 |
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c4d0ad51dcb8674896ffde1f0759baa981d97e397c49c301b1450e4507bf85c4 trajectories/phone_03/README.md
|
| 24 |
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af73e5b6d758efe9c1dae4196b62256367b77d4122e480ebf3346414ee5b81f2 trajectories/phone_03/raw/source_manifest.json
|
| 25 |
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ba41df01ca53d37831567e4ffc6ba18614c7d499076ccf55518b6c5bd667397c trajectories/phone_03/stage1/stage1.manifest.json
|
| 26 |
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2965f7cea26f914eb63079d52e5b54ebc86a40deae9b3767ff7b2b7506736259 trajectories/phone_03/stage2/reference_manifest.json
|
| 27 |
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f3e8d9902ec6fd41e2528a2f8c80820fe4d80e5afe2a1033ff522eb3f48cb9fa trajectories/phone_03/stage2/stage2_handoff.json
|
| 28 |
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4016464fec90599ad6a1bd601e13d0bede8f5eef86a980e7a531e3e512074e4e trajectories/phone_03/stage3/selected_teacher/checkpoint_receipt.json
|
| 29 |
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ff3feca6fe31fd51894d6b55e0eacbb16629554ae2f053c953b2a9888cc3f108 trajectories/phone_03/stage3/status.json
|
| 30 |
+
7bbc3c1fc4dc61c2345e64fd64b0fe8105f410ecda9fad0dc963f186ec7a93a3 trajectories/phone_03/stage4/producer/source_identity.json
|
| 31 |
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8f6fed4fd17e6a3eeae068dcd52db7974118d81543a99fdff48de9e9f7191fcb trajectories/phone_03/stage4/status.json
|
| 32 |
+
228ef8fa8b5e9b9210d864083b5a7a009ac18d0180fce0b3bf1193a4c772f14c trajectories/phone_03/trajectory_manifest.json
|
| 33 |
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d06e4b2b1187a1fbe21bca4eefc09f1e643411f9764e129639d23561acb5ccd7 trajectories/phone_04/README.md
|
| 34 |
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63084cd79202e7dab9115aee0aea2114c36099424bf963a0049c2b10f4d59e7a trajectories/phone_04/raw/source_manifest.json
|
| 35 |
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ebea1a9a6d9bc2539183d0f07331e137a3c847eb6a7c784c15f979c67828266e trajectories/phone_04/stage1/stage1.manifest.json
|
| 36 |
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572a97ed3c85b1b446c9d5f77c7b04d96f340999f9d9b3fb8d137a54e83c316f trajectories/phone_04/stage2/reference_manifest.json
|
| 37 |
+
e64a611bf1196f739fb6aee2a62b856e136de25111a4fb549f4669c6662d80a4 trajectories/phone_04/stage2/stage2_handoff.json
|
| 38 |
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44425f476de5252f59ca2d78d718d73cee1f917251d4970fc00926682ce0bf2f trajectories/phone_04/stage3/selected_teacher/checkpoint_receipt.json
|
| 39 |
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5e0d2e4c7b510564699549ba96b12140ebd93a2df6a9e70b911f8fec2696a7e0 trajectories/phone_04/stage3/status.json
|
| 40 |
+
897f45f762667629849f71c8fe58cfe3f28730caf161100e2d8c71396881cd5a trajectories/phone_04/stage4/producer/source_identity.json
|
| 41 |
+
f18c2aae4e64fcb7094349f096a80c51ae71d711179e2acb583bfe480f2013d6 trajectories/phone_04/stage4/status.json
|
| 42 |
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1f43be3d88143e8bcba433ce5aad63729bcfd00e16ba100eb0ae1f7a2616b2df trajectories/phone_04/trajectory_manifest.json
|
| 43 |
+
d8f272d7e9bc0e74e2dd052203daa9b77896a7a08d1e7c4a66175e0c5a723c0a trajectories/phone_05/README.md
|
| 44 |
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58704539e35e71940d575ae69306fae74b1451f33d0fad973d5338f714ef7222 trajectories/phone_05/raw/source_manifest.json
|
| 45 |
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f2154cd3db232005ce0aa992b61f2da0271a2fd8e523a2dab6ef65e42f9b4b21 trajectories/phone_05/stage1/stage1.manifest.json
|
| 46 |
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03b0c10f3371a2df0e2bd7ff05fd7f5dca990e4ef8672d5868038a39ff35cd41 trajectories/phone_05/stage2/reference_manifest.json
|
| 47 |
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324518e803c440120cf3edc0d6ff630b77ea83e35092120606edb005538cceb6 trajectories/phone_05/stage2/stage2_handoff.json
|
| 48 |
+
ee27a707a3dc568388deca9086f85032c2147ac4dbafa7ea79606724fe3b3bfc trajectories/phone_05/stage3/selected_teacher/checkpoint_receipt.json
|
| 49 |
+
fce804472ccae6114d7b0f7f8249848143da09a30a3391324d4836ecf3a2b76e trajectories/phone_05/stage3/status.json
|
| 50 |
+
0798a81eeb632e270fa4a6d9d3b12e1c3b344f9bdff5733302d345c997847b54 trajectories/phone_05/stage4/producer/source_identity.json
|
| 51 |
+
71d438f30e943706194301e5e3c4e8189c359c9bdc8ac09c1ea2f8ca3d2bc671 trajectories/phone_05/stage4/status.json
|
| 52 |
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5ee70afa316254ac5d3ef8c5095fd9d92deca435a58417ac07ff269cd59d557c trajectories/phone_05/trajectory_manifest.json
|
| 53 |
+
5f94471da685c77091754a24b0573876c013dae0e2614e1a81f42846ad335247 trajectories/phone_06/README.md
|
| 54 |
+
22e701b5a7e4a972e2771026e926076c9e41ae96acb9ca5bb31ffdb1bbb00d6e trajectories/phone_06/raw/source_manifest.json
|
| 55 |
+
d5929f35cabf9dc0512e0c02b5f144972050653373bda697b54baed451bb5431 trajectories/phone_06/stage1/stage1.manifest.json
|
| 56 |
+
f90f9305393cbb3c59d3b87eec025e172ce99f320577ecc6e14f61bf673d003c trajectories/phone_06/stage2/reference_manifest.json
|
| 57 |
+
1213832ecb622c00b73424457d5aab91f7029537e0fcfbb2ce35f83a9a8856d8 trajectories/phone_06/stage2/stage2_handoff.json
|
| 58 |
+
17b84599c97d8a6bff56cfac7c77831e2201432d72559fdc0cf117c0152b4adf trajectories/phone_06/stage3/status.json
|
| 59 |
+
debe84a38520c8acc978201232bb7dbc410c05d86a966b3127af69d2381aa11c trajectories/phone_06/stage4/status.json
|
| 60 |
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30a0d978ffb5433ab97c859f0b3c3474c1d5d224e786ed7650f42471a61b6514 trajectories/phone_06/trajectory_manifest.json
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f0a385e0b1e32f1adae5d2022b4b672782e4f37c4097807f6a381c8fea2614e9 trajectories/phone_07/README.md
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5f4a25621e023930adb99cff6cbf15659c039029716367323779d38564f45519 trajectories/phone_07/raw/source_manifest.json
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83aa22d1d36b07143e95db66f72891efd788ed3ebda9de6189692eab0d5304ee trajectories/phone_07/stage1/stage1.manifest.json
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dd52710c39e8f12ab4ec5add43c910a3cc1f6412b0b53cb931daa903653c35b3 trajectories/phone_07/stage2/reference_manifest.json
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d0de6d286a12deb2f5d91680a40ee60d1e460618cd2af399c495cc9c0988e85f trajectories/phone_07/stage2/stage2_handoff.json
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43a72de530d625f391d94066eb2c291fbd70cfd6c44c3b8743be3ad7c9cc7c80 trajectories/phone_07/stage3/selected_teacher/checkpoint_receipt.json
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7dfe7d86f23114920a767795b5f7173233426920118a17cf98b20c63214d6cbf trajectories/phone_07/stage3/status.json
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f9c0f29d6080710f9db4ea2c84af248bbddcc52df8ccb2475610cc6b1820aefa trajectories/phone_07/stage4/producer/source_identity.json
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8679ec2769bfb1e10be5c428dea751f012d60423f8365f0f280153b9fa69dceb trajectories/phone_07/stage4/status.json
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4580a8dca63a3cc3b736a78c75b21c265c6cc832255b245f7dbc4b1d34b315e1 trajectories/phone_07/trajectory_manifest.json
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e6d6dd3dc185fd5063122130b86f48272185842f4b97e8eed224cb2540cc1bbe trajectories/phone_08/README.md
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87791b44f50db3aab6121bbe66ed1a8b32b208dae50c4998d559adbb332771e4 trajectories/phone_08/raw/source_manifest.json
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37a950b7326de463901bf212628a7f5b97c996a16067224d7301c6c187c08d08 trajectories/phone_08/stage1/stage1.manifest.json
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50ec08dc67f92555169bbb1ca947d17d25cdddebcb1208b8b6c1d342b79a3ec1 trajectories/phone_08/stage2/reference_manifest.json
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2503b3186092364dad397e402e675c0f1e0c0634bb201ad2333a4e8354cc2e6b trajectories/phone_08/stage2/stage2_handoff.json
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0b273897dadc6435a73821e31fea5b16c758f5f850c9a4a924a568971782ae46 trajectories/phone_08/stage3/status.json
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54aaa32a3212429020ff3e2fb8ee9341b1201288b3d72e270823975d89222f30 trajectories/phone_08/trajectory_manifest.json
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4c82399acbfb5849ed2d773bc1bdc7c855932c8317cb33591b1989787a153b64 trajectories/phone_09/stage1/stage1.manifest.json
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29ea3e379d44747192bac0579e7cb6b744c9e06af05ffdc66c9564118677b17c trajectories/phone_09/stage2/reference_manifest.json
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8f1058c05756b6127a2a5ce3becd5f0aabac728da3ac3bfdb34cf8f9f4ec7943 trajectories/phone_09/stage2/stage2_handoff.json
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5ed818c6fab7458dba8f733b971006bfb80dab8b4df909683d4e53381cf1e0bf trajectories/phone_09/stage3/selected_teacher/checkpoint_receipt.json
|
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fc77d0ca52a759cb6a4227b8f3a7c32c5993f6370fde78a84047cc6b6a5eaabb trajectories/phone_09/stage3/status.json
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079efbac5f759a4a0ad634eb7b936cd3c1226de13c10017d7eefcaa6f740d568 trajectories/phone_09/stage4/producer/source_identity.json
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1bf76e33fdb60aa1bd6773600f8a686f74977e76683120d7b8d397f879a754fc trajectories/phone_09/stage4/status.json
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12230ccf6c2ddea304dd1a4a5f2ff87ca3063a32e983e87d6e26313ae32ab3b7 trajectories/phone_09/trajectory_manifest.json
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771793d06b5cdb3a58af6194697b22bd096f8e6209c8ec7cc98d21219d639a35 trajectories/phone_10/README.md
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2ffdfaf4d8dc980553fda6968addc2182873985cd2811ea6db7e93ae2456a2a5 trajectories/phone_10/raw/source_manifest.json
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a5b0d8275e826a7b78d04db50684fd26f0e7fbee4da31815af28047828f0397c trajectories/phone_10/stage1/stage1.manifest.json
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c301c1729bddad1fc40174f0f72e991073f850fe589b51092735c0997ddde58e trajectories/phone_10/stage2/reference_manifest.json
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872d74067d9b0af81ca45fd34df050856a459beb923acf86fa35ef99fd8b1819 trajectories/phone_10/stage2/stage2_handoff.json
|
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393b2209c1ca81ea0e88e5cc473e8e863f951565701a916cf0aff501496c5911 trajectories/phone_10/stage3/selected_teacher/checkpoint_receipt.json
|
| 95 |
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3f45b2157a6f51f26e9e56ea89df9d56d5d569f44414889e0b78e11e6350896f trajectories/phone_10/stage3/status.json
|
| 96 |
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c290037464962ca1d7e3cda6f523d5b7d34af81405d5cbd5c93ca6ade563f0e2 trajectories/phone_10/stage4/producer/source_identity.json
|
| 97 |
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b2d96050df73c280f3b802ba971ad156a0601347419ceb310f3d4b1502b89e14 trajectories/phone_10/stage4/status.json
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19a233d41fc5a4506afdfe2d00ef662f6aa5b669b379343fad88b8037287ae24 trajectories/phone_10/trajectory_manifest.json
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5ad9b1dc9faed86fcfb85b0dfe7cbcafc0992f8227c60a24558f5842fb3849fe trajectories/phone_11/README.md
|
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37c7ab09090c8825e770f43056b2575261e2d1653b6ab1266e5485c1f510d8fe trajectories/phone_11/raw/source_manifest.json
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aa3838836782c2679d658a85d05845f5043abafd9536e21965c0ccce7153e4fb trajectories/phone_11/stage1/stage1.manifest.json
|
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9120dec070ec79b5fd8e2fcc579a877a0f11e8ebad35374d54184d0e9b6d3208 trajectories/phone_11/stage2/reference_manifest.json
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a288e93686729ada35e7409fe2b73e44000aedfd48084f18e16b454043694e3b trajectories/phone_11/stage2/stage2_handoff.json
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8a87dd0472d8693d134ac067ce5f71b184621fcae48462fb3fb674b65141a802 trajectories/phone_11/stage3/status.json
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dede9e75aff4fcf56eca05eb90a40aaf3fdead5717681f58e3fe25f827925a7a trajectories/phone_11/stage4/status.json
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10d73f0ff8bde09b6d961b2d4bf58dc5f33ecc6b001c0a740ba921f0589e82bd trajectories/phone_11/trajectory_manifest.json
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| 107 |
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f28ef0a2abc59e0503747aea24d6c2dfa1cfb11473e2f53b1d8b559c11b56faf trajectories/phone_12/README.md
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483b74bfaa3c90425ca5c21b8b8fe0676fa5c94700085fc38b7aa563ed088ac5 trajectories/phone_12/raw/source_manifest.json
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48a702e2683b4ee40abd3d94ae7da3cc062a74a2fa7683a5dfc5188337239ba6 trajectories/phone_12/stage1/stage1.manifest.json
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088180f97fe169835886726aa3cf3c36baf363b27254856a5327fd05da673a74 trajectories/phone_12/stage2/reference_manifest.json
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7f5f80574804d3ce7b430098cfa12e7064496f041dc1abdc480c25f5db83015f trajectories/phone_12/stage2/stage2_handoff.json
|
| 112 |
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5d30174e2842b30fd48e9747802ecd1c91d7997467b5f14b9df8e11f150021d8 trajectories/phone_12/stage3/status.json
|
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47ac9c57a64270fee08a7c7b755466759f434b7c713709d806d3c5e91741b3ac trajectories/phone_12/stage4/status.json
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9117c23b9212b7453060dbf3fa6c0d34bd134a892bf4cbcab31b3a8d92131bb3 trajectories/phone_12/trajectory_manifest.json
|
| 115 |
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06c386c68ab9f26a6753e5f307761ba144417d2dfdd6b56a6befc1d368875976 trajectories/phone_13/README.md
|
| 116 |
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a1504bf970f8b4ec295e0054db80ee46278930c185bed91e9ab47398e5768109 trajectories/phone_13/raw/source_manifest.json
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cc15cfa5a47b4f7537682fe7abe320d4583ef3654dc7b1382e0d86e6733d9391 trajectories/phone_13/stage1/stage1.manifest.json
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| 118 |
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480c4f8ccf4ca18231865e5edfe6433867411026f8b5e31f319c6c3642a38a46 trajectories/phone_13/stage2/reference_manifest.json
|
| 119 |
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b68ce950b89e565a8786145d0087ac0a957558c889ab90314e1110dd646c375b trajectories/phone_13/stage2/stage2_handoff.json
|
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63fd3663ccef3e8570ae28f26eae072766560a47a25897d8481a48216ea17ce9 trajectories/phone_13/stage3/status.json
|
| 121 |
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62cf0a2389bca6c6daa87eea869240616c0a566cda0eed07f9be8a73d4b3271c trajectories/phone_13/stage4/status.json
|
| 122 |
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4bb024a3a79881e64cf03ffc5d25fece1e852348af26c281fae05aae9c97dfdb trajectories/phone_13/trajectory_manifest.json
|
| 123 |
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46d32a97e24d0ec980eec63eb59142b5004df61f84eaf0b592b02b6f7e76a010 trajectories/phone_14/README.md
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| 124 |
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25497f936147fefa38322e77a536f48ee33ca4af9fe2384d46654d4a6a30d9e8 trajectories/phone_14/raw/source_manifest.json
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0b27e12b2ebf7f945a025b2c1d4f37addb63541a15a7af35187c57f3e93aa680 trajectories/phone_14/stage1/stage1.manifest.json
|
| 126 |
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5852d0e8b912f68e980d081a5fc9123d88136b4a4ac5eb638c9cb516b326fccf trajectories/phone_14/stage2/reference_manifest.json
|
| 127 |
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db4a3d5e87b7e3c3407e92553952f950004b08c23520e4da2ad3e2f89b723fab trajectories/phone_14/stage2/stage2_handoff.json
|
| 128 |
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9bf59b7779dc8db69e0698d05dadd3ea09871d4c615b31b05689d24074dd9030 trajectories/phone_14/stage3/selected_teacher/checkpoint_receipt.json
|
| 129 |
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90e345f072e2f8e6bca04380a221a7abb009923c3561a9bb4a682d344d327c84 trajectories/phone_14/stage3/status.json
|
| 130 |
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9598ed25889dd7f2bef1250a9d246d2a8306f7471e62ba2eed4b4f683425b632 trajectories/phone_14/stage4/producer/source_identity.json
|
| 131 |
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cf2b36211540573aa668b8c50863df70a76abfd6cecd72f1dfde45c109c10b63 trajectories/phone_14/stage4/status.json
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ab4beb4284af531bb95712abf8a1f41972670801f85920d0a2e59f28b1c19642 trajectories/phone_14/trajectory_manifest.json
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139faebac4c56127d7a1bd5253dd1b8df6c644d9f5f67627ca2aff6c25a19a51 trajectories/phone_15/README.md
|
| 134 |
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e4e807a9ded2d5b76a82f378f50993aa5f76be5304e91293949a5e15bd003b50 trajectories/phone_15/raw/source_manifest.json
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369db9e268772b2d81726dd55e4cbe04cf238a3edd7b702e4a08bf895fbcfcba trajectories/phone_15/stage1/stage1.manifest.json
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db04d18a50be2b319e2b2d5eeb426c22a5be5ade269742be836b00dcdf6b2398 trajectories/phone_15/stage2/reference_manifest.json
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| 137 |
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ca6f0b0341de4ff9ed2182b18b6669c6830bbc0c742de7e755323f6cd075859f trajectories/phone_15/stage2/stage2_handoff.json
|
| 138 |
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5467cf453a68c7b9540fcb6d61e3130e7ee1b6a078ae2bf8b8224534fe23312f trajectories/phone_15/stage3/status.json
|
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39d46ee58ecb853f1d67791a96686c56922adbb883186c7525e624c868a394fb trajectories/phone_15/stage4/status.json
|
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d3f03df0b09350867e145fcf794fce5da1b1c8791e6678b07c14a866b98e42b5 trajectories/phone_15/trajectory_manifest.json
|
| 141 |
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84362bcc49d51d72fc7d83750ceb94bcf127dc6524e44d0787c2917686ce23a2 trajectories/phone_16/README.md
|
| 142 |
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0a146748957f89f00db750e84328d738435d0b32e74c9eef6260c7ebe6ff2d4f trajectories/phone_16/raw/source_manifest.json
|
| 143 |
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e9179766a5d8b94103ed36b511c8bb5f1cc8d0a4a6a128c27cab6f76d2c3b181 trajectories/phone_16/stage1/stage1.manifest.json
|
| 144 |
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81ac7176d0da02e598ad3d01d9ac4ba263e47b06a048851e3a474b45665def9b trajectories/phone_16/stage2/reference_manifest.json
|
| 145 |
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5968ccc98ac9dddbbac47c6eaec23e62ac5ceeb91fd36fae3184b7db5d17b46f trajectories/phone_16/stage2/stage2_handoff.json
|
| 146 |
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19f2cb4b38b4316b3414e99d3ae9e1fab37f69968ba48fa29c738d879e015821 trajectories/phone_16/stage3/status.json
|
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76e8a29998cf7ff90f14b0f1078ea9fa273aca0ef976b58dbdba193a88bcee40 trajectories/phone_16/stage4/status.json
|
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0471c250d4659860de0d7a07784431717db4187dbb5b1ab054daeffc226e1c07 trajectories/phone_16/trajectory_manifest.json
|
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293971862814ffd408b714dca881f6de186b6f91e9cc2a93b111bb043818c2ea trajectories/phone_17/README.md
|
| 150 |
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bb31cf60955fda1b55ba8fb91c7bab2b10bf12b28c0ecbbdd261ead2fe6b520a trajectories/phone_17/raw/source_manifest.json
|
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84cd7a868876b9ec17f41571117d551940a06b569e1079583e4664c4dd1b8b6e trajectories/phone_17/stage1/stage1.manifest.json
|
| 152 |
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d88239e67672af7aca68789626b8e248199ee0d5281e5f65e2251acfb069a11e trajectories/phone_17/stage2/reference_manifest.json
|
| 153 |
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3fb6133ce3fd0c1adb73497a9f63087ae646a5dd239f6da76fe0f3ed1962d551 trajectories/phone_17/stage2/stage2_handoff.json
|
| 154 |
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fefb93807bdb239e7be2436228a9486e879a25fbfcc9c02c63c2c195dbf573d1 trajectories/phone_17/stage3/selected_teacher/checkpoint_receipt.json
|
| 155 |
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0b9259406d9011ad6310c7916ce5387c2d87f71211b5e77007607a291d17e5bf trajectories/phone_17/stage3/status.json
|
| 156 |
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521cabb400058bb6bf0bd6d735d6dc1a716fc76e7f19a2b37cfcd9b81a08e206 trajectories/phone_17/stage4/producer/source_identity.json
|
| 157 |
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e2f45356b838857cbeb007d4831dec6a7fbffccb8c3a696ed6e0209a8aac9fa2 trajectories/phone_17/stage4/status.json
|
| 158 |
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f5400d1de1286626d22bb0fc2e28d284c6d6397a9d8d977eee630b4d169f7b1f trajectories/phone_17/trajectory_manifest.json
|
| 159 |
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7520abbcea655b6a3a7de6779e64f2086702e719c30f57c0d6c66b3752466213 trajectories/phone_18/README.md
|
| 160 |
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4f8cc76c74c0918e38851fc8d67e6d3dfb8f138f8907bf7b5bbabe408960d4b9 trajectories/phone_18/raw/source_manifest.json
|
| 161 |
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b4e42209cf1fd7c58d665aeb89464b4f17355d942e3f57d089b14f04d50b7c15 trajectories/phone_18/stage1/stage1.manifest.json
|
| 162 |
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6feb320a83aacedc22447d41260c89e50435a4674bacf8bfc96b370301c826f3 trajectories/phone_18/stage2/reference_manifest.json
|
| 163 |
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d40138a564e3d00839838361dbf13f22f0ad0183687c4e21f594fc4d98f04f6c trajectories/phone_18/stage2/stage2_handoff.json
|
| 164 |
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93247344be25a797ab0f5d553743153b5341cc352218dd88567649f06054cbc8 trajectories/phone_18/stage3/selected_teacher/checkpoint_receipt.json
|
| 165 |
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ca462f2af3b1c7ea452121019e67b9d5b32ed0fce6abdbfe9fdc4486e9ca0460 trajectories/phone_18/stage3/status.json
|
| 166 |
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293b65b78433b057c5288ded3946744a20212065ddd53bd685a65af472697645 trajectories/phone_18/stage4/producer/source_identity.json
|
| 167 |
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1fe69eacc352d9d382ccdcececdb81fd85b5bb4fda1eb64066742213f2b51f2a trajectories/phone_18/stage4/status.json
|
| 168 |
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b2c601f69ec84aead2e1b1a14e1089634d28bfb507bafd558bcd88ca5e4c0cca trajectories/phone_18/trajectory_manifest.json
|
| 169 |
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9cfde7fcceeb8354d85d9e58893559e0dec2e21d94f340f3783f461e471730bd trajectories/phone_19/README.md
|
| 170 |
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4b2f56f0c8c445e499776f587cab4a186456aecf24956f9e9de2c01066308916 trajectories/phone_19/raw/source_manifest.json
|
| 171 |
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bbada6dadd139a033aa402108b8e0abe724f48214afc5b36f4eb7f7b0b02580a trajectories/phone_19/stage1/stage1.manifest.json
|
| 172 |
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9369c7360caf1f7ba6fdd9ec8fdf09f6cf205979d59a08993b98c52007289d4a trajectories/phone_19/stage2/reference_manifest.json
|
| 173 |
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abd55e2ad176e0557be70bce5553ec90d37239dee6eec2fc280da4de7ebf43be trajectories/phone_19/stage2/stage2_handoff.json
|
| 174 |
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bb97e84771924252d7eca04706dbb67225d6cfef651a55764b3c1fc71e60e25e trajectories/phone_19/stage3/status.json
|
| 175 |
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772dfa781fb03aebd6f82f9c422a9f5bb9bfd5b84b143d2c2871d23bbfff2c0d trajectories/phone_19/stage4/status.json
|
| 176 |
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6e999944bdf4c93cdbbfa800f8f546ce3ec55123f3938c76e85f3d8a73595b13 trajectories/phone_19/trajectory_manifest.json
|
| 177 |
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2edb6f513fc7c4c31bd15d4fe7b551b74f31d36dacff9b11c5e958724999e4a0 trajectories/phone_20/README.md
|
| 178 |
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acaee03633e96419d327e5fbf854e722a693861a3c1f116a92cdc8d735a1a777 trajectories/phone_20/raw/source_manifest.json
|
| 179 |
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25e37646ad62ba138ea2daf87b1dc5e76541cfa6b42b9b72362c0b95464a3cac trajectories/phone_20/stage1/stage1.manifest.json
|
| 180 |
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9ab676f7d8b8e633c080a9011834f8e4489b5018596c286cfe34ee991aa96128 trajectories/phone_20/stage2/reference_manifest.json
|
| 181 |
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c0063add3e6eb965eed4b47688fbbefc021b46673d1d08ee0e365a28e6e961dc trajectories/phone_20/stage2/stage2_handoff.json
|
| 182 |
+
509015e23f35a97a61904458deb5d0959af89e5fea2f6c6237909aef203ae4d4 trajectories/phone_20/stage3/status.json
|
| 183 |
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355d07825fb94e1ec03679ec98075344b9af42ad58f4e21c1715122941e53ac7 trajectories/phone_20/stage4/status.json
|
| 184 |
+
19515051eaaeb3d5bde319145f545382ec739ac930a4a725236c2e8f85f66a61 trajectories/phone_20/trajectory_manifest.json
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provenance/migration_receipt.json
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shared/guides/ASTRA_GUIDE.md
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|
| 1 |
+
# Astra guide: Sharpa Phone8 teacher trajectory augmentation
|
| 2 |
+
|
| 3 |
+
This guide is an execution handoff for an Astra coding/research agent. It
|
| 4 |
+
describes how to use the published Sharpa residual-teacher checkpoint
|
| 5 |
+
**candidates** to prepare and collect diverse physics-executed recovery
|
| 6 |
+
trajectories.
|
| 7 |
+
|
| 8 |
+
## Fixed release identity
|
| 9 |
+
|
| 10 |
+
| Item | Identity |
|
| 11 |
+
|---|---|
|
| 12 |
+
| Hugging Face repository | `FlappyHimself/sharpa-artifacts` (`dataset`, public) |
|
| 13 |
+
| Teacher release | `phone8-stage3-autodr-candidates-v1` |
|
| 14 |
+
| Teacher artifact revision | `942f7cd025ae050823a817c9aff6cb7cb810d009` |
|
| 15 |
+
| Release manifest SHA256 | `d8b0c52ebb5155eef17b033167b600114efd7bca22278e966e0136c80036b277` |
|
| 16 |
+
| Matching Stage1/Stage2 release | `phone20-stage12-v2` |
|
| 17 |
+
| Reference source code | `https://github.com/ai4ce/dex_retarget` |
|
| 18 |
+
| Collector reference commit | `30d43fba07a5a8bcbd756b1bf58be713daec5206` |
|
| 19 |
+
| Proposed dataset | `SHARPA-BC-DATA-038 / phone8_mentor_tweak_recovery_v1` |
|
| 20 |
+
| Dataset status | `DRAFT / ROLLOUTS_NOT_YET_MATERIALIZED` |
|
| 21 |
+
|
| 22 |
+
Pin these identities. Do not silently replace a checkpoint, H5, GoalContract,
|
| 23 |
+
Training Card, code commit, simulator runtime or collection schema.
|
| 24 |
+
|
| 25 |
+
## What the repository contains
|
| 26 |
+
|
| 27 |
+
```text
|
| 28 |
+
objects/phone/releases/phone8-stage3-autodr-candidates-v1/
|
| 29 |
+
README.md
|
| 30 |
+
data_card.md
|
| 31 |
+
mentor_trajectory_generation_spec.md
|
| 32 |
+
release_manifest.json
|
| 33 |
+
checksums.sha256
|
| 34 |
+
episodes/<phone_id>/
|
| 35 |
+
checkpoint/model_<step>.pt
|
| 36 |
+
training_card.md
|
| 37 |
+
checkpoint_receipt.json
|
| 38 |
+
evaluation_summary.json
|
| 39 |
+
|
| 40 |
+
objects/phone/releases/phone20-stage12-v2/
|
| 41 |
+
... matching Stage1 NPZ, Stage2 H5, GoalContract, QA and provenance ...
|
| 42 |
+
```
|
| 43 |
+
|
| 44 |
+
The release provides checkpoint bytes and the information needed to build a
|
| 45 |
+
versioned collection job. It does not provide newly generated augmentation
|
| 46 |
+
rollouts, a prebuilt Isaac container, or a universally compatible one-command
|
| 47 |
+
launcher.
|
| 48 |
+
|
| 49 |
+
## Candidate inventory
|
| 50 |
+
|
| 51 |
+
| Episode | Checkpoint | Published automatic evidence | Current boundary |
|
| 52 |
+
|---|---|---|---|
|
| 53 |
+
| `phone_02` | `model_7499.pt` | nominal seed0: 1/1 | nominal-only automatic evidence |
|
| 54 |
+
| `phone_03` | `model_9500.pt` | not run | last complete checkpoint from crashed run |
|
| 55 |
+
| `phone_05` | `model_7000.pt` | RefAug/reset DR seeds0-7: 6/8 | automatic failures remain |
|
| 56 |
+
| `phone_07` | `model_7499.pt` | RefAug/reset DR seeds0-7: 8/8 | best starting point for the current collector family |
|
| 57 |
+
| `phone_10` | `model_9000.pt` | not run | last complete checkpoint from crashed run |
|
| 58 |
+
| `phone_14` | `model_8500.pt` | RefAug/reset DR seeds0-7: 7/8 | automatic failure remains |
|
| 59 |
+
| `phone_17` | `model_7999.pt` | RefAug/reset DR seeds0-7: 8/8 | promising candidate; generic source adapter still required |
|
| 60 |
+
| `phone_18` | `model_9998.pt` | nominal seed0: 1/1 | nominal-only evidence for this exact checkpoint |
|
| 61 |
+
|
| 62 |
+
All eight remain non-promoted candidates. P2 robustness, automatic drop
|
| 63 |
+
detection and human video review are incomplete.
|
| 64 |
+
|
| 65 |
+
## Download and verify
|
| 66 |
+
|
| 67 |
+
Install the Hugging Face CLI, then download the immutable releases:
|
| 68 |
+
|
| 69 |
+
```bash
|
| 70 |
+
python -m pip install "huggingface_hub[cli]"
|
| 71 |
+
|
| 72 |
+
hf download FlappyHimself/sharpa-artifacts \
|
| 73 |
+
--repo-type dataset \
|
| 74 |
+
--revision 942f7cd025ae050823a817c9aff6cb7cb810d009 \
|
| 75 |
+
--include "objects/phone/releases/phone8-stage3-autodr-candidates-v1/**" \
|
| 76 |
+
"objects/phone/releases/phone20-stage12-v2/**" \
|
| 77 |
+
--local-dir ./sharpa-artifacts
|
| 78 |
+
|
| 79 |
+
cd ./sharpa-artifacts/objects/phone/releases/phone8-stage3-autodr-candidates-v1
|
| 80 |
+
sha256sum -c checksums.sha256
|
| 81 |
+
```
|
| 82 |
+
|
| 83 |
+
Clone and pin the reference implementation separately:
|
| 84 |
+
|
| 85 |
+
```bash
|
| 86 |
+
git clone https://github.com/ai4ce/dex_retarget.git
|
| 87 |
+
cd dex_retarget
|
| 88 |
+
git checkout 30d43fba07a5a8bcbd756b1bf58be713daec5206
|
| 89 |
+
```
|
| 90 |
+
|
| 91 |
+
Use the project runtime with Isaac Sim 5.1.0.0, Torch 2.7.0, `h5py` and
|
| 92 |
+
`scipy`. The collector imports its H5 attempt-bank implementation even for
|
| 93 |
+
`--help`, so a lightweight Python environment without `h5py/scipy` is not a
|
| 94 |
+
valid collection environment.
|
| 95 |
+
|
| 96 |
+
## Copy this task directly into Astra
|
| 97 |
+
|
| 98 |
+
```text
|
| 99 |
+
Use the public Hugging Face dataset FlappyHimself/sharpa-artifacts.
|
| 100 |
+
|
| 101 |
+
Pin the teacher artifacts to revision
|
| 102 |
+
942f7cd025ae050823a817c9aff6cb7cb810d009 and verify the release manifest and
|
| 103 |
+
checksums before loading any checkpoint. Read, in order:
|
| 104 |
+
|
| 105 |
+
1. objects/phone/releases/phone8-stage3-autodr-candidates-v1/README.md
|
| 106 |
+
2. mentor_trajectory_generation_spec.md
|
| 107 |
+
3. data_card.md
|
| 108 |
+
4. the selected episode's training_card.md
|
| 109 |
+
5. checkpoint_receipt.json
|
| 110 |
+
6. evaluation_summary.json
|
| 111 |
+
|
| 112 |
+
For one selected phone episode, resolve the matching Stage1 NPZ, Stage2 H5 and
|
| 113 |
+
GoalContract from phone20-stage12-v2. Materialize a create-only collection spec,
|
| 114 |
+
frozen attempt bank and runtime receipt. Run preflight before opening Isaac.
|
| 115 |
+
|
| 116 |
+
Collect bounded tweak -> residual-teacher recovery -> functional-pose attempts.
|
| 117 |
+
Persist the complete observation/action chain, actual simulator state,
|
| 118 |
+
contact/penetration diagnostics, randomization ledger, metrics, provenance and
|
| 119 |
+
canonical Stage1-MANO-over-policy-actual 2x3 video. Never use the raw residual as
|
| 120 |
+
the BC label when the controller applies a processed/composed target. Preserve
|
| 121 |
+
failed attempts as reflection/diagnostic data.
|
| 122 |
+
|
| 123 |
+
Do not call a checkpoint robust or promoted. Do not put an attempt in the
|
| 124 |
+
training dataset until its automatic gates and human video review pass. Never
|
| 125 |
+
move a failed heldout attempt into train. Do not launch or resume teacher
|
| 126 |
+
training as part of this collection task.
|
| 127 |
+
```
|
| 128 |
+
|
| 129 |
+
## Required augmentation loop
|
| 130 |
+
|
| 131 |
+
For every attempt:
|
| 132 |
+
|
| 133 |
+
1. Load exactly one episode's Training Card, checkpoint and matching reference
|
| 134 |
+
lineage.
|
| 135 |
+
2. Reset to a preregistered phase and apply one bounded tweak ledger.
|
| 136 |
+
3. Run a fresh Isaac/PhysX rollout through the complete reference plus a
|
| 137 |
+
15-control-step terminal hold.
|
| 138 |
+
4. Record the causal transition:
|
| 139 |
+
|
| 140 |
+
```text
|
| 141 |
+
obs_t
|
| 142 |
+
-> teacher raw residual_t
|
| 143 |
+
-> processed residual_t
|
| 144 |
+
-> reference/composed target_t
|
| 145 |
+
-> final controller target_t
|
| 146 |
+
-> four physics steps
|
| 147 |
+
-> actual state_t+1
|
| 148 |
+
```
|
| 149 |
+
|
| 150 |
+
5. Evaluate E4, E5, E6 and E9 and retain contact, penetration, drop/invalid and
|
| 151 |
+
termination diagnostics.
|
| 152 |
+
6. Render the canonical 2x3 video: Stage1 MANO+object on the top row and the
|
| 153 |
+
policy's actual PhysX rollout on the bottom row, synchronized in front, side
|
| 154 |
+
and top views.
|
| 155 |
+
7. Only an automatically valid and visually approved attempt may become the
|
| 156 |
+
parent of another bounded tweak. Parent and child remain immutable records.
|
| 157 |
+
|
| 158 |
+
## Initial bounded tweak envelope
|
| 159 |
+
|
| 160 |
+
Use the first release only inside the documented training-distribution envelope:
|
| 161 |
+
|
| 162 |
+
| Tweak | Range |
|
| 163 |
+
|---|---|
|
| 164 |
+
| Common hand+phone X/Y translation | each axis `U[-0.05, 0.05] m` |
|
| 165 |
+
| Common yaw | `U[-30, 30] deg` |
|
| 166 |
+
| Phone-in-hand translation | each axis `U[-0.006, 0.006] m` |
|
| 167 |
+
| Phone-in-hand axis-angle rotation | `U[-3, 3] deg` |
|
| 168 |
+
| Positive finger wrap | `U[0, 0.06] rad` |
|
| 169 |
+
| Four-finger rub | `U[-0.025, 0.025] rad` |
|
| 170 |
+
|
| 171 |
+
Larger perturbations, pushes, physics randomization, observation noise or new
|
| 172 |
+
tweak families require a new versioned case bank.
|
| 173 |
+
|
| 174 |
+
## Attempt topology and outputs
|
| 175 |
+
|
| 176 |
+
Freeze 128 attempts per independent teacher before observing results: 96 train
|
| 177 |
+
and 32 heldout. Eight teachers define 1024 primary attempts. Train alone may be
|
| 178 |
+
used for optimization and normalization; heldout is a one-shot
|
| 179 |
+
same-distribution audit.
|
| 180 |
+
|
| 181 |
+
Each create-only attempt must contain or link:
|
| 182 |
+
|
| 183 |
+
```text
|
| 184 |
+
attempt_<id>/
|
| 185 |
+
attempt_contract.json
|
| 186 |
+
metrics.json
|
| 187 |
+
rollout.npz
|
| 188 |
+
action_chain.npz
|
| 189 |
+
randomization_ledger.json
|
| 190 |
+
evaluation_suite_card.json
|
| 191 |
+
reference_vs_policy_2x3.mp4
|
| 192 |
+
render_manifest.json
|
| 193 |
+
```
|
| 194 |
+
|
| 195 |
+
Record checkpoint, Training Card, Stage1, Stage2, GoalContract, runtime, code,
|
| 196 |
+
assets, seed, tweak, parent attempt and every delivered member by SHA256.
|
| 197 |
+
|
| 198 |
+
## Current executor compatibility: read before running
|
| 199 |
+
|
| 200 |
+
The public source tree contains the generic entry point
|
| 201 |
+
`student/sharpa/teacher_rollout_collector.py`, whose command interface is:
|
| 202 |
+
|
| 203 |
+
```bash
|
| 204 |
+
COLLECTION_SPEC=/absolute/path/to/collection_spec.json
|
| 205 |
+
ATTEMPT_BANK=/absolute/path/to/attempt_bank.json
|
| 206 |
+
OUTPUT_ROOT=/absolute/path/to/new_collection_root
|
| 207 |
+
|
| 208 |
+
python -m student.sharpa.teacher_rollout_collector \
|
| 209 |
+
--collection-spec "$COLLECTION_SPEC" \
|
| 210 |
+
--attempt-bank "$ATTEMPT_BANK" \
|
| 211 |
+
--row-start 0 \
|
| 212 |
+
--row-stop 1 \
|
| 213 |
+
--output-root "$OUTPUT_ROOT" \
|
| 214 |
+
--device cuda:0 \
|
| 215 |
+
--preflight-only
|
| 216 |
+
```
|
| 217 |
+
|
| 218 |
+
Do not run this command unchanged against all eight teachers. At the pinned
|
| 219 |
+
reference commit, its v1 contract accepts only the older `phone07`/`phone18`
|
| 220 |
+
source IDs, and its historical `71D -> 31D` student codec is not identical to
|
| 221 |
+
the proposed `SHARPA-BC-DATA-038` schema in this release. The Hugging Face
|
| 222 |
+
checkpoint bundle also does not include every runtime/environment receipt
|
| 223 |
+
required by that collector's fail-closed preflight.
|
| 224 |
+
|
| 225 |
+
Therefore:
|
| 226 |
+
|
| 227 |
+
- use `phone_07` first when validating compatibility with the existing
|
| 228 |
+
collector family;
|
| 229 |
+
- create a new versioned collection schema/adapter for the eight-teacher
|
| 230 |
+
campaign rather than weakening or bypassing preflight;
|
| 231 |
+
- bind the selected Data Card's exact observation, action-chain and label
|
| 232 |
+
semantics;
|
| 233 |
+
- run unit tests plus `--preflight-only` before any simulator rollout;
|
| 234 |
+
- publish the materialized spec, attempt bank, runtime receipt and output
|
| 235 |
+
manifest under a new immutable dataset release.
|
| 236 |
+
|
| 237 |
+
The release is directly usable as an artifact-and-contract handoff to Astra. It
|
| 238 |
+
is not evidence that a portable eight-teacher collector has already passed
|
| 239 |
+
preflight.
|
| 240 |
+
|
| 241 |
+
## Completion criteria
|
| 242 |
+
|
| 243 |
+
An Astra augmentation job is complete only when:
|
| 244 |
+
|
| 245 |
+
- all inputs resolve to the pinned identities and pass hash checks;
|
| 246 |
+
- every scheduled attempt has an immutable success, failure or infrastructure
|
| 247 |
+
record;
|
| 248 |
+
- rollout/action timing and final applied targets are validated;
|
| 249 |
+
- all accepted attempts pass the declared automatic gates and human review;
|
| 250 |
+
- train/heldout membership remains frozen;
|
| 251 |
+
- a final manifest, checksums and Data Card execution update are published.
|
shared/legacy_evidence/0918/video_manifest.json
ADDED
|
@@ -0,0 +1,78 @@
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema": "sharpa_proposal_0918_video_manifest_v1",
|
| 3 |
+
"proposal": "docs/proposals/0918_proposal.md",
|
| 4 |
+
"videos": [
|
| 5 |
+
{
|
| 6 |
+
"path": "proposal/0918/videos/astra_longitudinal_recovery_three_way.mp4",
|
| 7 |
+
"sha256": "c927659cc7e215d94969d6cbafba64f3b20862639ed4c05f847cc5299adee99b",
|
| 8 |
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"codec": "h264",
|
| 9 |
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"width": 1920,
|
| 10 |
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"height": 1440,
|
| 11 |
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"fps": 30,
|
| 12 |
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"frames": 503,
|
| 13 |
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"duration_s": 16.766667,
|
| 14 |
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"claim": "Astra longitudinal recovery comparison visualization"
|
| 15 |
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},
|
| 16 |
+
{
|
| 17 |
+
"path": "proposal/0918/videos/ur5e_sharpa_arm_policy_diagnostic_2x3.mp4",
|
| 18 |
+
"sha256": "8ae262e21666072dfbdea083f572d88560f06447db45e8f3380b929c57cb4882",
|
| 19 |
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"codec": "h264",
|
| 20 |
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"width": 1920,
|
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"height": 960,
|
| 22 |
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|
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|
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|
| 26 |
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"claim": "UR5e plus Sharpa diagnostic; formal status remains infrastructure-incomplete"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"path": "proposal/0918/videos/phone08_stage1_stage2_kinematic_2x3.mp4",
|
| 30 |
+
"sha256": "320fda8665560e1ad84e58b74c6105c2491882f0c167a5b74bb63cd149b018f6",
|
| 31 |
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"codec": "h264",
|
| 32 |
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"width": 1920,
|
| 33 |
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|
| 34 |
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|
| 35 |
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"frames": 1288,
|
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|
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|
| 38 |
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"claim": "Phone08 kinematic Stage1 MANO versus Stage2 exact-FK review only"
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"path": "proposal/0918/videos/phone02_teacher_model7499_seed13_policy_2x3.mp4",
|
| 42 |
+
"sha256": "5140b4ee8db024e4fa22cab4590166a7f9c84c7cff3ec7a70937dfda812a600d",
|
| 43 |
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"codec": "h264",
|
| 44 |
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"width": 1920,
|
| 45 |
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"height": 960,
|
| 46 |
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"fps": 30,
|
| 47 |
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"frames": 333,
|
| 48 |
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"duration_s": 11.1,
|
| 49 |
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"task_id": "SHARPA-AC-P02-001",
|
| 50 |
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"checkpoint": "model_7499.pt",
|
| 51 |
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"seed": 13,
|
| 52 |
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"metrics_sha256": "ccd86b58f837f36b48449627884d1f331ffe2caab40e4418d7ed87b0312782d4",
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| 53 |
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"render_manifest_sha256": "92d9415c756831ee92b252555d37f0de80bcbaa20bcbca2b3c22529d29c11030",
|
| 54 |
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"numeric_status": "AUTO_PASS_VISUAL_PENDING",
|
| 55 |
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"claim": "E4/E5/E6/E9 numeric pass; human visual review remains pending"
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"path": "proposal/0918/videos/phone08_p08_003_model9998_seed0_stage1_mano_vs_policy_actual_2x3.mp4",
|
| 59 |
+
"sha256": "67cec86f4f3d5593bc254c8a59d3bb664375a4194cc1fa2c16bd60c9344d9f03",
|
| 60 |
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"codec": "h264",
|
| 61 |
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"width": 1920,
|
| 62 |
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"height": 960,
|
| 63 |
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"fps": 30,
|
| 64 |
+
"frames": 659,
|
| 65 |
+
"duration_s": 21.966667,
|
| 66 |
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"task_id": "SHARPA-AC-P08-003",
|
| 67 |
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"checkpoint": "model_9998.pt",
|
| 68 |
+
"checkpoint_sha256": "d4c19b45e989adddc3a98c49a72142d46e4fd805d1db49db02ba131f46767faa",
|
| 69 |
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"seed": 0,
|
| 70 |
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"rollout_sha256": "11d395fd4cfeeff57fbfaa8a44c6df64ae3593fe77987512137ec4dd3d0a37de",
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| 71 |
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"numeric_metrics_sha256": "e9721c2f10e899003eae1b3cb26840c747e68568d901477768b1231eee077925",
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| 72 |
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"render_receipt_sha256": "bffd2e0d62210a6fa787e547842083b3e835718caa2c1a03cfcadfefe62060e5",
|
| 73 |
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"rows": ["Stage1 MANO reference", "Residual teacher actual rollout"],
|
| 74 |
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"numeric_status": "FAIL_DIAGNOSTIC / UNIFIED_RMS_FIELD_MISSING",
|
| 75 |
+
"claim": "Fresh Phone08 seed0 diagnostic; upper row is Stage1 MANO and lower row is Sharpa policy actual"
|
| 76 |
+
}
|
| 77 |
+
]
|
| 78 |
+
}
|
shared/legacy_evidence/0918/videos/astra_longitudinal_recovery_three_way.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:c927659cc7e215d94969d6cbafba64f3b20862639ed4c05f847cc5299adee99b
|
| 3 |
+
size 2880702
|
shared/legacy_evidence/0918/videos/ur5e_sharpa_arm_policy_diagnostic_2x3.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8ae262e21666072dfbdea083f572d88560f06447db45e8f3380b929c57cb4882
|
| 3 |
+
size 40527154
|
shared/phone/cell_phone.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:7348c6f117a6588b44a873407379b1e15e3c7fbf00836cabaf0e5becf565e9e5
|
| 3 |
+
size 2363584
|
shared/phone/goal_region_contract.json
ADDED
|
@@ -0,0 +1,334 @@
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"evaluation_reference_h5_sha256": "4f17406353cbd05bbd8735c2f0a80c96b7b180c3cabc68f0ffca5b742ee585de",
|
| 3 |
+
"drop_detection": {
|
| 4 |
+
"detector": "wrist_object_distance_m",
|
| 5 |
+
"observability": "required_live_pose",
|
| 6 |
+
"threshold_m": 0.15
|
| 7 |
+
},
|
| 8 |
+
"goal_exemplars": [
|
| 9 |
+
{
|
| 10 |
+
"id": "phone_01",
|
| 11 |
+
"phone_in_wrist_pose_wxyz": [
|
| 12 |
+
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|
| 13 |
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0.031092940773731953,
|
| 14 |
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0.10514462356554327,
|
| 15 |
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0.18347857989940888,
|
| 16 |
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0.7320197472069027,
|
| 17 |
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|
| 18 |
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|
| 19 |
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],
|
| 20 |
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"source_demo_sha256": "1250b3da3252a0e921d6e605d908414f973deb8b4170dd0ab489e69dffc1493a",
|
| 21 |
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"stable_window_end_s": 13,
|
| 22 |
+
"stable_window_start_s": 12
|
| 23 |
+
},
|
| 24 |
+
{
|
| 25 |
+
"id": "phone_02",
|
| 26 |
+
"phone_in_wrist_pose_wxyz": [
|
| 27 |
+
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|
| 28 |
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0.03183333037556811,
|
| 29 |
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0.09926507128878602,
|
| 30 |
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0.2258363963836322,
|
| 31 |
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0.7176556957423054,
|
| 32 |
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0.2100871076302479,
|
| 33 |
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|
| 34 |
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],
|
| 35 |
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"source_demo_sha256": "35adaf6d09990564c11251b2bf2a7a5d75dbdd102b3cf53f01953eb05edfbf32",
|
| 36 |
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"stable_window_end_s": 10.58333,
|
| 37 |
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"stable_window_start_s": 9.583333
|
| 38 |
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},
|
| 39 |
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{
|
| 40 |
+
"id": "phone_03",
|
| 41 |
+
"phone_in_wrist_pose_wxyz": [
|
| 42 |
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0.042993544172995224,
|
| 43 |
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0.026394372547997282,
|
| 44 |
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0.11310086642605308,
|
| 45 |
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0.2989591556842424,
|
| 46 |
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0.6785422292252308,
|
| 47 |
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0.21132367040699318,
|
| 48 |
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|
| 49 |
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],
|
| 50 |
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"source_demo_sha256": "dc3d66a1b55c5167cdac6aad16a9bf1110c48fe2461bfdb6e4533807b4982f81",
|
| 51 |
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"stable_window_end_s": 13.1,
|
| 52 |
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"stable_window_start_s": 12.1
|
| 53 |
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},
|
| 54 |
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{
|
| 55 |
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"id": "phone_04",
|
| 56 |
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"phone_in_wrist_pose_wxyz": [
|
| 57 |
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0.04203459714254923,
|
| 58 |
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0.03591273429334814,
|
| 59 |
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0.0978112235645566,
|
| 60 |
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0.1053596921578995,
|
| 61 |
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0.7137527196746393,
|
| 62 |
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|
| 63 |
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|
| 64 |
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],
|
| 65 |
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"source_demo_sha256": "37a0999fa50ae8e57d8d13e61c947995d6d7fc9806b421edcd75af4a4a26f425",
|
| 66 |
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"stable_window_end_s": 11.58333,
|
| 67 |
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"stable_window_start_s": 10.58333
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"id": "phone_05",
|
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{
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{
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{
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| 293 |
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| 294 |
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{
|
| 295 |
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"id": "phone_20",
|
| 296 |
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| 297 |
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|
| 308 |
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}
|
| 309 |
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],
|
| 310 |
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"hold_duration_s": 0.5,
|
| 311 |
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"schema_version": "reorientation-sharpa-phone-goal-region-contract-v1",
|
| 312 |
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"task_id": "Reorientation-Sharpa-Reference-Tracking-v0",
|
| 313 |
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"thresholds": {
|
| 314 |
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"goal_orientation_deg": 3,
|
| 315 |
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"goal_position_m": 0.003,
|
| 316 |
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"hold_rotation_slip_deg": 5,
|
| 317 |
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"hold_translation_slip_m": 0.005,
|
| 318 |
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"penetration_tolerance_m": 0.001
|
| 319 |
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},
|
| 320 |
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"vlm_judge": {
|
| 321 |
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"enabled": false,
|
| 322 |
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"mode": "advisory"
|
| 323 |
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},
|
| 324 |
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"workspace_lower_m": [
|
| 325 |
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-0.25,
|
| 326 |
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-0.25,
|
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],
|
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"workspace_upper_m": [
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| 330 |
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0.25,
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0.25
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]
|
| 334 |
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}
|
shared/phone/phone_mesh_fps_100.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:c9dfd378a587efd73f7d3830979ff28eac611993e52b5c905ebd731defbdaa17
|
| 3 |
+
size 2528
|
trajectories/phone_01/README.md
ADDED
|
@@ -0,0 +1,5 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# phone_01
|
| 2 |
+
|
| 3 |
+
Stage1/Stage2: selected reference. Stage3: OUT_OF_SELECTED_SCOPE. Stage4: OUT_OF_COLLECTION_SCOPE.
|
| 4 |
+
|
| 5 |
+
See [trajectory manifest](trajectory_manifest.json), [Stage2 handoff](stage2/stage2_handoff.json), [Stage3 status](stage3/status.json), [Stage4 status](stage4/status.json). Raw bytes and fresh 32-seed E4 are not part of this migration.
|
trajectories/phone_01/raw/source_manifest.json
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"claim_boundary": "Session source pointer, not verified raw-to-Stage1 reproduction.",
|
| 3 |
+
"episode_id": "phone_01",
|
| 4 |
+
"expected_source_label": "0807_phone_1",
|
| 5 |
+
"source_drive_folder": "https://drive.google.com/drive/folders/1XvzzF7DWEEjRkCDQ8uSuyMKIx1wjrp0t",
|
| 6 |
+
"status": "SOURCE_LINK_ONLY_RAW_BYTES_NOT_MIGRATED"
|
| 7 |
+
}
|
trajectories/phone_01/stage1/stage1.manifest.json
ADDED
|
@@ -0,0 +1,62 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"A": {
|
| 3 |
+
"definition": "first temporal-clean jointly-valid frame",
|
| 4 |
+
"frame": 0,
|
| 5 |
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"index": 0,
|
| 6 |
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"physics_stable_grasp_verified": false
|
| 7 |
+
},
|
| 8 |
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"B": {
|
| 9 |
+
"definition": "last temporal-clean jointly-valid frame",
|
| 10 |
+
"frame": 780,
|
| 11 |
+
"functional_success_verified": false,
|
| 12 |
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"index": 780
|
| 13 |
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},
|
| 14 |
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"artifact": {
|
| 15 |
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"bytes": 15357686,
|
| 16 |
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"path": "stage1.npz",
|
| 17 |
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"read_only_mode": "0444",
|
| 18 |
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"sha256": "ad917592ee69a2214e31ebc4ed316ad6a4ddaf3be712d7a61c17bca5b12c908e"
|
| 19 |
+
},
|
| 20 |
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"duration_s": 13.0,
|
| 21 |
+
"episode_id": "phone_01",
|
| 22 |
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"frames": 781,
|
| 23 |
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"object_name": "phone",
|
| 24 |
+
"provisional": {
|
| 25 |
+
"hand_correction": true,
|
| 26 |
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"mano_is_skin_or_contact_ground_truth": false,
|
| 27 |
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"object_rigid_from_mesh": true,
|
| 28 |
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"time_sync": true
|
| 29 |
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},
|
| 30 |
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"qa": {
|
| 31 |
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|
| 32 |
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|
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|
| 45 |
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|
| 46 |
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"sources": {
|
| 47 |
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"corrected_artifact": {
|
| 48 |
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"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_01_corrected_world_v3_f008b12fb632.npz",
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| 49 |
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"sha256": "de1ce793be31c5e5a08e73a98cad0c60f0b07163362b0511d2f39290dd097528"
|
| 50 |
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},
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"corrected_manifest": {
|
| 52 |
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"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_01_corrected_world_v3_f008b12fb632.manifest.json",
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"sha256": "d125744ad7c2a179a71afa107d0eaf7b813f6c1b50e63c280b1c59cf40fdcb53"
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| 54 |
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}
|
| 55 |
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},
|
| 56 |
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"transport_provenance": {
|
| 57 |
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"note": "Historical corrected source paths are provenance, not bundled runtime dependencies.",
|
| 58 |
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"source_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_01/inputs/stage1.manifest.json",
|
| 59 |
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"source_revision": "391c9d9a30f0c875ddd92ac7ae1da1fd1474262a",
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| 61 |
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}
|
| 62 |
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}
|
trajectories/phone_01/stage1/stage1.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 15357686
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trajectories/phone_01/stage2/canonical_retarget.h5
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1041160
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trajectories/phone_01/stage2/contracts/goal_contract_derivation_receipt.json
ADDED
|
@@ -0,0 +1,10 @@
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{
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| 4 |
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"schema": "reorientation_goal_contract_derivation_receipt_v1",
|
| 9 |
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"semantic_equivalence": true
|
| 10 |
+
}
|
trajectories/phone_01/stage2/contracts/goal_region_contract.json
ADDED
|
@@ -0,0 +1,334 @@
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|
|
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|
|
| 1 |
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{
|
| 2 |
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"drop_detection": {
|
| 3 |
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"detector": "wrist_object_distance_m",
|
| 4 |
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"observability": "required_live_pose",
|
| 5 |
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"threshold_m": 0.15
|
| 6 |
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},
|
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"evaluation_reference_h5_sha256": "be2e007deabfe0c7457047aab142f5eafd7ad338ba8d4003a2fcc660b17880f6",
|
| 8 |
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"goal_exemplars": [
|
| 9 |
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{
|
| 10 |
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"id": "phone_01",
|
| 11 |
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"phone_in_wrist_pose_wxyz": [
|
| 12 |
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|
| 13 |
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| 14 |
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|
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|
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|
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|
| 21 |
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|
| 22 |
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|
| 23 |
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},
|
| 24 |
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{
|
| 25 |
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"id": "phone_02",
|
| 26 |
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"phone_in_wrist_pose_wxyz": [
|
| 27 |
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|
| 28 |
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|
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|
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|
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|
| 37 |
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|
| 38 |
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},
|
| 39 |
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{
|
| 40 |
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"id": "phone_03",
|
| 41 |
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"phone_in_wrist_pose_wxyz": [
|
| 42 |
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|
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| 51 |
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|
| 52 |
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|
| 53 |
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},
|
| 54 |
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{
|
| 55 |
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"id": "phone_04",
|
| 56 |
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| 57 |
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|
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"id": "phone_05",
|
| 71 |
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"phone_in_wrist_pose_wxyz": [
|
| 72 |
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|
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|
| 83 |
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|
| 84 |
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{
|
| 85 |
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"id": "phone_06",
|
| 86 |
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|
| 87 |
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|
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|
| 97 |
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|
| 98 |
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|
| 99 |
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{
|
| 100 |
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"id": "phone_07",
|
| 101 |
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|
| 102 |
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|
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|
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|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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|
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|
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|
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|
| 221 |
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|
| 250 |
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|
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| 264 |
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{
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| 265 |
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|
| 266 |
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|
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|
| 294 |
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|
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|
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|
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|
| 311 |
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"schema_version": "reorientation-sharpa-phone-goal-region-contract-v1",
|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
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|
| 319 |
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|
| 320 |
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|
| 321 |
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"enabled": false,
|
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|
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|
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|
trajectories/phone_01/stage2/human_demo_60hz.h5
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:1cca3be892f9a1af4f15aa4a623ecaf0b75d77b43b54c8187ed5c0d9dab2a939
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size 508360
|
trajectories/phone_01/stage2/qa/continuity_jointlimit_report.json
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
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{
|
| 2 |
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"checks": {
|
| 3 |
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"continuity_preserved": true,
|
| 4 |
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"finite": true,
|
| 5 |
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"joint_limits": true,
|
| 6 |
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"joint_names_order": true,
|
| 7 |
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"pip_dip_coupling": true,
|
| 8 |
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"quaternion_unit": true,
|
| 9 |
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"repair_submillimeter": true,
|
| 10 |
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"timestamps_60hz_strict": true
|
| 11 |
+
},
|
| 12 |
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"gate": "CONTINUITY_JOINTLIMIT_PASS",
|
| 13 |
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"max_joint_step_rad": 0.08290156816466387,
|
| 14 |
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"max_root_repair_delta_m": 1.0908024873271477e-05,
|
| 15 |
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"max_root_rotation_step_rad": 0.031148746475973623,
|
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"max_root_translation_step_child_m": 0.0027001525001951435,
|
| 17 |
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"max_root_translation_step_parent_m": 0.0027001525001951435,
|
| 18 |
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"schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
|
| 19 |
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}
|
trajectories/phone_01/stage2/qa/exact_render/keyframe_end.png
ADDED
|
Git LFS Details
|
trajectories/phone_01/stage2/qa/exact_render/keyframe_middle.png
ADDED
|
Git LFS Details
|
trajectories/phone_01/stage2/qa/exact_render/keyframe_start.png
ADDED
|
Git LFS Details
|
trajectories/phone_01/stage2/qa/exact_render/render_provenance.json
ADDED
|
@@ -0,0 +1,483 @@
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|
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|
| 480 |
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"path": "/local_data/sy3535/code/.runtime/phone20-stage12-v2-exact-render-v1/phone_01/episode_01_mano_vs_sharpa_exact_fk_isaac_2x3.mp4",
|
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| 482 |
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}
|
| 483 |
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}
|
trajectories/phone_01/stage2/qa/exact_render/stage1_stage2_exact_2x3.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 10469884
|
trajectories/phone_01/stage2/qa/materialization_receipt.json
ADDED
|
@@ -0,0 +1,83 @@
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{
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|
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|
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|
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
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|
| 50 |
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"right_sharpa_wave::Mesh",
|
| 51 |
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|
| 52 |
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|
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|
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|
| 55 |
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|
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|
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|
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|
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|
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|
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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| 72 |
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|
| 73 |
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| 74 |
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|
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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}
|
| 83 |
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}
|
trajectories/phone_01/stage2/qa/nonpenetration_report.json
ADDED
|
@@ -0,0 +1,42 @@
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|
| 1 |
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{
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|
| 3 |
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"changed_frames": [
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| 4 |
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338
|
| 5 |
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| 6 |
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|
| 7 |
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|
| 8 |
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|
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|
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|
| 14 |
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"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 15 |
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|
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|
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|
| 19 |
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| 20 |
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| 21 |
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|
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|
| 31 |
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| 35 |
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|
| 36 |
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"geometry_names": [
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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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"worst_violation_pairs": []
|
| 42 |
+
}
|
trajectories/phone_01/stage2/qa/path_audit.json
ADDED
|
@@ -0,0 +1,17 @@
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|
|
|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"episode_id": "phone_01",
|
| 3 |
+
"gate": "CLONE_LOCAL_PATH_AUDIT_PASS",
|
| 4 |
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"historical_absolute_provenance_ignored": true,
|
| 5 |
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"resolved_artifacts": {
|
| 6 |
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"canonical_retarget_h5": "phone_01/stage2/canonical_retarget.h5",
|
| 7 |
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"human_demo_60hz_h5": "phone_01/stage2/human_demo_60hz.h5",
|
| 8 |
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"moving28_h5": "phone_01/stage2/retargeted_moving28_60fps.h5",
|
| 9 |
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"reference_manifest": "phone_01/stage2/reference_manifest.json",
|
| 10 |
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"review_video": "phone_01/qa/stage1_stage2_2x3.mp4",
|
| 11 |
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"stage1_manifest": "phone_01/inputs/stage1.manifest.json",
|
| 12 |
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"stage1_npz": "phone_01/inputs/stage1.npz",
|
| 13 |
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"validation_receipt": "phone_01/qa/stage2_validation.json"
|
| 14 |
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},
|
| 15 |
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"schema": "sharpa_stage2_release_clone_local_path_audit_v1",
|
| 16 |
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"symlink_count": 0
|
| 17 |
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}
|
trajectories/phone_01/stage2/qa/stage1_stage2_2x3.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:b5166adefe1dcd25230b1571271cf7ff0f8bd17b26219e8e826c6b86d4b49fdd
|
| 3 |
+
size 16092632
|
trajectories/phone_01/stage2/qa/stage2_validation.json
ADDED
|
@@ -0,0 +1,125 @@
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checks": {
|
| 3 |
+
"canonical_source_derived": true,
|
| 4 |
+
"clone_local_paths": true,
|
| 5 |
+
"frame_count_and_60hz": true,
|
| 6 |
+
"hard_nonpenetration_measured": true,
|
| 7 |
+
"joint_names_order_and_limits": true,
|
| 8 |
+
"moving28_immutable_arrays_preserved": true,
|
| 9 |
+
"moving28_parent_hash_bound": true,
|
| 10 |
+
"pip_dip_coupling": true,
|
| 11 |
+
"quaternion_finite_unit": true,
|
| 12 |
+
"review_video_parent_submillimeter_equivalence": true,
|
| 13 |
+
"root_continuity": true
|
| 14 |
+
},
|
| 15 |
+
"continuity_jointlimit": {
|
| 16 |
+
"checks": {
|
| 17 |
+
"continuity_preserved": true,
|
| 18 |
+
"finite": true,
|
| 19 |
+
"joint_limits": true,
|
| 20 |
+
"joint_names_order": true,
|
| 21 |
+
"pip_dip_coupling": true,
|
| 22 |
+
"quaternion_unit": true,
|
| 23 |
+
"repair_submillimeter": true,
|
| 24 |
+
"timestamps_60hz_strict": true
|
| 25 |
+
},
|
| 26 |
+
"gate": "CONTINUITY_JOINTLIMIT_PASS",
|
| 27 |
+
"max_joint_step_rad": 0.08290156816466387,
|
| 28 |
+
"max_root_repair_delta_m": 1.0908024873271477e-05,
|
| 29 |
+
"max_root_rotation_step_rad": 0.031148746475973623,
|
| 30 |
+
"max_root_translation_step_child_m": 0.0027001525001951435,
|
| 31 |
+
"max_root_translation_step_parent_m": 0.0027001525001951435,
|
| 32 |
+
"schema": "sharpa_t0147_aligned_continuity_jointlimit_report_v1"
|
| 33 |
+
},
|
| 34 |
+
"gate": "ACTUATOR_PARITY_STAGE2_INPUT_PASS",
|
| 35 |
+
"penetration_audit": {
|
| 36 |
+
"changed_frame_count": 1,
|
| 37 |
+
"changed_frames": [
|
| 38 |
+
338
|
| 39 |
+
],
|
| 40 |
+
"frame_count": 781,
|
| 41 |
+
"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 42 |
+
"max_penetration_depth_m": 0.001001953592803277,
|
| 43 |
+
"max_rotation_delta_deg": 0.0,
|
| 44 |
+
"max_translation_delta_m": 1.0908024873271477e-05,
|
| 45 |
+
"max_violation_m": 1.95359280327702e-06,
|
| 46 |
+
"numerical_epsilon_m": 2e-06,
|
| 47 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 48 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 49 |
+
"steps": [
|
| 50 |
+
{
|
| 51 |
+
"frame": 338,
|
| 52 |
+
"geometry_names": [
|
| 53 |
+
"right_sharpa_wave::Mesh",
|
| 54 |
+
"phone::Mesh_1"
|
| 55 |
+
],
|
| 56 |
+
"pre_repair_violation_m": 5.908024873274012e-06,
|
| 57 |
+
"robot_root_translation_delta_m": [
|
| 58 |
+
2.3778823277399973e-06,
|
| 59 |
+
8.838864776007828e-06,
|
| 60 |
+
-5.93339293683087e-06
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"tolerance_m": 0.001,
|
| 65 |
+
"violating_frame_count": 0,
|
| 66 |
+
"violating_frames": [],
|
| 67 |
+
"worst_depth": {
|
| 68 |
+
"depth_m": 0.001001953592803277,
|
| 69 |
+
"frame": 233,
|
| 70 |
+
"geometry_names": [
|
| 71 |
+
"right_sharpa_wave::Mesh",
|
| 72 |
+
"phone::Mesh_1"
|
| 73 |
+
]
|
| 74 |
+
},
|
| 75 |
+
"worst_violation_pairs": []
|
| 76 |
+
},
|
| 77 |
+
"required_qa": {
|
| 78 |
+
"action_dim": 28,
|
| 79 |
+
"continuity": true,
|
| 80 |
+
"finger_dof": 22,
|
| 81 |
+
"hard_nonpenetration": true,
|
| 82 |
+
"kinematic_only": true,
|
| 83 |
+
"pip_dip_coupling": true,
|
| 84 |
+
"recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
|
| 85 |
+
"solver": "ClarabelSolver"
|
| 86 |
+
},
|
| 87 |
+
"review_video": {
|
| 88 |
+
"max_unrendered_root_translation_delta_m": 1.0908024873271477e-05,
|
| 89 |
+
"release_penetration_tolerance_m": 0.001,
|
| 90 |
+
"sha256": "b5166adefe1dcd25230b1571271cf7ff0f8bd17b26219e8e826c6b86d4b49fdd",
|
| 91 |
+
"source": "T0-147-aligned parent render",
|
| 92 |
+
"user_accepted_submillimeter_equivalence": true
|
| 93 |
+
},
|
| 94 |
+
"schema": "sharpa_actuatorparity_stage2_input_validation_v1",
|
| 95 |
+
"training_h5": {
|
| 96 |
+
"frames": 781,
|
| 97 |
+
"joint_count": 22,
|
| 98 |
+
"joint_names": [
|
| 99 |
+
"right_thumb_CMC_FE",
|
| 100 |
+
"right_thumb_CMC_AA",
|
| 101 |
+
"right_thumb_MCP_FE",
|
| 102 |
+
"right_thumb_MCP_AA",
|
| 103 |
+
"right_thumb_IP",
|
| 104 |
+
"right_index_MCP_FE",
|
| 105 |
+
"right_index_MCP_AA",
|
| 106 |
+
"right_index_PIP",
|
| 107 |
+
"right_index_DIP",
|
| 108 |
+
"right_middle_MCP_FE",
|
| 109 |
+
"right_middle_MCP_AA",
|
| 110 |
+
"right_middle_PIP",
|
| 111 |
+
"right_middle_DIP",
|
| 112 |
+
"right_ring_MCP_FE",
|
| 113 |
+
"right_ring_MCP_AA",
|
| 114 |
+
"right_ring_PIP",
|
| 115 |
+
"right_ring_DIP",
|
| 116 |
+
"right_pinky_CMC",
|
| 117 |
+
"right_pinky_MCP_FE",
|
| 118 |
+
"right_pinky_MCP_AA",
|
| 119 |
+
"right_pinky_PIP",
|
| 120 |
+
"right_pinky_DIP"
|
| 121 |
+
],
|
| 122 |
+
"policy_action_dim": 28,
|
| 123 |
+
"sha256": "be2e007deabfe0c7457047aab142f5eafd7ad338ba8d4003a2fcc660b17880f6"
|
| 124 |
+
}
|
| 125 |
+
}
|
trajectories/phone_01/stage2/reference_manifest.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"artifacts": {
|
| 3 |
+
"human_demo_60hz.h5": {
|
| 4 |
+
"bytes": 508360,
|
| 5 |
+
"path": "human_demo_60hz.h5",
|
| 6 |
+
"sha256": "1cca3be892f9a1af4f15aa4a623ecaf0b75d77b43b54c8187ed5c0d9dab2a939"
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
"canonical_world_frame": "gravity_aligned_isaac_world",
|
| 10 |
+
"episode_id": "phone_01",
|
| 11 |
+
"frame_count": 781,
|
| 12 |
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"historical_unbundled_artifacts": {
|
| 13 |
+
"retargeted_60fps.h5": {
|
| 14 |
+
"bytes": 1041160,
|
| 15 |
+
"path": "retargeted_60fps.h5",
|
| 16 |
+
"sha256": "7687184414fdb5a32d26dd9def03f3bfb76291226a61c2e11babc92599cbac45"
|
| 17 |
+
}
|
| 18 |
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},
|
| 19 |
+
"penetration_audit": {
|
| 20 |
+
"changed_frame_count": 1,
|
| 21 |
+
"changed_frames": [
|
| 22 |
+
338
|
| 23 |
+
],
|
| 24 |
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"frame_count": 781,
|
| 25 |
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"gate": "PASS_FINAL_TRAJECTORY_NONPENETRATION",
|
| 26 |
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"max_penetration_depth_m": 0.001001953592803277,
|
| 27 |
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"max_rotation_delta_deg": 0.0,
|
| 28 |
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"max_translation_delta_m": 1.0908024873271477e-05,
|
| 29 |
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"max_violation_m": 1.95359280327702e-06,
|
| 30 |
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"numerical_epsilon_m": 2e-06,
|
| 31 |
+
"repair_schema": "sharpa_t0147_aligned_minimal_root_translation_repair_v1",
|
| 32 |
+
"schema": "reorientation_sharpa_final_trajectory_penetration_v1",
|
| 33 |
+
"steps": [
|
| 34 |
+
{
|
| 35 |
+
"frame": 338,
|
| 36 |
+
"geometry_names": [
|
| 37 |
+
"right_sharpa_wave::Mesh",
|
| 38 |
+
"phone::Mesh_1"
|
| 39 |
+
],
|
| 40 |
+
"pre_repair_violation_m": 5.908024873274012e-06,
|
| 41 |
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"robot_root_translation_delta_m": [
|
| 42 |
+
2.3778823277399973e-06,
|
| 43 |
+
8.838864776007828e-06,
|
| 44 |
+
-5.93339293683087e-06
|
| 45 |
+
]
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"tolerance_m": 0.001,
|
| 49 |
+
"violating_frame_count": 0,
|
| 50 |
+
"violating_frames": [],
|
| 51 |
+
"worst_depth": {
|
| 52 |
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"depth_m": 0.001001953592803277,
|
| 53 |
+
"frame": 233,
|
| 54 |
+
"geometry_names": [
|
| 55 |
+
"right_sharpa_wave::Mesh",
|
| 56 |
+
"phone::Mesh_1"
|
| 57 |
+
]
|
| 58 |
+
},
|
| 59 |
+
"worst_violation_pairs": []
|
| 60 |
+
},
|
| 61 |
+
"quaternion_conventions": {
|
| 62 |
+
"human_object": "wxyz",
|
| 63 |
+
"human_wrist": "xyzw",
|
| 64 |
+
"retargeted_object": "wxyz",
|
| 65 |
+
"retargeted_robot": "wxyz"
|
| 66 |
+
},
|
| 67 |
+
"robot": {
|
| 68 |
+
"finger_dof": 22,
|
| 69 |
+
"fingertip_keypoint_indices": [
|
| 70 |
+
4,
|
| 71 |
+
8,
|
| 72 |
+
12,
|
| 73 |
+
16,
|
| 74 |
+
20
|
| 75 |
+
],
|
| 76 |
+
"joint_names": [
|
| 77 |
+
"right_thumb_CMC_FE",
|
| 78 |
+
"right_thumb_CMC_AA",
|
| 79 |
+
"right_thumb_MCP_FE",
|
| 80 |
+
"right_thumb_MCP_AA",
|
| 81 |
+
"right_thumb_IP",
|
| 82 |
+
"right_index_MCP_FE",
|
| 83 |
+
"right_index_MCP_AA",
|
| 84 |
+
"right_index_PIP",
|
| 85 |
+
"right_index_DIP",
|
| 86 |
+
"right_middle_MCP_FE",
|
| 87 |
+
"right_middle_MCP_AA",
|
| 88 |
+
"right_middle_PIP",
|
| 89 |
+
"right_middle_DIP",
|
| 90 |
+
"right_ring_MCP_FE",
|
| 91 |
+
"right_ring_MCP_AA",
|
| 92 |
+
"right_ring_PIP",
|
| 93 |
+
"right_ring_DIP",
|
| 94 |
+
"right_pinky_CMC",
|
| 95 |
+
"right_pinky_MCP_FE",
|
| 96 |
+
"right_pinky_MCP_AA",
|
| 97 |
+
"right_pinky_PIP",
|
| 98 |
+
"right_pinky_DIP"
|
| 99 |
+
],
|
| 100 |
+
"joint_position_indices": [
|
| 101 |
+
7,
|
| 102 |
+
8,
|
| 103 |
+
9,
|
| 104 |
+
10,
|
| 105 |
+
11,
|
| 106 |
+
12,
|
| 107 |
+
13,
|
| 108 |
+
14,
|
| 109 |
+
15,
|
| 110 |
+
16,
|
| 111 |
+
17,
|
| 112 |
+
18,
|
| 113 |
+
19,
|
| 114 |
+
20,
|
| 115 |
+
21,
|
| 116 |
+
22,
|
| 117 |
+
23,
|
| 118 |
+
24,
|
| 119 |
+
25,
|
| 120 |
+
26,
|
| 121 |
+
27,
|
| 122 |
+
28
|
| 123 |
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],
|
| 124 |
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"keypoint_names": [
|
| 125 |
+
"right_hand_C_MC",
|
| 126 |
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"right_thumb_MC",
|
| 127 |
+
"right_thumb_PP",
|
| 128 |
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"right_thumb_DP",
|
| 129 |
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"right_thumb_fingertip",
|
| 130 |
+
"right_index_PP",
|
| 131 |
+
"right_index_MP",
|
| 132 |
+
"right_index_DP",
|
| 133 |
+
"right_index_fingertip",
|
| 134 |
+
"right_middle_PP",
|
| 135 |
+
"right_middle_MP",
|
| 136 |
+
"right_middle_DP",
|
| 137 |
+
"right_middle_fingertip",
|
| 138 |
+
"right_ring_PP",
|
| 139 |
+
"right_ring_MP",
|
| 140 |
+
"right_ring_DP",
|
| 141 |
+
"right_ring_fingertip",
|
| 142 |
+
"right_pinky_PP",
|
| 143 |
+
"right_pinky_MP",
|
| 144 |
+
"right_pinky_DP",
|
| 145 |
+
"right_pinky_fingertip"
|
| 146 |
+
],
|
| 147 |
+
"keypoint_source_indices": [
|
| 148 |
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|
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|
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| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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10,
|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
+
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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]
|
| 170 |
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},
|
| 171 |
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"schema": "reorientation_sharpa_wuji2_reference_manifest_v1",
|
| 172 |
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"source_dt_s": 0.016666666666666666,
|
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|
| 174 |
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"sources": {
|
| 175 |
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|
| 176 |
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"path": "human_demo_60hz.h5",
|
| 177 |
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"sha256": "1cca3be892f9a1af4f15aa4a623ecaf0b75d77b43b54c8187ed5c0d9dab2a939"
|
| 178 |
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},
|
| 179 |
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"moving28_h5": {
|
| 180 |
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"path": "retargeted_moving28_60fps.h5",
|
| 181 |
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"sha256": "be2e007deabfe0c7457047aab142f5eafd7ad338ba8d4003a2fcc660b17880f6"
|
| 182 |
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},
|
| 183 |
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"retarget_h5": {
|
| 184 |
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"path": "canonical_retarget.h5",
|
| 185 |
+
"sha256": "cfd97555fd68dba015a2aba1dd3995d794f367b78e0174d3ddfbe77cb29d3ae3"
|
| 186 |
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},
|
| 187 |
+
"source_npz": {
|
| 188 |
+
"path": "../stage1/stage1.npz",
|
| 189 |
+
"sha256": "ad917592ee69a2214e31ebc4ed316ad6a4ddaf3be712d7a61c17bca5b12c908e"
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"transport_provenance": {
|
| 193 |
+
"source_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_01/stage2/reference_manifest.json",
|
| 194 |
+
"source_revision": "391c9d9a30f0c875ddd92ac7ae1da1fd1474262a",
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| 195 |
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"source_sha256": "62c47cf2d95890d00a8e29e763ee3ba89d664fabe046ada0b69dcfedc4e0d4ae"
|
| 196 |
+
},
|
| 197 |
+
"units": "m"
|
| 198 |
+
}
|
trajectories/phone_01/stage2/retargeted_moving28_60fps.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:be2e007deabfe0c7457047aab142f5eafd7ad338ba8d4003a2fcc660b17880f6
|
| 3 |
+
size 1045856
|
trajectories/phone_01/stage2/stage2_handoff.json
ADDED
|
@@ -0,0 +1,73 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
|
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|
|
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|
|
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|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
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"artifacts": {
|
| 3 |
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"canonical_retarget_h5": {
|
| 4 |
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"relative_path": "canonical_retarget.h5",
|
| 5 |
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"sha256": "cfd97555fd68dba015a2aba1dd3995d794f367b78e0174d3ddfbe77cb29d3ae3",
|
| 6 |
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"size_bytes": 1041160
|
| 7 |
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},
|
| 8 |
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"human_demo_60hz_h5": {
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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"moving28_h5": {
|
| 14 |
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"relative_path": "retargeted_moving28_60fps.h5",
|
| 15 |
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|
| 16 |
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"size_bytes": 1045856
|
| 17 |
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},
|
| 18 |
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"reference_manifest": {
|
| 19 |
+
"relative_path": "reference_manifest.json",
|
| 20 |
+
"sha256": "d100922c2a8b336393a167a77f2c620e47b8397791e18ab89e94cd83ca66c5cd",
|
| 21 |
+
"size_bytes": 4768
|
| 22 |
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},
|
| 23 |
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"review_video": {
|
| 24 |
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"relative_path": "qa/stage1_stage2_2x3.mp4",
|
| 25 |
+
"sha256": "b5166adefe1dcd25230b1571271cf7ff0f8bd17b26219e8e826c6b86d4b49fdd",
|
| 26 |
+
"size_bytes": 16092632
|
| 27 |
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},
|
| 28 |
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"stage1_manifest": {
|
| 29 |
+
"relative_path": "../stage1/stage1.manifest.json",
|
| 30 |
+
"sha256": "cb960a5c2cd36689af2cf196c4363851e213e8a5e8a7ede90d98b9deaa3140a1",
|
| 31 |
+
"size_bytes": 2667
|
| 32 |
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},
|
| 33 |
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"stage1_npz": {
|
| 34 |
+
"relative_path": "../stage1/stage1.npz",
|
| 35 |
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"sha256": "ad917592ee69a2214e31ebc4ed316ad6a4ddaf3be712d7a61c17bca5b12c908e",
|
| 36 |
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"size_bytes": 15357686
|
| 37 |
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},
|
| 38 |
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"validation_receipt": {
|
| 39 |
+
"relative_path": "qa/stage2_validation.json",
|
| 40 |
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"sha256": "c2fb7a1e73949309077e98a24a07d7463617b7982a6a3dbb99493ab8b901643a",
|
| 41 |
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"size_bytes": 3890
|
| 42 |
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}
|
| 43 |
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},
|
| 44 |
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"dimensions": {
|
| 45 |
+
"action_dim": 28,
|
| 46 |
+
"finger_dof": 22,
|
| 47 |
+
"root_dof": 6
|
| 48 |
+
},
|
| 49 |
+
"episode_id": "phone_01",
|
| 50 |
+
"object_name": "phone",
|
| 51 |
+
"provenance": {
|
| 52 |
+
"git_commit": "22d7dd4ae9dd782625464788e5741a0565311c77",
|
| 53 |
+
"git_dirty": false
|
| 54 |
+
},
|
| 55 |
+
"repair": {
|
| 56 |
+
"nonpenetration": "PASS",
|
| 57 |
+
"qa_status": "ACCEPTED",
|
| 58 |
+
"recipe_id": "sharpa_regrind_interaction_mesh_v3_selective_fingertip",
|
| 59 |
+
"solver": "ClarabelSolver"
|
| 60 |
+
},
|
| 61 |
+
"schema": "reorientation_sharpa_stage2_handoff_v1",
|
| 62 |
+
"status": "STAGE2_HANDOFF_ACCEPTED",
|
| 63 |
+
"timeline": {
|
| 64 |
+
"frames": 781,
|
| 65 |
+
"policy_hz": 30.0,
|
| 66 |
+
"source_hz": 60.0
|
| 67 |
+
},
|
| 68 |
+
"transport_provenance": {
|
| 69 |
+
"source_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_01/stage2_handoff.json",
|
| 70 |
+
"source_revision": "391c9d9a30f0c875ddd92ac7ae1da1fd1474262a",
|
| 71 |
+
"source_sha256": "21ebc02e61f12e0ef0f8cac0eba63c84e22332893c84c9fb6a4a6740fec3bc8a"
|
| 72 |
+
}
|
| 73 |
+
}
|
trajectories/phone_01/stage3/status.json
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"e4_seed00_31": "NOT_MATERIALIZED",
|
| 3 |
+
"episode_id": "phone_01",
|
| 4 |
+
"note": "Legacy evaluation is preserved separately and is not a 32-seed evaluation.",
|
| 5 |
+
"status": "OUT_OF_SELECTED_SCOPE"
|
| 6 |
+
}
|
trajectories/phone_01/stage4/status.json
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"claim_boundary": "Archive preservation and upstream manifest identity only; no fresh simulator/BC validation.",
|
| 3 |
+
"dataset_id": null,
|
| 4 |
+
"episode_id": "phone_01",
|
| 5 |
+
"status": "OUT_OF_COLLECTION_SCOPE"
|
| 6 |
+
}
|
trajectories/phone_01/trajectory_manifest.json
ADDED
|
@@ -0,0 +1,23 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode_id": "phone_01",
|
| 3 |
+
"schema": "sharpa_single_trajectory_layout_v1",
|
| 4 |
+
"scientific_claim": "Reorganization only; payloads and historical split assignments unchanged.",
|
| 5 |
+
"shared_assets": "../../shared/phone",
|
| 6 |
+
"source_revision": "391c9d9a30f0c875ddd92ac7ae1da1fd1474262a",
|
| 7 |
+
"stage1": {
|
| 8 |
+
"manifest": "stage1/stage1.manifest.json",
|
| 9 |
+
"path": "stage1/stage1.npz"
|
| 10 |
+
},
|
| 11 |
+
"stage2": {
|
| 12 |
+
"handoff": "stage2/stage2_handoff.json"
|
| 13 |
+
},
|
| 14 |
+
"stage3": {
|
| 15 |
+
"e4_seed00_31": "NOT_MATERIALIZED",
|
| 16 |
+
"status": "OUT_OF_SELECTED_SCOPE"
|
| 17 |
+
},
|
| 18 |
+
"stage4": {
|
| 19 |
+
"counts": null,
|
| 20 |
+
"data_task_id": null,
|
| 21 |
+
"status": "OUT_OF_COLLECTION_SCOPE"
|
| 22 |
+
}
|
| 23 |
+
}
|
trajectories/phone_02/README.md
ADDED
|
@@ -0,0 +1,5 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# phone_02
|
| 2 |
+
|
| 3 |
+
Stage1/Stage2: selected reference. Stage3: CHECKPOINT_PRESENT. Stage4: ARCHIVE_PRESENT.
|
| 4 |
+
|
| 5 |
+
See [trajectory manifest](trajectory_manifest.json), [Stage2 handoff](stage2/stage2_handoff.json), [Stage3 status](stage3/status.json), [Stage4 status](stage4/status.json). Raw bytes and fresh 32-seed E4 are not part of this migration.
|
trajectories/phone_02/raw/source_manifest.json
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"claim_boundary": "Session source pointer, not verified raw-to-Stage1 reproduction.",
|
| 3 |
+
"episode_id": "phone_02",
|
| 4 |
+
"expected_source_label": "0807_phone_2",
|
| 5 |
+
"source_drive_folder": "https://drive.google.com/drive/folders/1XvzzF7DWEEjRkCDQ8uSuyMKIx1wjrp0t",
|
| 6 |
+
"status": "SOURCE_LINK_ONLY_RAW_BYTES_NOT_MIGRATED"
|
| 7 |
+
}
|
trajectories/phone_02/stage1/stage1.manifest.json
ADDED
|
@@ -0,0 +1,62 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"A": {
|
| 3 |
+
"definition": "first temporal-clean jointly-valid frame",
|
| 4 |
+
"frame": 0,
|
| 5 |
+
"index": 0,
|
| 6 |
+
"physics_stable_grasp_verified": false
|
| 7 |
+
},
|
| 8 |
+
"B": {
|
| 9 |
+
"definition": "last temporal-clean jointly-valid frame",
|
| 10 |
+
"frame": 635,
|
| 11 |
+
"functional_success_verified": false,
|
| 12 |
+
"index": 635
|
| 13 |
+
},
|
| 14 |
+
"artifact": {
|
| 15 |
+
"bytes": 12448030,
|
| 16 |
+
"path": "stage1.npz",
|
| 17 |
+
"read_only_mode": "0444",
|
| 18 |
+
"sha256": "40772c5680e325eb1d8278050093f78774a56be28faa9795e7cd460bf4c61f1e"
|
| 19 |
+
},
|
| 20 |
+
"duration_s": 10.58333,
|
| 21 |
+
"episode_id": "phone_02",
|
| 22 |
+
"frames": 636,
|
| 23 |
+
"object_name": "phone",
|
| 24 |
+
"provisional": {
|
| 25 |
+
"hand_correction": true,
|
| 26 |
+
"mano_is_skin_or_contact_ground_truth": false,
|
| 27 |
+
"object_rigid_from_mesh": true,
|
| 28 |
+
"time_sync": false
|
| 29 |
+
},
|
| 30 |
+
"qa": {
|
| 31 |
+
"A_object_position_norm_m": 5.553824967135427e-17,
|
| 32 |
+
"A_object_rotation_matrix_max_abs_error": 3.3306690738754696e-15,
|
| 33 |
+
"phase_end": 1.0,
|
| 34 |
+
"phase_start": 0.0,
|
| 35 |
+
"phase_strictly_increasing": true,
|
| 36 |
+
"world_hand_joints_max_abs_error_m": 4.0939474033052647e-16,
|
| 37 |
+
"world_hand_pose_from_objectMeshA_max_abs_error": 3.219646771412954e-15,
|
| 38 |
+
"world_hand_pose_from_objectMesh_max_abs_error": 3.552713678800501e-15,
|
| 39 |
+
"world_mano_joints_float32_max_abs_error_m": 7.450580596923828e-09,
|
| 40 |
+
"world_mano_vertices_float32_max_abs_error_m": 7.450580596923828e-09,
|
| 41 |
+
"world_object_mesh_pose_max_abs_error": 3.552713678800501e-15
|
| 42 |
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},
|
| 43 |
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"recipe_id": "85fb99c20a8fc3b72fb210c87de0c47e0f44a986e9b27b9516bb92aa55e61cd7",
|
| 44 |
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"recipe_version": "export_object_centric_human_demo_generic_v3",
|
| 45 |
+
"schema": "a2b_immutable_artifact_manifest_v1",
|
| 46 |
+
"sources": {
|
| 47 |
+
"corrected_artifact": {
|
| 48 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_02_corrected_world_v3_3948b81cdfd6.npz",
|
| 49 |
+
"sha256": "e91bf2eece27b8994666bfa6fef02b40f4935979e083c79370b0de5d55cdb613"
|
| 50 |
+
},
|
| 51 |
+
"corrected_manifest": {
|
| 52 |
+
"path": "outputs/a2b_metric_hoi/experiment_records/20260807_manus_vicon_phone_screwdriver_26episode/06_corrected_human_demo/offset_retune_v5_20260811/phone_02_corrected_world_v3_3948b81cdfd6.manifest.json",
|
| 53 |
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"sha256": "cd45a0a375b0289da0bee81969ed92bbb3d1557c0ded248729bf77a8fd2e71c3"
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"transport_provenance": {
|
| 57 |
+
"note": "Historical corrected source paths are provenance, not bundled runtime dependencies.",
|
| 58 |
+
"source_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/inputs/stage1.manifest.json",
|
| 59 |
+
"source_revision": "391c9d9a30f0c875ddd92ac7ae1da1fd1474262a",
|
| 60 |
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"source_sha256": "bc9f812397b58201b84bdd50c4a261eb0ebef9d7ffe74dcefa7a910d8698fb6a"
|
| 61 |
+
}
|
| 62 |
+
}
|
trajectories/phone_02/stage1/stage1.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:40772c5680e325eb1d8278050093f78774a56be28faa9795e7cd460bf4c61f1e
|
| 3 |
+
size 12448030
|
trajectories/phone_02/stage2/canonical_retarget.h5
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
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|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:6339a4c11cf221a4d3e6df71e242bc92c0f8fd4c3485a8a72a089152022b4ee6
|
| 3 |
+
size 12153157
|
trajectories/phone_02/stage2/contracts/goal_contract_derivation_receipt.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
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|
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|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"changed_fields": [
|
| 3 |
+
"evaluation_reference_h5_sha256"
|
| 4 |
+
],
|
| 5 |
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"child_sha256": "9fbd73fc09438aa85d2e889e29a123ccee21a5b46a340c8a36f0fd73963c72ea",
|
| 6 |
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"evaluation_reference_h5_sha256": "0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717",
|
| 7 |
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"parent_sha256": "a27f56ea63facea8f0da6f8fad663d4f990fd9cba8322517b16a26e7e83a6310",
|
| 8 |
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"schema": "reorientation_goal_contract_derivation_receipt_v1",
|
| 9 |
+
"semantic_equivalence": true
|
| 10 |
+
}
|
trajectories/phone_02/stage2/contracts/goal_region_contract.json
ADDED
|
@@ -0,0 +1,334 @@
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
|
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|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"drop_detection": {
|
| 3 |
+
"detector": "wrist_object_distance_m",
|
| 4 |
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"observability": "required_live_pose",
|
| 5 |
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"threshold_m": 0.15
|
| 6 |
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},
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"evaluation_reference_h5_sha256": "0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717",
|
| 8 |
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"goal_exemplars": [
|
| 9 |
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{
|
| 10 |
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"id": "phone_01",
|
| 11 |
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"phone_in_wrist_pose_wxyz": [
|
| 12 |
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|
| 13 |
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| 14 |
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|
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|
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"source_demo_sha256": "1250b3da3252a0e921d6e605d908414f973deb8b4170dd0ab489e69dffc1493a",
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| 21 |
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"stable_window_end_s": 13,
|
| 22 |
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"stable_window_start_s": 12
|
| 23 |
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},
|
| 24 |
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{
|
| 25 |
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"id": "phone_02",
|
| 26 |
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"phone_in_wrist_pose_wxyz": [
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 32 |
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|
| 37 |
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"stable_window_start_s": 9.583333
|
| 38 |
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},
|
| 39 |
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{
|
| 40 |
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"id": "phone_03",
|
| 41 |
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"phone_in_wrist_pose_wxyz": [
|
| 42 |
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|
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"stable_window_end_s": 13.1,
|
| 52 |
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"stable_window_start_s": 12.1
|
| 53 |
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},
|
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{
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| 55 |
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"id": "phone_04",
|
| 56 |
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"phone_in_wrist_pose_wxyz": [
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| 57 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"id": "phone_05",
|
| 71 |
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"phone_in_wrist_pose_wxyz": [
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| 72 |
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|
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|
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|
| 83 |
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},
|
| 84 |
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{
|
| 85 |
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"id": "phone_06",
|
| 86 |
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|
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|
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|
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|
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|
| 98 |
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|
| 99 |
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{
|
| 100 |
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"id": "phone_07",
|
| 101 |
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|
| 102 |
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|
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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"id": "phone_08",
|
| 116 |
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|
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|
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|
| 128 |
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|
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|
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|
trajectories/phone_02/stage2/human_demo_60hz.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:d278f3356c55e8ed37afb61f5d6d7cf98309456c384873f01caf1ca571739589
|
| 3 |
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size 415560
|