Add trajectory-owned Stage3/Stage4 artifacts

.gitattributes

@@ -60,3 +60,8 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
 objects/phone/releases/phone20-stage12-v1/common/cell_phone.stl filter=lfs diff=lfs merge=lfs -text
 objects/phone/releases/phone20-stage12-v2/common/cell_phone.stl filter=lfs diff=lfs merge=lfs -text
+objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
+objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
+objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
+objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
+objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text

catalog.json

@@ -2,16 +2,6 @@
   "canonical_release": "phone20-stage12-v2",
   "featured_teacher_release": "phone8-stage3-autodr-candidates-v1",
   "public": true,
-  "reviews": [
-    {
-      "episode_count": 20,
-      "object": "phone",
-      "path": "objects/phone/reviews/phone20-stage12-v2-exact-render-v1",
-      "review_id": "phone20-stage12-v2-exact-render-v1",
-      "source_release_id": "phone20-stage12-v2",
-      "status": "RENDER_COMPLETE_MACHINE_VERIFIED_HUMAN_REVIEW_PENDING"
-    }
-  ],
   "releases": [
     {
       "artifact_revision": "942f7cd025ae050823a817c9aff6cb7cb810d009",
@@ -49,5 +39,37 @@
   ],
   "repo_id": "FlappyHimself/sharpa-artifacts",
   "repo_type": "dataset",
-  "schema": "sharpa_artifact_hf_repository_catalog_v1"
+  "reviews": [
+    {
+      "episode_count": 20,
+      "object": "phone",
+      "path": "objects/phone/reviews/phone20-stage12-v2-exact-render-v1",
+      "review_id": "phone20-stage12-v2-exact-render-v1",
+      "source_release_id": "phone20-stage12-v2",
+      "status": "RENDER_COMPLETE_MACHINE_VERIFIED_HUMAN_REVIEW_PENDING"
+    }
+  ],
+  "schema": "sharpa_artifact_hf_repository_catalog_v1",
+  "trajectory_sets": [
+    {
+      "collection_path": "objects/phone/collections/data046-ten-source-equal-v1",
+      "object": "phone",
+      "path": "objects/phone/trajectories",
+      "phones": [
+        "phone_02",
+        "phone_03",
+        "phone_04",
+        "phone_05",
+        "phone_07",
+        "phone_09",
+        "phone_10",
+        "phone_14",
+        "phone_17",
+        "phone_18"
+      ],
+      "revision": "2cf4d4f059c04bc3d87eb9886394d8af8ac98e14",
+      "trajectory_manifest_schema": "sharpa_phone_trajectory_manifest_v1",
+      "trajectory_set_id": "phone10-stage1234-v1"
+    }
+  ]
 }

objects/phone/collections/data046-ten-source-equal-v1/README.md

@@ -0,0 +1,3 @@
+# DATA-046 ten-source equal collection
+
+This collection references ten trajectory-owned Stage4 releases. It stores equal-source weighting, train-only normalization, and parent identities without duplicating rollout archives.

objects/phone/collections/data046-ten-source-equal-v1/collection_manifest.json

@@ -0,0 +1,134 @@
+{
+  "claim_boundary": "combination metadata only; Stage4 rollout bytes remain owned by each trajectory",
+  "collection_id": "data046-ten-source-equal-v1",
+  "data_task_id": "SHARPA-BC-DATA-046",
+  "dataset_id": "20260929_phone02030405070910141718_ten_source_equal_v1",
+  "normalization": {
+    "path": "normalization.npz",
+    "sha256": "df6daec9228a1337ccb02eb81b64cb8a87aebc2334fd84f1cc946a74d0650c97",
+    "size_bytes": 136004
+  },
+  "original_derived_manifest_sha256": "0b7f2791fd2639864859d8d1317abeec9a9df7788c5628387a9dcea7ef85508f",
+  "parent_snapshot": {
+    "path": "parent_snapshot.json",
+    "sha256": "e74c7e180a216a865621f4e1d0ad0bdd3f3c90795a07e619e02e5f83683c0bf2",
+    "size_bytes": 4510
+  },
+  "parents": [
+    {
+      "data_task_id": "SHARPA-BC-DATA-039",
+      "dataset_id": "20260927_phone_02_s1_c4096_dr_rsi_v1",
+      "manifest_sha256": "ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f",
+      "phone_id": "phone_02",
+      "repo_id": "FlappyHimself/sharpa-artifacts",
+      "repo_type": "dataset",
+      "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+      "target_root": "objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1"
+    },
+    {
+      "data_task_id": "SHARPA-BC-DATA-040",
+      "dataset_id": "20260927_phone_03_s1_c4096_dr_rsi_v1",
+      "manifest_sha256": "d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21",
+      "phone_id": "phone_03",
+      "repo_id": "FlappyHimself/sharpa-artifacts",
+      "repo_type": "dataset",
+      "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+      "target_root": "objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1"
+    },
+    {
+      "data_task_id": "SHARPA-BC-DATA-041",
+      "dataset_id": "20260927_phone_04_s1_c4096_dr_rsi_v1",
+      "manifest_sha256": "9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd",
+      "phone_id": "phone_04",
+      "repo_id": "FlappyHimself/sharpa-artifacts",
+      "repo_type": "dataset",
+      "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+      "target_root": "objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1"
+    },
+    {
+      "data_task_id": "SHARPA-BC-DATA-031",
+      "dataset_id": "20260903_sharpa_ac_p05_001_phone_05_c4096_dr_rsi_v1",
+      "manifest_sha256": "c14e8c19878b031a3856780fc13e006b700f9078684ba9641f29e93e8b74e5c0",
+      "phone_id": "phone_05",
+      "repo_id": "FlappyHimself/sharpa-artifacts",
+      "repo_type": "dataset",
+      "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+      "target_root": "objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1"
+    },
+    {
+      "data_task_id": "SHARPA-BC-DATA-019",
+      "dataset_id": "20260831_t0149_model7800_phone07_partial2763_pow_v1",
+      "manifest_sha256": "740ff1d0f02eab5429c97d7c6ee9054696133684d9999e57a8d1d12f57faf405",
+      "phone_id": "phone_07",
+      "repo_id": "FlappyHimself/sharpa-artifacts",
+      "repo_type": "dataset",
+      "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+      "target_root": "objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1"
+    },
+    {
+      "data_task_id": "SHARPA-BC-DATA-043",
+      "dataset_id": "20260927_phone_09_s1_c4096_dr_rsi_v1",
+      "manifest_sha256": "08e5f98f85fec52935c70fad2ab1a8d8910f19f2973a4cf8f5b33010f65bd859",
+      "phone_id": "phone_09",
+      "repo_id": "FlappyHimself/sharpa-artifacts",
+      "repo_type": "dataset",
+      "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+      "target_root": "objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1"
+    },
+    {
+      "data_task_id": "SHARPA-BC-DATA-044",
+      "dataset_id": "20260927_phone_10_s1_c4096_dr_rsi_v1",
+      "manifest_sha256": "c7cac9e30db290c0751bb43948958191007cb34eba015cf4f6ef96fd7bf8cae2",
+      "phone_id": "phone_10",
+      "repo_id": "FlappyHimself/sharpa-artifacts",
+      "repo_type": "dataset",
+      "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+      "target_root": "objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1"
+    },
+    {
+      "data_task_id": "SHARPA-BC-DATA-033",
+      "dataset_id": "20260903_sharpa_ac_p14_001_phone_14_c4096_dr_rsi_v1",
+      "manifest_sha256": "1237116a7ed7f004fe0ed6d74edacf178089371f438a6147161d7d564af760d5",
+      "phone_id": "phone_14",
+      "repo_id": "FlappyHimself/sharpa-artifacts",
+      "repo_type": "dataset",
+      "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+      "target_root": "objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1"
+    },
+    {
+      "data_task_id": "SHARPA-BC-DATA-034",
+      "dataset_id": "20260903_sharpa_ac_p17_001_phone_17_c4096_dr_rsi_v1",
+      "manifest_sha256": "7ca167eaf9c6396785dfaabed6dcf0f90816026af576c2d06dfc7581c23b0caa",
+      "phone_id": "phone_17",
+      "repo_id": "FlappyHimself/sharpa-artifacts",
+      "repo_type": "dataset",
+      "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+      "target_root": "objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1"
+    },
+    {
+      "data_task_id": "SHARPA-BC-DATA-018",
+      "dataset_id": "20260829_t0148_model7050_phone18_ppo_rsi_c3072_v1",
+      "manifest_sha256": "449ed73295963a97d25b7f5cbd7b230038493ad38ed2fb3b2b92383742266076",
+      "phone_id": "phone_18",
+      "repo_id": "FlappyHimself/sharpa-artifacts",
+      "repo_type": "dataset",
+      "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+      "target_root": "objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1"
+    }
+  ],
+  "publication_data_revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+  "schema": "sharpa_phone_trajectory_collection_manifest_v1",
+  "source_weights": {
+    "phone_02": 0.1,
+    "phone_03": 0.1,
+    "phone_04": 0.1,
+    "phone_05": 0.1,
+    "phone_07": 0.1,
+    "phone_09": 0.1,
+    "phone_10": 0.1,
+    "phone_14": 0.1,
+    "phone_17": 0.1,
+    "phone_18": 0.1
+  },
+  "status": "READY / DERIVED VIEW / TEN SOURCE EQUAL"
+}

objects/phone/collections/data046-ten-source-equal-v1/data_card.md

@@ -0,0 +1,105 @@
+# Data Card: SHARPA-BC-DATA-046 / 20260929_phone02030405070910141718_ten_source_equal_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-046 |
+| Dataset ID | 20260929_phone02030405070910141718_ten_source_equal_v1 |
+| Status | READY / DERIVED VIEW / TEN SOURCE EQUAL |
+| 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。 |
+| 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。 |
+| Source lineage | DATA-018/019/031/033/034/039/040/041/043/044；各父manifest SHA见下表。 |
+| 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。 |
+| Sampling | 十source各0.1；source内attempt等权；attempt内transition等权。 |
+| Observation | MLP/ACT history-3 213D与GRU current-frame 71D deployable views；不含velocity、phase、reference、Teacher/source ID或DR latent。 |
+| Action / label | Teacher/controller真实执行的31D absolute final-applied target；无label重编码。 |
+| 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`。 |
+| Producer | `student.sharpa.multi_source_view`；commit `6dec608bb47a753b8d360dffe8534386ecaa5d8c`。 |
+| Artifact / manifest | `outputs/sharpa_bc_data046/20260929_data018019031033034039040041043044_ten_source_equal_v1`；manifest SHA `0b7f2791fd2639864859d8d1317abeec9a9df7788c5628387a9dcea7ef85508f`。 |
+| 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。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| SHARPA-BC-DATA-018 | phone18；manifest `449ed73295963a97d25b7f5cbd7b230038493ad38ed2fb3b2b92383742266076` | READY / C4096 |
+| SHARPA-BC-DATA-019 | phone07；manifest `740ff1d0f02eab5429c97d7c6ee9054696133684d9999e57a8d1d12f57faf405` | READY / PARTIAL2763 proof-of-work |
+| SHARPA-BC-DATA-031 | phone_05；manifest `c14e8c19878b031a3856780fc13e006b700f9078684ba9641f29e93e8b74e5c0` | READY / C4096；HF archive SHA `1cf4aa43da4f865a3761028e8b37502c65fc84d5033f055e88d7a4ada4b6e45e` |
+| SHARPA-BC-DATA-033 | phone_14；manifest `1237116a7ed7f004fe0ed6d74edacf178089371f438a6147161d7d564af760d5` | READY / C4096；HF archive SHA `f27c1c269f33b85127d0ae3a6b173c1188f1b5e44d2fb136ab09d9c864aa4f1c` |
+| SHARPA-BC-DATA-034 | phone_17；manifest `7ca167eaf9c6396785dfaabed6dcf0f90816026af576c2d06dfc7581c23b0caa` | READY / C4096；HF archive SHA `fef1362e9b106d41a8256cd4acf2be04066dff3c8ce2e0d9b7ad6f3e9565b5e0` |
+| SHARPA-BC-DATA-039 | phone_02；manifest `ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f` | READY / C4096 / infra0 |
+| SHARPA-BC-DATA-040 | phone_03；manifest `d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21` | READY / C4096 / infra0 |
+| SHARPA-BC-DATA-041 | phone_04；manifest `9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd` | READY / C4096 / infra0 |
+| SHARPA-BC-DATA-043 | phone_09；manifest `08e5f98f85fec52935c70fad2ab1a8d8910f19f2973a4cf8f5b33010f65bd859` | READY / C4096 / infra0 |
+| SHARPA-BC-DATA-044 | phone_10；manifest `c7cac9e30db290c0751bb43948958191007cb34eba015cf4f6ef96fd7bf8cae2` | READY / C4096 / infra0 |
+| Parent snapshot | SHA `e74c7e180a216a865621f4e1d0ad0bdd3f3c90795a07e619e02e5f83683c0bf2` | Parent counts and manifest identities only；不依赖可变绝对路径。 |
+| Derived manifest | SHA `0b7f2791fd2639864859d8d1317abeec9a9df7788c5628387a9dcea7ef85508f` | 74,585 create-only members。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| joint_position | `(A,22)` slice in frame / float32 / rad | Current actual Sharpa joint positions。 |
+| wrist_pose | `(A,9)` slice / float32 | Gravity-aligned world wrist xyz3 + rotation6D6。 |
+| object_in_wrist | `(A,9)` slice / float32 | Wrist-frame object xyz3 + rotation6D6。 |
+| previous_applied_target | `(A,31)` slice / float32 | Previous actual controller-applied absolute target。 |
+| GRU observation | `(A,71)` float32 | `22+9+9+31` current deployable frame。 |
+| MLP/ACT observation | `(A,213)` float32 | Three 71D frames ordered oldest→current；attempt start repeats first frame。 |
+| target | `(A,31)` float32 | Wrist xyz3 + rotation6D6 +22 absolute finger targets。 |
+| transition_index | `(A,)` int64 | Attempt-local control index；starts at0 and contiguous。 |
+| state_t1_student_frame | `(A,71)` float32 | Physics step后的next deployable state；diagnostic only。 |
+| indexes | JSON rows | case/source/split、view relative path/SHA、transition count及parent manifest SHA。 |
+| normalization | NPZ | MLP/GRU/target mean、second moment、std、source weights、attempt IDs/counts/weights。 |
+
+��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。
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Physics / control | Parent rollout PhysX 120Hz；policy/control 30Hz；decimation4。 |
+| Transition | `obs_t → Teacher residual/controller processing → final_applied_target_t → 4 physics substeps → state_t+1`。 |
+| Stored supervision | `observation_t → applied_target_31[t:t+T_p]`；31D label不是Teacher raw residual。 |
+| State/action count | 每个admitted attempt满足`S=A+1`。 |
+| History | history-3 attempt-local；起点重复首帧，不读相邻attempt。 |
+| Terminal | 父attempt执行到reference end+15 hold；失败进入reflection并保留原split身份。 |
+
+## Splits, Sampling, and Leakage
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 27,966 attempts / 5,991,623 transitions | 唯一optimizer和normalization来源。 |
+| validation | 4,670 / 999,251 | 离线诊断；本实验fixed epoch5000，不用于选模。 |
+| 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。 |
+| reflection | 2,340 attempts | 未通过父数据admission；不训练。 |
+| infra | 0 | 任一infra都会阻止READY。 |
+
+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。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | 十source admitted train attempts only。 |
+| Weighting | source各0.1；source内attempt等权；attempt内transition等权。 |
+| Stored identity | source order/weights、27,966 train attempt IDs、transition counts和attempt weights。 |
+| Numerical floor | std最低`1e-8`。 |
+| Artifact | `normalization.npz` SHA `df6daec9228a1337ccb02eb81b64cb8a87aebc2334fd84f1cc946a74d0650c97`。 |
+| Validation / heldout | 使用上述train statistics transform-only。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Parent manifests | PASS | 十个manifest SHA逐字节匹配；状态均可消费。 |
+| Parent members | PASS | Producer逐个验证所有父manifest members后才组合。 |
+| Schema/timing | PASS | 每个父数据均为213D/71D observation、31D target与同一temporal contract。 |
+| Split leakage | PASS | 原split不移动；消费者loader验证十source train/validation/heldout membership。 |
+| Normalization leakage | PASS | 仅train，十source各0.1；validation/heldout transform-only。 |
+| 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。 |
+| Infra | PASS | derived及所有父manifest均为0 infra。 |
+| Member identity | PASS | 74,585 members绑定SHA。 |
+| Dataset status | READY | manifest SHA `0b7f2791fd2639864859d8d1317abeec9a9df7788c5628387a9dcea7ef85508f`。 |
+
+## Approved Experiment Boundary
+
+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。

objects/phone/collections/data046-ten-source-equal-v1/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df6daec9228a1337ccb02eb81b64cb8a87aebc2334fd84f1cc946a74d0650c97
+size 136004

objects/phone/collections/data046-ten-source-equal-v1/parent_snapshot.json

@@ -0,0 +1,142 @@
+{
+  "phone07": {
+    "counts": {
+      "heldout_attempts": 311,
+      "heldout_transitions": 62374,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 176,
+      "terminal_receipts": 2763,
+      "train_imitation_attempts": 1936,
+      "train_transitions": 390694,
+      "validation_attempts": 340,
+      "validation_transitions": 67889
+    },
+    "manifest_sha256": "740ff1d0f02eab5429c97d7c6ee9054696133684d9999e57a8d1d12f57faf405"
+  },
+  "phone18": {
+    "counts": {
+      "heldout_attempts": 479,
+      "heldout_transitions": 118849,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 324,
+      "terminal_receipts": 4096,
+      "train_imitation_attempts": 2827,
+      "train_transitions": 699769,
+      "validation_attempts": 466,
+      "validation_transitions": 115151
+    },
+    "manifest_sha256": "449ed73295963a97d25b7f5cbd7b230038493ad38ed2fb3b2b92383742266076"
+  },
+  "phone_02": {
+    "counts": {
+      "heldout_attempts": 489,
+      "heldout_transitions": 84019,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 219,
+      "terminal_receipts": 4096,
+      "train_imitation_attempts": 2902,
+      "train_transitions": 497685,
+      "validation_attempts": 486,
+      "validation_transitions": 83576
+    },
+    "manifest_sha256": "ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f"
+  },
+  "phone_03": {
+    "counts": {
+      "heldout_attempts": 466,
+      "heldout_transitions": 87159,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 322,
+      "terminal_receipts": 4096,
+      "train_imitation_attempts": 2843,
+      "train_transitions": 536104,
+      "validation_attempts": 465,
+      "validation_transitions": 87402
+    },
+    "manifest_sha256": "d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21"
+  },
+  "phone_04": {
+    "counts": {
+      "heldout_attempts": 506,
+      "heldout_transitions": 95519,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 50,
+      "terminal_receipts": 4096,
+      "train_imitation_attempts": 3034,
+      "train_transitions": 573782,
+      "validation_attempts": 506,
+      "validation_transitions": 95774
+    },
+    "manifest_sha256": "9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd"
+  },
+  "phone_05": {
+    "counts": {
+      "heldout_attempts": 486,
+      "heldout_transitions": 89967,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 226,
+      "terminal_receipts": 4096,
+      "train_imitation_attempts": 2899,
+      "train_transitions": 538300,
+      "validation_attempts": 485,
+      "validation_transitions": 90164
+    },
+    "manifest_sha256": "c14e8c19878b031a3856780fc13e006b700f9078684ba9641f29e93e8b74e5c0"
+  },
+  "phone_09": {
+    "counts": {
+      "heldout_attempts": 480,
+      "heldout_transitions": 126923,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 253,
+      "terminal_receipts": 4096,
+      "train_imitation_attempts": 2884,
+      "train_transitions": 764830,
+      "validation_attempts": 479,
+      "validation_transitions": 127478
+    },
+    "manifest_sha256": "08e5f98f85fec52935c70fad2ab1a8d8910f19f2973a4cf8f5b33010f65bd859"
+  },
+  "phone_10": {
+    "counts": {
+      "heldout_attempts": 445,
+      "heldout_transitions": 127901,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 511,
+      "terminal_receipts": 4096,
+      "train_imitation_attempts": 2693,
+      "train_transitions": 772088,
+      "validation_attempts": 447,
+      "validation_transitions": 127724
+    },
+    "manifest_sha256": "c7cac9e30db290c0751bb43948958191007cb34eba015cf4f6ef96fd7bf8cae2"
+  },
+  "phone_14": {
+    "counts": {
+      "heldout_attempts": 496,
+      "heldout_transitions": 100383,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 120,
+      "terminal_receipts": 4096,
+      "train_imitation_attempts": 2982,
+      "train_transitions": 604314,
+      "validation_attempts": 498,
+      "validation_transitions": 100834
+    },
+    "manifest_sha256": "1237116a7ed7f004fe0ed6d74edacf178089371f438a6147161d7d564af760d5"
+  },
+  "phone_17": {
+    "counts": {
+      "heldout_attempts": 493,
+      "heldout_transitions": 101718,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 139,
+      "terminal_receipts": 4096,
+      "train_imitation_attempts": 2966,
+      "train_transitions": 614057,
+      "validation_attempts": 498,
+      "validation_transitions": 103259
+    },
+    "manifest_sha256": "7ca167eaf9c6396785dfaabed6dcf0f90816026af576c2d06dfc7581c23b0caa"
+  }
+}

objects/phone/trajectories/phone_02/README.md

@@ -0,0 +1,3 @@
+# phone_02 trajectory
+
+This directory is the trajectory-owned Stage1 -> Stage2 -> Stage3 -> Stage4 index. Stage references bind exact immutable revisions and member hashes; Stage4 rollout data is stored here.

objects/phone/trajectories/phone_02/stage1/stage_ref.json

@@ -0,0 +1,17 @@
+{
+  "members": [
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/inputs/stage1.manifest.json",
+      "sha256": "bc9f812397b58201b84bdd50c4a261eb0ebef9d7ffe74dcefa7a910d8698fb6a",
+      "size_bytes": 2452
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/inputs/stage1.npz",
+      "sha256": "40772c5680e325eb1d8278050093f78774a56be28faa9795e7cd460bf4c61f1e",
+      "size_bytes": 12448030
+    }
+  ],
+  "repo_id": "FlappyHimself/sharpa-artifacts",
+  "repo_type": "dataset",
+  "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+}

objects/phone/trajectories/phone_02/stage2/stage_ref.json

@@ -0,0 +1,72 @@
+{
+  "members": [
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/contracts/goal_contract_derivation_receipt.json",
+      "sha256": "4b1c4747847b59b6c7c49f7dfae7fd164b2320146f572ac307a3e5ba47407ac4",
+      "size_bytes": 441
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/contracts/goal_region_contract.json",
+      "sha256": "9fbd73fc09438aa85d2e889e29a123ccee21a5b46a340c8a36f0fd73963c72ea",
+      "size_bytes": 9874
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/qa/continuity_jointlimit_report.json",
+      "sha256": "d9af214d9901f037248fb025fc137bbe26fe75db13a7df40b146ce4434d1c8d8",
+      "size_bytes": 627
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/qa/materialization_receipt.json",
+      "sha256": "3e6cc487f306e952aace6bf6a3aa670800497967584ab2990a776672e73c2373",
+      "size_bytes": 2776
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/qa/nonpenetration_report.json",
+      "sha256": "dd7cc2fbf81b9e94edb0e80a1b0aa10d4c6d205f0928374c48b0ac09276e4735",
+      "size_bytes": 760
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/qa/path_audit.json",
+      "sha256": "8f1451b9404eb58e28565eba88ef27fc1f8ed24dfa5abe1f7d689611e56ec156",
+      "size_bytes": 739
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/qa/stage1_stage2_2x3.mp4",
+      "sha256": "48bea39d525cafbcfd7817159498406992cd134116c630a346df140c2821c58b",
+      "size_bytes": 12521534
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/qa/stage2_validation.json",
+      "sha256": "a5a0484eda81480425ab7cede003dc6df162e38b39d0b77f3f92d9292b60521e",
+      "size_bytes": 3467
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2/canonical_retarget.h5",
+      "sha256": "6339a4c11cf221a4d3e6df71e242bc92c0f8fd4c3485a8a72a089152022b4ee6",
+      "size_bytes": 12153157
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2/human_demo_60hz.h5",
+      "sha256": "d278f3356c55e8ed37afb61f5d6d7cf98309456c384873f01caf1ca571739589",
+      "size_bytes": 415560
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2/reference_manifest.json",
+      "sha256": "843c8cc6b638687472f9f194e53399c8532a2ab2c8b0f88f1e05eb8ab1eae65f",
+      "size_bytes": 4039
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2/retargeted_moving28_60fps.h5",
+      "sha256": "0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717",
+      "size_bytes": 12473701
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2_handoff.json",
+      "sha256": "4b2c7bb02bfa7d87a8e0d82f68d67f193f0aea02890afd7ab4c6a6ec8eb6ef69",
+      "size_bytes": 2209
+    }
+  ],
+  "repo_id": "FlappyHimself/sharpa-artifacts",
+  "repo_type": "dataset",
+  "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+}

objects/phone/trajectories/phone_02/stage3/stage_ref.json

@@ -0,0 +1,27 @@
+{
+  "members": [
+    {
+      "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_02/checkpoint/model_7499.pt",
+      "sha256": "3e622102b946d22bcaf076d8ca8c7e8ad8d8c81e623a84563cba2a2d80f807d5",
+      "size_bytes": 21074741
+    },
+    {
+      "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_02/checkpoint_receipt.json",
+      "sha256": "008ca3c02230d588c58cd0e1e5148a69628bde0422c7acbbc4533b7d40b3da95",
+      "size_bytes": 3080
+    },
+    {
+      "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_02/evaluation_summary.json",
+      "sha256": "480d29e0da1bd68a3e497983a48aac48571a08da895a5a2031ae80395cd776cc",
+      "size_bytes": 417
+    },
+    {
+      "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_02/training_card.md",
+      "sha256": "5ffe7c315372cbacb1e27073446409130fa291832b0eacfab5b1138014b1695b",
+      "size_bytes": 7190
+    }
+  ],
+  "repo_id": "FlappyHimself/sharpa-artifacts",
+  "repo_type": "dataset",
+  "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+}

objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/checksums.json

@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "cf4dd6e00c0bf713b7717c2a186b73cfc1ed0a5b25823b8ec13850f48b4163d2",
+  "archive_size_bytes": 860088320,
+  "data_task_id": "SHARPA-BC-DATA-039",
+  "manifest_sha256": "ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f",
+  "phone_id": "phone_02",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}

objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/data_card.md

@@ -0,0 +1,96 @@
+# Data Card: SHARPA-BC-DATA-039 / 20260927_phone_02_s1_c4096_dr_rsi_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-039 |
+| Dataset ID | 20260927_phone_02_s1_c4096_dr_rsi_v1 |
+| Status | READY / C4096 / INFRA0 |
+| Purpose | 保存 phone_02 residual Teacher 在冻结 DR+RSI 分布下的 closed-loop rollout，供 Stage4 BC/Student 独立复用。 |
+| Source mode | teacher_rollout；每个attempt独立采样DR与RSI，保存Teacher真实执行后的deployable observation和absolute applied target。 |
+| Source lineage | SHARPA-AC-P02-001 selected model_7499.pt |
+| Episodes / splits | terminal 4096；train 2902；validation 486；heldout 489；reflection 219；infra 0。 |
+| Sampling | 预先冻结的DR14 + uniform RSI bank；失败保留原split身份，禁止按结果补抽。 |
+| Observation | GRU current-frame 71D与MLP history-3 213D deployable views；不含reference、phase、Teacher ID或DR latent。 |
+| Action / label | 31D absolute final-applied target；不是Teacher raw residual。 |
+| Normalization | admitted train only；attempt等权、attempt内transition等权；validation/heldout transform-only；std floor `1e-8`。 |
+| Producer | formal039_recovery_v3 finalizer |
+| Artifact / manifest | archive 860088320 bytes / SHA `cf4dd6e00c0bf713b7717c2a186b73cfc1ed0a5b25823b8ec13850f48b4163d2`；dataset manifest SHA `ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f`。 |
+| Claim boundary | 仅支持 phone_02、同一Teacher与同一DR+RSI collection distribution的动作蒸馏；不证明跨trajectory、跨物体、P2 robustness或sim2real。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher lineage | SHARPA-AC-P02-001 selected model_7499.pt | 冻结selected Teacher与Stage2 identity。 |
+| Dataset manifest | `ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f` | READY finalizer输出；所有成员逐SHA绑定。 |
+| Release archive | `cf4dd6e00c0bf713b7717c2a186b73cfc1ed0a5b25823b8ec13850f48b4163d2` / 860088320 bytes | create-only `dataset_v1/` tar。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| observation | `(A,71)`或`(A,213)` float32 | 当前帧GRU view或attempt-local history-3 MLP view。 |
+| target | `(A,31)` float32 | wrist xyz3 + rotation6D6 + 22 absolute finger targets。 |
+| transition_index | `(A,)` int64 | attempt-local连续控制步。 |
+| state_t1_student_frame | `(A,71)` float32 | physics step后的next deployable state，仅用于审计。 |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Physics / control | PhysX 120Hz；policy/control 30Hz；decimation4。 |
+| Transition | `obs_t → Teacher → final_applied_target_t → 4 physics substeps → state_t+1`。 |
+| Boundaries | history和future-action window不得跨attempt、split或index gap。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | reset-only DR14 + reference augmentation + uniform RSI。 |
+| Exact sampling authority | 发布的DR bank及dataset manifest。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each `U[-0.05,0.05] m` | 同时作用hand和phone。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | 同时作用hand和phone。 |
+| Reset | phone XYZ | each `U[-0.006,0.006] m` | reference/RSI选择后应用。 |
+| Reset | phone rotation | signed angle `U[-3°,3°]` | 每次reset独立采样。 |
+| Reset | finger wrap/rub | wrap `U[0,0.06] rad`；rub `U[-0.025,0.025] rad` | grasp-shaped reset。 |
+| RSI | normalized phase | `U[0,1)` | 映射到合法reference start index。 |
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass、COM、inertia、friction和drive固定。 |
+| Observation/noise/lag | disabled | clean observation；zero lag。 |
+| Disturbance/push | disabled | none。 |
+
+## Splits, Sampling, and Leakage
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 2902 | 唯一optimization和normalization来源。 |
+| validation | 486 | offline diagnostic；不参与normalization。 |
+| heldout | 489 | same-source unseen-attempt audit。 |
+| reflection | 219 | 失败attempt；不进入监督数据。 |
+| infra | 0 | 任一infra都会阻止READY。 |
+
+Approved exception：本批次使用冻结的C4096或DATA-019 PARTIAL2763拓扑，而不是默认96 train + 32 heldout。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train attempts only。 |
+| Weighting | attempt等权；attempt内transition等权。 |
+| Validation / heldout | train statistics transform-only。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Completeness | PASS | terminal 4096；infra 0。 |
+| Split leakage | PASS | 原split身份保留；reflection不进入训练。 |
+| Member identity | PASS | manifest `ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f`。 |
+| Release identity | PASS | archive `cf4dd6e00c0bf713b7717c2a186b73cfc1ed0a5b25823b8ec13850f48b4163d2`。 |
+| Dataset status | READY | READY / C4096 / INFRA0。 |

objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/distribution_calibration.json

@@ -0,0 +1,120 @@
+{
+  "counts": {
+    "all": 4096,
+    "heldout": 512,
+    "train": 3072,
+    "validation": 512
+  },
+  "dimensions": [
+    {
+      "index": 0,
+      "max": 0.9999203216284513,
+      "mean": 0.4999999995343387,
+      "min": 9.857304394245148e-05
+    },
+    {
+      "index": 1,
+      "max": 0.999914282001555,
+      "mean": 0.4999999995343387,
+      "min": 0.00011155102401971817
+    },
+    {
+      "index": 2,
+      "max": 0.9999724524095654,
+      "mean": 0.4999999995343387,
+      "min": 0.00016929488629102707
+    },
+    {
+      "index": 3,
+      "max": 0.9998204549774528,
+      "mean": 0.4999999995343387,
+      "min": 0.00017310306429862976
+    },
+    {
+      "index": 4,
+      "max": 0.9997727330774069,
+      "mean": 0.4999999995343387,
+      "min": 7.149484008550644e-05
+    },
+    {
+      "index": 5,
+      "max": 0.999931494705379,
+      "mean": 0.4999999995343387,
+      "min": 0.00010371673852205276
+    },
+    {
+      "index": 6,
+      "max": 0.999803340062499,
+      "mean": 0.4999999995343387,
+      "min": 0.00022033601999282837
+    },
+    {
+      "index": 7,
+      "max": 0.9998374646529555,
+      "mean": 0.4999999995343387,
+      "min": 0.0002317270264029503
+    },
+    {
+      "index": 8,
+      "max": 0.9999275067821145,
+      "mean": 0.4999999995343387,
+      "min": 1.8942169845104218e-05
+    },
+    {
+      "index": 9,
+      "max": 0.9998596645891666,
+      "mean": 0.4999999995343387,
+      "min": 0.00019983481615781784
+    },
+    {
+      "index": 10,
+      "max": 0.9997780164703727,
+      "mean": 0.4999999995343387,
+      "min": 8.625909686088562e-05
+    },
+    {
+      "index": 11,
+      "max": 0.9998925756663084,
+      "mean": 0.4999999995343387,
+      "min": 0.00015900935977697372
+    },
+    {
+      "index": 12,
+      "max": 0.9997733179479837,
+      "mean": 0.4999999995343387,
+      "min": 9.434204548597336e-05
+    },
+    {
+      "index": 13,
+      "max": 0.999972146935761,
+      "mean": 0.4999999995343387,
+      "min": 0.00019931979477405548
+    },
+    {
+      "index": 14,
+      "max": 0.9999555619433522,
+      "mean": 0.4999999995343387,
+      "min": 0.0001388806849718094
+    }
+  ],
+  "gates": {
+    "G10_dimension_means": "PASS",
+    "G11_rsi_full_discrete_support": "PASS",
+    "G12_action_state_contract": "PASS",
+    "G1_exact_cardinality": "PASS",
+    "G2_dimension_15d": "PASS",
+    "G3_finite": "PASS",
+    "G4_unit_cube": "PASS",
+    "G5_unique_case_ids": "PASS",
+    "G6_unique_case_seeds": "PASS",
+    "G7_unique_dr_seeds": "PASS",
+    "G8_split_membership_frozen": "PASS",
+    "G9_dimension_extrema": "PASS"
+  },
+  "rsi_start_phase": {
+    "max": 316,
+    "min": 0
+  },
+  "schema": "sharpa_coldclone_formal_distribution_calibration_v1",
+  "status": "PASS"
+}

objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/dr_bank.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d48af3f71d901a9751140f68de847707e91b1a510936aebd8168b874b4841325
+size 13927184

objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/rollout_dataset.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf4dd6e00c0bf713b7717c2a186b73cfc1ed0a5b25823b8ec13850f48b4163d2
+size 860088320

objects/phone/trajectories/phone_02/trajectory_manifest.json

@@ -0,0 +1,148 @@
+{
+  "phone_id": "phone_02",
+  "publication_data_revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+  "schema": "sharpa_phone_trajectory_manifest_v1",
+  "stage1": {
+    "members": [
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/inputs/stage1.manifest.json",
+        "sha256": "bc9f812397b58201b84bdd50c4a261eb0ebef9d7ffe74dcefa7a910d8698fb6a",
+        "size_bytes": 2452
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/inputs/stage1.npz",
+        "sha256": "40772c5680e325eb1d8278050093f78774a56be28faa9795e7cd460bf4c61f1e",
+        "size_bytes": 12448030
+      }
+    ],
+    "repo_id": "FlappyHimself/sharpa-artifacts",
+    "repo_type": "dataset",
+    "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+  },
+  "stage2": {
+    "members": [
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/contracts/goal_contract_derivation_receipt.json",
+        "sha256": "4b1c4747847b59b6c7c49f7dfae7fd164b2320146f572ac307a3e5ba47407ac4",
+        "size_bytes": 441
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/contracts/goal_region_contract.json",
+        "sha256": "9fbd73fc09438aa85d2e889e29a123ccee21a5b46a340c8a36f0fd73963c72ea",
+        "size_bytes": 9874
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/qa/continuity_jointlimit_report.json",
+        "sha256": "d9af214d9901f037248fb025fc137bbe26fe75db13a7df40b146ce4434d1c8d8",
+        "size_bytes": 627
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/qa/materialization_receipt.json",
+        "sha256": "3e6cc487f306e952aace6bf6a3aa670800497967584ab2990a776672e73c2373",
+        "size_bytes": 2776
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/qa/nonpenetration_report.json",
+        "sha256": "dd7cc2fbf81b9e94edb0e80a1b0aa10d4c6d205f0928374c48b0ac09276e4735",
+        "size_bytes": 760
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/qa/path_audit.json",
+        "sha256": "8f1451b9404eb58e28565eba88ef27fc1f8ed24dfa5abe1f7d689611e56ec156",
+        "size_bytes": 739
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/qa/stage1_stage2_2x3.mp4",
+        "sha256": "48bea39d525cafbcfd7817159498406992cd134116c630a346df140c2821c58b",
+        "size_bytes": 12521534
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/qa/stage2_validation.json",
+        "sha256": "a5a0484eda81480425ab7cede003dc6df162e38b39d0b77f3f92d9292b60521e",
+        "size_bytes": 3467
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2/canonical_retarget.h5",
+        "sha256": "6339a4c11cf221a4d3e6df71e242bc92c0f8fd4c3485a8a72a089152022b4ee6",
+        "size_bytes": 12153157
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2/human_demo_60hz.h5",
+        "sha256": "d278f3356c55e8ed37afb61f5d6d7cf98309456c384873f01caf1ca571739589",
+        "size_bytes": 415560
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2/reference_manifest.json",
+        "sha256": "843c8cc6b638687472f9f194e53399c8532a2ab2c8b0f88f1e05eb8ab1eae65f",
+        "size_bytes": 4039
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2/retargeted_moving28_60fps.h5",
+        "sha256": "0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717",
+        "size_bytes": 12473701
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2_handoff.json",
+        "sha256": "4b2c7bb02bfa7d87a8e0d82f68d67f193f0aea02890afd7ab4c6a6ec8eb6ef69",
+        "size_bytes": 2209
+      }
+    ],
+    "repo_id": "FlappyHimself/sharpa-artifacts",
+    "repo_type": "dataset",
+    "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+  },
+  "stage3": {
+    "members": [
+      {
+        "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_02/checkpoint/model_7499.pt",
+        "sha256": "3e622102b946d22bcaf076d8ca8c7e8ad8d8c81e623a84563cba2a2d80f807d5",
+        "size_bytes": 21074741
+      },
+      {
+        "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_02/checkpoint_receipt.json",
+        "sha256": "008ca3c02230d588c58cd0e1e5148a69628bde0422c7acbbc4533b7d40b3da95",
+        "size_bytes": 3080
+      },
+      {
+        "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_02/evaluation_summary.json",
+        "sha256": "480d29e0da1bd68a3e497983a48aac48571a08da895a5a2031ae80395cd776cc",
+        "size_bytes": 417
+      },
+      {
+        "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_02/training_card.md",
+        "sha256": "5ffe7c315372cbacb1e27073446409130fa291832b0eacfab5b1138014b1695b",
+        "size_bytes": 7190
+      }
+    ],
+    "repo_id": "FlappyHimself/sharpa-artifacts",
+    "repo_type": "dataset",
+    "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+  },
+  "stage4": {
+    "archive_path": "objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/rollout_dataset.tar",
+    "archive_sha256": "cf4dd6e00c0bf713b7717c2a186b73cfc1ed0a5b25823b8ec13850f48b4163d2",
+    "archive_size_bytes": 860088320,
+    "counts": {
+      "heldout_attempts": 489,
+      "heldout_transitions": 84019,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 219,
+      "terminal_receipts": 4096,
+      "train_imitation_attempts": 2902,
+      "train_transitions": 497685,
+      "validation_attempts": 486,
+      "validation_transitions": 83576
+    },
+    "data_task_id": "SHARPA-BC-DATA-039",
+    "dataset_id": "20260927_phone_02_s1_c4096_dr_rsi_v1",
+    "manifest_sha256": "ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f",
+    "phone_id": "phone_02",
+    "producer": "formal039_recovery_v3 finalizer",
+    "repo_id": "FlappyHimself/sharpa-artifacts",
+    "repo_type": "dataset",
+    "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+    "source_lineage": "SHARPA-AC-P02-001 selected model_7499.pt",
+    "status": "READY / C4096 / INFRA0",
+    "target_root": "objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1"
+  }
+}

objects/phone/trajectories/phone_03/README.md

@@ -0,0 +1,3 @@
+# phone_03 trajectory
+
+This directory is the trajectory-owned Stage1 -> Stage2 -> Stage3 -> Stage4 index. Stage references bind exact immutable revisions and member hashes; Stage4 rollout data is stored here.

objects/phone/trajectories/phone_03/stage1/stage_ref.json

@@ -0,0 +1,17 @@
+{
+  "members": [
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/inputs/stage1.manifest.json",
+      "sha256": "c6bad88fc48b0a81ec4f59a0a729e055b9bae609b58a9669871f5ef4b81308fb",
+      "size_bytes": 2449
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/inputs/stage1.npz",
+      "sha256": "65cf001964f7bdc9f462795dfd977cbf79d022674a93abba38a68f89a9f670c9",
+      "size_bytes": 14028732
+    }
+  ],
+  "repo_id": "FlappyHimself/sharpa-artifacts",
+  "repo_type": "dataset",
+  "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+}

objects/phone/trajectories/phone_03/stage2/stage_ref.json

@@ -0,0 +1,72 @@
+{
+  "members": [
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/contracts/goal_contract_derivation_receipt.json",
+      "sha256": "cacf2a42e9f144670be263bdface5ff973ebb85c99e916f01635395071e1ce0d",
+      "size_bytes": 441
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/contracts/goal_region_contract.json",
+      "sha256": "b270e9294e45524f2c630220d6ebfad3c98a3732c5ef30ed54ca0cb23dcd9281",
+      "size_bytes": 9874
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/qa/continuity_jointlimit_report.json",
+      "sha256": "e1918f8d3ff501d80e5cdcf759da46fc9ee5fdea2bd2662501d5565e3df3a8d2",
+      "size_bytes": 642
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/qa/materialization_receipt.json",
+      "sha256": "6bab37ad641d61123d4ddb84bb27e11a660a5493c53e8d52a70d0de800e0e0a6",
+      "size_bytes": 3887
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/qa/nonpenetration_report.json",
+      "sha256": "8d6aa4ac509cd56c360236ea52929298e18c3a17ba7a16a9c69170e085ba86a9",
+      "size_bytes": 1783
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/qa/path_audit.json",
+      "sha256": "b209ca160986cb5780a1346eef1f462e444282ff297ffe9851e004b07b185640",
+      "size_bytes": 739
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/qa/stage1_stage2_2x3.mp4",
+      "sha256": "defb35b5167d176acfe6d28f69303abe9b0baefa8a548cac9443745b8198d9ba",
+      "size_bytes": 14427930
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/qa/stage2_validation.json",
+      "sha256": "29bfdb11b90095e08efefd38a528d99007b5c3d4b8c498436211e8ffd5279b5f",
+      "size_bytes": 4611
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2/canonical_retarget.h5",
+      "sha256": "9ded20ed79ed67c5aac01641aa6731ddd8ac258a90ee3610e1b10e7df6caca19",
+      "size_bytes": 954040
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2/human_demo_60hz.h5",
+      "sha256": "bd76bbdf9f62af38c0afc6ad6db7325b4315de3bfe715c784074cf448228b2de",
+      "size_bytes": 466120
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2/reference_manifest.json",
+      "sha256": "014d7dd2d96cd36b723973490569c2ad443ddf6f3fdc60a4c787944c2f04f77d",
+      "size_bytes": 5150
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2/retargeted_moving28_60fps.h5",
+      "sha256": "e01893ae13f59c7d974dd8e3ea44a926fc6099deb8795d936dfbc86df3ae6898",
+      "size_bytes": 958736
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2_handoff.json",
+      "sha256": "beaa3033ad07dd214bca5766a20ec7c436d6e8ec62b03a129d33bc635f9467b2",
+      "size_bytes": 2205
+    }
+  ],
+  "repo_id": "FlappyHimself/sharpa-artifacts",
+  "repo_type": "dataset",
+  "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+}

objects/phone/trajectories/phone_03/stage3/stage_ref.json

@@ -0,0 +1,27 @@
+{
+  "members": [
+    {
+      "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_03/checkpoint/model_9500.pt",
+      "sha256": "17f193bc87a7fc7a0206240a9b3eb4b3de46d4a393d9a97b961af8442d4b3ae9",
+      "size_bytes": 21074741
+    },
+    {
+      "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_03/checkpoint_receipt.json",
+      "sha256": "af3557c301cfe22146e79004cec3d53cb73e1d8b2f82bba5377195207aaabd2c",
+      "size_bytes": 2764
+    },
+    {
+      "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_03/evaluation_summary.json",
+      "sha256": "12567b1b3f618146a3e1252deb04ed901a032e1b65eb801f3cb0a221b5eab3cd",
+      "size_bytes": 102
+    },
+    {
+      "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_03/training_card.md",
+      "sha256": "869c60753bc618296c19ac5f808b9eaeeb945bafd44a4baede3d7e8ee0695c94",
+      "size_bytes": 7190
+    }
+  ],
+  "repo_id": "FlappyHimself/sharpa-artifacts",
+  "repo_type": "dataset",
+  "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+}

objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/checksums.json

@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "8b4eb65c1e77648557e0a5edd9f5e1c49870a3d0b843b343075fa7d7275026b8",
+  "archive_size_bytes": 923729920,
+  "data_task_id": "SHARPA-BC-DATA-040",
+  "manifest_sha256": "d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21",
+  "phone_id": "phone_03",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}

objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/data_card.md

@@ -0,0 +1,96 @@
+# Data Card: SHARPA-BC-DATA-040 / 20260927_phone_03_s1_c4096_dr_rsi_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-040 |
+| Dataset ID | 20260927_phone_03_s1_c4096_dr_rsi_v1 |
+| Status | READY / C4096 / INFRA0 |
+| Purpose | 保存 phone_03 residual Teacher 在冻结 DR+RSI 分布下的 closed-loop rollout，供 Stage4 BC/Student 独立复用。 |
+| Source mode | teacher_rollout；每个attempt独立采样DR与RSI，保存Teacher真实执行后的deployable observation和absolute applied target。 |
+| Source lineage | SHARPA-AC-P03-001 selected model_9500.pt |
+| Episodes / splits | terminal 4096；train 2843；validation 465；heldout 466；reflection 322；infra 0。 |
+| Sampling | 预先冻结的DR14 + uniform RSI bank；失败保留原split身份，禁止按结果补抽。 |
+| Observation | GRU current-frame 71D与MLP history-3 213D deployable views；不含reference、phase、Teacher ID或DR latent。 |
+| Action / label | 31D absolute final-applied target；不是Teacher raw residual。 |
+| Normalization | admitted train only；attempt等权、attempt内transition等权；validation/heldout transform-only；std floor `1e-8`。 |
+| Producer | formal040_recovery_v3 finalizer |
+| Artifact / manifest | archive 923729920 bytes / SHA `8b4eb65c1e77648557e0a5edd9f5e1c49870a3d0b843b343075fa7d7275026b8`；dataset manifest SHA `d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21`。 |
+| Claim boundary | 仅支持 phone_03、同一Teacher与同一DR+RSI collection distribution的动作蒸馏；不证明跨trajectory、跨物体、P2 robustness或sim2real。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher lineage | SHARPA-AC-P03-001 selected model_9500.pt | 冻结selected Teacher与Stage2 identity。 |
+| Dataset manifest | `d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21` | READY finalizer输出；所有成员逐SHA绑定。 |
+| Release archive | `8b4eb65c1e77648557e0a5edd9f5e1c49870a3d0b843b343075fa7d7275026b8` / 923729920 bytes | create-only `dataset_v1/` tar。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| observation | `(A,71)`或`(A,213)` float32 | 当前帧GRU view或attempt-local history-3 MLP view。 |
+| target | `(A,31)` float32 | wrist xyz3 + rotation6D6 + 22 absolute finger targets。 |
+| transition_index | `(A,)` int64 | attempt-local连续控制步。 |
+| state_t1_student_frame | `(A,71)` float32 | physics step后的next deployable state，仅用于审计。 |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Physics / control | PhysX 120Hz；policy/control 30Hz；decimation4。 |
+| Transition | `obs_t → Teacher → final_applied_target_t → 4 physics substeps → state_t+1`。 |
+| Boundaries | history和future-action window不得跨attempt、split或index gap。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | reset-only DR14 + reference augmentation + uniform RSI。 |
+| Exact sampling authority | 发布的DR bank及dataset manifest。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each `U[-0.05,0.05] m` | 同时作用hand和phone。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | 同时作用hand和phone。 |
+| Reset | phone XYZ | each `U[-0.006,0.006] m` | reference/RSI选择后应用。 |
+| Reset | phone rotation | signed angle `U[-3°,3°]` | 每次reset独立采样。 |
+| Reset | finger wrap/rub | wrap `U[0,0.06] rad`；rub `U[-0.025,0.025] rad` | grasp-shaped reset。 |
+| RSI | normalized phase | `U[0,1)` | 映射到合法reference start index。 |
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass、COM、inertia、friction和drive固定。 |
+| Observation/noise/lag | disabled | clean observation；zero lag。 |
+| Disturbance/push | disabled | none。 |
+
+## Splits, Sampling, and Leakage
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 2843 | 唯一optimization和normalization来源。 |
+| validation | 465 | offline diagnostic；不参与normalization。 |
+| heldout | 466 | same-source unseen-attempt audit。 |
+| reflection | 322 | 失败attempt；不进入监督数据。 |
+| infra | 0 | 任一infra都会阻止READY。 |
+
+Approved exception：本批次使用冻结的C4096或DATA-019 PARTIAL2763拓扑，而不是默认96 train + 32 heldout。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train attempts only。 |
+| Weighting | attempt等权；attempt内transition等权。 |
+| Validation / heldout | train statistics transform-only。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Completeness | PASS | terminal 4096；infra 0。 |
+| Split leakage | PASS | 原split身份保留；reflection不进入训练。 |
+| Member identity | PASS | manifest `d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21`。 |
+| Release identity | PASS | archive `8b4eb65c1e77648557e0a5edd9f5e1c49870a3d0b843b343075fa7d7275026b8`。 |
+| Dataset status | READY | READY / C4096 / INFRA0。 |

objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/distribution_calibration.json

@@ -0,0 +1,120 @@
+{
+  "counts": {
+    "all": 4096,
+    "heldout": 512,
+    "train": 3072,
+    "validation": 512
+  },
+  "dimensions": [
+    {
+      "index": 0,
+      "max": 0.9998146072030067,
+      "mean": 0.4999999995343387,
+      "min": 3.0891969799995422e-06
+    },
+    {
+      "index": 1,
+      "max": 0.9999624211341143,
+      "mean": 0.4999999995343387,
+      "min": 0.00018163397908210754
+    },
+    {
+      "index": 2,
+      "max": 0.999921235255897,
+      "mean": 0.4999999995343387,
+      "min": 6.643403321504593e-05
+    },
+    {
+      "index": 3,
+      "max": 0.9999680146574974,
+      "mean": 0.4999999995343387,
+      "min": 0.00014361366629600525
+    },
+    {
+      "index": 4,
+      "max": 0.9997642720118165,
+      "mean": 0.4999999995343387,
+      "min": 0.0002243276685476303
+    },
+    {
+      "index": 5,
+      "max": 0.9999650986865163,
+      "mean": 0.4999999995343387,
+      "min": 0.00010893400758504868
+    },
+    {
+      "index": 6,
+      "max": 0.999795438721776,
+      "mean": 0.4999999995343387,
+      "min": 8.198525756597519e-05
+    },
+    {
+      "index": 7,
+      "max": 0.999818286858499,
+      "mean": 0.4999999995343387,
+      "min": 0.00015585403889417648
+    },
+    {
+      "index": 8,
+      "max": 0.9998348895460367,
+      "mean": 0.4999999995343387,
+      "min": 6.640609353780746e-05
+    },
+    {
+      "index": 9,
+      "max": 0.999998296611011,
+      "mean": 0.4999999995343387,
+      "min": 0.00013250019401311874
+    },
+    {
+      "index": 10,
+      "max": 0.9998271018266678,
+      "mean": 0.4999999995343387,
+      "min": 0.00017285626381635666
+    },
+    {
+      "index": 11,
+      "max": 0.9998014755547047,
+      "mean": 0.4999999995343387,
+      "min": 8.559133857488632e-05
+    },
+    {
+      "index": 12,
+      "max": 0.9997946731746197,
+      "mean": 0.4999999995343387,
+      "min": 2.6851892471313477e-05
+    },
+    {
+      "index": 13,
+      "max": 0.9997707791626453,
+      "mean": 0.4999999995343387,
+      "min": 3.535207360982895e-05
+    },
+    {
+      "index": 14,
+      "max": 0.9998546307906508,
+      "mean": 0.4999999995343387,
+      "min": 0.000133574940264225
+    }
+  ],
+  "gates": {
+    "G10_dimension_means": "PASS",
+    "G11_rsi_full_discrete_support": "PASS",
+    "G12_action_state_contract": "PASS",
+    "G1_exact_cardinality": "PASS",
+    "G2_dimension_15d": "PASS",
+    "G3_finite": "PASS",
+    "G4_unit_cube": "PASS",
+    "G5_unique_case_ids": "PASS",
+    "G6_unique_case_seeds": "PASS",
+    "G7_unique_dr_seeds": "PASS",
+    "G8_split_membership_frozen": "PASS",
+    "G9_dimension_extrema": "PASS"
+  },
+  "rsi_start_phase": {
+    "max": 356,
+    "min": 0
+  },
+  "schema": "sharpa_coldclone_formal_distribution_calibration_v1",
+  "status": "PASS"
+}

objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/dr_bank.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:038211533432767596781f510942feb3e000eee614e78c47b6233e85260ea24f
+size 13927518

objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/rollout_dataset.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b4eb65c1e77648557e0a5edd9f5e1c49870a3d0b843b343075fa7d7275026b8
+size 923729920

objects/phone/trajectories/phone_03/trajectory_manifest.json

@@ -0,0 +1,148 @@
+{
+  "phone_id": "phone_03",
+  "publication_data_revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+  "schema": "sharpa_phone_trajectory_manifest_v1",
+  "stage1": {
+    "members": [
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/inputs/stage1.manifest.json",
+        "sha256": "c6bad88fc48b0a81ec4f59a0a729e055b9bae609b58a9669871f5ef4b81308fb",
+        "size_bytes": 2449
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/inputs/stage1.npz",
+        "sha256": "65cf001964f7bdc9f462795dfd977cbf79d022674a93abba38a68f89a9f670c9",
+        "size_bytes": 14028732
+      }
+    ],
+    "repo_id": "FlappyHimself/sharpa-artifacts",
+    "repo_type": "dataset",
+    "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+  },
+  "stage2": {
+    "members": [
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/contracts/goal_contract_derivation_receipt.json",
+        "sha256": "cacf2a42e9f144670be263bdface5ff973ebb85c99e916f01635395071e1ce0d",
+        "size_bytes": 441
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/contracts/goal_region_contract.json",
+        "sha256": "b270e9294e45524f2c630220d6ebfad3c98a3732c5ef30ed54ca0cb23dcd9281",
+        "size_bytes": 9874
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/qa/continuity_jointlimit_report.json",
+        "sha256": "e1918f8d3ff501d80e5cdcf759da46fc9ee5fdea2bd2662501d5565e3df3a8d2",
+        "size_bytes": 642
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/qa/materialization_receipt.json",
+        "sha256": "6bab37ad641d61123d4ddb84bb27e11a660a5493c53e8d52a70d0de800e0e0a6",
+        "size_bytes": 3887
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/qa/nonpenetration_report.json",
+        "sha256": "8d6aa4ac509cd56c360236ea52929298e18c3a17ba7a16a9c69170e085ba86a9",
+        "size_bytes": 1783
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/qa/path_audit.json",
+        "sha256": "b209ca160986cb5780a1346eef1f462e444282ff297ffe9851e004b07b185640",
+        "size_bytes": 739
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/qa/stage1_stage2_2x3.mp4",
+        "sha256": "defb35b5167d176acfe6d28f69303abe9b0baefa8a548cac9443745b8198d9ba",
+        "size_bytes": 14427930
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/qa/stage2_validation.json",
+        "sha256": "29bfdb11b90095e08efefd38a528d99007b5c3d4b8c498436211e8ffd5279b5f",
+        "size_bytes": 4611
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2/canonical_retarget.h5",
+        "sha256": "9ded20ed79ed67c5aac01641aa6731ddd8ac258a90ee3610e1b10e7df6caca19",
+        "size_bytes": 954040
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2/human_demo_60hz.h5",
+        "sha256": "bd76bbdf9f62af38c0afc6ad6db7325b4315de3bfe715c784074cf448228b2de",
+        "size_bytes": 466120
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2/reference_manifest.json",
+        "sha256": "014d7dd2d96cd36b723973490569c2ad443ddf6f3fdc60a4c787944c2f04f77d",
+        "size_bytes": 5150
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2/retargeted_moving28_60fps.h5",
+        "sha256": "e01893ae13f59c7d974dd8e3ea44a926fc6099deb8795d936dfbc86df3ae6898",
+        "size_bytes": 958736
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2_handoff.json",
+        "sha256": "beaa3033ad07dd214bca5766a20ec7c436d6e8ec62b03a129d33bc635f9467b2",
+        "size_bytes": 2205
+      }
+    ],
+    "repo_id": "FlappyHimself/sharpa-artifacts",
+    "repo_type": "dataset",
+    "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+  },
+  "stage3": {
+    "members": [
+      {
+        "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_03/checkpoint/model_9500.pt",
+        "sha256": "17f193bc87a7fc7a0206240a9b3eb4b3de46d4a393d9a97b961af8442d4b3ae9",
+        "size_bytes": 21074741
+      },
+      {
+        "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_03/checkpoint_receipt.json",
+        "sha256": "af3557c301cfe22146e79004cec3d53cb73e1d8b2f82bba5377195207aaabd2c",
+        "size_bytes": 2764
+      },
+      {
+        "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_03/evaluation_summary.json",
+        "sha256": "12567b1b3f618146a3e1252deb04ed901a032e1b65eb801f3cb0a221b5eab3cd",
+        "size_bytes": 102
+      },
+      {
+        "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_03/training_card.md",
+        "sha256": "869c60753bc618296c19ac5f808b9eaeeb945bafd44a4baede3d7e8ee0695c94",
+        "size_bytes": 7190
+      }
+    ],
+    "repo_id": "FlappyHimself/sharpa-artifacts",
+    "repo_type": "dataset",
+    "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+  },
+  "stage4": {
+    "archive_path": "objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/rollout_dataset.tar",
+    "archive_sha256": "8b4eb65c1e77648557e0a5edd9f5e1c49870a3d0b843b343075fa7d7275026b8",
+    "archive_size_bytes": 923729920,
+    "counts": {
+      "heldout_attempts": 466,
+      "heldout_transitions": 87159,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 322,
+      "terminal_receipts": 4096,
+      "train_imitation_attempts": 2843,
+      "train_transitions": 536104,
+      "validation_attempts": 465,
+      "validation_transitions": 87402
+    },
+    "data_task_id": "SHARPA-BC-DATA-040",
+    "dataset_id": "20260927_phone_03_s1_c4096_dr_rsi_v1",
+    "manifest_sha256": "d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21",
+    "phone_id": "phone_03",
+    "producer": "formal040_recovery_v3 finalizer",
+    "repo_id": "FlappyHimself/sharpa-artifacts",
+    "repo_type": "dataset",
+    "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+    "source_lineage": "SHARPA-AC-P03-001 selected model_9500.pt",
+    "status": "READY / C4096 / INFRA0",
+    "target_root": "objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1"
+  }
+}

objects/phone/trajectories/phone_04/README.md

@@ -0,0 +1,3 @@
+# phone_04 trajectory
+
+This directory is the trajectory-owned Stage1 -> Stage2 -> Stage3 -> Stage4 index. Stage references bind exact immutable revisions and member hashes; Stage4 rollout data is stored here.

objects/phone/trajectories/phone_04/stage1/stage_ref.json

@@ -0,0 +1,17 @@
+{
+  "members": [
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/inputs/stage1.manifest.json",
+      "sha256": "1ef4843f3e0f3c1845925d4b4f58fe4eb8c543798529d694e5ff041a90f1feff",
+      "size_bytes": 2453
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/inputs/stage1.npz",
+      "sha256": "f80a65b2f8948315a343f2f1f056db8cdb795b03501cbc401995385007298837",
+      "size_bytes": 13661175
+    }
+  ],
+  "repo_id": "FlappyHimself/sharpa-artifacts",
+  "repo_type": "dataset",
+  "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+}

objects/phone/trajectories/phone_04/stage2/stage_ref.json

@@ -0,0 +1,72 @@
+{
+  "members": [
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/contracts/goal_contract_derivation_receipt.json",
+      "sha256": "a1ec6e1c97f7e3e4db09480ae68cbdd5a0c61d6390441da44f1d2f08e46b84b0",
+      "size_bytes": 441
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/contracts/goal_region_contract.json",
+      "sha256": "e9d5af764551161d221ea233ad9cb8179fe5ecdadf7df0ae680a1235ae45f4d2",
+      "size_bytes": 9874
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/qa/continuity_jointlimit_report.json",
+      "sha256": "baf72dff9930c3f1134eac091615cea1271310d11dc10f064339467bb28aaa35",
+      "size_bytes": 640
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/qa/materialization_receipt.json",
+      "sha256": "13075aba3a1757294f48c90a324d90d378c4de5d60a25e8ad00c44d78758ab28",
+      "size_bytes": 3159
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/qa/nonpenetration_report.json",
+      "sha256": "8e3dc1ae4cceae6c9418c1388638eb37841e5861f8c3d496b16de054d65fa357",
+      "size_bytes": 1111
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/qa/path_audit.json",
+      "sha256": "5960b880243ea297f6440a5261371109af37d499065ce1a589cfcd25dc6ccc2a",
+      "size_bytes": 739
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/qa/stage1_stage2_2x3.mp4",
+      "sha256": "8ec37e98c08f30ec74c5eef159c13df9c158b27cf14139cf2c9fbaaa0cd3a4e6",
+      "size_bytes": 14096525
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/qa/stage2_validation.json",
+      "sha256": "e3f45f416ebc7593044234d2db012719767cb64a866197a4b6d48ae707de5068",
+      "size_bytes": 3881
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/stage2/canonical_retarget.h5",
+      "sha256": "ba667fef06c182f528b606ce1b3fea4865e8931b88a83b11bf750a8b6a030bed",
+      "size_bytes": 928960
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/stage2/human_demo_60hz.h5",
+      "sha256": "576fe847b7fb55c1436b12500aad894f101e76d46a7cc8b6f7e3d50fa2dddc26",
+      "size_bytes": 453960
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/stage2/reference_manifest.json",
+      "sha256": "2cda6d35199f01b0d3697c8c8b99ffedc8a834849f9fc8e1ba8b84d0756003f1",
+      "size_bytes": 4422
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/stage2/retargeted_moving28_60fps.h5",
+      "sha256": "400daea4bb1baad031a302371da89f0a87afc35ba7bd1bf7090ba113b87068fd",
+      "size_bytes": 933656
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/stage2_handoff.json",
+      "sha256": "6bc4e6e6996a784cf1b633bd4079f2c11adda086122b56dc9c6bfe999267b23e",
+      "size_bytes": 2205
+    }
+  ],
+  "repo_id": "FlappyHimself/sharpa-artifacts",
+  "repo_type": "dataset",
+  "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+}

objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/checkpoint_receipt.json

@@ -0,0 +1,17 @@
+{
+  "checkpoint": {
+    "path": "model_7000.pt",
+    "sha256": "1872d4527d9fffe29c5ab9c7532ecd0a07f9b205d2720d0939e23e2fc672b74c",
+    "size_bytes": 21074741
+  },
+  "claim_boundary": "source identity only; no new evaluation or promotion claim",
+  "phone_id": "phone_04",
+  "schema": "sharpa_stage3_selected_teacher_receipt_v1",
+  "selection_basis": "frozen source Teacher for SHARPA-BC-DATA-041",
+  "task_id": "SHARPA-AC-P04-001",
+  "training_card": {
+    "path": "training_card.md",
+    "sha256": "1cc34146c145e5f60340fb9694f0b0f7acfaa5c5dbb6bfc522b98d80dcc50f66",
+    "size_bytes": 7190
+  }
+}

objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/model_7000.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1872d4527d9fffe29c5ab9c7532ecd0a07f9b205d2720d0939e23e2fc672b74c
+size 21074741

objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/training_card.md

@@ -0,0 +1,108 @@
+# Training Card: phone_04_autocurriculum_v1
+
+| Field | Value |
+|---|---|
+| Description | [SHARPA-AC-P04-001] accepted phone_04 Stage2 reference的`No-DR plateau → RefAug/reset-only DR plateau → 8-seed 2×3 → W&B artifact/readback`正式teacher候选。 |
+| Role | T0 residual-teacher Auto-Curriculum mentor batch candidate |
+| Policy | Asymmetric MLP residual PPO；actor/critic `[1024,512,256,128]`；ELU；S0 fresh；S1 model-only warm start、fresh optimizer |
+| Policy input | 162D actor；199D asymmetric critic；history total 3 frames |
+| Hidden state | false |
+| Action | 28D normalized residual：6D floating root + 22D Sharpa fingers；no chunk `(1/1)` |
+| Data | accepted phone_04 handoff SHA256 `6bc4e6e6996a784cf1b633bd4079f2c11adda086122b56dc9c6bfe999267b23e`；moving28 H5 SHA256 `400daea4bb1baad031a302371da89f0a87afc35ba7bd1bf7090ba113b87068fd` |
+| Training | S0 `Regrind-Sharpa-Wuji2ActuatorParity-RouteA-v0`后S1 `Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-v1`；各4096 env、24 steps/env、seed1、最多5000 iterations；checkpoint interval 500 |
+| Reward profile | exact T0-153/WUJI2 RouteA reward、termination与PPO；S1只开启冻结RefAug/reset-only DR |
+| Claim | 训练和发布完成只证明单episode remote reproduction；8-seed为diagnostic；P2仍`NOT_RUN`，不得声称robust teacher或真机成功。 |
+| Metric | matching 16-env gate；S0/S1 plateau selected checkpoint；8/8 rollout与2×3；W&B checkpoint/video artifact下载SHA回读 |
+| W&B | entity `dfnet`；project `dex-retarget`；group `sharpa-phone_04-autocurriculum-v1`；run IDs `sharpa-phone_04-autocurriculum-s0-v1`、`sharpa-phone_04-autocurriculum-s1-v1`、`sharpa-phone_04-autocurriculum-evaluation-seed0-7-v1` |
+
+## Policy Inputs
+
+| Field | Dim | Description |
+|---|---:|---|
+| object_position_world | 3 | 当前手机世界位置 |
+| object_rotation_6d_world | 6 | 当前手机世界朝向连续 6D 表示 |
+| wrist_position_history_3 | 9 | 当前及前两控制步 root 位置 |
+| wrist_rotation_6d_history_3 | 18 | 当前及前两控制步 root 朝向 |
+| joint_position_history_3 | 66 | 当前及前两控制步 22D Sharpa 关节角 |
+| previous_raw_action | 28 | 上一控制步 raw residual action |
+| demonstration_phase | 1 | 当前 reference index 的归一化 phase |
+| action_base_wrist_position_rotation_6d | 9 | 当前 reference root target |
+| action_base_joint_position | 22 | 当前 22D reference joint target |
+
+Critic 在 actor 162D 上增加五个语义 fingertip world positions（15D）和 22D joint velocity，共 199D；这些 privileged 量不进入 actor。
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Source config | `sharpa/configs/sharpa_managerbased_pipeline/dr_contract_refaug_reset_only_v1.json` |
+| Source config SHA256 | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8` |
+| Runtime readback | 每次gate/formal另写create-only readback；必须17/17 matching |
+| Runtime readback SHA256 | 冻结reference `21fbe1950c87fd029ce03827f204f70190845286ac7dd7d0d61165c2c307a804`；本次执行另写真实SHA |
+| Activation | S0关闭randomization；S1全部4096 env开启；nominal fraction `0.0` |
+| Schedule | S0独立plateau后切S1；S1重新初始化stage-local EMA；reference fade `.135→.292` |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围 |
+| Seed | 两阶段seed1 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reset | S0 reset | fixed；保留uniform RSI | No-DR nominal stage |
+| Reset | S1 phone relative XYZ | each `U[-0.006,0.006] m` | every reset |
+| Reset | S1 phone relative rotation | axis-angle `U[-3°,3°]` | every reset |
+| Reset | S1 finger wrap | `U[0,0.06] rad` | 只增加包握 |
+| Reset | S1 four-finger rub | `U[-0.025,0.025] rad` | 四指沿手机小范围扰动 |
+| Reference augmentation | common XY | each `U[-0.05,0.05] m` | hand与phone共用 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | hand与phone共用 |
+| Reference augmentation | phase fade | full through `.135`；zero at `.292` | 平滑退火回原reference |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass/COM/inertia/friction/drive固定；full gravity `-9.81 m/s²` |
+| Observation/noise/lag | disabled | clean、zero-lag observation |
+| Disturbance/push | disabled | 无external push |
+
+## Rewards
+
+| Reward | Weight | Description |
+|---|---:|---|
+| object_keypoints_pos_error_exp | 3.0 | 100 个手机表面点跟随 augmented reference |
+| object_lin_vel_error_exp | 1.0 | 手机线速度跟随 augmented reference |
+| object_ang_vel_error_exp | 1.0 | 手机角速度跟随 augmented reference |
+| hand_wrist_pos_error_exp | 0.1 | root 位置软约束 |
+| hand_wrist_rot_error_exp | 0.1 | root 朝向软约束 |
+| action_l2_exp | 0.5 | residual 幅度约束 |
+| action_rate_l2_exp | 1.0 | residual 平滑约束 |
+| action_out_of_bounds_exp | 1.0 | raw action `[-1,1]` 越界惩罚 |
+| early_terminated_penalty | -10.0 | 非 timeout 提前终止惩罚 |
+| fingertip_object_graph_error_exp | 0.75 | 五指尖—手机相对几何跟随 augmented reference |
+
+## Stage2 Reference Acceptance
+
+| Field | Frozen evidence |
+|---|---|
+| Stage1 source | SHA256 `f80a65b2f8948315a343f2f1f056db8cdb795b03501cbc401995385007298837` |
+| Stage1 manifest | SHA256 `1ef4843f3e0f3c1845925d4b4f58fe4eb8c543798529d694e5ff041a90f1feff` |
+| Runtime human H5 | SHA256 `576fe847b7fb55c1436b12500aad894f101e76d46a7cc8b6f7e3d50fa2dddc26` |
+| Canonical retarget H5 | SHA256 `ba667fef06c182f528b606ce1b3fea4865e8931b88a83b11bf750a8b6a030bed` |
+| Runtime retarget H5 | SHA256 `400daea4bb1baad031a302371da89f0a87afc35ba7bd1bf7090ba113b87068fd` |
+| Reference manifest | SHA256 `2cda6d35199f01b0d3697c8c8b99ffedc8a834849f9fc8e1ba8b84d0756003f1` |
+| Handoff | SHA256 `6bc4e6e6996a784cf1b633bd4079f2c11adda086122b56dc9c6bfe999267b23e`；strict loader `STAGE2_HANDOFF_ACCEPTED` |
+| Timeline | 696 frames @ 60 Hz → 348 policy targets @ 30 Hz |
+| Stage2 QA | validation receipt SHA256 `e3f45f416ebc7593044234d2db012719767cb64a866197a4b6d48ae707de5068`；T0-147-aligned nonpenetration/joint-limit/coupling/continuity gate PASS |
+| Full review | Stage1 MANO / Stage2 Sharpa 2×3 SHA256 `8ec37e98c08f30ec74c5eef159c13df9c158b27cf14139cf2c9fbaaa0cd3a4e6` |
+
+## Auto-Curriculum and Evaluation Contract
+
+| Field | Frozen value |
+|---|---|
+| Task ID | `SHARPA-AC-P04-001` |
+| Stop rule | 每stage独立EMA `.95`；min `1500`；meaningful improvement `2%`；patience `1000`；max local `4999` |
+| Transition | S0 selected checkpoint model-only warm start S1；fresh optimizer |
+| GoalContract | SHA256 `e9d5af764551161d221ea233ad9cb8179fe5ecdadf7df0ae680a1235ae45f4d2` |
+| Evaluation | selected S1；fresh Isaac；`refaug_reset_dr`；seed `0..7`；完整trajectory + 15-step hold |
+| Videos | 每seed一条Stage1 MANO top row / policy actual bottom row的H.264 2×3 |
+| Publication | S0/S1 selected checkpoint Artifact；evaluation bundle；W&B API下载回读与SHA/ffprobe |
+| P2 / Promotion | `NOT_RUN / NON_PROMOTABLE` |

objects/phone/trajectories/phone_04/stage3/stage_ref.json

@@ -0,0 +1,22 @@
+{
+  "members": [
+    {
+      "path": "objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/checkpoint_receipt.json",
+      "sha256": "33c575ad39c9bb73c68123ae54f295c16332d4cc20fb21b1fc9dc0ad2524f900",
+      "size_bytes": 595
+    },
+    {
+      "path": "objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/model_7000.pt",
+      "sha256": "1872d4527d9fffe29c5ab9c7532ecd0a07f9b205d2720d0939e23e2fc672b74c",
+      "size_bytes": 21074741
+    },
+    {
+      "path": "objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/training_card.md",
+      "sha256": "1cc34146c145e5f60340fb9694f0b0f7acfaa5c5dbb6bfc522b98d80dcc50f66",
+      "size_bytes": 7190
+    }
+  ],
+  "repo_id": "FlappyHimself/sharpa-artifacts",
+  "repo_type": "dataset",
+  "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43"
+}

objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/checksums.json

@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "1fe5895ed77efa2c255a3503e679f0295493e2cb8505398cd6970576e207a599",
+  "archive_size_bytes": 983459840,
+  "data_task_id": "SHARPA-BC-DATA-041",
+  "manifest_sha256": "9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd",
+  "phone_id": "phone_04",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}

objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/data_card.md

@@ -0,0 +1,96 @@
+# Data Card: SHARPA-BC-DATA-041 / 20260927_phone_04_s1_c4096_dr_rsi_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-041 |
+| Dataset ID | 20260927_phone_04_s1_c4096_dr_rsi_v1 |
+| Status | READY / C4096 / INFRA0 |
+| Purpose | 保存 phone_04 residual Teacher 在冻结 DR+RSI 分布下的 closed-loop rollout，供 Stage4 BC/Student 独立复用。 |
+| Source mode | teacher_rollout；每个attempt独立采样DR与RSI，保存Teacher真实执行后的deployable observation和absolute applied target。 |
+| Source lineage | SHARPA-AC-P04-001 selected model_7000.pt |
+| Episodes / splits | terminal 4096；train 3034；validation 506；heldout 506；reflection 50；infra 0。 |
+| Sampling | 预先冻结的DR14 + uniform RSI bank；失败保留原split身份，禁止按结果补抽。 |
+| Observation | GRU current-frame 71D与MLP history-3 213D deployable views；不含reference、phase、Teacher ID或DR latent。 |
+| Action / label | 31D absolute final-applied target；不是Teacher raw residual。 |
+| Normalization | admitted train only；attempt等权、attempt内transition等权；validation/heldout transform-only；std floor `1e-8`。 |
+| Producer | formal041_recovery_v3 finalizer |
+| Artifact / manifest | archive 983459840 bytes / SHA `1fe5895ed77efa2c255a3503e679f0295493e2cb8505398cd6970576e207a599`；dataset manifest SHA `9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd`。 |
+| Claim boundary | 仅支持 phone_04、同一Teacher与同一DR+RSI collection distribution的动作蒸馏；不证明跨trajectory、跨物体、P2 robustness或sim2real。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher lineage | SHARPA-AC-P04-001 selected model_7000.pt | 冻结selected Teacher与Stage2 identity。 |
+| Dataset manifest | `9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd` | READY finalizer输出；所有成员逐SHA绑定。 |
+| Release archive | `1fe5895ed77efa2c255a3503e679f0295493e2cb8505398cd6970576e207a599` / 983459840 bytes | create-only `dataset_v1/` tar。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| observation | `(A,71)`或`(A,213)` float32 | 当前帧GRU view或attempt-local history-3 MLP view。 |
+| target | `(A,31)` float32 | wrist xyz3 + rotation6D6 + 22 absolute finger targets。 |
+| transition_index | `(A,)` int64 | attempt-local连续控制步。 |
+| state_t1_student_frame | `(A,71)` float32 | physics step后的next deployable state，仅用于审计。 |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Physics / control | PhysX 120Hz；policy/control 30Hz；decimation4。 |
+| Transition | `obs_t → Teacher → final_applied_target_t → 4 physics substeps → state_t+1`。 |
+| Boundaries | history和future-action window不得跨attempt、split或index gap。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | reset-only DR14 + reference augmentation + uniform RSI。 |
+| Exact sampling authority | 发布的DR bank及dataset manifest。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each `U[-0.05,0.05] m` | 同时作用hand和phone。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | 同时作用hand和phone。 |
+| Reset | phone XYZ | each `U[-0.006,0.006] m` | reference/RSI选择后应用。 |
+| Reset | phone rotation | signed angle `U[-3°,3°]` | 每次reset独立采样。 |
+| Reset | finger wrap/rub | wrap `U[0,0.06] rad`；rub `U[-0.025,0.025] rad` | grasp-shaped reset。 |
+| RSI | normalized phase | `U[0,1)` | 映射到合法reference start index。 |
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass、COM、inertia、friction和drive固定。 |
+| Observation/noise/lag | disabled | clean observation；zero lag。 |
+| Disturbance/push | disabled | none。 |
+
+## Splits, Sampling, and Leakage
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 3034 | 唯一optimization和normalization来源。 |
+| validation | 506 | offline diagnostic；不参与normalization。 |
+| heldout | 506 | same-source unseen-attempt audit。 |
+| reflection | 50 | 失败attempt；不进入监督数据。 |
+| infra | 0 | 任一infra都会阻止READY。 |
+
+Approved exception：本批次使用冻结的C4096或DATA-019 PARTIAL2763拓扑，而不是默认96 train + 32 heldout。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train attempts only。 |
+| Weighting | attempt等权；attempt内transition等权。 |
+| Validation / heldout | train statistics transform-only。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Completeness | PASS | terminal 4096；infra 0。 |
+| Split leakage | PASS | 原split身份保留；reflection不进入训练。 |
+| Member identity | PASS | manifest `9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd`。 |
+| Release identity | PASS | archive `1fe5895ed77efa2c255a3503e679f0295493e2cb8505398cd6970576e207a599`。 |
+| Dataset status | READY | READY / C4096 / INFRA0。 |

objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/distribution_calibration.json

@@ -0,0 +1,120 @@
+{
+  "counts": {
+    "all": 4096,
+    "heldout": 512,
+    "train": 3072,
+    "validation": 512
+  },
+  "dimensions": [
+    {
+      "index": 0,
+      "max": 0.999777190387249,
+      "mean": 0.4999999995343387,
+      "min": 7.078051567077637e-08
+    },
+    {
+      "index": 1,
+      "max": 0.9997896309942007,
+      "mean": 0.4999999995343387,
+      "min": 0.00012197811156511307
+    },
+    {
+      "index": 2,
+      "max": 0.9998861188068986,
+      "mean": 0.4999999995343387,
+      "min": 0.0002353023737668991
+    },
+    {
+      "index": 3,
+      "max": 0.9999722978100181,
+      "mean": 0.4999999995343387,
+      "min": 0.0002089785411953926
+    },
+    {
+      "index": 4,
+      "max": 0.999808656051755,
+      "mean": 0.4999999995343387,
+      "min": 0.00017888471484184265
+    },
+    {
+      "index": 5,
+      "max": 0.9998929128050804,
+      "mean": 0.4999999995343387,
+      "min": 0.00017568469047546387
+    },
+    {
+      "index": 6,
+      "max": 0.9999021058902144,
+      "mean": 0.4999999995343387,
+      "min": 8.884258568286896e-05
+    },
+    {
+      "index": 7,
+      "max": 0.9998147236183286,
+      "mean": 0.4999999995343387,
+      "min": 8.64863395690918e-05
+    },
+    {
+      "index": 8,
+      "max": 0.9999467926099896,
+      "mean": 0.4999999995343387,
+      "min": 5.036313086748123e-05
+    },
+    {
+      "index": 9,
+      "max": 0.9998581157997251,
+      "mean": 0.4999999995343387,
+      "min": 0.00022254977375268936
+    },
+    {
+      "index": 10,
+      "max": 0.9998724302276969,
+      "mean": 0.4999999995343387,
+      "min": 0.0001163659617304802
+    },
+    {
+      "index": 11,
+      "max": 0.9998724861070514,
+      "mean": 0.4999999995343387,
+      "min": 3.587640821933746e-05
+    },
+    {
+      "index": 12,
+      "max": 0.9998503969982266,
+      "mean": 0.4999999995343387,
+      "min": 0.0001909751445055008
+    },
+    {
+      "index": 13,
+      "max": 0.9999571787193418,
+      "mean": 0.4999999995343387,
+      "min": 0.0002157101407647133
+    },
+    {
+      "index": 14,
+      "max": 0.9998373240232468,
+      "mean": 0.4999999995343387,
+      "min": 0.0001782132312655449
+    }
+  ],
+  "gates": {
+    "G10_dimension_means": "PASS",
+    "G11_rsi_full_discrete_support": "PASS",
+    "G12_action_state_contract": "PASS",
+    "G1_exact_cardinality": "PASS",
+    "G2_dimension_15d": "PASS",
+    "G3_finite": "PASS",
+    "G4_unit_cube": "PASS",
+    "G5_unique_case_ids": "PASS",
+    "G6_unique_case_seeds": "PASS",
+    "G7_unique_dr_seeds": "PASS",
+    "G8_split_membership_frozen": "PASS",
+    "G9_dimension_extrema": "PASS"
+  },
+  "rsi_start_phase": {
+    "max": 346,
+    "min": 0
+  },
+  "schema": "sharpa_coldclone_formal_distribution_calibration_v1",
+  "status": "PASS"
+}

objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/dr_bank.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4be2fdb9ce5452d54db9244f0a45b845f65c368121b136f911d7c7edb3d173fc
+size 13928378

objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/rollout_dataset.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fe5895ed77efa2c255a3503e679f0295493e2cb8505398cd6970576e207a599
+size 983459840

objects/phone/trajectories/phone_04/trajectory_manifest.json

@@ -0,0 +1,143 @@
+{
+  "phone_id": "phone_04",
+  "publication_data_revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+  "schema": "sharpa_phone_trajectory_manifest_v1",
+  "stage1": {
+    "members": [
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/inputs/stage1.manifest.json",
+        "sha256": "1ef4843f3e0f3c1845925d4b4f58fe4eb8c543798529d694e5ff041a90f1feff",
+        "size_bytes": 2453
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/inputs/stage1.npz",
+        "sha256": "f80a65b2f8948315a343f2f1f056db8cdb795b03501cbc401995385007298837",
+        "size_bytes": 13661175
+      }
+    ],
+    "repo_id": "FlappyHimself/sharpa-artifacts",
+    "repo_type": "dataset",
+    "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+  },
+  "stage2": {
+    "members": [
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/contracts/goal_contract_derivation_receipt.json",
+        "sha256": "a1ec6e1c97f7e3e4db09480ae68cbdd5a0c61d6390441da44f1d2f08e46b84b0",
+        "size_bytes": 441
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/contracts/goal_region_contract.json",
+        "sha256": "e9d5af764551161d221ea233ad9cb8179fe5ecdadf7df0ae680a1235ae45f4d2",
+        "size_bytes": 9874
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/qa/continuity_jointlimit_report.json",
+        "sha256": "baf72dff9930c3f1134eac091615cea1271310d11dc10f064339467bb28aaa35",
+        "size_bytes": 640
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/qa/materialization_receipt.json",
+        "sha256": "13075aba3a1757294f48c90a324d90d378c4de5d60a25e8ad00c44d78758ab28",
+        "size_bytes": 3159
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/qa/nonpenetration_report.json",
+        "sha256": "8e3dc1ae4cceae6c9418c1388638eb37841e5861f8c3d496b16de054d65fa357",
+        "size_bytes": 1111
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/qa/path_audit.json",
+        "sha256": "5960b880243ea297f6440a5261371109af37d499065ce1a589cfcd25dc6ccc2a",
+        "size_bytes": 739
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/qa/stage1_stage2_2x3.mp4",
+        "sha256": "8ec37e98c08f30ec74c5eef159c13df9c158b27cf14139cf2c9fbaaa0cd3a4e6",
+        "size_bytes": 14096525
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/qa/stage2_validation.json",
+        "sha256": "e3f45f416ebc7593044234d2db012719767cb64a866197a4b6d48ae707de5068",
+        "size_bytes": 3881
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/stage2/canonical_retarget.h5",
+        "sha256": "ba667fef06c182f528b606ce1b3fea4865e8931b88a83b11bf750a8b6a030bed",
+        "size_bytes": 928960
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/stage2/human_demo_60hz.h5",
+        "sha256": "576fe847b7fb55c1436b12500aad894f101e76d46a7cc8b6f7e3d50fa2dddc26",
+        "size_bytes": 453960
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/stage2/reference_manifest.json",
+        "sha256": "2cda6d35199f01b0d3697c8c8b99ffedc8a834849f9fc8e1ba8b84d0756003f1",
+        "size_bytes": 4422
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/stage2/retargeted_moving28_60fps.h5",
+        "sha256": "400daea4bb1baad031a302371da89f0a87afc35ba7bd1bf7090ba113b87068fd",
+        "size_bytes": 933656
+      },
+      {
+        "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_04/stage2_handoff.json",
+        "sha256": "6bc4e6e6996a784cf1b633bd4079f2c11adda086122b56dc9c6bfe999267b23e",
+        "size_bytes": 2205
+      }
+    ],
+    "repo_id": "FlappyHimself/sharpa-artifacts",
+    "repo_type": "dataset",
+    "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+  },
+  "stage3": {
+    "members": [
+      {
+        "path": "objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/checkpoint_receipt.json",
+        "sha256": "33c575ad39c9bb73c68123ae54f295c16332d4cc20fb21b1fc9dc0ad2524f900",
+        "size_bytes": 595
+      },
+      {
+        "path": "objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/model_7000.pt",
+        "sha256": "1872d4527d9fffe29c5ab9c7532ecd0a07f9b205d2720d0939e23e2fc672b74c",
+        "size_bytes": 21074741
+      },
+      {
+        "path": "objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/training_card.md",
+        "sha256": "1cc34146c145e5f60340fb9694f0b0f7acfaa5c5dbb6bfc522b98d80dcc50f66",
+        "size_bytes": 7190
+      }
+    ],
+    "repo_id": "FlappyHimself/sharpa-artifacts",
+    "repo_type": "dataset",
+    "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43"
+  },
+  "stage4": {
+    "archive_path": "objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/rollout_dataset.tar",
+    "archive_sha256": "1fe5895ed77efa2c255a3503e679f0295493e2cb8505398cd6970576e207a599",
+    "archive_size_bytes": 983459840,
+    "counts": {
+      "heldout_attempts": 506,
+      "heldout_transitions": 95519,
+      "infra_failure_attempts": 0,
+      "reflection_attempts": 50,
+      "terminal_receipts": 4096,
+      "train_imitation_attempts": 3034,
+      "train_transitions": 573782,
+      "validation_attempts": 506,
+      "validation_transitions": 95774
+    },
+    "data_task_id": "SHARPA-BC-DATA-041",
+    "dataset_id": "20260927_phone_04_s1_c4096_dr_rsi_v1",
+    "manifest_sha256": "9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd",
+    "phone_id": "phone_04",
+    "producer": "formal041_recovery_v3 finalizer",
+    "repo_id": "FlappyHimself/sharpa-artifacts",
+    "repo_type": "dataset",
+    "revision": "01fb733555bbeb1f04070ca8ed91fb609ec37b43",
+    "source_lineage": "SHARPA-AC-P04-001 selected model_7000.pt",
+    "status": "READY / C4096 / INFRA0",
+    "target_root": "objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1"
+  }
+}

objects/phone/trajectories/phone_05/README.md

@@ -0,0 +1,3 @@
+# phone_05 trajectory
+
+This directory is the trajectory-owned Stage1 -> Stage2 -> Stage3 -> Stage4 index. Stage references bind exact immutable revisions and member hashes; Stage4 rollout data is stored here.

objects/phone/trajectories/phone_05/stage1/stage_ref.json

@@ -0,0 +1,17 @@
+{
+  "members": [
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/inputs/stage1.manifest.json",
+      "sha256": "2799f1a05e82d22b2fb370780c828d70e6bb88eb59223a050aaaa1cc8f9f0ae5",
+      "size_bytes": 2452
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/inputs/stage1.npz",
+      "sha256": "871063aabcad4abf5b13e728f7c3cb3b02e6d6c439902ddef826024a5b936e1a",
+      "size_bytes": 12976916
+    }
+  ],
+  "repo_id": "FlappyHimself/sharpa-artifacts",
+  "repo_type": "dataset",
+  "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+}

objects/phone/trajectories/phone_05/stage2/stage_ref.json

@@ -0,0 +1,72 @@
+{
+  "members": [
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/contracts/goal_contract_derivation_receipt.json",
+      "sha256": "c1b3aff325b7bb2326ce6fa001c6543f29d98a0700ef1927a5518b7582c2c965",
+      "size_bytes": 441
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/contracts/goal_region_contract.json",
+      "sha256": "2d2b0d99b4f93e76e1e6ca3ae1552980fa3ea807b0c63857313b48ad256746c1",
+      "size_bytes": 9874
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/qa/continuity_jointlimit_report.json",
+      "sha256": "2c0a5c769a7e1d80f47b88a33e613e211bb9d37cbd1e6c4a548dda00de518401",
+      "size_bytes": 644
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/qa/materialization_receipt.json",
+      "sha256": "59233704b3343bb013b257f88994da12b66f48e650575a55b4965c4621d8c025",
+      "size_bytes": 9694
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/qa/nonpenetration_report.json",
+      "sha256": "4a882d9ff07cc9fc6a2ea27193a58239ec9e622dbdc104405f00bf62b253b57f",
+      "size_bytes": 7142
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/qa/path_audit.json",
+      "sha256": "025e2e582032b2b1de8ad3ea8c3920e8eea1df3ab458f1468cd1ac910f95aaba",
+      "size_bytes": 739
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/qa/stage1_stage2_2x3.mp4",
+      "sha256": "9e71b627e427e62e5c834bc6059f1b3882f01f2c446d7b75a65d7f446f403d32",
+      "size_bytes": 13099036
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/qa/stage2_validation.json",
+      "sha256": "bf567e59acae6e2b0227d8297a23349725d1aa50a335eb8c6b645e992583f6c9",
+      "size_bytes": 10420
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/stage2/canonical_retarget.h5",
+      "sha256": "edf6c33c9b966f9e172f6fe0295c958ebc5de1710c14ae6e99ffc04825eff80a",
+      "size_bytes": 885400
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/stage2/human_demo_60hz.h5",
+      "sha256": "d1489d0612041d1837a120f2d8babb4ae06550d23f3ac0bc6789e553e27a4336",
+      "size_bytes": 432840
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/stage2/reference_manifest.json",
+      "sha256": "322c7be195ad458c2bdadd0d9303fc56c46977e56e9c86089bb59c5449670f0f",
+      "size_bytes": 10957
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/stage2/retargeted_moving28_60fps.h5",
+      "sha256": "9fe13a0aae246b2e727fedb0c03e54a69b3ca8ad28f1982e046beaf810a3d1fd",
+      "size_bytes": 890096
+    },
+    {
+      "path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/stage2_handoff.json",
+      "sha256": "1f6f486535bef9cbd0c947dc0208be42e551c0ddeb007237c8a45e501111eeb9",
+      "size_bytes": 2207
+    }
+  ],
+  "repo_id": "FlappyHimself/sharpa-artifacts",
+  "repo_type": "dataset",
+  "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+}

objects/phone/trajectories/phone_05/stage3/stage_ref.json

@@ -0,0 +1,27 @@
+{
+  "members": [
+    {
+      "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_05/checkpoint/model_7000.pt",
+      "sha256": "4387769c731d96cc7a26580177664b431ce8ba361d1eed7a6ba17e9c71325283",
+      "size_bytes": 21074741
+    },
+    {
+      "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_05/checkpoint_receipt.json",
+      "sha256": "38ec1429331a62e037526ffbc1c703f75662cb598e28ba82193fada561c9c524",
+      "size_bytes": 3088
+    },
+    {
+      "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_05/evaluation_summary.json",
+      "sha256": "09fd31cb02a2aff8ef89468504c98ca3ae5047284e40bd7d648df0c822239141",
+      "size_bytes": 428
+    },
+    {
+      "path": "objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_05/training_card.md",
+      "sha256": "394c778edd2d31fcddb93c3bf26a4e30c87ff3afc0d4ada0e6570246df0df2bc",
+      "size_bytes": 7190
+    }
+  ],
+  "repo_id": "FlappyHimself/sharpa-artifacts",
+  "repo_type": "dataset",
+  "revision": "33a150ec2c896cd212142d462c6f199c5b03d925"
+}

objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/checksums.json

@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "1cf4aa43da4f865a3761028e8b37502c65fc84d5033f055e88d7a4ada4b6e45e",
+  "archive_size_bytes": 935895040,
+  "data_task_id": "SHARPA-BC-DATA-031",
+  "manifest_sha256": "c14e8c19878b031a3856780fc13e006b700f9078684ba9641f29e93e8b74e5c0",
+  "phone_id": "phone_05",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}

objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/data_card.md

@@ -0,0 +1,139 @@
+# Data Card: SHARPA-BC-DATA-031 / 20260903_sharpa_ac_p05_001_phone_05_c4096_dr_rsi_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-031 |
+| Dataset ID | 20260903_sharpa_ac_p05_001_phone_05_c4096_dr_rsi_v1 |
+| Status | READY / C4096 / INFRA0 |
+| Purpose | 从phone_05 `SHARPA-AC-P05-001` S1 selected checkpoint采集4096个与Teacher训练时RefAug/reset-only DR及uniform RSI分布一致的独立closed-loop rollouts，形成3072 train、512 validation、512 sealed heldout。 |
+| Source mode | `teacher_rollout`；fresh Isaac/PhysX；每个attempt独立采样DR与RSI，从采样phase执行到reference terminal再加15 control-step hold。 |
+| Source lineage | `SHARPA-AC-P05-001`；W&B S1 selected `model_7000.pt`；原始8-seed evaluation仅为diagnostic，P2=`NOT_RUN`。 |
+| Episodes / splits | 4096 preregistered attempts=`3072 train + 512 validation + 512 sealed heldout`；失败保留原split身份并进入reflection/infra，禁止按结果补抽或搬移。 |
+| Sampling | 15D=`DR14 + uniform RSI phase`；每row独立采样；先物化、校准并冻结4096-row bank，之后才能launch。 |
+| Observation | 71D deployable current frame及attempt-local history-3 213D view；不含velocity、phase/reference、Teacher ID、DR latent或future state。 |
+| Action / label | controller真实执行的31D absolute `final_applied_target`；Teacher 28D residual仅作diagnostic，不能作为Student label。 |
+| Normalization | admitted train only；attempt等权、attempt内transition等权；validation/heldout transform-only；std floor `1e-8`。 |
+| Producer | formal producer commit `fc39d2f03df50e8888e2fd1bc00afbfc1725f1e5`；source draft `config/data_collection/sharpa_multiteacher_c4096_v1/phone_05_c4096_dr_rsi_v1.json`；executable spec `outputs/formal031_v3/spec.json`。 |
+| Artifact / manifest | create-only `outputs/formal031_v3`；bank SHA `c06c2f0b3ba853050dc3548a222275e89a603b7621aef79428b88b0af9318808`；dataset manifest待4096 receipts后生成。 |
+| Claim boundary | 仅支持phone_05、同一Teacher、同RefAug/reset-only DR+uniform-RSI分布的动作蒸馏研究；不支持physics/noise/push、跨episode、跨物体、P2 robustness或真机泛化。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher Task | `SHARPA-AC-P05-001` | Auto-Curriculum S1 RefAug/reset-only DR candidate。 |
+| Teacher Training Card | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_05/inputs/training_card.md`；SHA `394c778edd2d31fcddb93c3bf26a4e30c87ff3afc0d4ada0e6570246df0df2bc` | W&B selected-checkpoint artifact原样下载。 |
+| Selected checkpoint | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_05/model_7000.pt`；`model_7000.pt`；iteration `7000`；SHA `4387769c731d96cc7a26580177664b431ce8ba361d1eed7a6ba17e9c71325283` | W&B artifact `dfnet/dex-retarget/sharpa-phone_05-autocurriculum-s1-v1-s1-selected-checkpoint:v0`；local SHA gate PASS。 |
+| Teacher code | commit `4a146fe07ef7f421745c3506ca803594f39b4fc8` | checkpoint selection manifest。 |
+| Runtime manifest | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_05/inputs/runtime_manifest.json`；SHA `63272d0e2eff6af2e5857f92cb386ecf987c248476f15cb8c985919fc86be5ec` | 仅保存manifest；完整可执行runtime仍须在G13物化并回读。 |
+| Curriculum manifest | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_05/inputs/curriculum_manifest.json`；SHA `a49b2f37a0b6fad60f341712161775b5637c4f7fe057dd5d3004231f53724a65` | S0 nominal → S1 RefAug/reset-only DR。 |
+| Stage2 handoff | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_05/inputs/stage2_handoff.json`；SHA `1f6f486535bef9cbd0c947dc0208be42e551c0ddeb007237c8a45e501111eeb9`；status `STAGE2_HANDOFF_ACCEPTED` | W&B artifact原样下载。 |
+| Stage1 NPZ identity | SHA `871063aabcad4abf5b13e728f7c3cb3b02e6d6c439902ddef826024a5b936e1a` | bytes尚未随本checkpoint bundle下载；G13前必须解析。 |
+| Human H5 identity | SHA `d1489d0612041d1837a120f2d8babb4ae06550d23f3ac0bc6789e553e27a4336` | `663` frames at `60.0` Hz。 |
+| Runtime retarget H5 identity | SHA `9fe13a0aae246b2e727fedb0c03e54a69b3ca8ad28f1982e046beaf810a3d1fd` | `331` nominal policy targets at `30.0` Hz。 |
+| Reference manifest identity | SHA `322c7be195ad458c2bdadd0d9303fc56c46977e56e9c86089bb59c5449670f0f` | Stage2 accepted reference。 |
+| GoalContract identity | SHA `2d2b0d99b4f93e76e1e6ca3ae1552980fa3ea807b0c63857313b48ad256746c1` | runtime artifact manifest。 |
+| Historical evaluation | [W&B seed0–7 diagnostic](https://wandb.ai/dfnet/dex-retarget/runs/sharpa-phone_05-autocurriculum-evaluation-seed0-7-v1) | checkpoint identity matched；P2 `NOT_RUN / NON_PROMOTABLE`。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| `time_s` | `(S,) float64` | 30 Hz control timestamps from the sampled RSI phase。 |
+| `actual_q` | `(S,22) float32`, rad | PhysX actual Sharpa finger joints。 |
+| `actual_wrist_pose_wxyz` | `(S,7) float32`, world frame | actual wrist translation and quaternion。 |
+| `actual_object_pose_wxyz` | `(S,7) float32`, world frame | actual phone translation and quaternion。 |
+| `raw_residual` / `processed_residual` | `(A,28) float32` | Teacher diagnostic action before/after adapter processing。 |
+| `final_applied_target_wxyz` | `(A,29) float32` | runtime controller target representation。 |
+| `student_frame` | `(A,71) float32` | deployable current-frame observation。 |
+| `applied_target_31` | `(A,31) float32` | unique BC supervision label: wrist position3 + rotation6D6 + joint22。 |
+| `state_t1_student_frame` | `(A,71) float32` | post-physics next state，audit-only。 |
+| `pose_history3_mlp_v1` | `(A,213) float32` | three attempt-local 71D frames，oldest→current；first-frame repeat padding。 |
+| `normalized_sampling_15d` | `(15,) float64` | DR14+RSI provenance-only；不得进入policy input。 |
+| reset/failure/action ledgers | JSON | sampled parameters、actual runtime readback、drop/invalid/infra与action-chain evidence。 |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Rates | PhysX 120 Hz；policy/control 30 Hz；decimation=4。 |
+| Transition | `obs_t → Teacher residual_t → controller final_applied_target_t → four PhysX substeps → state_t+1`。 |
+| RSI | `u_phase ~ U[0,1)`；`start=floor(u_phase × 331)`，clamp到`0…330`。 |
+| Horizon | `A=(331-start)+15`；`S=A+1`；即使drop/invalid也记录完整终态与ledger。 |
+| History | strictly attempt-local；不得跨attempt、split或index gap。 |
+| Future windows | 后续Consumer可构造`T_p` window，但window不得跨attempt；tail必须masked。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | `SHARPA-AC-P05-001` S1 RefAug/reset-only DR + uniform RSI。 |
+| Source config SHA | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8`。 |
+| Activation | every reset；nominal fraction `0.0`。 |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围。 |
+| Seed | 4096-row bank seed/namespace在distribution calibration阶段冻结；当前`NOT_YET_MATERIALIZED`。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each `U[-0.05,0.05] m` | 同时作用hand和phone。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | 同时作用hand和phone。 |
+| Relative reset | phone XYZ | each `U[-0.006,0.006] m` | after RSI/reference selection。 |
+| Relative reset | phone rotation | axis uniformly sampled；signed angle `U[-3°,3°]` | every reset。 |
+| Finger reset | shared wrap | `U[0,0.06] rad` | coupled flexion joints，只增加包握。 |
+| Finger reset | four-finger rub | each `U[-0.025,0.025] rad` | independent rub joints。 |
+| RSI | normalized phase | `U[0,1)` | maps to discrete start phase。 |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics/actuator randomization | disabled | mass、COM、inertia、friction与drive固定。 |
+| Observation/noise/lag | disabled | clean observation；zero lag。 |
+| Disturbance/push | disabled | none。 |
+| Gravity curriculum | disabled | fixed full gravity `-9.81 m/s²`。 |
+
+## Splits, Sampling, and Leakage
+
+Approved Exception: Shengtao于2026-09-03批准每个独立Teacher使用4096 attempts并划分为3072 train、512 validation、512 sealed heldout，明确偏离默认96 train + 32 heldout topology。
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 3072 | admitted rows的唯一optimization与normalization来源。 |
+| validation | 512 | offline checkpoint selection；不得参与normalization。 |
+| sealed heldout | 512 | 所有模型选择冻结后的同分布unseen-attempt audit。 |
+| reflection | E5/E6/E9失败 | 保留预注册split身份；不得进入监督数据或被成功补抽替换。 |
+| infra_failure | identity/runtime/schema failure | 阻止Dataset READY；不得解释成policy failure。 |
+
+Split membership必须在rollout前由case ID确定。同一seed、trajectory window、parent/derived copy不得跨split；heldout不得反向用于collector、normalization、checkpoint、模型或超参数选择。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train attempts only。 |
+| Weighting | each rollout equal；within each rollout，each transition equal。 |
+| Stored arrays | MLP213、GRU71与target31 mean/second moment/std，以及exact train attempt IDs和weights。 |
+| Floor | `std=max(std,1e-8)`。 |
+| Validation / heldout | train statistics transform-only；禁止重算。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Data Card format | PASS | unified validator对本批次7张Card报告`validated=7 failures=0`。 |
+| Selected checkpoint identity | PASS | W&B selected artifact与local SHA一致：`4387769c731d96cc7a26580177664b431ce8ba361d1eed7a6ba17e9c71325283`。 |
+| Stage2/H5/runtime resolvability | PASS | `outputs/prepared_v1`中clone-local H5/assets/runtime逐SHA解析通过。 |
+| G1–G12 distribution calibration | PASS | `outputs/formal031_v3/distribution_calibration.json`；SHA `f19f6603944019023191e1f4770da52e1884bcdeb5dd3ab3f12d6389efe1707d`。 |
+| G13 identity/runtime | PASS | producer `fc39d2f`；checkpoint、runtime、artifact、goal与spec/bank SHA preflight通过。 |
+| G14 one-attempt RSI smoke | PASS | v3正式bank真实non-PLAY policy path运行通过。 |
+| G15 multi-row distribution readback | PASS | 8 train + 1 validation + 1 sealed-heldout正式rows运行通过；runtime readback与DR/RSI ledger通过。 |
+| G16 completeness | PASS | 4096 terminal receipts；infra0；reflection226。 |
+| G17 schema/timing | PASS | MLP213/GRU71/target31/state-t+1 71；所有admitted attempts满足`S=A+1`。 |
+| G18 split/normalization | PASS | train2899/538300 transitions；validation485/90164；heldout486/89967；normalization仅来自admitted train。 |
+| G19 final manifest | PASS | manifest SHA `c14e8c19878b031a3856780fc13e006b700f9078684ba9641f29e93e8b74e5c0`；archive SHA `1cf4aa43da4f865a3761028e8b37502c65fc84d5033f055e88d7a4ada4b6e45e`。 |
+| DATASET_READY | READY | 只支持phone_05 same-profile Teacher imitation。 |
+
+## Approved Exception
+
+Shengtao于2026-09-03批准本批次每个独立Teacher请求4096个DR+RSI rollout，固定3072/512/512三split，偏离默认128-attempt topology。该批准只授权Draft Card与checkpoint准备；正式并行collection须在Cards审核和G1–G15通过后另行启动。