release(datasets): publish matched-root-support-branches-2026-10-08 matched-root-support-branch-data batch 1/5

SC-VLA Git revision: 0ddac18af5b228b7db14b2e5f1ac50e2dcd8d2ff
Release manifest: releases/matched-root-support-branches-2026-10-08/manifest.json

releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/README.md

@@ -0,0 +1,3 @@
+# SC-VLA U28 fold-balanced matched development data
+
+This immutable development-only release contains 80 matched triplets over eight LIBERO-10 tasks and five folds: 80 causal target breaks, 80 truth-preserving irrelevant changes, and 80 no-change continuations. Every task contributes exactly two roots per fold. It is controlled training/calibration data, not natural-invalidation or reported evaluation.

releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/protocol/matched_root_support_expansion_branches_v1.json

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+{
+  "schema_version": 1,
+  "update_id": "U28",
+  "branch": "update(helios)/matched-root-support-expansion",
+  "status": "REGISTERED-AFTER-U28-SOURCE-GATE-BEFORE-MATCHED-BRANCH-PLAN",
+  "registered_date": "2026-10-08",
+  "purpose": "Generate a fold-balanced development-only matched panel from the passed U28 source gate before changing the verifier representation or retraining.",
+  "predecessor": {
+    "result_path": "configs/updates/matched_root_support_expansion_sources_result_v1.json",
+    "result_sha256": "b90ef7fa46698cfb416f6d74e0051ad6a63e6bc5a1e7a5edf1f8fec9f1973fef",
+    "required_status": "PASSED-U28-SOURCE-GATE",
+    "source_audit_path": "/HELIOS/Robotics/SCVLA_Cover/Benchmarks/SCVLA/runs/update/matched-root-support-sources-v1/source-audit.json",
+    "source_audit_sha256": "3c22153d56cb1b93a2907e36449988efaaf7dabb6f34a0905a038b217a7d5065",
+    "source_plan_path": "configs/updates/matched_root_support_expansion_sources_plan_v1.json",
+    "source_plan_sha256": "f5282099faf8128bd088388efcc6b9aee95fc145e31969412bdc1056769e0319",
+    "source_artifact_root": "/HELIOS/Robotics/SCVLA_Cover/Benchmarks/SCVLA/runs/update/matched-root-support-sources-v1"
+  },
+  "label_contract": {
+    "path": "configs/updates/natural_error_v4_commitment_contract_v2.json",
+    "sha256": "fd5c1c6619bc37aa27ace2b1017209b54837193af89dbb54042661b0c8548500"
+  },
+  "selection": {
+    "supported_task_ids": [0, 1, 3, 4, 6, 7, 8, 9],
+    "roots_per_task": 10,
+    "total_roots": 80,
+    "fold_count": 5,
+    "roots_per_task_per_fold": 2,
+    "ranking_salt": "U28-branch-root-v1",
+    "ranking": "Within each task, rank source-gate eligible roots by SHA-256 of 'U28-branch-root-v1|task_id|initial_state_id|trace_sha256', take the first ten, and assign sorted positions modulo five so every task contributes exactly two roots to every fold.",
+    "outcome_blind": true,
+    "unused_eligible_roots_are_preserved": true
+  },
+  "development": {
+    "split": "development",
+    "data_role": "matched-root-support-expansion-development-v1",
+    "artifact_prefix": "u28-ms",
+    "admissible_to_training": true,
+    "admissible_to_threshold_selection": true,
+    "admissible_to_reported_evaluation": false,
+    "branches": ["target_break", "irrelevant_change", "no_change"],
+    "onset_rule": "first_live_confirmation",
+    "target": "source-gate target: lowest-index true and continuation-required predicate at the earliest contract-v2 confirmation",
+    "irrelevant_change_policy": "Prefer a visible non-goal distractor translation. If none exists, translate a visible goal-argument object only when every goal-predicate truth value remains unchanged immediately and throughout the three-action settle window.",
+    "settle_actions": 3,
+    "settle_action": "zero arm motion with LIBERO no-op gripper command -1",
+    "minimum_visible_pixels": 16,
+    "expected_controls": 80,
+    "expected_matched_triplets": 80,
+    "expected_rollouts": 240,
+    "parallel_policy_servers": 2
+  },
+  "development_gate": {
+    "artifact_audit_rate": 1.0,
+    "required_complete_matched_triplets": 80,
+    "minimum_target_break_causal_rollouts": 72,
+    "minimum_target_break_causal_rollouts_per_task": 8,
+    "minimum_tasks_with_target_break_causal_invalidation": 8,
+    "minimum_valid_hard_negative_branches": 160,
+    "minimum_tasks_with_valid_hard_negatives": 8,
+    "required_roots_per_task_per_fold": 2,
+    "decision": "If the matched gate passes, admit all 240 branches as development-only supervision and freeze a combined U18+U28 source-time feature protocol. If it fails, preserve every branch and diagnose generation by task/fold without replacing roots or weakening the gate."
+  },
+  "resource_policy": {
+    "policy_servers": 2,
+    "simulator_workers": 2,
+    "watchdog": "Check server health, completed/failed branches, GPU memory/utilization, logs, and disk at intervals no longer than 15 minutes; stop fail-closed on the first branch that cannot pass its registered audit.",
+    "write_once_output": "/HELIOS/Robotics/SCVLA_Cover/Benchmarks/SCVLA/runs/update/matched-root-support-branches-v1"
+  },
+  "forbidden": [
+    "opening or using U13 or any natural-error confirmatory score or label",
+    "selecting or replacing roots from matched branch outcomes",
+    "dropping a failed branch or incomplete triplet after observing its outcome",
+    "changing fold assignment, target predicate, intervention rotations, settle duration, label contract, or gate after planning",
+    "combining U18 and U28 rows without explicit dataset-version and source-root fields",
+    "using privileged simulator state as a future learned monitor input",
+    "reporting this development collection as a benchmark, ecological natural-invalidation estimate, recovery result, or task-success result"
+  ],
+  "confirmatory_opened": false,
+  "claim_boundary": "U28 matched branches expand task- and fold-balanced controlled development support. They are controlled labels for later representation training, not naturally occurring invalidations or reported evaluation."
+}

releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/protocol/natural_error_v4_commitment_contract_v2.json

@@ -0,0 +1,94 @@
+{
+  "schema_version": 2,
+  "update_id": "U12",
+  "status": "REGISTERED-AFTER-LABEL-AUDIT-BEFORE-CONTROLLED-VALIDATION",
+  "registered_date": "2026-10-06",
+  "purpose": "Confirm only achievements produced during the recorded episode, using source-time manipulation-completion evidence; reject initially true predicates and separate persistent invalidation from missing visual evidence.",
+  "predecessor": {
+    "path": "configs/updates/natural_error_v4_commitment_contract_v1.json",
+    "sha256": "5c126f37fcccea5e71280400907a707d4c4fec821edd52879fb655e11555d69e"
+  },
+  "revision_evidence": {
+    "excluded_pilot_result": {
+      "path": "configs/updates/natural_error_v4_online_evidence_pilot_result_v1.json",
+      "sha256": "1bed2174540fbac081b17baff226922c75bc394544c94357ed54aef69a55a68e",
+      "status": "PASSED-ONLINE-EVIDENCE-CAPTURE-GATE"
+    },
+    "observed": {
+      "pilot_rollouts": 8,
+      "source_time_audit_passes": 8,
+      "initially_true_turnon_rollouts": 2,
+      "initially_true_turnon_frames": 732,
+      "turnon_production_transitions": 0,
+      "terminal_close_truth_frames_per_rollout": 1
+    },
+    "decision": "An initially true predicate is task context, not a producer achievement. A terminal one-frame truth without stable completion is not a historical commitment. Both are excluded before any development collection is opened."
+  },
+  "formal_contract": {
+    "production_eligibility": "E_t^p = 1 only after NOT Y_s^p has been observed for some s <= t in the same episode. This requires a recorded false-to-true production transition and prevents reset-true context from becoming an achievement.",
+    "stable_achievement": "C_t^p = 1 iff E_t^p, raw predicate truth, and predicate-specific manipulation-completion evidence hold for K consecutive control frames and at least one real action-chunk boundary occurs within that run; historical achievement becomes sticky only after C_t^p.",
+    "invalidation_candidate": "I_t^p = H_t^p AND R_t^p AND NOT Y_t^p, where H is confirmed historical achievement, R is consumer-relative continuation requirement, and Y is privileged world-state truth for offline labels.",
+    "persistent_invalidation": "P_t^p = I_t^p AND consecutive_false_frames(I^p) >= D.",
+    "runtime_trigger": "T_t^p = P_t^p AND A_t^p; NOT A produces missing-evidence/reobservation, never a negative validity measurement.",
+    "require_observed_false_before_achievement": true,
+    "stable_achievement_frames_K": 5,
+    "persistent_invalidation_frames_D": 3,
+    "control_frequency_hz": 20,
+    "physical_interpretation": {
+      "K": "250 ms of manipulation-complete truth after a within-episode production transition, including a controller chunk boundary",
+      "D": "150 ms persistence before repair eligibility; shorter lapses remain transient"
+    }
+  },
+  "predicate_specific_completion_evidence": {
+    "spatial_on_or_in": {
+      "required": [
+        "predicate changed from false to true during the recorded episode",
+        "target object has no gripper contact",
+        "end effector has retreated at least 0.08 m from the target object",
+        "target linear speed is at most 0.02 m/s",
+        "one controller action chunk has completed within the stable run"
+      ],
+      "registered_thresholds": {
+        "minimum_eef_target_distance_m": 0.08,
+        "maximum_target_linear_speed_m_per_s": 0.02
+      }
+    },
+    "articulation_close_open_turnon_turnoff": {
+      "required": [
+        "predicate changed from false to true during the recorded episode",
+        "target articulation has no gripper contact",
+        "absolute target joint speed is at most 0.05 rad/s",
+        "one controller action chunk has completed within the stable run"
+      ],
+      "registered_thresholds": {
+        "maximum_target_joint_speed_rad_per_s": 0.05
+      }
+    }
+  },
+  "consumer_requirement": {
+    "rule": "Continuation requirement is relative to an explicit task dependency or terminal goal deadline, not simply all predicates until first conjunction success.",
+    "development_collection": "The first source-time development collection is support discovery only. Root selection is permitted only from confirmed, within-episode achievements; all root and branch gates remain frozen.",
+    "untouched_natural_validation": "For final-goal-only LIBERO predicates, the terminal episode deadline is the consumer; self-recovery before that deadline is reported separately from recovery-critical persistence."
+  },
+  "handoff_rule": "Never switch producer/continuation controllers at first predicate truth. Handoff may occur only after a within-episode stable achievement confirmation and completion of the action chunk that contains confirmation.",
+  "validation_gate": {
+    "minimum_root_states": 12,
+    "required_paired_branch_types": 5,
+    "achievement_false_confirmation_rate_maximum": 0.05,
+    "target_break_recall_minimum": 0.9,
+    "irrelevant_change_false_trigger_maximum": 0.1,
+    "occluded_valid_false_trigger_maximum": 0.05,
+    "occluded_invalid_reobservation_or_abstention_minimum": 0.9,
+    "rule": "K, D, release distance, speed, and the production-transition guard are frozen before source-time development collection. A failed gate is published unchanged."
+  },
+  "forbidden": [
+    "treating first raw truth or reset-true context as achievement",
+    "handoff in the middle of the producing action chunk",
+    "using observation inadmissibility as false predicate truth",
+    "using replayed contact as source-time completion evidence",
+    "using the eight engineering-pilot rollouts for training or evaluation",
+    "opening old validation or confirmatory-test artifacts for tuning",
+    "changing registered thresholds after development labels are read"
+  ],
+  "claim_boundary": "Contract v2 fixes a semantic defect discovered in an excluded capture pilot. It is not accepted as the final algorithm until a new source-time controlled paired-branch gate passes."
+}

releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/rollouts/task-00/u28-ms-0000--task-00--n000--target-00--target-break.json

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+    "18f4195f2866e10cefd3e12c822c5fc5e4beee8364a50a417e44737d9c1a788c"
+  ],
+  "bddl": "/HELIOS/Robotics/SCVLA_Cover/Benchmarks/SCVLA/upstream/LIBERO/libero/libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl",
+  "bddl_sha256": "2e661058917f683a25bce480015197f0a2c1911bcbc2b9dd9d947199069c9618",
+  "claim_boundary": "U28 matched branches expand task- and fold-balanced controlled development support. They are controlled labels for later representation training, not naturally occurring invalidations or reported evaluation.",
+  "data_role": "matched-root-support-expansion-development-v1",
+  "done": false,
+  "elapsed_seconds": 82.4832081420027,
+  "first_success_step": null,
+  "generated_at": "2026-10-08T13:55:09Z",
+  "git_dirty": false,
+  "git_revision": "daf93e4b6ec6778ad9256e9385dad56388b4d756",
+  "initial_state": {
+    "seed": 181,
+    "source": "random_reset",
+    "state_sha256": "9aa8ced09cb91a80e92d9775b408473cd93ca633785b1dd67b00842db859e129"
+  },
+  "injection": null,
+  "injection_active_actions": 0,
+  "invalidation_events": [
+    {
+      "frame": 161,
+      "predicate_index": 0
+    }
+  ],
+  "label_contract": {
+    "path": "/HELIOS/Robotics/SCVLA_Cover/SCVLA-update-matched-root-support/configs/updates/natural_error_v4_commitment_contract_v2.json",
+    "replay_contact_used_as_label": false,
+    "sha256": "fd5c1c6619bc37aa27ace2b1017209b54837193af89dbb54042661b0c8548500",
+    "source_time_completion_evidence": true
+  },
+  "persistent_invalidation_events": [
+    {
+      "frame": 163,
+      "predicate_index": 0
+    }
+  ],
+  "plan": {
+    "path": "/HELIOS/Robotics/SCVLA_Cover/SCVLA-update-matched-root-support/configs/updates/matched_root_support_expansion_branches_plan_v1.json",
+    "sha256": "1d08618a72a6d6885016cd163a51537b85bffc63ce43c0006bc7714a884554bf"
+  },
+  "policy_queries": 75,
+  "policy_steps": 600,
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