diff --git a/releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/README.md b/releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/README.md new file mode 100644 index 0000000000000000000000000000000000000000..69d0096f68075f90299ad1d49445783d4a269e71 --- /dev/null +++ b/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. diff --git a/releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/manifest.json b/releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ef1625e695e7d30577e47aa38d05b7bead812fe5 --- /dev/null +++ b/releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/manifest.json @@ -0,0 +1,5051 @@ +{ + "audit_sha256": "8632b1d4f381f566e2bfe1b78ef900938ec5bef546becb2c934f567980a794b5", + "claim_boundary": "U28 establishes additional task- and fold-balanced controlled development support. 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"7": 30, + "8": 30, + "9": 30 + }, + "roots_by_task_fold": { + "0": { + "0": 2, + "1": 2, + "2": 2, + "3": 2, + "4": 2 + }, + "1": { + "0": 2, + "1": 2, + "2": 2, + "3": 2, + "4": 2 + }, + "3": { + "0": 2, + "1": 2, + "2": 2, + "3": 2, + "4": 2 + }, + "4": { + "0": 2, + "1": 2, + "2": 2, + "3": 2, + "4": 2 + }, + "6": { + "0": 2, + "1": 2, + "2": 2, + "3": 2, + "4": 2 + }, + "7": { + "0": 2, + "1": 2, + "2": 2, + "3": 2, + "4": 2 + }, + "8": { + "0": 2, + "1": 2, + "2": 2, + "3": 2, + "4": 2 + }, + "9": { + "0": 2, + "1": 2, + "2": 2, + "3": 2, + "4": 2 + } + }, + "tasks": 8 + }, + "update_id": "U28" +} diff --git a/releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/protocol/matched_root_support_expansion_branches_v1.json b/releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/protocol/matched_root_support_expansion_branches_v1.json new file mode 100644 index 0000000000000000000000000000000000000000..5451502dd5ea3d30a4e6a758f724b5de6c297d33 --- /dev/null +++ b/releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/protocol/matched_root_support_expansion_branches_v1.json @@ -0,0 +1,80 @@ +{ + "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." +} diff --git a/releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/protocol/natural_error_v4_commitment_contract_v2.json b/releases/matched-root-support-branches-2026-10-08/updates/matched-root-support-branches/v1/protocol/natural_error_v4_commitment_contract_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..6adfec6a26964071ed38cca8309e202be2f5a14a --- /dev/null +++ b/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. 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