diff --git a/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_commitment_contract_v2.json b/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_commitment_contract_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..6adfec6a26964071ed38cca8309e202be2f5a14a --- /dev/null +++ b/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-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." +} diff --git a/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_trainval_plan_v1.json b/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_trainval_plan_v1.json new file mode 100644 index 0000000000000000000000000000000000000000..ecaed7407861e99685ae39d94d4630f21223dc27 --- /dev/null +++ b/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_trainval_plan_v1.json @@ -0,0 +1,3731 @@ +{ + "claim_boundary": "This collection supplies split-clean source-time roots. It is not itself learned-verifier, natural-prevalence, recovery, or task-success evidence.", + "config": { + "path": "/HELIOS/Robotics/SCVLA_Cover/SCVLA-update-two-stage-verifier/configs/updates/natural_error_v4_trainval_collection_v1.json", + "sha256": "bb8cfc949d8b1cab1f4a0917df6121cf29e26c7debd7257b4880050380cc54a5" + }, + "data_use": { + "confirmatory_test": "Integrity-audit only until the complete two-stage model and thresholds are frozen.", + "rgbd": "Render RGB-D from byte-verified source states after split sealing; source-time truth/completion/chunk arrays remain label authority.", + "train": "May produce training roots and registered controlled hard-negative branches only after collection support audit passes.", + "validation": "May select checkpoints, calibration, and thresholds; never enters optimizer training." + }, + "exclusions": [ + { + "indices": 8, + "path": "/HELIOS/Robotics/SCVLA_Cover/SCVLA-update-two-stage-verifier/configs/updates/natural_error_v4_online_evidence_pilot_v1.json", + "reason": "excluded engineering pilot", + "sha256": "c4e6ce66df680d5c0471345ac7c0d77d0db02fb906057be5524c7284671f2a1a" + }, + { + "indices": 40, + "path": "/HELIOS/Robotics/SCVLA_Cover/SCVLA-update-two-stage-verifier/configs/updates/natural_error_v4_development_collection_v1.json", + "reason": "contract-development support stage", + "sha256": "dc71511948144df973840fe8c4076f11e694d0834a720f9d08bd0a02089d002e" + } + ], + "forbidden": [ + "using either excluded collection", + "using legacy v3 validation or confirmatory records", + "opening v4 confirmatory labels, root counts, or model scores during development", + "using replayed contact as label evidence", + "changing split identities, contract thresholds, or support gates after collection starts", + "training on validation or confirmatory samples" + ], + "generated_at": "2026-10-06T15:02:52.990024+00:00", + 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It does not establish natural-invalidation recall, task-OOD robustness, recovery, or task-success improvement." +} diff --git a/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_two_stage_confirmatory_generation_v1.json b/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_two_stage_confirmatory_generation_v1.json new file mode 100644 index 0000000000000000000000000000000000000000..9ecadbba787f976eecb045583cabe7449c6ee7d9 --- /dev/null +++ b/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_two_stage_confirmatory_generation_v1.json @@ -0,0 +1,92 @@ +{ + "schema_version": 1, + "update_id": "U13", + "status": "REGISTERED-BEFORE-PAIRED-BRANCH-GENERATION", + "success_status": "PASSED-V4-CONFIRMATORY-BRANCH-GENERATION", + "failure_status": "FAILED-V4-CONFIRMATORY-BRANCH-GENERATION", + "registered_date": "2026-10-07", + "purpose": "Generate the preregistered five-way causal panel for all 31 audited confirmatory roots without training, calibration, threshold selection, sample replacement, or model scoring.", + "protocol": { + "path": "configs/updates/natural_error_v4_two_stage_confirmatory_v1.json", + "sha256": "60303b2ff86e10c145eca7119f75042b54cac96f8b9985b424e62a802bc41264", + "required_status": "REGISTERED-BEFORE-CONFIRMATORY-OPENING" + }, + "pairing": { + "path": "configs/updates/natural_error_v4_two_stage_confirmatory_pairing_v1.json", + "sha256": "ada59172048f22c8fe59499b2c32fc98df90841024bbd036d63fb4d9ca2a5e22", + "required_status": "REGISTERED-AFTER-CONFIRMATORY-ROOT-AUDIT-BEFORE-BRANCH-GENERATION" + }, + "root_plan": { + "path": "configs/updates/natural_error_v4_two_stage_confirmatory_root_plan_v1.json", + "sha256": "c6163c97675f019ca7fc5b18ebf7f5dcabb47cc69dafce713bfa6ac86c22fe32", + "required_status": "SEALED-BEFORE-CONFIRMATORY-BRANCH-GENERATION" + }, + "contract": { + "path": "configs/updates/natural_error_v4_commitment_contract_v2.json", + "sha256": "fd5c1c6619bc37aa27ace2b1017209b54837193af89dbb54042661b0c8548500", + "required_status": "REGISTERED-AFTER-LABEL-AUDIT-BEFORE-CONTROLLED-VALIDATION" + }, + "simulator": { + "suite": "libero_10", + "implementation": "stock", + "render_device": 0, + "resolution": 128, + "cameras": ["agentview", "robot0_eye_in_hand"], + "minimum_visible_pixels": 16 + }, + "temporal_evaluation": { + "frames_per_branch": 3, + "world_state_policy": "Hold the selected post-intervention simulator state fixed for D frames; this is a controlled confirmatory component test, not a natural physical disturbance trajectory.", + "required_match": "frames_per_branch must equal persistent_invalidation_frames_D from the frozen commitment contract" + }, + "achievement_prefix_audit": { + "enabled": true, + "source": "Use only source predicate truth, live source-time completion evidence, production eligibility, and actual queue-empty chunk boundaries stored in each sealed trace.", + "registered_gate": "achievement_false_confirmation_rate <= 0.05 and all 31 roots confirm exactly at their sealed frame" + }, + "interventions": { + "no_change": { + "world": "Use the byte-verified sealed root state without modification.", + "sensor": "Render both registered cameras without modification." + }, + "target_break_visible": { + "world": "Use the frozen deterministic spatial-offset candidate order and select the highest target-admission/visible-pixel score; ties retain first candidate order.", + "sensor": "Require the target predicate to be false and admissible in at least one registered camera." + }, + "irrelevant_change_visible": { + "mode": "sensor_photometric_nuisance", + "world": "Use the byte-verified sealed root state so the complete predicate truth vector is identical to no_change.", + "sensor": "For every non-monitored-argument RGB pixel, apply channel rotation RGB to GBR, multiply by 0.85, add 12, and clip to uint8. 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It does not by itself establish learned-verifier accuracy, natural-invalidation recall, recovery, or task success." +} diff --git a/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_two_stage_confirmatory_pairing_v1.json b/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_two_stage_confirmatory_pairing_v1.json new file mode 100644 index 0000000000000000000000000000000000000000..55e01a591717ad4fc663d261a09627b7e658c9dc --- /dev/null +++ b/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_two_stage_confirmatory_pairing_v1.json @@ -0,0 +1,48 @@ +{ + "schema_version": 1, + "update_id": "U13", + "status": "REGISTERED-AFTER-CONFIRMATORY-ROOT-AUDIT-BEFORE-BRANCH-GENERATION", + "registered_date": "2026-10-07", + "purpose": "Freeze the five-way causal pairing for every root retained by the preregistered confirmatory audit, before generating any confirmatory branch or model score.", + "protocol": { + "path": "configs/updates/natural_error_v4_two_stage_confirmatory_v1.json", + "sha256": "60303b2ff86e10c145eca7119f75042b54cac96f8b9985b424e62a802bc41264", + "required_status": "REGISTERED-BEFORE-CONFIRMATORY-OPENING" + }, + "root_plan": { + "path": "configs/updates/natural_error_v4_two_stage_confirmatory_root_plan_v1.json", + "sha256": "c6163c97675f019ca7fc5b18ebf7f5dcabb47cc69dafce713bfa6ac86c22fe32", + "required_status": "SEALED-BEFORE-CONFIRMATORY-BRANCH-GENERATION", + "roots": 31, + "supported_strata": 8, + "retention": "Use all 31 audited roots. 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b/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_two_stage_confirmatory_v1.json new file mode 100644 index 0000000000000000000000000000000000000000..349a3563e23ba7fe21ff607d9237551e241e2a5e --- /dev/null +++ b/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_two_stage_confirmatory_v1.json @@ -0,0 +1,114 @@ +{ + "schema_version": 1, + "update_id": "U13", + "status": "REGISTERED-BEFORE-CONFIRMATORY-OPENING", + "registered_date": "2026-10-07", + "purpose": "Evaluate the frozen temporal two-stage verifier on the untouched v4 confirmatory split without retraining, recalibration, threshold selection, or sample replacement.", + "source": { + "plan": { + "path": "configs/updates/natural_error_v4_trainval_plan_v1.json", + "sha256": "04aceb38c0361ecf134d0ba40895a08aff896fe5d6275c0be6c6d0b0854b72aa", + "required_status": 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confirmation, tie-broken by predicate index. Do not select by image, natural invalidation occurrence, branch feasibility, or model score.", + "minimum_selected_roots": 20, + "minimum_supported_strata": 6, + "minimum_roots_per_supported_stratum": 2, + "artifact_audit_pass_rate": 1.0, + "source_time_provenance_rate": 1.0, + "completion_contact_conflicts_maximum": 0, + "reset_true_confirmations_maximum": 0 + }, + "natural_panel": { + "scope": "All post-confirmation frames while the predicate is historically achieved and continuation-required.", + "positive": "Contract-v2 persistent invalidation onset after three consecutive false frames.", + "report": ["independent_events", "tasks", "predicates", "frame_support"], + "minimum_independent_events_for_recall_claim": 20, + "failure_policy": "If support is below 20 events, report natural-invalidation recall as unsupported; do not top up, relabel, or tune." + }, + "controlled_panel": { + "branches": ["no_change", "target_break_visible", "irrelevant_change_visible", "occluded_valid", "target_break_occluded"], + "branches_per_root": 5, + "continuations_per_root": 5, + "continuation_selection": "Use ordered eligible frames strictly after confirmation at floor(q*(N-1)) for q in {1/6,2/6,3/6,4/6,5/6}; never select by pixels or model score.", + "cameras": ["agentview", "robot0_eye_in_hand"], + "minimum_visible_pixels": 16, + "simulator": "stock LIBERO-10 at the already pinned revision", + "feature_encoder": "frozen base OpenVLA revision 47a0ec7fc4ec123775a391911046cf33cf9ed83f" + }, + "evaluation": { + "training_allowed": false, + "checkpoint_selection_allowed": false, + "calibration_allowed": false, + "threshold_selection_allowed": false, + "bootstrap_replicates": 5000, + "bootstrap_unit": "source rollout/root", + "metrics": ["proposal_recall", "proposal_false_positive_rate", "admission_macro_f1", "observable_invalidation_recall", "observable_validity_macro_f1", "irrelevant_change_false_repair", "native_route_macro_f1"] + }, + "confirmatory_gate": { + "proposal_recall_minimum": 0.9, + "proposal_false_positive_rate_maximum": 0.25, + "admission_macro_f1_minimum": 0.9, + "observable_invalidation_recall_minimum": 0.75, + "observable_validity_macro_f1_minimum": 0.9, + "irrelevant_change_false_repair_maximum": 0.15, + "native_route_macro_f1_minimum": 0.85, + "seed_rule": "Every metric threshold must pass in the three-seed mean; proposal recall and observable invalidation recall must also pass in every individual seed." + }, + "forbidden": [ + "changing checkpoints, architecture, weights, or thresholds after this registration", + "training on or calibrating from confirmatory artifacts", + "dropping a root because an intervention, metric, or model score is unfavorable", + "calling controlled target-break recall natural-invalidation recall", + "selectively adding confirmatory rollouts or examples", + "using confirmatory outcomes to revise the current U13 claim" + ], + "claim_boundary": "Passing the controlled confirmatory panel supports frozen monitor generalization to new rollouts and initial states under registered perturbations. It does not establish naturally occurring invalidation recall, task-OOD robustness, recovery, or task-success improvement." +} diff --git a/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_two_stage_model_v1.json b/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_two_stage_model_v1.json new file mode 100644 index 0000000000000000000000000000000000000000..2d53ac2750e6db44b6f1051a10d0ee26f5ca714c --- /dev/null +++ b/releases/natural-error-v4-two-stage-confirmatory-2026-10-07/updates/natural-error-v4/two-stage-confirmatory-v1/protocol/natural_error_v4_two_stage_model_v1.json @@ -0,0 +1,68 @@ +{ + "schema_version": 1, + "update_id": "U13", + "status": "REGISTERED-BEFORE-TWO-STAGE-TRAINING", + "registered_date": "2026-10-06", + "purpose": "Evaluate whether a temporal proposal plus semantic verifier separates controlled invalidation from natural-valid continuation and registered nuisance controls.", + "inputs": { + "training_contract": { + "path": "configs/updates/natural_error_v4_two_stage_training_v1.json", + "sha256": "d3dbf428fbe4750eacc34fc1c45a802df07b2ff30f463d1e019db6313f83bd78" + }, + "feature_result": { + "path": "configs/updates/natural_error_v4_two_stage_features_result_v1.json", + "sha256": "8e774db4b680cc747ec6c47fbc79a337c28774f35f8aff97d9dc3a36fb815508", + "required_status": "PASSED-V4-TWO-STAGE-FEATURE-EXTRACTION" + }, + "confirmatory_opened": false + }, + "architecture": { + "name": "TemporalTwoStageVerifier", + "hidden_dim": 256, + "depth_width": 32, + "attention_heads": 8, + "fusion_layers": 2, + "dropout": 0.1, + "proposal": "MLP over predicate, pooled reference/current/delta visual tokens, and paired-depth token", + "verifier": "Transformer over predicate, paired-depth, reference, current, and signed-delta tokens", + "outputs": ["proposal", "admission", "invalidity"], + "native_route": "proposal CONTINUE; otherwise admission REOBSERVE; otherwise invalidity>=threshold => REPAIR; else CONTINUE" + }, + "loss": { + "proposal_coefficient": 1.5, + "admission_coefficient": 1.0, + "invalidity_coefficient": 1.5, + "invalidity_scope": "ground-truth admitted observations only", + "class_weighting": "inverse square root of train-only class frequencies", + "gradient_clip_norm": 1.0 + }, + "checkpoint_selection": { + "objective": "minimum validation joint loss", + "minimum_epochs": 10, + "early_stopping_patience": 10, + "maximum_epochs": 50 + }, + "threshold_selection": { + "split": "validation only after checkpoint selection", + "proposal": "highest threshold satisfying recall >= 0.90; if infeasible maximize recall, then minimize false-positive rate", + "admission": "maximum binary macro-F1, tie-broken by lower false admission and higher threshold", + "invalidity": "maximum binary macro-F1 on ground-truth admitted observations, tie-broken by higher invalidation recall and higher threshold" + }, + "development_gate": { + "proposal_recall_minimum": 0.9, + "proposal_false_positive_rate_maximum": 0.25, + "admission_macro_f1_minimum": 0.9, + "observable_invalidation_recall_minimum": 0.75, + "observable_validity_macro_f1_minimum": 0.9, + "irrelevant_change_false_repair_maximum": 0.15, + "native_route_macro_f1_minimum": 0.85, + "seed_rule": "All thresholds pass in the three-seed mean; proposal recall and observable invalidation recall also pass for every seed." + }, + "forbidden": [ + "opening confirmatory labels or scores", + "changing this architecture, loss, threshold policy, seeds, or gates after validation metrics are read", + "calling controlled target-break performance natural-invalidation recall", + "using natural-valid continuation frames as invalid positives" + ], + "claim_boundary": "This is development evidence on controlled target breaks, natural-valid continuation hard negatives, and registered nuisance controls. 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