blog: HQ case videos (1)

blog/roboolympics-fun-catch-and-shoot-i00-standard-realtime--3eudcdx/meta.json

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+{
+ "slug": "roboolympics-fun-catch-and-shoot-i00-standard-realtime--3eudcdx",
+ "status": "rendered",
+ "task": "roboolympics-fun-catch-and-shoot-i00-standard-realtime",
+ "bench": "roboolympics-fun",
+ "mode": "standard-realtime",
+ "run": "codex-gpt6_astra-high",
+ "outcome": "failed",
+ "card": "GPT-6 Astra, standard-realtime, failed; catches but shots fall short; 119 min run",
+ "source_trial": "codex/gpt6_astra/high/codex-gpt6_astra-high-roboolympics-fun-catch-and-shoot-i00-standard-realtime/roboolympics-catch-and-shoot-i00__3euDcdx",
+ "what": "re-rendered: kinematic playback of this trial's own episode 5 (its recorded control steps from the sidecar's journal, replayed from the task's frozen instance with the task's own tooling, physics unchanged) in Blender Cycles",
+ "renderer": "Blender 4.2.23 LTS Cycles path tracing (GPU OptiX, RTX 4090), adaptive sampling (threshold 0.01, 64-128 spp), OpenImageDenoise with albedo + normal passes; kinematic playback of the exact MuJoCo replay poses (MuJoCo's own compiled meshes, primitives and colours); daylight: a sun lamp (2 degree disc) and a Nishita sky (no sun disc), the venue's own ground colour on a large ground plane with a faint world-space variation; AgX view transform, Medium High Contrast look; the suite masters' settings (outdoor look, sun 50 degrees from the camera); a fixed side-on camera (azimuth -100 degrees, elevation 12 degrees) framing the robot, the ball's whole flight and the basket; a slow eased 10-degree orbit; 2560x1440, 30 fps, no text or overlays",
+ "rendering": "path-tracing",
+ "width": 2560,
+ "height": 1440,
+ "fps": 30,
+ "frames_rendered": 210,
+ "render_seconds": 597.1,
+ "seconds_per_frame": 2.84,
+ "time_range": {
+  "episode": "5 of 11 (journal rows 2503-3128; the trial's standard-realtime run had 11 episodes, 10 resets)",
+  "from_step": 0,
+  "to_step": 625,
+  "sim_t_from_s": 0.0,
+  "sim_t_to_s": 6.25,
+  "why": "the pass, the catch and a shot, whole: the clearest of the six episodes (5-10) in which it caught the pass and shot; the ball peaks at 3.13 m but passes 3.1 m from the ring at its closest and lands short (episode verdict: 'the ball touched the floor', stages catch + release of 3). The graded last episode (11) caught the pass and then fell before shooting."
+ },
+ "speed": 0.9,
+ "holds": {
+  "start_s": 0.5,
+  "end_s": 1.5,
+  "note": "first/last frame held, no extra simulation"
+ },
+ "replay_check": {
+  "reproduced": true,
+  "how": "the trial's journal (artifacts/data/trajectory_live.f64, every executed control step) split at the recorded reset/end events; each episode replayed from the frozen instance with the task's own tooling (rcb_rfo.Episode) and its end state hash compared with the sidecar's recorded `end` event; for the rendered episode a second plain rcb_rfo.replay() must agree",
+  "rendered_episode": {
+   "episode": 5,
+   "recorded_state_sha": "3a7db7b11cc4dec7bce2c9190d59ab1cd4d85807595188c328804767df968f96",
+   "replayed_state_sha": "3a7db7b11cc4dec7bce2c9190d59ab1cd4d85807595188c328804767df968f96",
+   "sha_match": true,
+   "replayed_verdict": {
+    "success": false,
+    "failed": "the ball touched the floor",
+    "stages": [
+     "catch",
+     "release"
+    ],
+    "stages_total": 3,
+    "progress": 0.6667,
+    "metrics": {
+     "ball_height_m": 0.119
+    },
+    "time_s": 6.25
+   },
+   "plain_replay_agrees": true
+  },
+  "graded_episode": {
+   "episode": 11,
+   "recorded_state_sha (final.json)": "6f9fd8831c7481b27264823ec6411e48a861acfb86e691778b22c1d54233a0fd",
+   "replayed_state_sha": "6f9fd8831c7481b27264823ec6411e48a861acfb86e691778b22c1d54233a0fd",
+   "sha_match": true,
+   "replayed_verdict": {
+    "success": false,
+    "failed": "fell",
+    "stages": [
+     "catch"
+    ],
+    "progress": 0.3333
+   },
+   "recorded_verdict": "failed (fell; stages: catch)"
+  },
+  "all_episodes_sha_match": true,
+  "episodes_checked": 11
+ },
+ "camera": {
+  "mode": "fixed",
+  "az_deg": -100.0,
+  "az_rule": "fixed",
+  "el_deg": 12.0,
+  "fovy_deg": 34.0,
+  "fill": 0.85,
+  "distance_m": [
+   9.239,
+   9.239
+  ],
+  "robot_root": "pelvis",
+  "travel_m": 0.148,
+  "focus": {},
+  "objects": {
+   "ball": 5.19
+  }
+ },
+ "visual_changes": [
+  "daylight sky and a plain ground plane in the venue's ground colour instead of the venue's painted sky, hills, trees, grandstands and perimeter boards (drawn-only scenery), as in the suite's masters"
+ ],
+ "export": {
+  "kind": "rfo",
+  "n_actions": 625,
+  "control_steps_replayed": 625,
+  "control_hz": 100.0,
+  "every": 3,
+  "frames": 210,
+  "mujoco": "3.3.7",
+  "n_geoms": 278
+ },
+ "render": {
+  "render_s": 597.1,
+  "frames": 210,
+  "device": "GPU OptiX",
+  "look": "outdoor",
+  "min_spp": 64,
+  "max_spp": 128,
+  "w": 2560,
+  "h": 1440,
+  "blender": "4.2.23 LTS",
+  "orbit_deg": 10.0,
+  "gpus": 3,
+  "wall_s_max_slot": 202
+ },
+ "encode": "master: libx264 preset slow CRF 16, yuv420p, bt709, 30 fps, +faststart, no audio",
+ "speed_note": "uniform 0.9x (every 3rd control step at 100 Hz, 30 fps): practically real time",
+ "story_check": "shots fall short: confirmed (episodes 5-10 each catch and release; the ball's closest approach to the ring is 2.7-5.4 m and it lands short). The verdict episode (11) caught the pass and fell before shooting.",
+ "files": {
+  "video.mp4": {
+   "codec": "h264",
+   "profile": "High",
+   "pix_fmt": "yuv420p",
+   "width": 2560,
+   "height": 1440,
+   "fps": "30/1",
+   "frames": 270,
+   "duration_s": 9.0,
+   "bytes": 4405206,
+   "audio": false,
+   "faststart": true,
+   "sha256": "fdae3bcc6d9eb06eb21d3f78405c2b3d94806da301f33571ad87abf334d7a30a",
+   "note": "stream copy of the master (remuxed with +faststart)"
+  },
+  "web.mp4": {
+   "codec": "h264",
+   "profile": "High",
+   "pix_fmt": "yuv420p",
+   "width": 1920,
+   "height": 1080,
+   "fps": "30/1",
+   "frames": 270,
+   "duration_s": 9.0,
+   "bytes": 1276419,
+   "audio": false,
+   "faststart": true,
+   "crf": 20,
+   "sha256": "321b06abab3e72b32c56a870276836f9535c334cb984af49a042f3d66d554b55"
+  },
+  "poster.jpg": {
+   "bytes": 37797,
+   "size": "1280x720",
+   "from": "master frame at t=7.00 s",
+   "sha256": "979a6d406f7aac903306fe4ab686efc725f65a8d60e6963bec09a65df98a191e"
+  }
+ }
+}

blog/roboolympics-fun-catch-and-shoot-i00-standard-realtime--3eudcdx/video.mp4

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