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@@ -4062,3 +4062,4 @@ experiments/item_assembly_alignment_specialist/forensic_v2/intervention_states/o
 experiments/item_assembly_alignment_specialist/forensic_v2/intervention_states/ordered_replay_failure_seeds_3x_20260928_v1/seed_684460665/attempt_00/cam_right_wrist.jpg filter=lfs diff=lfs merge=lfs -text
 experiments/item_assembly_alignment_specialist/forensic_v2/intervention_states/ordered_replay_failure_seeds_3x_20260928_v1/seed_684460665/attempt_01/cam_high.jpg filter=lfs diff=lfs merge=lfs -text
 experiments/item_assembly_alignment_specialist/forensic_v2/intervention_states/ordered_replay_failure_seeds_3x_20260928_v1/seed_684460665/attempt_01/cam_left_wrist.jpg filter=lfs diff=lfs merge=lfs -text
+experiments/assembly_smolvla_performance_max/teacher/s3_v4_postcontact/traces/seed_1281125336_teacher_transitions.h5 filter=lfs diff=lfs merge=lfs -text

experiments/assembly_smolvla_performance_max/sections/PC-TARGETED-VALIDATE-EXP/jobs/validate_expansion/output.log

@@ -0,0 +1 @@
+S6_DEMO_VALIDATED 25 6611

experiments/assembly_smolvla_performance_max/sections/PC-TARGETED-VALIDATE-EXP/jobs/validate_expansion/status.json

@@ -0,0 +1,29 @@
+{
+  "child_pid": 611147,
+  "command": [
+    "/workspace/YALA/policy/act/.venv/bin/python",
+    "/workspace/YALA/experiments/assembly_smolvla_performance_max/s6_validate.py",
+    "--source",
+    "/workspace/YALA/experiments/assembly_smolvla_performance_max/datasets/planchange_targeted_expansion_v1"
+  ],
+  "credential_environment_names": [
+    "CONTAINER_API_KEY",
+    "JUPYTER_TOKEN",
+    "OPEN_BUTTON_TOKEN",
+    "SSH_PUBLIC_KEY"
+  ],
+  "ended_at": "2026-09-27T22:27:12+00:00",
+  "environment_overrides": {},
+  "exit_code": 0,
+  "job": "validate_expansion",
+  "log_path": "/workspace/YALA/experiments/assembly_smolvla_performance_max/sections/PC-TARGETED-VALIDATE-EXP/jobs/validate_expansion/output.log",
+  "missing_artifacts": [],
+  "peak_gpu_memory_mib": null,
+  "required_artifacts": [
+    "/workspace/YALA/experiments/assembly_smolvla_performance_max/datasets/planchange_targeted_expansion_v1/validated_targeted_demo_index.json"
+  ],
+  "runner_pid": 611146,
+  "section": "PC-TARGETED-VALIDATE-EXP",
+  "started_at": "2026-09-27T22:27:02+00:00",
+  "state": "DONE"
+}

experiments/assembly_smolvla_performance_max/sections/PC-TRAIN/jobs/recovery5_train/output.log

@@ -0,0 +1,161 @@
+PERFMAX_LOSS_MODE original32 original_latent_dim=32 real_action_dim=14
+INFO 2026-09-27 21:06:36 ts/train.py:111 {'batch_size': 8,
+ 'dataset': {'episodes': None,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'RoboSynChallenge/cobotmagic_Sim_item_assembly',
+             'revision': None,
+             'root': '/workspace/YALA/lerobot_dataset/RoboSynChallenge/cobotmagic_Sim_item_assembly',
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'eval': {'batch_size': 50, 'n_episodes': 50, 'use_async_envs': False},
+ 'eval_freq': 0,
+ 'job_name': 'assembly_planchange_recovery5_v1',
+ 'log_freq': 100,
+ 'num_workers': 0,
+ 'optimizer': {'betas': [0.9, 0.95],
+               'eps': 1e-08,
+               'grad_clip_norm': 10.0,
+               'lr': 1e-05,
+               'type': 'adamw',
+               'weight_decay': 1e-10},
+ 'output_dir': '/workspace/YALA/experiments/assembly_smolvla_performance_max/models/planchange_recovery5_1000steps_v1',
+ 'policy': {'adapt_to_pi_aloha': False,
+            'add_image_special_tokens': False,
+            'attention_mode': 'cross_attn',
+            'chunk_size': 50,
+            'device': 'cuda',
+            'empty_cameras': 0,
+            'expert_width_multiplier': 0.75,
+            'freeze_vision_encoder': True,
+            'input_features': {'observation.images.cam_high': {'shape': [3,
+                                                                         480,
+                                                                         640],
+                                                               'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.cam_left_wrist': {'shape': [3,
+                                                                               480,
+                                                                               640],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.cam_right_wrist': {'shape': [3,
+                                                                                480,
+                                                                                640],
+                                                                      'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.qf': {'shape': [14],
+                                                  'type': <FeatureType.STATE: 'STATE'>},
+                               'observation.qvel': {'shape': [14],
+                                                    'type': <FeatureType.STATE: 'STATE'>},
+                               'observation.state': {'shape': [14],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'load_vlm_weights': True,
+            'max_action_dim': 32,
+            'max_period': 4.0,
+            'max_state_dim': 32,
+            'min_period': 0.004,
+            'n_action_steps': 50,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
+                                      'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_expert_layers': -1,
+            'num_steps': 10,
+            'num_vlm_layers': 16,
+            'optimizer_betas': [0.9, 0.95],
+            'optimizer_eps': 1e-08,
+            'optimizer_grad_clip_norm': 10.0,
+            'optimizer_lr': 1e-05,
+            'optimizer_weight_decay': 1e-10,
+            'output_features': {'action': {'shape': [14],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pad_language_to': 'longest',
+            'prefix_length': -1,
+            'private': None,
+            'push_to_hub': False,
+            'repo_id': None,
+            'resize_imgs_with_padding': [512, 512],
+            'scheduler_decay_lr': 2.5e-06,
+            'scheduler_decay_steps': 30000,
+            'scheduler_warmup_steps': 100,
+            'self_attn_every_n_layers': 2,
+            'tags': None,
+            'tokenizer_max_length': 48,
+            'train_expert_only': True,
+            'train_state_proj': True,
+            'type': 'smolvla',
+            'use_amp': False,
+            'use_cache': True,
+            'use_delta_joint_actions_aloha': False,
+            'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'},
+ 'resume': False,
+ 'save_checkpoint': True,
+ 'save_freq': 500,
+ 'scheduler': {'decay_lr': 2.5e-06,
+               'num_decay_steps': 30000,
+               'num_warmup_steps': 100,
+               'peak_lr': 1e-05,
+               'type': 'cosine_decay_with_warmup'},
+ 'seed': 1000,
+ 'steps': 1000,
+ 'use_policy_training_preset': True,
+ 'wandb': {'disable_artifact': False,
+           'enable': False,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': None}}
+INFO 2026-09-27 21:06:36 ts/train.py:117 Logs will be saved locally.
+INFO 2026-09-27 21:06:36 ts/train.py:127 Creating dataset
+
+
+PERFMAX_BASELINE_NORM path=/workspace/YALA/experiments/recovery72_item_assembly_smolvla/runs/run_20260925T145819Z/runtime_checkpoint/policy_preprocessor_step_5_normalizer_processor.safetensors sha256=256ba7ac90688ed3d99cca6c8967b383bfb5a4d1aa00e1b83aa42acece3485d0 source_count=318000.0 baseline_count=272000.0
+PERFMAX_MIX expert=318000 recovery=6242 recovery_percent=5 late_percent=0 late_frames=0 targeted_percent=0 targeted_frames=0 keys=['action', 'action_is_pad', 'episode_index', 'frame_index', 'index', 'observation.images.cam_high', 'observation.images.cam_high_is_pad', 'observation.images.cam_left_wrist', 'observation.images.cam_left_wrist_is_pad', 'observation.images.cam_right_wrist', 'observation.images.cam_right_wrist_is_pad', 'observation.qf', 'observation.qf_is_pad', 'observation.qvel', 'observation.qvel_is_pad', 'observation.state', 'observation.state_is_pad', 'task', 'task_index', 'timestamp']
+INFO 2026-09-27 21:06:42 ts/train.py:138 Creating policy
+Loading  HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ...
+INFO 2026-09-27 21:06:43 odeling.py:1012 We will use 90% of the memory on device 0 for storing the model, and 10% for the buffer to avoid OOM. You can set `max_memory` in to a higher value to use more memory (at your own risk).
+Reducing the number of VLM layers to 16 ...
+Loading weights from local directory
+INFO 2026-09-27 21:06:49 ts/train.py:144 Creating optimizer and scheduler
+INFO 2026-09-27 21:06:49 ts/train.py:156 Output dir: /workspace/YALA/experiments/assembly_smolvla_performance_max/models/planchange_recovery5_1000steps_v1
+INFO 2026-09-27 21:06:49 ts/train.py:159 cfg.steps=1000 (1K)
+INFO 2026-09-27 21:06:49 ts/train.py:160 dataset.num_frames=324242 (324K)
+INFO 2026-09-27 21:06:49 ts/train.py:161 dataset.num_episodes=1092
+INFO 2026-09-27 21:06:49 ts/train.py:162 num_learnable_params=99880992 (100M)
+INFO 2026-09-27 21:06:49 ts/train.py:163 num_total_params=450046316 (450M)
+INFO 2026-09-27 21:06:49 ts/train.py:202 Start offline training on a fixed dataset
+INFO 2026-09-27 21:07:49 ts/train.py:232 step:100 smpl:800 ep:3 epch:0.00 loss:7.645 grdn:19.830 lr:5.1e-06 updt_s:0.216 data_s:0.376
+INFO 2026-09-27 21:08:49 ts/train.py:232 step:200 smpl:2K ep:5 epch:0.00 loss:2.829 grdn:8.903 lr:1.0e-05 updt_s:0.213 data_s:0.387
+INFO 2026-09-27 21:09:49 ts/train.py:232 step:300 smpl:2K ep:8 epch:0.01 loss:1.432 grdn:4.565 lr:1.0e-05 updt_s:0.211 data_s:0.389
+INFO 2026-09-27 21:10:50 ts/train.py:232 step:400 smpl:3K ep:11 epch:0.01 loss:1.009 grdn:2.773 lr:1.0e-05 updt_s:0.211 data_s:0.399
+INFO 2026-09-27 21:11:52 ts/train.py:232 step:500 smpl:4K ep:13 epch:0.01 loss:0.842 grdn:1.977 lr:1.0e-05 updt_s:0.211 data_s:0.402
+INFO 2026-09-27 21:11:52 ts/train.py:241 Checkpoint policy after step 500
+INFO 2026-09-27 21:12:56 ts/train.py:232 step:600 smpl:5K ep:16 epch:0.01 loss:0.760 grdn:1.601 lr:1.0e-05 updt_s:0.215 data_s:0.399
+INFO 2026-09-27 21:13:54 ts/train.py:232 step:700 smpl:6K ep:19 epch:0.02 loss:0.715 grdn:1.421 lr:1.0e-05 updt_s:0.212 data_s:0.366
+INFO 2026-09-27 21:14:59 ts/train.py:232 step:800 smpl:6K ep:22 epch:0.02 loss:0.672 grdn:1.272 lr:1.0e-05 updt_s:0.218 data_s:0.432
+INFO 2026-09-27 21:15:57 ts/train.py:232 step:900 smpl:7K ep:24 epch:0.02 loss:0.645 grdn:1.158 lr:1.0e-05 updt_s:0.212 data_s:0.370
+INFO 2026-09-27 21:16:55 ts/train.py:232 step:1K smpl:8K ep:27 epch:0.02 loss:0.618 grdn:1.177 lr:1.0e-05 updt_s:0.212 data_s:0.368
+INFO 2026-09-27 21:16:55 ts/train.py:241 Checkpoint policy after step 1000
+INFO 2026-09-27 21:16:58 ts/train.py:283 End of training
+PLANCHANGE_RECOVERY_TRAIN_DONE ea83d96f88aa16499d4ed5838622d34ced26507f331edd34b93075e909b560b9

experiments/assembly_smolvla_performance_max/sections/PC-TRAIN/jobs/recovery5_train/status.json

@@ -0,0 +1,27 @@
+{
+  "child_pid": 589450,
+  "command": [
+    "python",
+    "/workspace/YALA/experiments/assembly_smolvla_performance_max/planchange_train_recovery.py"
+  ],
+  "credential_environment_names": [
+    "CONTAINER_API_KEY",
+    "JUPYTER_TOKEN",
+    "OPEN_BUTTON_TOKEN",
+    "SSH_PUBLIC_KEY"
+  ],
+  "ended_at": "2026-09-27T21:17:02+00:00",
+  "environment_overrides": {},
+  "exit_code": 0,
+  "job": "recovery5_train",
+  "log_path": "/workspace/YALA/experiments/assembly_smolvla_performance_max/sections/PC-TRAIN/jobs/recovery5_train/output.log",
+  "missing_artifacts": [],
+  "peak_gpu_memory_mib": 3791,
+  "required_artifacts": [
+    "/workspace/YALA/experiments/assembly_smolvla_performance_max/models/planchange_recovery_training_v1.json"
+  ],
+  "runner_pid": 589449,
+  "section": "PC-TRAIN",
+  "started_at": "2026-09-27T21:06:29+00:00",
+  "state": "DONE"
+}

experiments/assembly_smolvla_performance_max/teacher/s3_comparison.json

@@ -0,0 +1,105 @@
+{
+  "status": "DONE",
+  "source_attempts": {
+    "v4_postcontact": 20,
+    "v5_precontact": 20
+  },
+  "source_successes": {
+    "v4_postcontact": 6,
+    "v5_precontact": 0
+  },
+  "failure_reasons": {
+    "v4_postcontact": {
+      "cycle_limit": 6,
+      "realign_no_progress": 8
+    },
+    "v5_precontact": {
+      "realign_no_progress": 7,
+      "cycle_limit": 10,
+      "irreversible_weld_outside_success_geometry": 2,
+      "recovery_timeout_160_steps": 1
+    }
+  },
+  "paired_source_seeds": 6,
+  "matched_states_2mm_same_step": 0,
+  "matched_success": {
+    "v4": 0,
+    "v5": 0
+  },
+  "selected_teacher": "v4_postcontact",
+  "decision": "insufficient_matched_states_keep_v4",
+  "paired": [
+    {
+      "seed": 519529526,
+      "trigger_step_v4": 249,
+      "trigger_step_v5": 250,
+      "trigger_center_pair_diff_m": 0.01468431487041942,
+      "trigger_type_v4": "alignment_stall",
+      "trigger_type_v5": "alignment_stall",
+      "v4_success": true,
+      "v5_success": false,
+      "v4_recovery_steps": 40,
+      "v5_recovery_steps": 139
+    },
+    {
+      "seed": 671715129,
+      "trigger_step_v4": 250,
+      "trigger_step_v5": 248,
+      "trigger_center_pair_diff_m": 0.011275494045247404,
+      "trigger_type_v4": "alignment_stall",
+      "trigger_type_v5": "alignment_stall",
+      "v4_success": true,
+      "v5_success": false,
+      "v4_recovery_steps": 49,
+      "v5_recovery_steps": 85
+    },
+    {
+      "seed": 725935148,
+      "trigger_step_v4": 244,
+      "trigger_step_v5": 245,
+      "trigger_center_pair_diff_m": 0.004348881054025532,
+      "trigger_type_v4": "alignment_stall",
+      "trigger_type_v5": "alignment_stall",
+      "v4_success": false,
+      "v5_success": false,
+      "v4_recovery_steps": 154,
+      "v5_recovery_steps": 151
+    },
+    {
+      "seed": 799941371,
+      "trigger_step_v4": 249,
+      "trigger_step_v5": 245,
+      "trigger_center_pair_diff_m": 0.02295832620405791,
+      "trigger_type_v4": "alignment_stall",
+      "trigger_type_v5": "alignment_stall",
+      "v4_success": false,
+      "v5_success": false,
+      "v4_recovery_steps": 144,
+      "v5_recovery_steps": 114
+    },
+    {
+      "seed": 1577364357,
+      "trigger_step_v4": 253,
+      "trigger_step_v5": 257,
+      "trigger_center_pair_diff_m": 0.014766305774093012,
+      "trigger_type_v4": "alignment_stall",
+      "trigger_type_v5": "alignment_stall",
+      "v4_success": false,
+      "v5_success": false,
+      "v4_recovery_steps": 94,
+      "v5_recovery_steps": 160
+    },
+    {
+      "seed": 1744392861,
+      "trigger_step_v4": 252,
+      "trigger_step_v5": 251,
+      "trigger_center_pair_diff_m": 0.012070960445236416,
+      "trigger_type_v4": "alignment_stall",
+      "trigger_type_v5": "alignment_stall",
+      "v4_success": false,
+      "v5_success": false,
+      "v4_recovery_steps": 117,
+      "v5_recovery_steps": 66
+    }
+  ]
+}

experiments/assembly_smolvla_performance_max/teacher/s3_v4_postcontact/recovery_attempts.csv

@@ -0,0 +1,21 @@
+source_seed,trigger_step,trigger_type,left_grasp_status,right_grasp_status,position_error_m,orientation_error_deg,contact_state,assembly_state,selected_recovery_stage,left_regrasp_count,right_regrasp_count,realign_cycles,contact_attempts,recovery_success,task_success,recovery_steps,failure_reason,wall_seconds,trace_path,video_path
+441687193,254,alignment_stall,"{'stable': True, 'lifted': True, 'wrist_distance_m': 0.13481786847114563, 'gripper_qpos': 0.31818661093711853, 'relative_pose_spread_m': 0.0001290150727496022, 'closed_command': True}","{'stable': True, 'lifted': True, 'wrist_distance_m': 0.1327938288450241, 'gripper_qpos': 0.32285958528518677, 'relative_pose_spread_m': 4.660039619718441e-05, 'closed_command': True}",0.009418666362762451,2.8307530900165707,True,True,REALIGN,0,0,2,2,True,True,65,,191.7744050680194,/workspace/YALA/experiments/assembly_smolvla_performance_max/teacher/s3_v4_postcontact/traces/seed_441687193_recovery.jsonl,/workspace/YALA/experiments/assembly_smolvla_performance_max/teacher/s3_v4_postcontact/videos/seed_441687193_recovery.mp4
+543388491,260,alignment_stall,"{'stable': True, 'lifted': True, 'wrist_distance_m': 0.13586346805095673, 'gripper_qpos': 0.3064251244068146, 'relative_pose_spread_m': 1.6571775824553165e-05, 'closed_command': True}","{'stable': True, 'lifted': True, 'wrist_distance_m': 0.13334301114082336, 'gripper_qpos': 0.3254586160182953, 'relative_pose_spread_m': 3.1674783478724203e-06, 'closed_command': True}",0.009648196399211884,5.83109345189744,False,False,REALIGN,0,0,4,3,False,False,135,cycle_limit,71.19268235494383,/workspace/YALA/experiments/assembly_smolvla_performance_max/teacher/s3_v4_postcontact/traces/seed_543388491_recovery.jsonl,/workspace/YALA/experiments/assembly_smolvla_performance_max/teacher/s3_v4_postcontact/videos/seed_543388491_recovery.mp4
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