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loveiscomplicated commited on 12 days ago

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MANIFEST.csv +0 -0
README.md +17 -0
UPLOAD_METADATA.json +8 -0
experiments/failsafe_specialist/click_bell_act/evaluation/dev/config.json +54 -0
experiments/failsafe_specialist/click_bell_act/evaluation/dev/episodes.json +998 -0
experiments/failsafe_specialist/click_bell_act/evaluation/dev/progress.json +6 -0
experiments/failsafe_specialist/click_bell_act/evaluation/dev/summary.json +22 -0
experiments/failsafe_specialist/click_bell_act/evaluation/dev_full14/config.json +56 -0
experiments/failsafe_specialist/click_bell_act/evaluation/dev_full14/episodes.json +882 -0
experiments/failsafe_specialist/click_bell_act/evaluation/selection.json +44 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/HELDOUT_SEEDS.txt +200 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/USED_SEEDS.txt +5931 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/VIDEO_INDEX.csv +49 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/baseline_partial.jsonl +0 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/baseline_per_episode.csv +201 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/checkpoint_hashes.json +5 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/config_hash.txt +1 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/failsafe_partial.jsonl +0 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/failsafe_per_episode.csv +201 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/finalize_status.json +10 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/git_commit.txt +1 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/heldout_seed_hash.txt +1 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/metrics.json +83 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/paired_results.csv +201 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/progress.json +7 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/runner_hash.txt +1 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/seed_provenance.csv +0 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/seed_screening.json +2235 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/statistical_analysis.json +25 -0
experiments/failsafe_specialist/click_bell_act/heldout_validation/video_verification.json +98 -0
experiments/failsafe_specialist/click_bell_act/optimization/ARBITRATION_ABLATION.csv +7 -0
experiments/failsafe_specialist/click_bell_act/optimization/INVOCATION_AUDIT.csv +54 -0
experiments/failsafe_specialist/click_bell_act/optimization/THRESHOLD_SWEEP.csv +8 -0
experiments/failsafe_specialist/click_bell_act/optimization/VIDEO_COMPARISON.csv +28 -0
experiments/failsafe_specialist/click_bell_act/optimization/VIDEO_COMPARISON.html +140 -0
experiments/failsafe_specialist/click_bell_act/optimization/baseline_replay_protocol.json +36 -0
experiments/failsafe_specialist/click_bell_act/optimization/episode_diagnostics.json +1431 -0
experiments/failsafe_specialist/click_bell_act/optimization/final_selection.json +35 -0
experiments/failsafe_specialist/click_bell_act/optimization/original_score_summary.json +37 -0
experiments/failsafe_specialist/click_bell_act/optimization/recovery_state_coverage.csv +34 -0
experiments/failsafe_specialist/click_bell_act/optimization/threshold_candidate_rationale.json +51 -0
experiments/failsafe_specialist/click_bell_act/optimization/threshold_pareto.svg +86 -0
experiments/failsafe_specialist/click_bell_act/optimization/threshold_selection.json +32 -0
experiments/failsafe_specialist/click_bell_act/optimization/unrecovered_failure_subtypes.json +112 -0
experiments/failsafe_specialist/click_bell_act/optimization/video_verification.json +11 -0
experiments/failsafe_specialist/click_bell_act/videos/dev_full14_index.json +233 -0
experiments/failsafe_specialist/click_bell_act/videos/dev_gate50_index.json +257 -0
experiments/failsafe_specialist/click_bell_act/videos/dev_index.json +586 -0
experiments/failsafe_specialist/click_bell_act/videos/final_index.json +1499 -0
experiments/failsafe_specialist/click_bell_act/videos/smoke2_index.json +76 -0

MANIFEST.csv ADDED Viewed

The diff for this file is too large to render. See raw diff

README.md ADDED Viewed

	@@ -0,0 +1,17 @@

+---
+pretty_name: YALA Robotics Evaluation Artifacts
+tags:
+  - robotics
+  - simulation
+  - evaluation
+---
+# YALA Robotics Evaluation Artifacts
+Public archive of generated evaluation and diagnostic artifacts from YALA manipulation-policy experiments. The archive contains episode records, runtime traces, reset/reproducibility diagnostics, seed manifests, and experiment result files. Source code, training datasets, and policy checkpoints are kept in the YALA repository rather than this dataset.
+The files retain their original repository-relative paths under `experiments/` and `results/`. `MANIFEST.csv` records each source path, byte size, and SHA256.
+For the fresh `manipulate_pipette` ACT versus FailSafe checkpoint comparison, the two arms use the same numeric seed list. Simulator state restoration was not verified, so same-seed outcome transitions are descriptive only and are not causal recovery counts.
+This repository is public and contains simulator-generated data.

UPLOAD_METADATA.json ADDED Viewed

	@@ -0,0 +1,8 @@

+{
+  "evaluation_bytes": 1529816605,
+  "evaluation_file_count": 4656,
+  "manifest_sha256": "8772033f4e29274110ad047904181a9ef7f9f4c0ca23709ba4f4eee1452066fd",
+  "scope": "evaluation outputs and diagnostic data only; source code, training datasets and checkpoints excluded",
+  "source_base_commit": "40e04a6008fa1d6b2a3f2f6fcbb47fe5d1d26a22",
+  "source_tip_commit": "77af884e65ca4eb696f670616656e4ef82a73d22"
+}

experiments/failsafe_specialist/click_bell_act/evaluation/dev/config.json ADDED Viewed

	@@ -0,0 +1,54 @@

+{
+  "act_step": 10,
+  "base_checkpoint": "/workspace/YALA/experiments/click_bell_act_recovery/baseline_hf",
+  "base_sha256": "48e84197ca3598a852ab5cf5f6d45dcd91d68fb55f0935d83b1e71b23b4687f4",
+  "baseline_metrics": "/workspace/YALA/experiments/click_bell_act_recovery/runs/run_20260928T025826Z/eval/dev/raw/baseline/click_bell/act/random/click_bell_act_recovery/baseline/2026-09-28_05-02-29/evaluation_metrics.json",
+  "cooldown_actions": 30,
+  "detector_checkpoint": "/workspace/YALA/experiments/failsafe_specialist/click_bell_act/detector/checkpoint.pt",
+  "detector_sha256": "96225ce9458f675a7fd4559ecd9221beec2ee8cae63170f7e16988670228cf67",
+  "episode_count": 30,
+  "episode_seeds": [
+    474667102,
+    298575617,
+    944538570,
+    1703584945,
+    1065765689,
+    705360819,
+    1055095050,
+    26653740,
+    1766738114,
+    1415907286,
+    1800431183,
+    1270838828,
+    973910001,
+    768216198,
+    708739584,
+    332322245,
+    1246129987,
+    1021495924,
+    871967274,
+    13246243,
+    1634205239,
+    1812557309,
+    1642101836,
+    1110044360,
+    1103543450,
+    570891505,
+    1058317848,
+    1896040655,
+    1384850933,
+    1509808342
+  ],
+  "git_commit": "40e04a6008fa1d6b2a3f2f6fcbb47fe5d1d26a22",
+  "maximum_invocations": 2,
+  "maximum_recovery_horizon": 20,
+  "minimum_recovery_horizon": 4,
+  "official_action_budget": 361,
+  "official_evaluator": "/workspace/YALA/scripts/eval_policy.py",
+  "official_seed": 20260928,
+  "phase": "dev",
+  "specialist_checkpoint": "/workspace/YALA/experiments/failsafe_specialist/click_bell_act/recovery_policy/checkpoint.pt",
+  "specialist_sha256": "935c10a1b0dee6622ff01b454df971839f3478a3cb34691258e50541483e6f00",
+  "tag": "dev",
+  "threshold": 0.5
+}

experiments/failsafe_specialist/click_bell_act/evaluation/dev/episodes.json ADDED Viewed

	@@ -0,0 +1,998 @@

+[
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experiments/failsafe_specialist/click_bell_act/heldout_validation/baseline_partial.jsonl ADDED Viewed

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experiments/failsafe_specialist/click_bell_act/optimization/THRESHOLD_SWEEP.csv ADDED Viewed

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experiments/failsafe_specialist/click_bell_act/optimization/VIDEO_COMPARISON.csv ADDED Viewed

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+66,388378015,previous rescued; optimized rescued,0,0,1,1,1,1,baseline_replay_full/videos/episode_066_seed_388378015_fail.mp4,../evaluation/final/videos/all/episode_066_seed_388378015_success.mp4,runs/threshold_0995_video/videos/all/episode_066_seed_388378015_success.mp4
+67,471810386,intervention disappeared,1,1,1,1,1,0,baseline_video_supplement/videos/episode_067_seed_471810386_success.mp4,../evaluation/final/videos/all/episode_067_seed_471810386_success.mp4,runs/threshold_0995_video/videos/all/episode_067_seed_471810386_success.mp4
+69,1094509185,previous broken; optimized broken,1,1,0,0,2,2,baseline_replay_full/videos/episode_069_seed_1094509185_success.mp4,../evaluation/final/videos/all/episode_069_seed_1094509185_fail.mp4,runs/threshold_0995_video/videos/all/episode_069_seed_1094509185_fail.mp4
+75,1156147589,previous rescued; optimized rescued,0,0,1,1,1,1,baseline_replay_full/videos/episode_075_seed_1156147589_fail.mp4,../evaluation/final/videos/all/episode_075_seed_1156147589_success.mp4,runs/threshold_0995_video/videos/all/episode_075_seed_1156147589_success.mp4
+81,783716523,optimized rescued,0,0,0,1,2,1,baseline_video_supplement/videos/episode_081_seed_783716523_fail.mp4,../evaluation/final/videos/all/episode_081_seed_783716523_fail.mp4,runs/threshold_0995_video/videos/all/episode_081_seed_783716523_success.mp4
+85,855942375,optimized rescued,0,0,0,1,2,1,baseline_video_supplement/videos/episode_085_seed_855942375_fail.mp4,../evaluation/final/videos/all/episode_085_seed_855942375_fail.mp4,runs/threshold_0995_video/videos/all/episode_085_seed_855942375_success.mp4
+96,1056784276,previous broken; optimized broken,1,0,0,0,2,2,baseline_replay_full/videos/episode_096_seed_1056784276_fail.mp4,../evaluation/final/videos/all/episode_096_seed_1056784276_fail.mp4,runs/threshold_0995_video/videos/all/episode_096_seed_1056784276_fail.mp4
+97,1707947162,previous rescued,0,0,1,0,1,2,baseline_replay_full/videos/episode_097_seed_1707947162_fail.mp4,../evaluation/final/videos/all/episode_097_seed_1707947162_success.mp4,runs/threshold_0995_video/videos/all/episode_097_seed_1707947162_fail.mp4

experiments/failsafe_specialist/click_bell_act/optimization/VIDEO_COMPARISON.html ADDED Viewed

	@@ -0,0 +1,140 @@

+<!doctype html><html><head><meta charset='utf-8'><title>click_bell FailSafe paired videos</title>
+<style>body{font:15px sans-serif;max-width:1600px;margin:auto;padding:20px} .grid{display:grid;grid-template-columns:repeat(3,1fr);gap:12px}video{width:100%}details{border-top:1px solid #bbb;padding:12px}summary{cursor:pointer;font-weight:bold}</style>
+</head><body><h1>Paired click_bell videos</h1>
+<p>Selected run: threshold_0995_video. Official baseline outcome is the reference. Replay videos may differ on borderline seeds.</p>
+<details><summary>Seed 1052050325 · previous rescued; optimized rescued · official ACT 0 / previous 1 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_005_seed_1052050325_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_005_seed_1052050325_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_005_seed_1052050325_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_005_seed_1052050325_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_005_seed_1052050325_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_005_seed_1052050325_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 165643183 · previous rescued; optimized rescued · official ACT 0 / previous 1 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_009_seed_165643183_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_009_seed_165643183_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_009_seed_165643183_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_009_seed_165643183_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_009_seed_165643183_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_009_seed_165643183_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1607662671 · previous rescued · official ACT 0 / previous 1 / optimized 0</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_012_seed_1607662671_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_012_seed_1607662671_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_012_seed_1607662671_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_012_seed_1607662671_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_012_seed_1607662671_fail.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_012_seed_1607662671_fail.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 107094084 · optimized rescued · official ACT 0 / previous 0 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_video_supplement/videos/episode_013_seed_107094084_fail.mp4'></video><p><a href='baseline_video_supplement/videos/episode_013_seed_107094084_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_013_seed_107094084_fail.mp4'></video><p><a href='../evaluation/final/videos/all/episode_013_seed_107094084_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_013_seed_107094084_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_013_seed_107094084_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1995026958 · previous broken; intervention disappeared · official ACT 1 / previous 0 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_019_seed_1995026958_success.mp4'></video><p><a href='baseline_replay_full/videos/episode_019_seed_1995026958_success.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_019_seed_1995026958_fail.mp4'></video><p><a href='../evaluation/final/videos/all/episode_019_seed_1995026958_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_019_seed_1995026958_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_019_seed_1995026958_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 896029250 · previous broken · official ACT 1 / previous 0 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_024_seed_896029250_success.mp4'></video><p><a href='baseline_replay_full/videos/episode_024_seed_896029250_success.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_024_seed_896029250_fail.mp4'></video><p><a href='../evaluation/final/videos/all/episode_024_seed_896029250_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_024_seed_896029250_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_024_seed_896029250_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1244885417 · previous rescued · official ACT 0 / previous 1 / optimized 0</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_025_seed_1244885417_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_025_seed_1244885417_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_025_seed_1244885417_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_025_seed_1244885417_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_025_seed_1244885417_fail.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_025_seed_1244885417_fail.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1483920513 · previous rescued; optimized rescued · official ACT 0 / previous 1 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_029_seed_1483920513_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_029_seed_1483920513_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_029_seed_1483920513_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_029_seed_1483920513_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_029_seed_1483920513_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_029_seed_1483920513_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 571378390 · optimized rescued · official ACT 0 / previous 0 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_video_supplement/videos/episode_030_seed_571378390_fail.mp4'></video><p><a href='baseline_video_supplement/videos/episode_030_seed_571378390_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_030_seed_571378390_fail.mp4'></video><p><a href='../evaluation/final/videos/all/episode_030_seed_571378390_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_030_seed_571378390_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_030_seed_571378390_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 67957561 · previous rescued; optimized rescued · official ACT 0 / previous 1 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_036_seed_67957561_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_036_seed_67957561_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_036_seed_67957561_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_036_seed_67957561_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_036_seed_67957561_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_036_seed_67957561_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 2044791169 · intervention disappeared · official ACT 1 / previous 1 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_video_supplement/videos/episode_037_seed_2044791169_success.mp4'></video><p><a href='baseline_video_supplement/videos/episode_037_seed_2044791169_success.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_037_seed_2044791169_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_037_seed_2044791169_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_037_seed_2044791169_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_037_seed_2044791169_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1205742704 · previous rescued; optimized rescued · official ACT 0 / previous 1 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_041_seed_1205742704_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_041_seed_1205742704_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_041_seed_1205742704_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_041_seed_1205742704_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_041_seed_1205742704_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_041_seed_1205742704_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1302953939 · previous rescued; optimized rescued · official ACT 0 / previous 1 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_042_seed_1302953939_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_042_seed_1302953939_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_042_seed_1302953939_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_042_seed_1302953939_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_042_seed_1302953939_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_042_seed_1302953939_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 485481435 · optimized rescued; intervention disappeared · official ACT 0 / previous 0 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_video_supplement/videos/episode_043_seed_485481435_success.mp4'></video><p><a href='baseline_video_supplement/videos/episode_043_seed_485481435_success.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_043_seed_485481435_fail.mp4'></video><p><a href='../evaluation/final/videos/all/episode_043_seed_485481435_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_043_seed_485481435_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_043_seed_485481435_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1658656847 · intervention disappeared · official ACT 1 / previous 1 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_video_supplement/videos/episode_045_seed_1658656847_success.mp4'></video><p><a href='baseline_video_supplement/videos/episode_045_seed_1658656847_success.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_045_seed_1658656847_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_045_seed_1658656847_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_045_seed_1658656847_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_045_seed_1658656847_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1409328286 · previous broken · official ACT 1 / previous 0 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_046_seed_1409328286_success.mp4'></video><p><a href='baseline_replay_full/videos/episode_046_seed_1409328286_success.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_046_seed_1409328286_fail.mp4'></video><p><a href='../evaluation/final/videos/all/episode_046_seed_1409328286_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_046_seed_1409328286_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_046_seed_1409328286_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1406355452 · previous broken; optimized broken · official ACT 1 / previous 0 / optimized 0</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_050_seed_1406355452_success.mp4'></video><p><a href='baseline_replay_full/videos/episode_050_seed_1406355452_success.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_050_seed_1406355452_fail.mp4'></video><p><a href='../evaluation/final/videos/all/episode_050_seed_1406355452_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_050_seed_1406355452_fail.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_050_seed_1406355452_fail.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1145064938 · previous broken; optimized broken · official ACT 1 / previous 0 / optimized 0</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_053_seed_1145064938_success.mp4'></video><p><a href='baseline_replay_full/videos/episode_053_seed_1145064938_success.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_053_seed_1145064938_fail.mp4'></video><p><a href='../evaluation/final/videos/all/episode_053_seed_1145064938_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_053_seed_1145064938_fail.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_053_seed_1145064938_fail.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1828350945 · previous rescued; optimized rescued · official ACT 0 / previous 1 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_055_seed_1828350945_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_055_seed_1828350945_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_055_seed_1828350945_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_055_seed_1828350945_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_055_seed_1828350945_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_055_seed_1828350945_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 388378015 · previous rescued; optimized rescued · official ACT 0 / previous 1 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_066_seed_388378015_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_066_seed_388378015_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_066_seed_388378015_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_066_seed_388378015_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_066_seed_388378015_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_066_seed_388378015_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 471810386 · intervention disappeared · official ACT 1 / previous 1 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_video_supplement/videos/episode_067_seed_471810386_success.mp4'></video><p><a href='baseline_video_supplement/videos/episode_067_seed_471810386_success.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_067_seed_471810386_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_067_seed_471810386_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_067_seed_471810386_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_067_seed_471810386_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1094509185 · previous broken; optimized broken · official ACT 1 / previous 0 / optimized 0</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_069_seed_1094509185_success.mp4'></video><p><a href='baseline_replay_full/videos/episode_069_seed_1094509185_success.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_069_seed_1094509185_fail.mp4'></video><p><a href='../evaluation/final/videos/all/episode_069_seed_1094509185_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_069_seed_1094509185_fail.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_069_seed_1094509185_fail.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1156147589 · previous rescued; optimized rescued · official ACT 0 / previous 1 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_075_seed_1156147589_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_075_seed_1156147589_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_075_seed_1156147589_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_075_seed_1156147589_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_075_seed_1156147589_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_075_seed_1156147589_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 783716523 · optimized rescued · official ACT 0 / previous 0 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_video_supplement/videos/episode_081_seed_783716523_fail.mp4'></video><p><a href='baseline_video_supplement/videos/episode_081_seed_783716523_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_081_seed_783716523_fail.mp4'></video><p><a href='../evaluation/final/videos/all/episode_081_seed_783716523_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_081_seed_783716523_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_081_seed_783716523_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 855942375 · optimized rescued · official ACT 0 / previous 0 / optimized 1</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_video_supplement/videos/episode_085_seed_855942375_fail.mp4'></video><p><a href='baseline_video_supplement/videos/episode_085_seed_855942375_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_085_seed_855942375_fail.mp4'></video><p><a href='../evaluation/final/videos/all/episode_085_seed_855942375_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_085_seed_855942375_success.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_085_seed_855942375_success.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1056784276 · previous broken; optimized broken · official ACT 1 / previous 0 / optimized 0</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_096_seed_1056784276_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_096_seed_1056784276_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_096_seed_1056784276_fail.mp4'></video><p><a href='../evaluation/final/videos/all/episode_096_seed_1056784276_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_096_seed_1056784276_fail.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_096_seed_1056784276_fail.mp4'>Open MP4</a></p></div>
+</div></details>
+<details><summary>Seed 1707947162 · previous rescued · official ACT 0 / previous 1 / optimized 0</summary><div class='grid'>
+<div><h3>ACT replay</h3><video controls preload='metadata' src='baseline_replay_full/videos/episode_097_seed_1707947162_fail.mp4'></video><p><a href='baseline_replay_full/videos/episode_097_seed_1707947162_fail.mp4'>Open MP4</a></p></div>
+<div><h3>Previous FailSafe</h3><video controls preload='metadata' src='../evaluation/final/videos/all/episode_097_seed_1707947162_success.mp4'></video><p><a href='../evaluation/final/videos/all/episode_097_seed_1707947162_success.mp4'>Open MP4</a></p></div>
+<div><h3>Optimized FailSafe</h3><video controls preload='metadata' src='runs/threshold_0995_video/videos/all/episode_097_seed_1707947162_fail.mp4'></video><p><a href='runs/threshold_0995_video/videos/all/episode_097_seed_1707947162_fail.mp4'>Open MP4</a></p></div>
+</div></details>
+</body></html>

experiments/failsafe_specialist/click_bell_act/optimization/baseline_replay_protocol.json ADDED Viewed

	@@ -0,0 +1,36 @@

+{
+  "reference": "official baseline 100-seed metrics from evaluation/final/config.json",
+  "replay_segments": [
+    {
+      "indices": "0-84",
+      "process": "first sequential replay",
+      "ended": "SIGTERM after completed index84"
+    },
+    {
+      "indices": "85-99",
+      "process": "fresh process resumed from saved metrics",
+      "caveat": "earlier seeds skipped, so simulator process history differs"
+    }
+  ],
+  "summary": {
+    "episodes": 100,
+    "reference_matches": 98,
+    "reference_successes": 77,
+    "successes": 77
+  },
+  "mismatches": [
+    {
+      "episode_index": 43,
+      "seed": 485481435,
+      "official_success": false,
+      "replay_success": true
+    },
+    {
+      "episode_index": 96,
+      "seed": 1056784276,
+      "official_success": true,
+      "replay_success": false
+    }
+  ],
+  "authority": "Use official baseline result for paired SR; use replay for diagnostic images and geometry only."
+}

experiments/failsafe_specialist/click_bell_act/optimization/episode_diagnostics.json ADDED Viewed

	@@ -0,0 +1,1431 @@

+[
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+    "replay_baseline_success": false,
+    "seed": 1052050325,
+    "specialist_steps": 64,
+    "specialist_success": true
+  },
+  {
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+    "first_recovery_right_joint_displacement_l2_rad": 0.05647421708454956,
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+    "recoveries": [
+      {
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+        "ended_by": "max_horizon",
+        "met_minimum_horizon": true,
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+      {
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+        "ended_by": "max_horizon",
+        "met_minimum_horizon": true,
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+    "replay_baseline_success": false,
+    "seed": 165643183,
+    "specialist_steps": 125,
+    "specialist_success": true
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+  {
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+        "tcp_to_cover_m": 0.1485673956201033
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+      "45": {
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+        "tcp_to_cover_m": 0.08904905970030406
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+      "50": {
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+        "tcp_to_cover_m": 0.06103378329423905
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+    "baseline_press_depth_at_activation_m": 0.0009423148003406823,
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+    "baseline_right_tcp_to_cover_at_activation_m": 0.06103378329423905,
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+    "first_recovery_actions": 20,
+    "first_recovery_end_reason": "max_horizon",
+    "first_recovery_end_step": 70,
+    "first_recovery_right_joint_displacement_l2_rad": 0.0816495090906216,
+    "first_recovery_start_step": 50,
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+    "recoveries": [
+      {
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+    "recovery_invocation_count": 1,
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+    "replay_baseline_steps": 361,
+    "replay_baseline_success": false,
+    "seed": 1607662671,
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+    "specialist_success": true
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+  {
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+    "seed": 1995026958,
+    "specialist_steps": 361,
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+  {
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+        "tcp_to_cover_m": 0.16550094756619377
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+      "45": {
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experiments/failsafe_specialist/click_bell_act/optimization/final_selection.json ADDED Viewed

	@@ -0,0 +1,35 @@

+{
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+  "caveat": "Threshold-only scored 84/100 without video and 87/100 with video on identical seeds; 14 episode outcomes or call counts differed. The run is an observed paired simulator result, not a stable estimate of generalization."
+}

experiments/failsafe_specialist/click_bell_act/optimization/original_score_summary.json ADDED Viewed

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experiments/failsafe_specialist/click_bell_act/optimization/threshold_candidate_rationale.json ADDED Viewed

	@@ -0,0 +1,51 @@

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experiments/failsafe_specialist/click_bell_act/optimization/threshold_pareto.svg ADDED Viewed

experiments/failsafe_specialist/click_bell_act/optimization/threshold_selection.json ADDED Viewed

	@@ -0,0 +1,32 @@

+{
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experiments/failsafe_specialist/click_bell_act/optimization/unrecovered_failure_subtypes.json ADDED Viewed

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experiments/failsafe_specialist/click_bell_act/optimization/video_verification.json ADDED Viewed

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+{
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+}

experiments/failsafe_specialist/click_bell_act/videos/dev_full14_index.json ADDED Viewed

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+{
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