| { |
| "canonical_patch": { |
| "action_space": { |
| "dimension": 7, |
| "lower": [ |
| -0.03, |
| -0.03, |
| -0.03, |
| -0.1, |
| -0.1, |
| -0.1, |
| -1.0 |
| ], |
| "upper": [ |
| 0.03, |
| 0.03, |
| 0.03, |
| 0.1, |
| 0.1, |
| 0.1, |
| 1.0 |
| ] |
| }, |
| "authored_from": { |
| "category_digest": "ff1468fd83f715d0da53394dd2a00d126719c504278322721733b0d9880febc2", |
| "category_id": "discovered_event_ever_true_16001350a973", |
| "gain_scale": 0.5, |
| "relation_ids": [ |
| "correct_held_planar_error", |
| "correct_held_vertical_error", |
| "retain_current_grasp" |
| ], |
| "semantics_digest": "b13b16edadec42509544feff52babe3482fe3c664caf3ba64ed21df144276caa" |
| }, |
| "description": "Autonomously synthesized bounded correction from declared online oracle signals and controllability relations.", |
| "id": "auth_discovered_event_ever_true_16001350a973_01", |
| "initial_phase": "watch", |
| "limits": { |
| "active_window": { |
| "end_exclusive": 52, |
| "start": 8 |
| }, |
| "max_action_delta": [ |
| 0.02, |
| 0.02, |
| 0.01, |
| 0.0, |
| 0.0, |
| 0.0, |
| 2.0 |
| ], |
| "max_interventions": 24, |
| "max_phase_transitions": 1, |
| "max_program_steps": 60 |
| }, |
| "phases": [ |
| { |
| "name": "watch", |
| "transforms": [], |
| "transitions": [ |
| { |
| "to": "repair", |
| "when": { |
| "id": "diagnostic_00", |
| "op": "latch", |
| "value": { |
| "name": "source_grasped", |
| "op": "signal" |
| } |
| } |
| } |
| ] |
| }, |
| { |
| "name": "repair", |
| "transforms": [ |
| { |
| "indices": [ |
| 0, |
| 1 |
| ], |
| "op": "add", |
| "value": { |
| "maximum": 0.02, |
| "op": "clip_norm", |
| "value": { |
| "factor": { |
| "op": "constant", |
| "value": 0.5 |
| }, |
| "op": "scale", |
| "value": { |
| "matrix": [ |
| [ |
| 1.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "op": "linear", |
| "value": { |
| "name": "held_source_planar_error_xy", |
| "op": "signal" |
| } |
| } |
| } |
| } |
| }, |
| { |
| "indices": [ |
| 2 |
| ], |
| "op": "add", |
| "value": { |
| "maximum": 0.01, |
| "op": "clip_norm", |
| "value": { |
| "factor": { |
| "op": "constant", |
| "value": 0.25 |
| }, |
| "op": "scale", |
| "value": { |
| "matrix": [ |
| [ |
| -1.0 |
| ] |
| ], |
| "op": "linear", |
| "value": { |
| "name": "held_source_vertical_error", |
| "op": "signal" |
| } |
| } |
| } |
| } |
| }, |
| { |
| "indices": [ |
| 6 |
| ], |
| "op": "set", |
| "value": { |
| "op": "constant", |
| "value": [ |
| -1.0 |
| ] |
| } |
| } |
| ], |
| "transitions": [] |
| } |
| ], |
| "schema_version": "sim_oracle_patch_program.v1", |
| "signals": { |
| "held_source_planar_error_xy": { |
| "value_type": "vector", |
| "width": 2 |
| }, |
| "held_source_vertical_error": { |
| "value_type": "scalar" |
| }, |
| "source_grasped": { |
| "value_type": "boolean" |
| } |
| } |
| }, |
| "compiler_source": { |
| "path": "oracle_patching/program.py", |
| "provenance": "current_compiler_reconstruction; canonical program SHA is authoritative", |
| "sealed_by_source_manifest": false, |
| "sha256": "ad8c56a2068ce4a0db40901fc4055bcad09e53f097b31ade3164ebfc27b60621" |
| }, |
| "display_lines": [ |
| "phase watch -> repair if latch(oracle.source_grasped)", |
| "phase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)", |
| "phase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)", |
| "phase repair: a_exec[6] := [-1.0]" |
| ], |
| "formula_sha256": "dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493", |
| "mechanical_derivation": "compiled oracle_patching.program AST", |
| "overlay_lines": [ |
| "phase watch -> repair if latch(oracle.source_grasped)", |
| "phase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)", |
| "phase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)", |
| "phase repair: a_exec[6] := [-1.0]" |
| ], |
| "patch_id": "auth_discovered_event_ever_true_16001350a973_01", |
| "patch_kind": "program", |
| "runtime_source": { |
| "path": "oracle_patching/program_runtime.py", |
| "provenance": "current_runtime_reconstruction; sealed executed actions are authoritative", |
| "sealed_by_source_manifest": false, |
| "sha256": "85bae6bc03acaf7bc214cb67af80166499fec0f636a1fcf2ef4e7827460449e7" |
| }, |
| "schema_version": "sim_oracle_action_patch_formula.v1" |
| } |
|
|
