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54.6 kB
| { | |
| "schema": "worldtoken_evaluation_protocol_catalog_v1", | |
| "meaning": "Protocol declarations from the current public source/paper snapshot. They must not be represented as recovered historical evaluation configurations.", | |
| "source_files": [ | |
| { | |
| "scope": "code", | |
| "path": "environments/README.md" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "experiments/04_robocasa_scaling/baseline/evaluate.py" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "experiments/04_robocasa_scaling/configs/bc_transformer_d300_seed123.json" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/configs/rmbench_ranking_modified_n2_c608_seed1.json" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/evaluate.py" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/seed_selection.json" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/robocasa_horizons.json" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "experiments/rmbench_tools/rmbench_long_horizon_common.py" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "experiments/rmbench_tools/rmbench_long_horizon_worker.py" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "experiments/rmbench_tools/rmbench_rollout_worker.py" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "experiments/rmbench_tools/rmbench_seeded_rollout_worker.py" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "worldtoken/eval_rollout.py" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "worldtoken/model.py" | |
| }, | |
| { | |
| "scope": "code", | |
| "path": "worldtoken/rmbench_policy.py" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/C_robocasa_scaling.tex" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex" | |
| } | |
| ], | |
| "protocols": { | |
| "robocasa_worldtoken": { | |
| "description": "Declared WorldToken RoboCasa closed-loop protocol; context and checkpoint vary by recipe/execution.", | |
| "applicability": { | |
| "dataset_sections": [ | |
| "04_robocasa_scaling", | |
| "05_token_interface", | |
| "06_recent_history" | |
| ], | |
| "excludes_baseline": true | |
| }, | |
| "settings": { | |
| "task_count": { | |
| "value": 23, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/robocasa_horizons.json", | |
| "pointer": "" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 115 | |
| } | |
| ] | |
| }, | |
| "task_names": { | |
| "value": [ | |
| "CloseDoubleDoor", | |
| "CloseDrawer", | |
| "CloseSingleDoor", | |
| "CoffeePressButton", | |
| "CoffeeServeMug", | |
| "CoffeeSetupMug", | |
| "OpenDrawer", | |
| "OpenSingleDoor", | |
| "PnPCabToCounter", | |
| "PnPCounterToCab", | |
| "PnPCounterToMicrowave", | |
| "PnPCounterToSink", | |
| "PnPCounterToStove", | |
| "PnPMicrowaveToCounter", | |
| "PnPSinkToCounter", | |
| "PnPStoveToCounter", | |
| "TurnOffMicrowave", | |
| "TurnOffSinkFaucet", | |
| "TurnOffStove", | |
| "TurnOnMicrowave", | |
| "TurnOnSinkFaucet", | |
| "TurnOnStove", | |
| "TurnSinkSpout" | |
| ], | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/robocasa_horizons.json", | |
| "pointer": "" | |
| } | |
| ] | |
| }, | |
| "episodes_per_task": { | |
| "value": 50, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 54, | |
| "symbol": "main" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 115 | |
| } | |
| ] | |
| }, | |
| "expected_episodes": { | |
| "value": 1150, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 115 | |
| } | |
| ] | |
| }, | |
| "rollout_seed": { | |
| "value": 1, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 54, | |
| "symbol": "main" | |
| } | |
| ] | |
| }, | |
| "episode_seed_scheme": { | |
| "value": "rollout_seed*100000 + task_idx*1000 + episode_idx", | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "worldtoken/eval_rollout.py", | |
| "line": 74, | |
| "symbol": "EPISODE_SEED_SCHEME" | |
| } | |
| ] | |
| }, | |
| "task_horizons": { | |
| "value": { | |
| "CloseDoubleDoor": 700, | |
| "CloseDrawer": 500, | |
| "CloseSingleDoor": 500, | |
| "CoffeePressButton": 300, | |
| "CoffeeServeMug": 600, | |
| "CoffeeSetupMug": 600, | |
| "OpenDrawer": 500, | |
| "OpenSingleDoor": 500, | |
| "PnPCabToCounter": 500, | |
| "PnPCounterToCab": 500, | |
| "PnPCounterToMicrowave": 600, | |
| "PnPCounterToSink": 700, | |
| "PnPCounterToStove": 500, | |
| "PnPMicrowaveToCounter": 500, | |
| "PnPSinkToCounter": 500, | |
| "PnPStoveToCounter": 500, | |
| "TurnOffMicrowave": 500, | |
| "TurnOffSinkFaucet": 500, | |
| "TurnOffStove": 500, | |
| "TurnOnMicrowave": 500, | |
| "TurnOnSinkFaucet": 500, | |
| "TurnOnStove": 500, | |
| "TurnSinkSpout": 500 | |
| }, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/robocasa_horizons.json", | |
| "pointer": "" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 134 | |
| } | |
| ] | |
| }, | |
| "action_clip": { | |
| "value": "env", | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 57, | |
| "symbol": "main" | |
| } | |
| ] | |
| }, | |
| "action_bound_margin": { | |
| "value": 0.0001, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 57, | |
| "symbol": "main" | |
| } | |
| ] | |
| }, | |
| "action_scale": { | |
| "value": 1.0, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 57, | |
| "symbol": "main" | |
| } | |
| ] | |
| }, | |
| "scene_protocol": { | |
| "value": { | |
| "generative_textures": null, | |
| "scene_split": null, | |
| "style_ids": null, | |
| "layout_ids": null, | |
| "layout_and_style_ids": [ | |
| [ | |
| 1, | |
| 1 | |
| ], | |
| [ | |
| 2, | |
| 2 | |
| ], | |
| [ | |
| 4, | |
| 4 | |
| ], | |
| [ | |
| 6, | |
| 9 | |
| ], | |
| [ | |
| 7, | |
| 10 | |
| ] | |
| ], | |
| "randomize_cameras": false, | |
| "obj_instance_split": "B" | |
| }, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "worldtoken/eval_rollout.py", | |
| "line": 62, | |
| "symbol": "BC_EVAL_ENV_KWARGS" | |
| } | |
| ] | |
| }, | |
| "terminate_on_success": { | |
| "value": true, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "worldtoken/eval_rollout.py", | |
| "line": 226, | |
| "symbol": "parse_args" | |
| } | |
| ] | |
| }, | |
| "success_predicate": { | |
| "value": "official task success (info.is_success.task), accumulated over trajectory", | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "worldtoken/eval_rollout.py", | |
| "line": 1617, | |
| "symbol": "run_episode" | |
| } | |
| ] | |
| }, | |
| "environment_control_hz": { | |
| "value": 20, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 71 | |
| } | |
| ] | |
| }, | |
| "runtime": { | |
| "value": { | |
| "robosuite_version": "1.5.0", | |
| "robosuite_commit": "dc7fcf9fa6cd" | |
| }, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 134 | |
| } | |
| ], | |
| "note": "This is the paper's reporting-runtime declaration, not per-execution historical proof. The commit is the abbreviated identifier printed in the paper. Known cross-version repair episodes must be retained as execution exceptions. No historical RoboCasa Git hash is inferred from the compatible public v0.2 installation pin." | |
| }, | |
| "observation_stride": { | |
| "value": 4, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 66, | |
| "symbol": "main" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 71 | |
| } | |
| ] | |
| }, | |
| "execute_horizon": { | |
| "value": 4, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 66, | |
| "symbol": "main" | |
| } | |
| ] | |
| }, | |
| "action_chunk_len": { | |
| "value": 10, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 72 | |
| } | |
| ] | |
| }, | |
| "sampler": { | |
| "value": "stochastic_ddpm", | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 66, | |
| "symbol": "main" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 73 | |
| } | |
| ] | |
| }, | |
| "deterministic": { | |
| "value": false, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 66, | |
| "symbol": "main" | |
| } | |
| ] | |
| }, | |
| "denoising_steps": { | |
| "value": 20, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 73 | |
| } | |
| ] | |
| }, | |
| "action_mean_samples": { | |
| "value": 1, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "worldtoken/eval_rollout.py", | |
| "line": 121, | |
| "symbol": "parse_args" | |
| } | |
| ], | |
| "note": "The public launcher does not override the evaluator's default of one sample." | |
| }, | |
| "warmup_padding": { | |
| "value": { | |
| "mode": "repeat_first_observation", | |
| "length": "C_test" | |
| }, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 65, | |
| "symbol": "main" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 115 | |
| } | |
| ] | |
| }, | |
| "history_choices": { | |
| "value": [ | |
| 1, | |
| 2, | |
| 5, | |
| 10 | |
| ], | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 37, | |
| "symbol": "main" | |
| } | |
| ], | |
| "note": "Scaling checkpoints admit post-hoc C_test=1,2,5,10; token and separately trained context variants use their recipe context." | |
| }, | |
| "repeat_semantics": { | |
| "value": "same checkpoint, episode identities, environment seeds, rollout seed, and protocol; fixed-seed repeatability", | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 118 | |
| } | |
| ] | |
| }, | |
| "holdout_eval_seed_semantics": { | |
| "value": "config.eval_seed=0 selects offline holdout RMSE crops; it is not the closed-loop rollout_seed", | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 124 | |
| } | |
| ] | |
| } | |
| } | |
| }, | |
| "robocasa_bc_transformer": { | |
| "description": "Native BC-Transformer/GMM RoboCasa comparison with one action and observation per replanning step.", | |
| "applicability": { | |
| "dataset_section": "04_robocasa_scaling", | |
| "run": "bc_transformer_d300_seed123" | |
| }, | |
| "settings": { | |
| "task_count": { | |
| "value": 23, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/robocasa_horizons.json", | |
| "pointer": "" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 115 | |
| } | |
| ] | |
| }, | |
| "task_names": { | |
| "value": [ | |
| "CloseDoubleDoor", | |
| "CloseDrawer", | |
| "CloseSingleDoor", | |
| "CoffeePressButton", | |
| "CoffeeServeMug", | |
| "CoffeeSetupMug", | |
| "OpenDrawer", | |
| "OpenSingleDoor", | |
| "PnPCabToCounter", | |
| "PnPCounterToCab", | |
| "PnPCounterToMicrowave", | |
| "PnPCounterToSink", | |
| "PnPCounterToStove", | |
| "PnPMicrowaveToCounter", | |
| "PnPSinkToCounter", | |
| "PnPStoveToCounter", | |
| "TurnOffMicrowave", | |
| "TurnOffSinkFaucet", | |
| "TurnOffStove", | |
| "TurnOnMicrowave", | |
| "TurnOnSinkFaucet", | |
| "TurnOnStove", | |
| "TurnSinkSpout" | |
| ], | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/robocasa_horizons.json", | |
| "pointer": "" | |
| } | |
| ] | |
| }, | |
| "episodes_per_task": { | |
| "value": 50, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 54, | |
| "symbol": "main" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 115 | |
| } | |
| ] | |
| }, | |
| "expected_episodes": { | |
| "value": 1150, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 115 | |
| } | |
| ] | |
| }, | |
| "rollout_seed": { | |
| "value": 1, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 54, | |
| "symbol": "main" | |
| } | |
| ] | |
| }, | |
| "episode_seed_scheme": { | |
| "value": "rollout_seed*100000 + task_idx*1000 + episode_idx", | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "worldtoken/eval_rollout.py", | |
| "line": 74, | |
| "symbol": "EPISODE_SEED_SCHEME" | |
| } | |
| ] | |
| }, | |
| "task_horizons": { | |
| "value": { | |
| "CloseDoubleDoor": 700, | |
| "CloseDrawer": 500, | |
| "CloseSingleDoor": 500, | |
| "CoffeePressButton": 300, | |
| "CoffeeServeMug": 600, | |
| "CoffeeSetupMug": 600, | |
| "OpenDrawer": 500, | |
| "OpenSingleDoor": 500, | |
| "PnPCabToCounter": 500, | |
| "PnPCounterToCab": 500, | |
| "PnPCounterToMicrowave": 600, | |
| "PnPCounterToSink": 700, | |
| "PnPCounterToStove": 500, | |
| "PnPMicrowaveToCounter": 500, | |
| "PnPSinkToCounter": 500, | |
| "PnPStoveToCounter": 500, | |
| "TurnOffMicrowave": 500, | |
| "TurnOffSinkFaucet": 500, | |
| "TurnOffStove": 500, | |
| "TurnOnMicrowave": 500, | |
| "TurnOnSinkFaucet": 500, | |
| "TurnOnStove": 500, | |
| "TurnSinkSpout": 500 | |
| }, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/robocasa_horizons.json", | |
| "pointer": "" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
| "line": 134 | |
| } | |
| ] | |
| }, | |
| "action_clip": { | |
| "value": "env", | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 57, | |
| "symbol": "main" | |
| } | |
| ] | |
| }, | |
| "action_bound_margin": { | |
| "value": 0.0001, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 57, | |
| "symbol": "main" | |
| } | |
| ] | |
| }, | |
| "action_scale": { | |
| "value": 1.0, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/common/rollout.py", | |
| "line": 57, | |
| "symbol": "main" | |
| } | |
| ] | |
| }, | |
| "scene_protocol": { | |
| "value": { | |
| "generative_textures": null, | |
| "scene_split": null, | |
| "style_ids": null, | |
| "layout_ids": null, | |
| "layout_and_style_ids": [ | |
| [ | |
| 1, | |
| 1 | |
| ], | |
| [ | |
| 2, | |
| 2 | |
| ], | |
| [ | |
| 4, | |
| 4 | |
| ], | |
| [ | |
| 6, | |
| 9 | |
| ], | |
| [ | |
| 7, | |
| 10 | |
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| "path": "experiments/07_long_history_rmbench/configs/rmbench_ranking_modified_n2_c608_seed1.json", | |
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| ] | |
| }, | |
| "action_dim": { | |
| "value": 14, | |
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| { | |
| "scope": "paper", | |
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| } | |
| ] | |
| }, | |
| "action_representation": { | |
| "value": "absolute_joint_positions_qpos", | |
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| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/rmbench_tools/rmbench_seeded_rollout_worker.py", | |
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| "symbol": "main" | |
| } | |
| ] | |
| }, | |
| "sampler": { | |
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| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/evaluate.py", | |
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| "symbol": "run_evaluation" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex", | |
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| } | |
| ] | |
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| "value": false, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/evaluate.py", | |
| "line": 36, | |
| "symbol": "run_evaluation" | |
| } | |
| ] | |
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| "value": 20, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/configs/rmbench_ranking_modified_n2_c608_seed1.json", | |
| "pointer": "/action_head/params/denoising_steps" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex", | |
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| } | |
| ] | |
| }, | |
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| "value": 1, | |
| "status": "protocol_declared", | |
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| { | |
| "scope": "code", | |
| "path": "worldtoken/model.py", | |
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| "symbol": "RoboCasaDiffusionActionModel.sample_action_chunk" | |
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| { | |
| "scope": "code", | |
| "path": "worldtoken/rmbench_policy.py", | |
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| "symbol": "RMBenchRolloutPolicy.get_action" | |
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| "value": [ | |
| -1, | |
| 1 | |
| ], | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex", | |
| "line": 46 | |
| } | |
| ], | |
| "note": "Clipping is applied in normalized DDPM reconstruction, before inherited action unnormalization; this is not RoboCasa environment-bound clipping." | |
| }, | |
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| "value": { | |
| "mode": "none", | |
| "length": 0 | |
| }, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "worldtoken/rmbench_policy.py", | |
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| "symbol": "RMBenchRolloutPolicy._history_batch" | |
| }, | |
| { | |
| "scope": "paper", | |
| "path": "appendices/B_robocasa_setup.tex", | |
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| } | |
| ] | |
| }, | |
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| "value": 0.06, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex", | |
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| } | |
| ] | |
| }, | |
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| "value": 5500, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/evaluate.py", | |
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| "symbol": "run_evaluation" | |
| } | |
| ] | |
| }, | |
| "precision": { | |
| "value": "bf16", | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/evaluate.py", | |
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| "symbol": "run_evaluation" | |
| } | |
| ] | |
| }, | |
| "cache_encoded_history": { | |
| "value": true, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/evaluate.py", | |
| "line": 36, | |
| "symbol": "run_evaluation" | |
| } | |
| ] | |
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| "value": { | |
| "rmbench_commit": "87e0498891073d483d330195c0f160709bd92ff5" | |
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| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "environments/README.md", | |
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| } | |
| ], | |
| "note": "Public reproduction documentation declares this RMBench revision; per-execution runtime artifacts take precedence. This is not a complete historical simulator lockfile." | |
| }, | |
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| "value": 1, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex", | |
| "line": 260 | |
| } | |
| ], | |
| "note": "One trajectory per stress_seed directory; nine trajectories in the declared campaign." | |
| }, | |
| "expected_episodes": { | |
| "value": 1, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex", | |
| "line": 260 | |
| } | |
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| "value": 9, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/evaluate.py", | |
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| "symbol": "STRESS_SEEDS" | |
| } | |
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| "value": [ | |
| 100000, | |
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| 100002, | |
| 100003, | |
| 100004, | |
| 100007, | |
| 100008, | |
| 100015, | |
| 100016 | |
| ], | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/evaluate.py", | |
| "line": 18, | |
| "symbol": "STRESS_SEEDS" | |
| } | |
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| "value": 608, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/evaluate.py", | |
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| "symbol": "main" | |
| } | |
| ] | |
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| "value": null, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex", | |
| "line": 260 | |
| } | |
| ], | |
| "note": "The implementation has a 2,000,000,000-action guard. Scientific stopping is event based; operational pauses/crashes should be read from each run." | |
| }, | |
| "terminate_on_success": { | |
| "value": false, | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex", | |
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| }, | |
| { | |
| "scope": "code", | |
| "path": "experiments/rmbench_tools/rmbench_long_horizon_worker.py", | |
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| "symbol": "main" | |
| } | |
| ] | |
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| "success_predicate": { | |
| "value": "official evaluator success logged as an event, not a stopping criterion", | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex", | |
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| } | |
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| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/evaluate.py", | |
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| "symbol": "run_evaluation" | |
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| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/07_long_history_rmbench/evaluate.py", | |
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| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex", | |
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| "value": [ | |
| "middle_right", | |
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| "left_middle" | |
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| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "code", | |
| "path": "experiments/rmbench_tools/rmbench_long_horizon_common.py", | |
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| "symbol": "PERIODIC_SWAP_NAMES" | |
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| "value": [ | |
| "first confirmed stable-order deviation", | |
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| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex", | |
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| "value": "exploratory_extended_execution", | |
| "status": "protocol_declared", | |
| "sources": [ | |
| { | |
| "scope": "paper", | |
| "path": "appendices/F_rmbench_history.tex", | |
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| } | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
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| "aggregation_kind": "release_time_catalogue", | |
| "status_definitions": { | |
| "recorded": "Extracted from retained record fields; grouped values cite their row sources.", | |
| "derived": "Computed from retained records or directory naming; derivation is described.", | |
| "protocol_declared": "Declared by cited paper/code, not an original per-execution snapshot.", | |
| "unknown": "Not established from retained sources; null/empty is not a proven negative." | |
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| "evaluations": 365, | |
| "sections": { | |
| "04_robocasa_scaling": 303, | |
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| }, | |
| "index_notes": [ | |
| "This is a release-time aggregation, not a replacement for historical configs.", | |
| "Sources use records/code/paper root-relative scopes; do not resolve paths against a different scope.", | |
| "Training/holdout settings remain separate from closed-loop rollout settings.", | |
| "Runtime exceptions copy the affected evaluation summary's original IDs and note." | |
| ], | |
| "index_resolution": "Combine protocol.settings with index.settings; index values take precedence. Unresolved historical runtime remains a declaration in the profile, not a recorded execution fact." | |
| } | |