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| "kind": "recovery", | |
| "backend": "mujoco", | |
| "name": "RGB-D 失效对照 · 同条件独立种子留出", | |
| "product_id": "sensor_failure_benchmark", | |
| "coverage_repeats": 1, | |
| "coverage_split": "matched_conditions", | |
| "customer_brief": "流程验证小样：四种条件各自在训练、验证、测试中具备独立种子的场景对；用于分开检查同条件泛化与未知条件压力评测。非真实客户数据。", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "material": "opaque", | |
| "background": "studio", | |
| "lighting": "studio", | |
| "difficulty": "standard", | |
| "object_scale": 1.0, | |
| "object_mass_kg": 0.1, | |
| "surface_friction": 1.1, | |
| "camera_jitter": 0.0, | |
| "sensor_profile": "clean", | |
| "sensor_severity": 0.5, | |
| "empirical_sensor_profile": null, | |
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| "split_strategy": "single_train", | |
| "frames_per_episode": 140, | |
| "fps": 20, | |
| "width": 160, | |
| "height": 120, | |
| "seed": 20261024, | |
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| ], | |
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| "recovery_success_rate": 0.9166666666666666, | |
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| "miss_grasp": 6 | |
| }, | |
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| "conveyor_pick": 6, | |
| "pallet_cell_placement": 6 | |
| }, | |
| "object_shape_coverage": { | |
| "box": 18, | |
| "cylinder": 6 | |
| }, | |
| "rejected_pairs": 2, | |
| "structurally_valid": true, | |
| "structural_errors": [], | |
| "physics_validated": true, | |
| "sensor_model_calibrated": false, | |
| "real_robot_transfer_tested": false, | |
| "grasp_candidates": 0, | |
| "validated_successful_grasps": 0, | |
| "grasp_physics_validated": false, | |
| "label_semantics": "depth_gt is geometric camera-z in meters; not measured sensor depth", | |
| "acceptance": "valid pairs require observed failure, executed recovery, final-state success and physics validation", | |
| "product_id": "sensor_failure_benchmark", | |
| "sensor_quality": { | |
| "schema_version": "simforge.sensor_report.v1", | |
| "valid": true, | |
| "status": "passed", | |
| "calibrated": false, | |
| "closed_loop_evaluated": false, | |
| "real_robot_transfer_validated": false, | |
| "episodes": 24, | |
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| "invalid_observations": 0, | |
| "profiles": { | |
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| "depth_noise": 3, | |
| "target_dropout": 3, | |
| "camera_outage": 3, | |
| "combined": 3 | |
| }, | |
| "empirical_profiles": [], | |
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| "empirical_fully_unsupported_observations": 0, | |
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| "depth_dropout_fraction": 0.02008758060515873, | |
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| "outage_coverage_verified": true, | |
| "verified_same_trajectory_pairs": 12, | |
| "errors": [], | |
| "scope": "file integrity and offline observation-stress evidence; no policy training or sensor calibration claim" | |
| }, | |
| "synthetic_training_ready": true, | |
| "training_readiness": "training_readiness.json" | |
| }, | |
| "validation": { | |
| "valid": true, | |
| "errors": [] | |
| }, | |
| "training_readiness": { | |
| "path": "training_readiness.json", | |
| "synthetic_training_ready": true, | |
| "real_robot_transfer_validated": false | |
| }, | |
| "episodes": [ | |
| { | |
| "index": 0, | |
| "path": "episodes/episode_000000/episode.json", | |
| "success": true, | |
| "failure_type": "slip", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "commercial_case": { | |
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| "case_id": "sensor_failure_benchmark.range_noise.train.r000.reference", | |
| "condition_id": "range_noise.reference", | |
| "condition_group_id": "range_noise", | |
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| "pair_id": "sensor_failure_benchmark.range_noise.train.r000", | |
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| "changed_parameter": "sensor_profile" | |
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| }, | |
| { | |
| "index": 1, | |
| "path": "episodes/episode_000001/episode.json", | |
| "success": true, | |
| "failure_type": "slip", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
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| "case_id": "sensor_failure_benchmark.range_noise.train.r000.challenge", | |
| "condition_id": "range_noise.challenge", | |
| "condition_group_id": "range_noise", | |
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| "pair_id": "sensor_failure_benchmark.range_noise.train.r000", | |
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| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
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| "frames": 140 | |
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| { | |
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| "path": "episodes/episode_000002/episode.json", | |
| "success": true, | |
| "failure_type": "drop", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
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| "case_id": "sensor_failure_benchmark.target_missing.train.r000.reference", | |
| "condition_id": "target_missing.reference", | |
| "condition_group_id": "target_missing", | |
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| "pair_id": "sensor_failure_benchmark.target_missing.train.r000", | |
| "split": "train", | |
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| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
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| "frames": 140 | |
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| { | |
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| "path": "episodes/episode_000003/episode.json", | |
| "success": true, | |
| "failure_type": "drop", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
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| "case_id": "sensor_failure_benchmark.target_missing.train.r000.challenge", | |
| "condition_id": "target_missing.challenge", | |
| "condition_group_id": "target_missing", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.target_missing.train.r000", | |
| "split": "train", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 4, | |
| "path": "episodes/episode_000004/episode.json", | |
| "success": true, | |
| "failure_type": "pose_offset", | |
| "scenario_id": "conveyor_pick", | |
| "object_shape": "cylinder", | |
| "commercial_case": { | |
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| "case_id": "sensor_failure_benchmark.camera_interrupt.train.r000.reference", | |
| "condition_id": "camera_interrupt.reference", | |
| "condition_group_id": "camera_interrupt", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.camera_interrupt.train.r000", | |
| "split": "train", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
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| "path": "episodes/episode_000005/episode.json", | |
| "success": true, | |
| "failure_type": "pose_offset", | |
| "scenario_id": "conveyor_pick", | |
| "object_shape": "cylinder", | |
| "commercial_case": { | |
| "episode_index": 5, | |
| "case_id": "sensor_failure_benchmark.camera_interrupt.train.r000.challenge", | |
| "condition_id": "camera_interrupt.challenge", | |
| "condition_group_id": "camera_interrupt", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.camera_interrupt.train.r000", | |
| "split": "train", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
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| "path": "episodes/episode_000006/episode.json", | |
| "success": true, | |
| "failure_type": "miss_grasp", | |
| "scenario_id": "pallet_cell_placement", | |
| "object_shape": "box", | |
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| "case_id": "sensor_failure_benchmark.compound_shift.train.r000.reference", | |
| "condition_id": "compound_shift.reference", | |
| "condition_group_id": "compound_shift", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.compound_shift.train.r000", | |
| "split": "train", | |
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| "changed_parameter": "sensor_profile" | |
| }, | |
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| { | |
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| "path": "episodes/episode_000007/episode.json", | |
| "success": true, | |
| "failure_type": "miss_grasp", | |
| "scenario_id": "pallet_cell_placement", | |
| "object_shape": "box", | |
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| "case_id": "sensor_failure_benchmark.compound_shift.train.r000.challenge", | |
| "condition_id": "compound_shift.challenge", | |
| "condition_group_id": "compound_shift", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.compound_shift.train.r000", | |
| "split": "train", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
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| "path": "episodes/episode_000008/episode.json", | |
| "success": true, | |
| "failure_type": "slip", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "commercial_case": { | |
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| "case_id": "sensor_failure_benchmark.range_noise.validation.r000.reference", | |
| "condition_id": "range_noise.reference", | |
| "condition_group_id": "range_noise", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.range_noise.validation.r000", | |
| "split": "validation", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 9, | |
| "path": "episodes/episode_000009/episode.json", | |
| "success": true, | |
| "failure_type": "slip", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "commercial_case": { | |
| "episode_index": 9, | |
| "case_id": "sensor_failure_benchmark.range_noise.validation.r000.challenge", | |
| "condition_id": "range_noise.challenge", | |
| "condition_group_id": "range_noise", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.range_noise.validation.r000", | |
| "split": "validation", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 10, | |
| "path": "episodes/episode_000010/episode.json", | |
| "success": true, | |
| "failure_type": "drop", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "commercial_case": { | |
| "episode_index": 10, | |
| "case_id": "sensor_failure_benchmark.target_missing.validation.r000.reference", | |
| "condition_id": "target_missing.reference", | |
| "condition_group_id": "target_missing", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.target_missing.validation.r000", | |
| "split": "validation", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 11, | |
| "path": "episodes/episode_000011/episode.json", | |
| "success": true, | |
| "failure_type": "drop", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "commercial_case": { | |
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| "case_id": "sensor_failure_benchmark.target_missing.validation.r000.challenge", | |
| "condition_id": "target_missing.challenge", | |
| "condition_group_id": "target_missing", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.target_missing.validation.r000", | |
| "split": "validation", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 12, | |
| "path": "episodes/episode_000012/episode.json", | |
| "success": true, | |
| "failure_type": "pose_offset", | |
| "scenario_id": "conveyor_pick", | |
| "object_shape": "cylinder", | |
| "commercial_case": { | |
| "episode_index": 12, | |
| "case_id": "sensor_failure_benchmark.camera_interrupt.validation.r000.reference", | |
| "condition_id": "camera_interrupt.reference", | |
| "condition_group_id": "camera_interrupt", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.camera_interrupt.validation.r000", | |
| "split": "validation", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
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| "path": "episodes/episode_000013/episode.json", | |
| "success": true, | |
| "failure_type": "pose_offset", | |
| "scenario_id": "conveyor_pick", | |
| "object_shape": "cylinder", | |
| "commercial_case": { | |
| "episode_index": 13, | |
| "case_id": "sensor_failure_benchmark.camera_interrupt.validation.r000.challenge", | |
| "condition_id": "camera_interrupt.challenge", | |
| "condition_group_id": "camera_interrupt", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.camera_interrupt.validation.r000", | |
| "split": "validation", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 14, | |
| "path": "episodes/episode_000014/episode.json", | |
| "success": false, | |
| "failure_type": "miss_grasp", | |
| "scenario_id": "pallet_cell_placement", | |
| "object_shape": "box", | |
| "commercial_case": { | |
| "episode_index": 14, | |
| "case_id": "sensor_failure_benchmark.compound_shift.validation.r000.reference", | |
| "condition_id": "compound_shift.reference", | |
| "condition_group_id": "compound_shift", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.compound_shift.validation.r000", | |
| "split": "validation", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 15, | |
| "path": "episodes/episode_000015/episode.json", | |
| "success": false, | |
| "failure_type": "miss_grasp", | |
| "scenario_id": "pallet_cell_placement", | |
| "object_shape": "box", | |
| "commercial_case": { | |
| "episode_index": 15, | |
| "case_id": "sensor_failure_benchmark.compound_shift.validation.r000.challenge", | |
| "condition_id": "compound_shift.challenge", | |
| "condition_group_id": "compound_shift", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.compound_shift.validation.r000", | |
| "split": "validation", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 16, | |
| "path": "episodes/episode_000016/episode.json", | |
| "success": true, | |
| "failure_type": "slip", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "commercial_case": { | |
| "episode_index": 16, | |
| "case_id": "sensor_failure_benchmark.range_noise.test.r000.reference", | |
| "condition_id": "range_noise.reference", | |
| "condition_group_id": "range_noise", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.range_noise.test.r000", | |
| "split": "test", | |
| "role": "reference", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 17, | |
| "path": "episodes/episode_000017/episode.json", | |
| "success": true, | |
| "failure_type": "slip", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "commercial_case": { | |
| "episode_index": 17, | |
| "case_id": "sensor_failure_benchmark.range_noise.test.r000.challenge", | |
| "condition_id": "range_noise.challenge", | |
| "condition_group_id": "range_noise", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.range_noise.test.r000", | |
| "split": "test", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 18, | |
| "path": "episodes/episode_000018/episode.json", | |
| "success": true, | |
| "failure_type": "drop", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "commercial_case": { | |
| "episode_index": 18, | |
| "case_id": "sensor_failure_benchmark.target_missing.test.r000.reference", | |
| "condition_id": "target_missing.reference", | |
| "condition_group_id": "target_missing", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.target_missing.test.r000", | |
| "split": "test", | |
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| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 19, | |
| "path": "episodes/episode_000019/episode.json", | |
| "success": true, | |
| "failure_type": "drop", | |
| "scenario_id": "machine_tending", | |
| "object_shape": "box", | |
| "commercial_case": { | |
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| "case_id": "sensor_failure_benchmark.target_missing.test.r000.challenge", | |
| "condition_id": "target_missing.challenge", | |
| "condition_group_id": "target_missing", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.target_missing.test.r000", | |
| "split": "test", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 20, | |
| "path": "episodes/episode_000020/episode.json", | |
| "success": true, | |
| "failure_type": "pose_offset", | |
| "scenario_id": "conveyor_pick", | |
| "object_shape": "cylinder", | |
| "commercial_case": { | |
| "episode_index": 20, | |
| "case_id": "sensor_failure_benchmark.camera_interrupt.test.r000.reference", | |
| "condition_id": "camera_interrupt.reference", | |
| "condition_group_id": "camera_interrupt", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.camera_interrupt.test.r000", | |
| "split": "test", | |
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| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
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| "frames": 140 | |
| }, | |
| { | |
| "index": 21, | |
| "path": "episodes/episode_000021/episode.json", | |
| "success": true, | |
| "failure_type": "pose_offset", | |
| "scenario_id": "conveyor_pick", | |
| "object_shape": "cylinder", | |
| "commercial_case": { | |
| "episode_index": 21, | |
| "case_id": "sensor_failure_benchmark.camera_interrupt.test.r000.challenge", | |
| "condition_id": "camera_interrupt.challenge", | |
| "condition_group_id": "camera_interrupt", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.camera_interrupt.test.r000", | |
| "split": "test", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
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| "path": "episodes/episode_000022/episode.json", | |
| "success": true, | |
| "failure_type": "miss_grasp", | |
| "scenario_id": "pallet_cell_placement", | |
| "object_shape": "box", | |
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| "case_id": "sensor_failure_benchmark.compound_shift.test.r000.reference", | |
| "condition_id": "compound_shift.reference", | |
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| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.compound_shift.test.r000", | |
| "split": "test", | |
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| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
| }, | |
| "frames": 140 | |
| }, | |
| { | |
| "index": 23, | |
| "path": "episodes/episode_000023/episode.json", | |
| "success": true, | |
| "failure_type": "miss_grasp", | |
| "scenario_id": "pallet_cell_placement", | |
| "object_shape": "box", | |
| "commercial_case": { | |
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| "case_id": "sensor_failure_benchmark.compound_shift.test.r000.challenge", | |
| "condition_id": "compound_shift.challenge", | |
| "condition_group_id": "compound_shift", | |
| "coverage_split": "matched_conditions", | |
| "pair_id": "sensor_failure_benchmark.compound_shift.test.r000", | |
| "split": "test", | |
| "role": "challenge", | |
| "product_id": "sensor_failure_benchmark", | |
| "changed_parameter": "sensor_profile" | |
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| "frames": 140 | |
| } | |
| ], | |
| "delivery": { | |
| "product_id": "sensor_failure_benchmark", | |
| "coverage_split": "matched_conditions", | |
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| "status": "technical_pass", | |
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| "coverage": { | |
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| "observed_cases": 24, | |
| "complete": true | |
| }, | |
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| "validation": 8, | |
| "test": 8 | |
| }, | |
| "customer_validation": "not_run", | |
| "review_reasons": [], | |
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| "rgb_images": 3360, | |
| "invalid_label_samples": 0, | |
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| "generation_seconds": 182.029 | |
| }, | |
| "production_plan": "production_plan.json" | |
| } |