Upload sensor_failure_benchmark dataset (1.4GB, 30770 files) (part 37)

manifest.json

@@ -0,0 +1,647 @@
+{
+  "job_id": "1930191589c240c09d4487ab34357f1e",
+  "production_plan_sha256": "f55a84aa67c56fbdc3e4f43af544bb1763ee7bf05553a87a918b69dbdaadd459",
+  "config": {
+    "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,
+    "episodes": 24,
+    "split_strategy": "single_train",
+    "frames_per_episode": 140,
+    "fps": 20,
+    "width": 160,
+    "height": 120,
+    "seed": 20261024,
+    "camera_count": 1,
+    "failure_types": [
+      "slip"
+    ],
+    "blender_samples": 16
+  },
+  "quality": {
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+    "frames": 3360,
+    "valid_pairs": 22,
+    "recovery_success_rate": 0.9166666666666666,
+    "failure_coverage": {
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+      "drop": 6,
+      "pose_offset": 6,
+      "miss_grasp": 6
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+    "scenario_coverage": {
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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",
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+      "closed_loop_evaluated": false,
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+      "observations": 3360,
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+        "target_dropout": 3,
+        "camera_outage": 3,
+        "combined": 3
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+      "empirical_train_supported_depth_fraction": null,
+      "empirical_fully_unsupported_observations": 0,
+      "coverage_warnings": [],
+      "outage_observations": 66,
+      "effectively_corrupted_observations": 1293,
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+      "target_depth_dropout_fraction": 0.1330217308644278,
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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
+  },
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+      "path": "episodes/episode_000000/episode.json",
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+      "failure_type": "slip",
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+        "product_id": "sensor_failure_benchmark",
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+        "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",
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+        "condition_group_id": "target_missing",
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+        "pair_id": "sensor_failure_benchmark.target_missing.train.r000",
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+        "case_id": "sensor_failure_benchmark.target_missing.train.r000.challenge",
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+        "condition_group_id": "target_missing",
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+        "pair_id": "sensor_failure_benchmark.target_missing.train.r000",
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+        "role": "challenge",
+        "product_id": "sensor_failure_benchmark",
+        "changed_parameter": "sensor_profile"
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+      "path": "episodes/episode_000004/episode.json",
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+      "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"
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+      "success": true,
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+      "object_shape": "cylinder",
+      "commercial_case": {
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+        "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"
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+      "failure_type": "miss_grasp",
+      "scenario_id": "pallet_cell_placement",
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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",
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+        "product_id": "sensor_failure_benchmark",
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+        "product_id": "sensor_failure_benchmark",
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+      "failure_type": "slip",
+      "scenario_id": "machine_tending",
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+        "case_id": "sensor_failure_benchmark.range_noise.validation.r000.reference",
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+        "pair_id": "sensor_failure_benchmark.range_noise.validation.r000",
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+        "product_id": "sensor_failure_benchmark",
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+        "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"
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+        "condition_id": "target_missing.reference",
+        "condition_group_id": "target_missing",
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+        "pair_id": "sensor_failure_benchmark.target_missing.validation.r000",
+        "split": "validation",
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+        "product_id": "sensor_failure_benchmark",
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+      "failure_type": "drop",
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+        "case_id": "sensor_failure_benchmark.target_missing.validation.r000.challenge",
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+        "condition_group_id": "target_missing",
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+        "split": "validation",
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+        "product_id": "sensor_failure_benchmark",
+        "changed_parameter": "sensor_profile"
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+    {
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+      "path": "episodes/episode_000012/episode.json",
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+      "failure_type": "pose_offset",
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+      "object_shape": "cylinder",
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+        "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",
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+        "product_id": "sensor_failure_benchmark",
+        "changed_parameter": "sensor_profile"
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+        "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"
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+      "path": "episodes/episode_000014/episode.json",
+      "success": false,
+      "failure_type": "miss_grasp",
+      "scenario_id": "pallet_cell_placement",
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+        "case_id": "sensor_failure_benchmark.compound_shift.validation.r000.reference",
+        "condition_id": "compound_shift.reference",
+        "condition_group_id": "compound_shift",
+        "coverage_split": "matched_conditions",
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+        "split": "validation",
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+        "product_id": "sensor_failure_benchmark",
+        "changed_parameter": "sensor_profile"
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+      "failure_type": "miss_grasp",
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+        "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"
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+        "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",
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+        "product_id": "sensor_failure_benchmark",
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+        "case_id": "sensor_failure_benchmark.range_noise.test.r000.challenge",
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+        "pair_id": "sensor_failure_benchmark.range_noise.test.r000",
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+        "product_id": "sensor_failure_benchmark",
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+        "case_id": "sensor_failure_benchmark.target_missing.test.r000.reference",
+        "condition_id": "target_missing.reference",
+        "condition_group_id": "target_missing",
+        "coverage_split": "matched_conditions",
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+        "product_id": "sensor_failure_benchmark",
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+      "failure_type": "drop",
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+        "case_id": "sensor_failure_benchmark.target_missing.test.r000.challenge",
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+        "coverage_split": "matched_conditions",
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+        "product_id": "sensor_failure_benchmark",
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+        "case_id": "sensor_failure_benchmark.camera_interrupt.test.r000.reference",
+        "condition_id": "camera_interrupt.reference",
+        "condition_group_id": "camera_interrupt",
+        "coverage_split": "matched_conditions",
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+        "product_id": "sensor_failure_benchmark",
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+      "path": "episodes/episode_000021/episode.json",
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+        "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"
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+      "path": "episodes/episode_000022/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.reference",
+        "condition_id": "compound_shift.reference",
+        "condition_group_id": "compound_shift",
+        "coverage_split": "matched_conditions",
+        "pair_id": "sensor_failure_benchmark.compound_shift.test.r000",
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+        "product_id": "sensor_failure_benchmark",
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+  },
+  "production_plan": "production_plan.json"
+}

production_plan.json

@@ -0,0 +1,1034 @@
+[
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+      "object_mass_kg": 0.1,
+      "surface_friction": 1.1,
+      "camera_jitter": 0.0,
+      "sensor_profile": "camera_outage",
+      "sensor_severity": 0.5,
+      "empirical_sensor_profile": null,
+      "episodes": 1,
+      "split_strategy": "single_train",
+      "frames_per_episode": 140,
+      "fps": 20,
+      "width": 160,
+      "height": 120,
+      "seed": 20263124,
+      "camera_count": 1,
+      "failure_types": [
+        "pose_offset"
+      ],
+      "blender_samples": 16
+    }
+  },
+  {
+    "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",
+    "config": {
+      "kind": "recovery",
+      "backend": "mujoco",
+      "name": "RGB-D 失效对照 · 同条件独立种子留出",
+      "coverage_split": "condition_holdout",
+      "scenario_id": "pallet_cell_placement",
+      "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,
+      "episodes": 1,
+      "split_strategy": "single_train",
+      "frames_per_episode": 140,
+      "fps": 20,
+      "width": 160,
+      "height": 120,
+      "seed": 20264124,
+      "camera_count": 1,
+      "failure_types": [
+        "miss_grasp"
+      ],
+      "blender_samples": 16
+    }
+  },
+  {
+    "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",
+    "config": {
+      "kind": "recovery",
+      "backend": "mujoco",
+      "name": "RGB-D 失效对照 · 同条件独立种子留出",
+      "coverage_split": "condition_holdout",
+      "scenario_id": "pallet_cell_placement",
+      "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": "combined",
+      "sensor_severity": 0.5,
+      "empirical_sensor_profile": null,
+      "episodes": 1,
+      "split_strategy": "single_train",
+      "frames_per_episode": 140,
+      "fps": 20,
+      "width": 160,
+      "height": 120,
+      "seed": 20264124,
+      "camera_count": 1,
+      "failure_types": [
+        "miss_grasp"
+      ],
+      "blender_samples": 16
+    }
+  },
+  {
+    "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",
+    "config": {
+      "kind": "recovery",
+      "backend": "mujoco",
+      "name": "RGB-D 失效对照 · 同条件独立种子留出",
+      "coverage_split": "condition_holdout",
+      "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,
+      "episodes": 1,
+      "split_strategy": "single_train",
+      "frames_per_episode": 140,
+      "fps": 20,
+      "width": 160,
+      "height": 120,
+      "seed": 20261224,
+      "camera_count": 1,
+      "failure_types": [
+        "slip"
+      ],
+      "blender_samples": 16
+    }
+  },
+  {
+    "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",
+    "config": {
+      "kind": "recovery",
+      "backend": "mujoco",
+      "name": "RGB-D 失效对照 · 同条件独立种子留出",
+      "coverage_split": "condition_holdout",
+      "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": "depth_noise",
+      "sensor_severity": 0.5,
+      "empirical_sensor_profile": null,
+      "episodes": 1,
+      "split_strategy": "single_train",
+      "frames_per_episode": 140,
+      "fps": 20,
+      "width": 160,
+      "height": 120,
+      "seed": 20261224,
+      "camera_count": 1,
+      "failure_types": [
+        "slip"
+      ],
+      "blender_samples": 16
+    }
+  },
+  {
+    "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",
+    "role": "reference",
+    "product_id": "sensor_failure_benchmark",
+    "changed_parameter": "sensor_profile",
+    "config": {
+      "kind": "recovery",
+      "backend": "mujoco",
+      "name": "RGB-D 失效对照 · 同条件独立种子留出",
+      "coverage_split": "condition_holdout",
+      "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,
+      "episodes": 1,
+      "split_strategy": "single_train",
+      "frames_per_episode": 140,
+      "fps": 20,
+      "width": 160,
+      "height": 120,
+      "seed": 20262224,
+      "camera_count": 1,
+      "failure_types": [
+        "drop"
+      ],
+      "blender_samples": 16
+    }
+  },
+  {
+    "episode_index": 19,
+    "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",
+    "config": {
+      "kind": "recovery",
+      "backend": "mujoco",
+      "name": "RGB-D 失效对照 · 同条件独立种子留出",
+      "coverage_split": "condition_holdout",
+      "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": "target_dropout",
+      "sensor_severity": 0.5,
+      "empirical_sensor_profile": null,
+      "episodes": 1,
+      "split_strategy": "single_train",
+      "frames_per_episode": 140,
+      "fps": 20,
+      "width": 160,
+      "height": 120,
+      "seed": 20262224,
+      "camera_count": 1,
+      "failure_types": [
+        "drop"
+      ],
+      "blender_samples": 16
+    }
+  },
+  {
+    "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",
+    "role": "reference",
+    "product_id": "sensor_failure_benchmark",
+    "changed_parameter": "sensor_profile",
+    "config": {
+      "kind": "recovery",
+      "backend": "mujoco",
+      "name": "RGB-D 失效对照 · 同条件独立种子留出",
+      "coverage_split": "condition_holdout",
+      "scenario_id": "conveyor_pick",
+      "object_shape": "cylinder",
+      "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,
+      "episodes": 1,
+      "split_strategy": "single_train",
+      "frames_per_episode": 140,
+      "fps": 20,
+      "width": 160,
+      "height": 120,
+      "seed": 20263224,
+      "camera_count": 1,
+      "failure_types": [
+        "pose_offset"
+      ],
+      "blender_samples": 16
+    }
+  },
+  {
+    "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",
+    "config": {
+      "kind": "recovery",
+      "backend": "mujoco",
+      "name": "RGB-D 失效对照 · 同条件独立种子留出",
+      "coverage_split": "condition_holdout",
+      "scenario_id": "conveyor_pick",
+      "object_shape": "cylinder",
+      "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": "camera_outage",
+      "sensor_severity": 0.5,
+      "empirical_sensor_profile": null,
+      "episodes": 1,
+      "split_strategy": "single_train",
+      "frames_per_episode": 140,
+      "fps": 20,
+      "width": 160,
+      "height": 120,
+      "seed": 20263224,
+      "camera_count": 1,
+      "failure_types": [
+        "pose_offset"
+      ],
+      "blender_samples": 16
+    }
+  },
+  {
+    "episode_index": 22,
+    "case_id": "sensor_failure_benchmark.compound_shift.test.r000.reference",
+    "condition_id": "compound_shift.reference",
+    "condition_group_id": "compound_shift",
+    "coverage_split": "matched_conditions",
+    "pair_id": "sensor_failure_benchmark.compound_shift.test.r000",
+    "split": "test",
+    "role": "reference",
+    "product_id": "sensor_failure_benchmark",
+    "changed_parameter": "sensor_profile",
+    "config": {
+      "kind": "recovery",
+      "backend": "mujoco",
+      "name": "RGB-D 失效对照 · 同条件独立种子留出",
+      "coverage_split": "condition_holdout",
+      "scenario_id": "pallet_cell_placement",
+      "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,
+      "episodes": 1,
+      "split_strategy": "single_train",
+      "frames_per_episode": 140,
+      "fps": 20,
+      "width": 160,
+      "height": 120,
+      "seed": 20264224,
+      "camera_count": 1,
+      "failure_types": [
+        "miss_grasp"
+      ],
+      "blender_samples": 16
+    }
+  },
+  {
+    "episode_index": 23,
+    "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",
+    "config": {
+      "kind": "recovery",
+      "backend": "mujoco",
+      "name": "RGB-D 失效对照 · 同条件独立种子留出",
+      "coverage_split": "condition_holdout",
+      "scenario_id": "pallet_cell_placement",
+      "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": "combined",
+      "sensor_severity": 0.5,
+      "empirical_sensor_profile": null,
+      "episodes": 1,
+      "split_strategy": "single_train",
+      "frames_per_episode": 140,
+      "fps": 20,
+      "width": 160,
+      "height": 120,
+      "seed": 20264224,
+      "camera_count": 1,
+      "failure_types": [
+        "miss_grasp"
+      ],
+      "blender_samples": 16
+    }
+  }
+]

provenance.json

@@ -0,0 +1,121 @@
+{
+  "application": "simforge-workshop",
+  "version": "0.6.0",
+  "parent_job_id": null,
+  "generated_at": "2026-10-23T09:37:24.523518+00:00",
+  "config": {
+    "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,
+    "episodes": 24,
+    "split_strategy": "single_train",
+    "frames_per_episode": 140,
+    "fps": 20,
+    "width": 160,
+    "height": 120,
+    "seed": 20261024,
+    "camera_count": 1,
+    "failure_types": [
+      "slip"
+    ],
+    "blender_samples": 16
+  },
+  "production_plan": "production_plan.json",
+  "production_plan_sha256": "f55a84aa67c56fbdc3e4f43af544bb1763ee7bf05553a87a918b69dbdaadd459",
+  "training_readiness": "training_readiness.json",
+  "sensor_report": "sensors/report.json",
+  "sensor_calibrated": false,
+  "input_contract": "dataset/meta/input_contract.json",
+  "upstream_sources": {
+    "schema_version": 1,
+    "acquired_at": "2026-10-22T11:22:49.839268+00:00",
+    "notes": [
+      "Source snapshots only; clone is not installation or execution.",
+      "Existing trees are not reset, pulled, deleted or updated.",
+      "Each asset and dependency license requires separate review."
+    ],
+    "sources": [
+      {
+        "name": "FailSafe",
+        "url": "https://github.com/Jimntu/FailSafe_code.git",
+        "license": "MIT",
+        "role": "ManiSkill failure/recovery reference implementation",
+        "windows_sparse_paths": [
+          "assets",
+          "data",
+          "examples",
+          "failgen",
+          "ManiSkill/mani_skill",
+          "ManiSkill/examples"
+        ],
+        "status": "existing",
+        "path": "external/FailSafe",
+        "commit": "b863aaecc50407a769c191f67d79ddfaab9f6880",
+        "licenses": [
+          {
+            "path": "LICENSE",
+            "sha256": "f5ca7719dacf332c7cc5d007044cce3146e919bf1a8ca1effe9926d681335b0e"
+          }
+        ],
+        "lfs_payloads_downloaded": false,
+        "checkout_scope": "Windows sparse source checkout; benchmark documentation excluded",
+        "working_tree_dirty": false
+      },
+      {
+        "name": "BlenderProc",
+        "url": "https://github.com/DLR-RM/BlenderProc.git",
+        "license": "GPL-3.0",
+        "role": "Blender-based rendering and annotation reference pipeline",
+        "status": "existing",
+        "path": "external/BlenderProc",
+        "commit": "76bd8b82ee19489843578ff045298642197bf883",
+        "licenses": [
+          {
+            "path": "LICENSE",
+            "sha256": "0b383d5a63da644f628d99c33976ea6487ed89aaa59f0b3257992deac1171e6b"
+          }
+        ],
+        "lfs_payloads_downloaded": false,
+        "checkout_scope": "default tracked tree",
+        "working_tree_dirty": false
+      },
+      {
+        "name": "RoboTwin",
+        "url": "https://github.com/RoboTwin-Platform/RoboTwin.git",
+        "license": "MIT",
+        "role": "Bimanual operation data generation reference implementation",
+        "status": "existing",
+        "path": "external/RoboTwin",
+        "commit": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
+        "licenses": [
+          {
+            "path": "LICENSE",
+            "sha256": "2aa88b4e1d3257a210a516ad3df3d7f322d03c4285e432d35976980cdb9622fa"
+          }
+        ],
+        "lfs_payloads_downloaded": false,
+        "checkout_scope": "default tracked tree",
+        "working_tree_dirty": false
+      }
+    ]
+  },
+  "assets": "procedurally authored by this project; no TransFrag27K/MimicGen assets used",
+  "real_robot_transfer_tested": false
+}

sensors/README.md

@@ -0,0 +1,15 @@
+# RGB-D 观测压力数据
+
+本包把当前时刻的干净 RGB/几何深度/目标掩码作为监督目标，另存受损观测作为输入。噪声、目标区域缺测和短时相机中断均为**未标定的启发式压力模型**，不代表具体相机、透明材质或工厂的实测失效分布。
+
+index.jsonl 每行记录一个 episode、frame、camera 的 split、场景对、profile、输入文件与真值目标路径。所有路径相对本数据包根目录；深度单位米，camera-z；valid_mask 中 255 有效、0 无效，无效深度必须为 0。短时中断使用同一时间戳的黑色 RGB 和全无效深度，未使用上一帧图像冒充当前帧。
+
+相机中断窗口由种子和相机名确定，跨种子变化以降低时间位置捷径；outage_coverage 逐相机核对实际黑帧和全无效深度。
+
+empirical 模式保存客户提供的完整残差拟合profile，只使用train分箱支持范围；范围外或无train支撑的深度无效。sensor_severity 不缩放实测残差，RGB保持原图；来源声明未经独立核验，calibrated仍为false，不能据此声称光学传感器等效。
+
+report.json 重新打开文件后统计缺测比例、有效像素深度误差和配对轨迹一致性。缺测率与误差只描述施加的压力，不表示真实传感器精度或模型表现；全缺测帧的深度误差为空。target_dropout_fraction 的分母为目标掩码内正深度像素；目标未可见时为空。
+
+sensor_profile/sensor_severity 场景对必须同种子、同 split，逐帧动作、状态、位姿与干净 RGB/深度/掩码一致。只在输入观测中施加变化，可用于深度补全、失效检测、感知鲁棒性评估；策略没有基于受损输入重算动作，不能用既有成功标注宣称闭环控制鲁棒性。
+
+训练时仅使用 train；reference/challenge 必须保持在同一 split。v0.5恢复导出的 observation.state 只含10维本体状态，privileged.simulator_state、supervision.object_pose、干净深度及掩码属于特权监督；部署感知模型的输入应选择 input_rgb、input_depth_observed、input_valid_mask。在独立真实数据上比较基线和增强后的模型，才可以判断迁移收益。

sensors/report.json

@@ -0,0 +1,236 @@
+{
+  "summary": {
+    "schema_version": "simforge.sensor_report.v1",
+    "valid": true,
+    "status": "passed",
+    "calibrated": false,
+    "closed_loop_evaluated": false,
+    "real_robot_transfer_validated": false,
+    "episodes": 24,
+    "observations": 3360,
+    "invalid_observations": 0,
+    "profiles": {
+      "clean": 12,
+      "depth_noise": 3,
+      "target_dropout": 3,
+      "camera_outage": 3,
+      "combined": 3
+    },
+    "empirical_profiles": [],
+    "empirical_train_supported_depth_fraction": null,
+    "empirical_fully_unsupported_observations": 0,
+    "coverage_warnings": [],
+    "outage_observations": 66,
+    "effectively_corrupted_observations": 1293,
+    "depth_dropout_fraction": 0.02008758060515873,
+    "target_depth_dropout_fraction": 0.1330217308644278,
+    "valid_depth_rmse_m": 0.002932024443036638,
+    "pair_checks": 12,
+    "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"
+  },
+  "pair_checks": [
+    {
+      "pair_id": "sensor_failure_benchmark.range_noise.train.r000",
+      "episode_indices": [
+        0,
+        1
+      ],
+      "same_physical_trajectory_verified": true,
+      "valid": true,
+      "issues": [],
+      "claim_scope": "offline observation comparison; policy actions were not recomputed"
+    },
+    {
+      "pair_id": "sensor_failure_benchmark.target_missing.train.r000",
+      "episode_indices": [
+        2,
+        3
+      ],
+      "same_physical_trajectory_verified": true,
+      "valid": true,
+      "issues": [],
+      "claim_scope": "offline observation comparison; policy actions were not recomputed"
+    },
+    {
+      "pair_id": "sensor_failure_benchmark.camera_interrupt.train.r000",
+      "episode_indices": [
+        4,
+        5
+      ],
+      "same_physical_trajectory_verified": true,
+      "valid": true,
+      "issues": [],
+      "claim_scope": "offline observation comparison; policy actions were not recomputed"
+    },
+    {
+      "pair_id": "sensor_failure_benchmark.compound_shift.train.r000",
+      "episode_indices": [
+        6,
+        7
+      ],
+      "same_physical_trajectory_verified": true,
+      "valid": true,
+      "issues": [],
+      "claim_scope": "offline observation comparison; policy actions were not recomputed"
+    },
+    {
+      "pair_id": "sensor_failure_benchmark.range_noise.validation.r000",
+      "episode_indices": [
+        8,
+        9
+      ],
+      "same_physical_trajectory_verified": true,
+      "valid": true,
+      "issues": [],
+      "claim_scope": "offline observation comparison; policy actions were not recomputed"
+    },
+    {
+      "pair_id": "sensor_failure_benchmark.target_missing.validation.r000",
+      "episode_indices": [
+        10,
+        11
+      ],
+      "same_physical_trajectory_verified": true,
+      "valid": true,
+      "issues": [],
+      "claim_scope": "offline observation comparison; policy actions were not recomputed"
+    },
+    {
+      "pair_id": "sensor_failure_benchmark.camera_interrupt.validation.r000",
+      "episode_indices": [
+        12,
+        13
+      ],
+      "same_physical_trajectory_verified": true,
+      "valid": true,
+      "issues": [],
+      "claim_scope": "offline observation comparison; policy actions were not recomputed"
+    },
+    {
+      "pair_id": "sensor_failure_benchmark.compound_shift.validation.r000",
+      "episode_indices": [
+        14,
+        15
+      ],
+      "same_physical_trajectory_verified": true,
+      "valid": true,
+      "issues": [],
+      "claim_scope": "offline observation comparison; policy actions were not recomputed"
+    },
+    {
+      "pair_id": "sensor_failure_benchmark.range_noise.test.r000",
+      "episode_indices": [
+        16,
+        17
+      ],
+      "same_physical_trajectory_verified": true,
+      "valid": true,
+      "issues": [],
+      "claim_scope": "offline observation comparison; policy actions were not recomputed"
+    },
+    {
+      "pair_id": "sensor_failure_benchmark.target_missing.test.r000",
+      "episode_indices": [
+        18,
+        19
+      ],
+      "same_physical_trajectory_verified": true,
+      "valid": true,
+      "issues": [],
+      "claim_scope": "offline observation comparison; policy actions were not recomputed"
+    },
+    {
+      "pair_id": "sensor_failure_benchmark.camera_interrupt.test.r000",
+      "episode_indices": [
+        20,
+        21
+      ],
+      "same_physical_trajectory_verified": true,
+      "valid": true,
+      "issues": [],
+      "claim_scope": "offline observation comparison; policy actions were not recomputed"
+    },
+    {
+      "pair_id": "sensor_failure_benchmark.compound_shift.test.r000",
+      "episode_indices": [
+        22,
+        23
+      ],
+      "same_physical_trajectory_verified": true,
+      "valid": true,
+      "issues": [],
+      "claim_scope": "offline observation comparison; policy actions were not recomputed"
+    }
+  ],
+  "outage_coverage": [
+    {
+      "episode_index": 5,
+      "camera": "front",
+      "profile": "camera_outage",
+      "expected_frame_range": [
+        115,
+        126
+      ],
+      "actual_black_rgb_and_invalid_depth_frames": 11,
+      "passed": true
+    },
+    {
+      "episode_index": 7,
+      "camera": "front",
+      "profile": "combined",
+      "expected_frame_range": [
+        97,
+        108
+      ],
+      "actual_black_rgb_and_invalid_depth_frames": 11,
+      "passed": true
+    },
+    {
+      "episode_index": 13,
+      "camera": "front",
+      "profile": "camera_outage",
+      "expected_frame_range": [
+        108,
+        119
+      ],
+      "actual_black_rgb_and_invalid_depth_frames": 11,
+      "passed": true
+    },
+    {
+      "episode_index": 15,
+      "camera": "front",
+      "profile": "combined",
+      "expected_frame_range": [
+        90,
+        101
+      ],
+      "actual_black_rgb_and_invalid_depth_frames": 11,
+      "passed": true
+    },
+    {
+      "episode_index": 21,
+      "camera": "front",
+      "profile": "camera_outage",
+      "expected_frame_range": [
+        129,
+        140
+      ],
+      "actual_black_rgb_and_invalid_depth_frames": 11,
+      "passed": true
+    },
+    {
+      "episode_index": 23,
+      "camera": "front",
+      "profile": "combined",
+      "expected_frame_range": [
+        108,
+        119
+      ],
+      "actual_black_rgb_and_invalid_depth_frames": 11,
+      "passed": true
+    }
+  ]
+}

training_readiness.json

@@ -0,0 +1,108 @@
+{
+  "schema_version": "simforge.training_readiness.v1",
+  "kind": "recovery",
+  "synthetic_training_ready": true,
+  "recommended_use": "synthetic recovery-policy, state-estimation, and fault-detection training",
+  "real_robot_transfer_validated": false,
+  "real_robot_claim": "not validated; calibrate, collect real holdout data, and evaluate before deployment",
+  "action_control": {
+    "consistent": true,
+    "action_dimensions": [
+      5
+    ],
+    "state_dimensions": [
+      23
+    ],
+    "action_semantics": [
+      "absolute position servo targets for three Cartesian stages and two opposing fingers"
+    ],
+    "observation_action_alignment": [
+      "observation at t; action drives gripper over [t, t+1/fps)"
+    ]
+  },
+  "synchronization": {
+    "passed": true,
+    "timestamp_basis": "frame_index / fps",
+    "camera_sets": [
+      [
+        "front"
+      ]
+    ]
+  },
+  "labels": {
+    "complete": true,
+    "labelled_frames": 3360,
+    "total_frames": 3360,
+    "required_per_camera": [
+      "depth_gt",
+      "mask"
+    ],
+    "checked": "references and modality declarations here; source_label_validation checks file contents separately in the pipeline"
+  },
+  "outcomes": {
+    "episodes": 24,
+    "successful_episodes": 22,
+    "unsuccessful_episodes": 2,
+    "observed_failure_episodes": 24,
+    "physics_validated_all": true,
+    "valid_recovery_pairs": 22,
+    "train_recovery_pairs": 8,
+    "recovery_policy_ready": true
+  },
+  "splits": {
+    "method": "paired_scene_group_holdout",
+    "strategy": "single_train",
+    "counts": {
+      "train": 8,
+      "validation": 8,
+      "test": 8
+    },
+    "complete_episode_assignment": true,
+    "duplicate_episode_indices": [],
+    "invalid_declarations": [],
+    "train_available": true,
+    "holdout_ready": true,
+    "group_isolation_verified": true,
+    "seed_assignments_verified": true,
+    "evaluation_note": "train/validation/test use complete episodes"
+  },
+  "blocking_reasons": [],
+  "sensor_observations": {
+    "schema_version": "simforge.sensor_report.v1",
+    "valid": true,
+    "status": "passed",
+    "calibrated": false,
+    "closed_loop_evaluated": false,
+    "real_robot_transfer_validated": false,
+    "episodes": 24,
+    "observations": 3360,
+    "invalid_observations": 0,
+    "profiles": {
+      "clean": 12,
+      "depth_noise": 3,
+      "target_dropout": 3,
+      "camera_outage": 3,
+      "combined": 3
+    },
+    "empirical_profiles": [],
+    "empirical_train_supported_depth_fraction": null,
+    "empirical_fully_unsupported_observations": 0,
+    "coverage_warnings": [],
+    "outage_observations": 66,
+    "effectively_corrupted_observations": 1293,
+    "depth_dropout_fraction": 0.02008758060515873,
+    "target_depth_dropout_fraction": 0.1330217308644278,
+    "valid_depth_rmse_m": 0.002932024443036638,
+    "pair_checks": 12,
+    "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"
+  },
+  "source_label_validation": {
+    "valid": true,
+    "checked_images": 3360,
+    "checked_label_pairs": 3360,
+    "errors": []
+  }
+}