diff --git a/commercial/acceptance.json b/commercial/acceptance.json new file mode 100644 index 0000000000000000000000000000000000000000..a228d786c461aac522bbd903a29e2a72a92a6a00 --- /dev/null +++ b/commercial/acceptance.json @@ -0,0 +1,207 @@ +{ + "summary": { + "product_id": "sensor_failure_benchmark", + "coverage_split": "matched_conditions", + "independent_scene_pairs": 12, + "status": "technical_pass", + "passed_checks": 7, + "total_checks": 7, + "coverage": { + "expected_cases": 24, + "observed_cases": 24, + "complete": true + }, + "split_counts": { + "train": 8, + "validation": 8, + "test": 8 + }, + "customer_validation": "not_run", + "review_reasons": [], + "accepted_recovery_pairs": 22, + "negative_recoveries": 2, + "rgb_images": 3360, + "invalid_label_samples": 0, + "fully_occluded_or_out_of_view_images": 0, + "generation_seconds": 182.029 + }, + "checks": [ + { + "id": "format", + "label": "数据结构与视频同步", + "passed": true + }, + { + "id": "coverage", + "label": "实际配置与覆盖计划一致", + "passed": true + }, + { + "id": "split_isolation", + "label": "完整场景对与种子隔离", + "passed": true, + "detail": "" + }, + { + "id": "labels", + "label": "图像及几何标签可读且一致", + "passed": true + }, + { + "id": "sensor_observations", + "label": "观测与真值分离、文件一致性及观测条件对核验", + "passed": true + }, + { + "id": "observed_faults", + "label": "指定故障已实际观察到", + "passed": true + }, + { + "id": "verified_recovery", + "label": "至少包含一条物理验证的恢复正例", + "passed": true + } + ], + "quality": { + "episodes": 24, + "frames": 3360, + "valid_pairs": 22, + "recovery_success_rate": 0.9166666666666666, + "failure_coverage": { + "slip": 6, + "drop": 6, + "pose_offset": 6, + "miss_grasp": 6 + }, + "scenario_coverage": { + "machine_tending": 12, + "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" + }, + "splits": { + "method": "paired_scene_group_holdout", + "coverage_split": "matched_conditions", + "condition_coverage": { + "train": [ + "camera_interrupt.challenge", + "camera_interrupt.reference", + "compound_shift.challenge", + "compound_shift.reference", + "range_noise.challenge", + "range_noise.reference", + "target_missing.challenge", + "target_missing.reference" + ], + "validation": [ + "camera_interrupt.challenge", + "camera_interrupt.reference", + "compound_shift.challenge", + "compound_shift.reference", + "range_noise.challenge", + "range_noise.reference", + "target_missing.challenge", + "target_missing.reference" + ], + "test": [ + "camera_interrupt.challenge", + "camera_interrupt.reference", + "compound_shift.challenge", + "compound_shift.reference", + "range_noise.challenge", + "range_noise.reference", + "target_missing.challenge", + "target_missing.reference" + ] + }, + "independent_scene_pairs": { + "train": 4, + "validation": 4, + "test": 4 + }, + "episode_indices": { + "train": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7 + ], + "validation": [ + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15 + ], + "test": [ + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + "ranges": { + "train": "0:8", + "validation": "8:16", + "test": "16:24" + }, + "pair_assignments": { + "sensor_failure_benchmark.range_noise.train.r000": "train", + "sensor_failure_benchmark.target_missing.train.r000": "train", + "sensor_failure_benchmark.camera_interrupt.train.r000": "train", + "sensor_failure_benchmark.compound_shift.train.r000": "train", + "sensor_failure_benchmark.range_noise.validation.r000": "validation", + "sensor_failure_benchmark.target_missing.validation.r000": "validation", + "sensor_failure_benchmark.camera_interrupt.validation.r000": "validation", + "sensor_failure_benchmark.compound_shift.validation.r000": "validation", + "sensor_failure_benchmark.range_noise.test.r000": "test", + "sensor_failure_benchmark.target_missing.test.r000": "test", + "sensor_failure_benchmark.camera_interrupt.test.r000": "test", + "sensor_failure_benchmark.compound_shift.test.r000": "test" + }, + "seed_assignments": { + "20261024": "train", + "20262024": "train", + "20263024": "train", + "20264024": "train", + "20261124": "validation", + "20262124": "validation", + "20263124": "validation", + "20264124": "validation", + "20261224": "test", + "20262224": "test", + "20263224": "test", + "20264224": "test" + }, + "group_isolation_verified": true, + "scope": "complete-episode split; paired scenes and scene seeds remain isolated when a holdout is used" + }, + "scope": "technical evidence only; customer model performance and real deployment are not evaluated" +} \ No newline at end of file diff --git a/commercial/buyer_brief.md b/commercial/buyer_brief.md new file mode 100644 index 0000000000000000000000000000000000000000..b8f5c43a0ed7fa5d4a282cd33d0ec7146b5ea9a1 --- /dev/null +++ b/commercial/buyer_brief.md @@ -0,0 +1,19 @@ +# 机器人 RGB-D 失效对照包 · 客户评估简报 + +适用团队：机器人视觉团队、深度补全团队与工位验收负责人 + +要解决的任务：现场深度缺测和短时相机中断难以重复，模型升级缺少一致的压力评测。 + +预期价值（待客户验证）：保留相同状态、动作与几何真值，交付配对观测、有效像素及实际退化统计。 + +## 客户输入 + +> 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。 + +## 试点路径 + +先用本样品确认字段、加载和任务匹配，再用固定真实测试集做基线/增量评估；双方确认条件覆盖、验收阈值和用途后报价，只有获得试点评估信号才扩量。 + +建议客户补充：相机内参/分辨率、目标物尺寸与材质、实际失败案例、机器人动作定义、模型输入格式、真实测试集和可接受指标。 + +当前技术检查7/7通过，客户效果验证尚未开始。报价假设见quote_assumptions.json；该文件不表示已成交价格或收益承诺。 diff --git a/commercial/coverage.csv b/commercial/coverage.csv new file mode 100644 index 0000000000000000000000000000000000000000..ad71a20fd69907e0122c4eaa6ed48386729501ce --- /dev/null +++ b/commercial/coverage.csv @@ -0,0 +1,25 @@ +case_id,pair_id,split,role,scenario_id,object_shape,material,lighting,background,changed_parameter,seed,expected_episodes,observed_episodes,accepted_recovery_pairs,failure_observed,mean_target_image_fraction,matches_plan,issues +sensor_failure_benchmark.range_noise.train.r000.reference,sensor_failure_benchmark.range_noise.train.r000,train,reference,machine_tending,box,opaque,studio,studio,sensor_profile,20261024,1,1,1,1,0.0042567,True, +sensor_failure_benchmark.range_noise.train.r000.challenge,sensor_failure_benchmark.range_noise.train.r000,train,challenge,machine_tending,box,opaque,studio,studio,sensor_profile,20261024,1,1,1,1,0.0042567,True, +sensor_failure_benchmark.target_missing.train.r000.reference,sensor_failure_benchmark.target_missing.train.r000,train,reference,machine_tending,box,opaque,studio,studio,sensor_profile,20262024,1,1,1,1,0.00427083,True, +sensor_failure_benchmark.target_missing.train.r000.challenge,sensor_failure_benchmark.target_missing.train.r000,train,challenge,machine_tending,box,opaque,studio,studio,sensor_profile,20262024,1,1,1,1,0.00427083,True, +sensor_failure_benchmark.camera_interrupt.train.r000.reference,sensor_failure_benchmark.camera_interrupt.train.r000,train,reference,conveyor_pick,cylinder,opaque,studio,studio,sensor_profile,20263024,1,1,1,1,0.00470499,True, +sensor_failure_benchmark.camera_interrupt.train.r000.challenge,sensor_failure_benchmark.camera_interrupt.train.r000,train,challenge,conveyor_pick,cylinder,opaque,studio,studio,sensor_profile,20263024,1,1,1,1,0.00470499,True, +sensor_failure_benchmark.compound_shift.train.r000.reference,sensor_failure_benchmark.compound_shift.train.r000,train,reference,pallet_cell_placement,box,opaque,studio,studio,sensor_profile,20264024,1,1,1,1,0.00417039,True, +sensor_failure_benchmark.compound_shift.train.r000.challenge,sensor_failure_benchmark.compound_shift.train.r000,train,challenge,pallet_cell_placement,box,opaque,studio,studio,sensor_profile,20264024,1,1,1,1,0.00417039,True, +sensor_failure_benchmark.range_noise.validation.r000.reference,sensor_failure_benchmark.range_noise.validation.r000,validation,reference,machine_tending,box,opaque,studio,studio,sensor_profile,20261124,1,1,1,1,0.0041875,True, +sensor_failure_benchmark.range_noise.validation.r000.challenge,sensor_failure_benchmark.range_noise.validation.r000,validation,challenge,machine_tending,box,opaque,studio,studio,sensor_profile,20261124,1,1,1,1,0.0041875,True, +sensor_failure_benchmark.target_missing.validation.r000.reference,sensor_failure_benchmark.target_missing.validation.r000,validation,reference,machine_tending,box,opaque,studio,studio,sensor_profile,20262124,1,1,1,1,0.00429315,True, +sensor_failure_benchmark.target_missing.validation.r000.challenge,sensor_failure_benchmark.target_missing.validation.r000,validation,challenge,machine_tending,box,opaque,studio,studio,sensor_profile,20262124,1,1,1,1,0.00429315,True, +sensor_failure_benchmark.camera_interrupt.validation.r000.reference,sensor_failure_benchmark.camera_interrupt.validation.r000,validation,reference,conveyor_pick,cylinder,opaque,studio,studio,sensor_profile,20263124,1,1,1,1,0.00466964,True, +sensor_failure_benchmark.camera_interrupt.validation.r000.challenge,sensor_failure_benchmark.camera_interrupt.validation.r000,validation,challenge,conveyor_pick,cylinder,opaque,studio,studio,sensor_profile,20263124,1,1,1,1,0.00466964,True, +sensor_failure_benchmark.compound_shift.validation.r000.reference,sensor_failure_benchmark.compound_shift.validation.r000,validation,reference,pallet_cell_placement,box,opaque,studio,studio,sensor_profile,20264124,1,1,0,1,0.00379687,True, +sensor_failure_benchmark.compound_shift.validation.r000.challenge,sensor_failure_benchmark.compound_shift.validation.r000,validation,challenge,pallet_cell_placement,box,opaque,studio,studio,sensor_profile,20264124,1,1,0,1,0.00379687,True, +sensor_failure_benchmark.range_noise.test.r000.reference,sensor_failure_benchmark.range_noise.test.r000,test,reference,machine_tending,box,opaque,studio,studio,sensor_profile,20261224,1,1,1,1,0.00429353,True, +sensor_failure_benchmark.range_noise.test.r000.challenge,sensor_failure_benchmark.range_noise.test.r000,test,challenge,machine_tending,box,opaque,studio,studio,sensor_profile,20261224,1,1,1,1,0.00429353,True, +sensor_failure_benchmark.target_missing.test.r000.reference,sensor_failure_benchmark.target_missing.test.r000,test,reference,machine_tending,box,opaque,studio,studio,sensor_profile,20262224,1,1,1,1,0.00421949,True, +sensor_failure_benchmark.target_missing.test.r000.challenge,sensor_failure_benchmark.target_missing.test.r000,test,challenge,machine_tending,box,opaque,studio,studio,sensor_profile,20262224,1,1,1,1,0.00421949,True, +sensor_failure_benchmark.camera_interrupt.test.r000.reference,sensor_failure_benchmark.camera_interrupt.test.r000,test,reference,conveyor_pick,cylinder,opaque,studio,studio,sensor_profile,20263224,1,1,1,1,0.00475186,True, +sensor_failure_benchmark.camera_interrupt.test.r000.challenge,sensor_failure_benchmark.camera_interrupt.test.r000,test,challenge,conveyor_pick,cylinder,opaque,studio,studio,sensor_profile,20263224,1,1,1,1,0.00475186,True, +sensor_failure_benchmark.compound_shift.test.r000.reference,sensor_failure_benchmark.compound_shift.test.r000,test,reference,pallet_cell_placement,box,opaque,studio,studio,sensor_profile,20264224,1,1,1,1,0.00424033,True, +sensor_failure_benchmark.compound_shift.test.r000.challenge,sensor_failure_benchmark.compound_shift.test.r000,test,challenge,pallet_cell_placement,box,opaque,studio,studio,sensor_profile,20264224,1,1,1,1,0.00424033,True, diff --git a/commercial/dataset_card.md b/commercial/dataset_card.md new file mode 100644 index 0000000000000000000000000000000000000000..14b4309d39642db0d8667c6d6e18c4ef79d254bc --- /dev/null +++ b/commercial/dataset_card.md @@ -0,0 +1,33 @@ +# 机器人 RGB-D 失效对照包 · 数据说明书 + +技术验收：technical_pass。客户实际模型效果与真机迁移：**未验证**。 + +本包包含24条完整episode、3360个时间步、3360张RGB；覆盖24个计划条件，物理验证恢复正例22条。 + +## 使用与评估 + +1. 根据coverage.csv核对条件与实际交付，根据sample_index.csv定位图像与标签。 +2. 使用dataset/meta/splits.json选择完整episode。场景对和种子不跨集合；同类程序化形状可能跨集合。 +3. 仅用train拟合，validation调参，锁定test评估；另用客户真实数据测迁移。 +导出的归一化统计仅由train计算，记录见dataset/meta/normalization.json。 +4. 在evaluation_template.csv填写基线与加入本包后的结果，记录模型版本、真实样本数与验收阈值。 + +参考/挑战样本是可控场景对，不代表已完成因果实验。默认小样用于接口与覆盖评估，不能据此宣称训练规模或泛化效果。 + +三个划分包含相同的条件目录，每个划分使用独立场景种子，完整对照/挑战对保持同组。这用于同条件的种子留出评估，不证明未知物体、工位或退化类型泛化。 + +## 标签与适用边界 + +深度为米制首表面几何真值，非特定传感器实测；法线坐标系见episode。目标掩码像素占整幅图的比例不等于物体可见面比例；完全遮挡/出视野样本作为显式负例保留。感知线action为占位，恢复线为简化三轴夹爪动作。 + +v0.5的sensors/index.jsonl逐条区分受损观测输入与干净真值标签；sensors/report.json报告缺测和误差，并核对观测挑战对的物理轨迹一致性。观测退化没有驱动策略重新执行，不能将原轨迹成功率用作受损观测下的闭环效果。dataset/meta/input_contract.json标明特权真值与建议训练输入。 + +- 默认8条是结构评估样品，不能代表训练规模或真实工况覆盖率。 +- 匹配场景对用于条件比较，不宣称严格物理因果实验。 +- 观测退化为未标定的压力模型，不等同某品牌深度相机。 +- 控制器使用仿真真值；配对行为一致不代表受损观测下闭环策略仍然成功。 +- 训练输入优先使用 observed 图像与 proprioception，物体真值仅作监督或诊断。 + +## 来源和使用约定 + +场景和物体由本项目程序化构建，来源见provenance.json；本说明书不授予独占权或替代双方约定的使用范围。交付前应明确用途、分发范围、客户输入资产来源与支持责任。 diff --git a/commercial/evaluation_template.csv b/commercial/evaluation_template.csv new file mode 100644 index 0000000000000000000000000000000000000000..bf7d7c9891165de412d682ced75af14e41f6a349 --- /dev/null +++ b/commercial/evaluation_template.csv @@ -0,0 +1,25 @@ +case_id,split,metric,baseline_value,augmented_value,real_test_sample_count,customer_acceptance_threshold,notes +sensor_failure_benchmark.range_noise.train.r000.reference,train,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.range_noise.train.r000.challenge,train,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.target_missing.train.r000.reference,train,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.target_missing.train.r000.challenge,train,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.camera_interrupt.train.r000.reference,train,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.camera_interrupt.train.r000.challenge,train,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.compound_shift.train.r000.reference,train,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.compound_shift.train.r000.challenge,train,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.range_noise.validation.r000.reference,validation,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.range_noise.validation.r000.challenge,validation,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.target_missing.validation.r000.reference,validation,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.target_missing.validation.r000.challenge,validation,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.camera_interrupt.validation.r000.reference,validation,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.camera_interrupt.validation.r000.challenge,validation,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.compound_shift.validation.r000.reference,validation,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.compound_shift.validation.r000.challenge,validation,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.range_noise.test.r000.reference,test,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.range_noise.test.r000.challenge,test,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.target_missing.test.r000.reference,test,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.target_missing.test.r000.challenge,test,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.camera_interrupt.test.r000.reference,test,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.camera_interrupt.test.r000.challenge,test,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.compound_shift.test.r000.reference,test,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 +sensor_failure_benchmark.compound_shift.test.r000.challenge,test,real_task_success_rate,,,,,客户在固定真实测试集上填写；仅训练集可用于拟合 diff --git a/commercial/pair_comparison.csv b/commercial/pair_comparison.csv new file mode 100644 index 0000000000000000000000000000000000000000..1c355b026fea13c526a372a6002e545f776e1c56 --- /dev/null +++ b/commercial/pair_comparison.csv @@ -0,0 +1,13 @@ +pair_id,split,changed_parameter,reference_value,reference_accepted_recoveries,reference_target_image_fraction,challenge_value,challenge_accepted_recoveries,challenge_target_image_fraction,customer_model_comparison +sensor_failure_benchmark.range_noise.train.r000,train,sensor_profile,clean,1,0.0042567,depth_noise,1,0.0042567,not_run +sensor_failure_benchmark.target_missing.train.r000,train,sensor_profile,clean,1,0.00427083,target_dropout,1,0.00427083,not_run +sensor_failure_benchmark.camera_interrupt.train.r000,train,sensor_profile,clean,1,0.00470499,camera_outage,1,0.00470499,not_run +sensor_failure_benchmark.compound_shift.train.r000,train,sensor_profile,clean,1,0.00417039,combined,1,0.00417039,not_run +sensor_failure_benchmark.range_noise.validation.r000,validation,sensor_profile,clean,1,0.0041875,depth_noise,1,0.0041875,not_run +sensor_failure_benchmark.target_missing.validation.r000,validation,sensor_profile,clean,1,0.00429315,target_dropout,1,0.00429315,not_run +sensor_failure_benchmark.camera_interrupt.validation.r000,validation,sensor_profile,clean,1,0.00466964,camera_outage,1,0.00466964,not_run +sensor_failure_benchmark.compound_shift.validation.r000,validation,sensor_profile,clean,0,0.00379687,combined,0,0.00379687,not_run +sensor_failure_benchmark.range_noise.test.r000,test,sensor_profile,clean,1,0.00429353,depth_noise,1,0.00429353,not_run +sensor_failure_benchmark.target_missing.test.r000,test,sensor_profile,clean,1,0.00421949,target_dropout,1,0.00421949,not_run +sensor_failure_benchmark.camera_interrupt.test.r000,test,sensor_profile,clean,1,0.00475186,camera_outage,1,0.00475186,not_run +sensor_failure_benchmark.compound_shift.test.r000,test,sensor_profile,clean,1,0.00424033,combined,1,0.00424033,not_run diff --git a/commercial/quote_assumptions.json b/commercial/quote_assumptions.json new file mode 100644 index 0000000000000000000000000000000000000000..4d52b841ae2c6e51f31fce70ffe3eedab25358c9 --- /dev/null +++ b/commercial/quote_assumptions.json @@ -0,0 +1,21 @@ +{ + "status": "unvalidated_hypothesis", + "currency": "CNY", + "product_price_hypothesis": { + "currency": "CNY", + "min": 1500, + "max": 4500, + "unit": "范围确认后的付费试点", + "status": "unvalidated", + "note": "仅用于客户访谈的报价假设，不是市场成交价、自动报价或当前小样售价。" + }, + "measured_generation_seconds": 182.029, + "delivered_episodes": 24, + "delivered_rgb_images": 3360, + "compute_cost_per_hour": null, + "human_review_hours": null, + "customer_integration_hours": null, + "commercial_acceptance_agreed": false, + "pricing_basis": "范围、覆盖条件、可用交付和适配工时；原始帧数不等同独立样本数", + "next_step": "确认客户输入规格和真实评估集后，填写成本、报价与验收条款" +} \ No newline at end of file diff --git a/commercial/sample_index.csv b/commercial/sample_index.csv new file mode 100644 index 0000000000000000000000000000000000000000..f8439eb45d1e99f9609eec588c4826481e30c9f1 --- /dev/null +++ b/commercial/sample_index.csv @@ -0,0 +1,3361 @@ +episode_index,frame_index,camera,case_id,pair_id,split,role,rgb_path,width,height,target_visible_pixels,target_image_fraction,label_valid,issue +0,0,front,sensor_failure_benchmark.range_noise.train.r000.reference,sensor_failure_benchmark.range_noise.train.r000,train,reference,episodes/episode_000000/rgb/front/000000.png,160,120,99,0.00515625,True, 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+23,137,front,sensor_failure_benchmark.compound_shift.test.r000.challenge,sensor_failure_benchmark.compound_shift.test.r000,test,challenge,episodes/episode_000023/rgb/front/000137.png,160,120,117,0.00609375,True, +23,138,front,sensor_failure_benchmark.compound_shift.test.r000.challenge,sensor_failure_benchmark.compound_shift.test.r000,test,challenge,episodes/episode_000023/rgb/front/000138.png,160,120,117,0.00609375,True, +23,139,front,sensor_failure_benchmark.compound_shift.test.r000.challenge,sensor_failure_benchmark.compound_shift.test.r000,test,challenge,episodes/episode_000023/rgb/front/000139.png,160,120,117,0.00609375,True, diff --git a/config.json b/config.json new file mode 100644 index 0000000000000000000000000000000000000000..72a898fedef2641efd50b76acea1df16a61a2ab5 --- /dev/null +++ b/config.json @@ -0,0 +1,34 @@ +{ + "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 +} \ No newline at end of file diff --git a/dataset/README.md b/dataset/README.md new file mode 100644 index 0000000000000000000000000000000000000000..47d84a7fde3eb5c3f89f5f88fe75a27d645efd41 --- /dev/null +++ b/dataset/README.md @@ -0,0 +1,7 @@ +# SimForge generated corpus + +LeRobotDataset v3 Parquet/MP4 layout. Lossless RGB and geometric labels remain in the source episodes. + +Failed recoveries are labelled negatives, not successful demonstrations. Consult meta/accepted_pairs.json and meta/quality.json. + +Sensor response and real robot transfer are not validated. RGB video is compressed; use source PNG/NPY for precision labels. diff --git a/dataset/data/chunk-000/file-000.parquet b/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..404c827b39642acd80ae98c3b82f1e9101cb92f3 --- /dev/null +++ b/dataset/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd5067122b429fb7977ae324d41843728942b439858073f519eb4a146029a0dc +size 342373 diff --git a/dataset/meta/accepted_pairs.json b/dataset/meta/accepted_pairs.json new file mode 100644 index 0000000000000000000000000000000000000000..2118a27ea19f5101374a98387480b40a0ba78a8e --- /dev/null +++ b/dataset/meta/accepted_pairs.json @@ -0,0 +1,24 @@ +[ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23 +] \ No newline at end of file diff --git a/dataset/meta/episodes/chunk-000/file-000.parquet b/dataset/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9a3700a1326d79123e612027e09c83a2d1ed8990 --- /dev/null +++ b/dataset/meta/episodes/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:116882a6c8eda0f84c96cdb379881f80fb0085617c11049915a5e4910159f196 +size 5258 diff --git a/dataset/meta/info.json b/dataset/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5e24e4531ada8e0ea314987c270fa6f8e9ba7542 --- /dev/null +++ b/dataset/meta/info.json @@ -0,0 +1,187 @@ +{ + "codebase_version": "v3.0", + "robot_type": "cartesian_parallel_gripper", + "total_episodes": 24, + "total_frames": 3360, + "total_tasks": 3, + "total_videos": 1, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:8", + "validation": "8:16", + "test": "16:24" + }, + "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", + "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", + "features": { + "observation.state": { + "dtype": "float32", + "shape": [ + 10 + ], + "names": null + }, + "action": { + "dtype": "float32", + "shape": [ + 5 + ], + "names": null + }, + "supervision.object_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "annotation.failure": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "annotation.success": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "annotation.phase": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "annotation.failure_type": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "annotation.scenario_id": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "annotation.object_shape": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "annotation.material": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "annotation.valid_recovery_pair": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "annotation.split": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "annotation.case_id": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "annotation.pair_id": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "annotation.variant_role": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "privileged.simulator_state": { + "dtype": "float32", + "shape": [ + 23 + ], + "names": null + }, + "observation.images.front_observed": { + "dtype": "video", + "shape": [ + 120, + 160, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/dataset/meta/input_contract.json b/dataset/meta/input_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..50193fa02296be737f5d88d408ddf402d927ea23 --- /dev/null +++ b/dataset/meta/input_contract.json @@ -0,0 +1,19 @@ +{ + "recommended_policy_inputs": [ + "observation.state", + "observation.images.front_observed" + ], + "privileged_simulator_fields": [ + "privileged.simulator_state", + "supervision.object_pose" + ], + "label_only_fields": [ + "annotation.*" + ], + "proprioception_layout": "qpos[0:5] + qvel[0:5]; Cartesian stages and fingers only", + "path_base": "job_root", + "observed_depth_index": "sensors/index.jsonl", + "sensor_calibrated": false, + "closed_loop_policy_evaluated": false, + "note": "Policy state contains only Cartesian gripper proprioception. Clean RGB remains outside auto-discovered video features. Commands are generated by an oracle controller; observation degradation is offline. Legacy v0.4 observation.state contained object truth; regenerate for safe defaults." +} \ No newline at end of file diff --git a/dataset/meta/normalization.json b/dataset/meta/normalization.json new file mode 100644 index 0000000000000000000000000000000000000000..d07cb5c2a1b5db1555847ad40bd77814cf100d6c --- /dev/null +++ b/dataset/meta/normalization.json @@ -0,0 +1,16 @@ +{ + "fit_split": "train", + "episode_indices": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7 + ], + "frame_count": 1120, + "rgb_source": "lossless source PNG", + "held_out_observations_used": false +} \ No newline at end of file diff --git a/dataset/meta/quality.json b/dataset/meta/quality.json new file mode 100644 index 0000000000000000000000000000000000000000..03879b1fed147a73aed3fb7657b00ef65293efd2 --- /dev/null +++ b/dataset/meta/quality.json @@ -0,0 +1,32 @@ +{ + "episodes": 24, + "frames": 3360, + "valid_pairs": 22, + "recovery_success_rate": 0.9166666666666666, + "failure_coverage": { + "slip": 6, + "drop": 6, + "pose_offset": 6, + "miss_grasp": 6 + }, + "scenario_coverage": { + "machine_tending": 12, + "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" +} \ No newline at end of file diff --git a/dataset/meta/scenarios.json b/dataset/meta/scenarios.json new file mode 100644 index 0000000000000000000000000000000000000000..c35db6c43d62c0e4f3654b475543fdabf06cc76a --- /dev/null +++ b/dataset/meta/scenarios.json @@ -0,0 +1,1562 @@ +[ + { + "episode_index": 0, + "scenario_id": "machine_tending", + "object_shape": "box", + "geometry": { + "shape": "box", + "half_extents_m": [ + 0.022, + 0.022, + 0.035 + ], + "radius_m": null, + "height_m": 0.07, + "mass_kg": 0.1, + "collision_shape": "box", + "contact_dimension": 4, + "rolling_friction": null, + "capsule_long_axis": null + }, + "scene_parameters": null, + "commercial_case": { + "episode_index": 0, + "case_id": "sensor_failure_benchmark.range_noise.train.r000.reference", + "condition_id": "range_noise.reference", + "condition_group_id": "range_noise", + "coverage_split": "matched_conditions", + "pair_id": "sensor_failure_benchmark.range_noise.train.r000", + "split": "train", + "role": "reference", + "product_id": "sensor_failure_benchmark", + "changed_parameter": "sensor_profile" + }, + "resolved_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": 20261024, + "camera_count": 1, + "failure_types": [ + "slip" + ], + "blender_samples": 16 + }, + "task_instruction": "Recover the box and place it into the machine fixture nest." + }, + { + "episode_index": 1, + "scenario_id": "machine_tending", + "object_shape": "box", + "geometry": { + "shape": "box", + "half_extents_m": [ + 0.022, + 0.022, + 0.035 + ], + "radius_m": null, + "height_m": 0.07, + "mass_kg": 0.1, + "collision_shape": "box", + "contact_dimension": 4, + "rolling_friction": null, + "capsule_long_axis": null + }, + "scene_parameters": null, + "commercial_case": { + "episode_index": 1, + "case_id": "sensor_failure_benchmark.range_noise.train.r000.challenge", + "condition_id": "range_noise.challenge", + "condition_group_id": "range_noise", + "coverage_split": "matched_conditions", + "pair_id": "sensor_failure_benchmark.range_noise.train.r000", + "split": "train", + "role": "challenge", + "product_id": "sensor_failure_benchmark", + "changed_parameter": "sensor_profile" + }, + "resolved_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": 20261024, + "camera_count": 1, + "failure_types": [ + "slip" + ], + "blender_samples": 16 + }, + "task_instruction": "Recover the box and place it into the machine fixture nest." + }, + { + "episode_index": 2, + "scenario_id": "machine_tending", + "object_shape": "box", + "geometry": { + "shape": "box", + "half_extents_m": [ + 0.022, + 0.022, + 0.035 + ], + "radius_m": null, + "height_m": 0.07, + "mass_kg": 0.1, + "collision_shape": "box", + "contact_dimension": 4, + "rolling_friction": null, + "capsule_long_axis": null + }, + "scene_parameters": null, + "commercial_case": { + "episode_index": 2, + "case_id": "sensor_failure_benchmark.target_missing.train.r000.reference", + "condition_id": "target_missing.reference", + "condition_group_id": "target_missing", + "coverage_split": "matched_conditions", + "pair_id": "sensor_failure_benchmark.target_missing.train.r000", + "split": "train", + "role": "reference", + "product_id": "sensor_failure_benchmark", + "changed_parameter": "sensor_profile" + }, + "resolved_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": 20262024, + "camera_count": 1, + "failure_types": [ + "drop" + ], + "blender_samples": 16 + }, + "task_instruction": "Recover the box and place it into the machine fixture nest." + }, + { + "episode_index": 3, + "scenario_id": 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"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": 20262024, + "camera_count": 1, + "failure_types": [ + "drop" + ], + "blender_samples": 16 + }, + "task_instruction": "Recover the box and place it into the machine fixture nest." + }, + { + "episode_index": 4, + "scenario_id": "conveyor_pick", + "object_shape": "cylinder", + "geometry": { + "shape": "cylinder", + "half_extents_m": [ + 0.022, + 0.022, + 0.035 + ], + "radius_m": 0.022, + "height_m": 0.07, + "mass_kg": 0.1, + "collision_shape": "cylinder", + "contact_dimension": 4, + "rolling_friction": null, + "capsule_long_axis": null + }, + "scene_parameters": null, + "commercial_case": { + "episode_index": 4, + "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" + }, + "resolved_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": 20263024, + "camera_count": 1, + "failure_types": [ + "pose_offset" + ], + "blender_samples": 16 + }, + "task_instruction": "Recover the cylinder from the stopped conveyor and place it in the output tray." + }, + { + "episode_index": 5, + "scenario_id": "conveyor_pick", + "object_shape": "cylinder", + "geometry": { + "shape": "cylinder", + "half_extents_m": [ + 0.022, + 0.022, + 0.035 + ], + "radius_m": 0.022, + "height_m": 0.07, + "mass_kg": 0.1, + "collision_shape": "cylinder", + "contact_dimension": 4, + "rolling_friction": null, + "capsule_long_axis": null + }, + "scene_parameters": null, + "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": 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