Spaces:
Running
Running
Align benchmark presentation and four-times three-view videos; audit VLA model and agent I/O
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +26 -0
- app.js +0 -0
- assets/anthropic-logo.svg +1 -0
- assets/kinex-logo-night.svg +4 -0
- assets/kinex-logo.svg +4 -0
- assets/openai-logo.svg +4 -0
- assets/vla-logo.svg +1 -0
- cost-data.json +529 -0
- data-source.json +16 -0
- data.json +0 -0
- experiments/robotwin-native/kinex-1/analysis.json +3 -0
- experiments/robotwin-native/kinex-1/artifact-index.json +512 -0
- experiments/robotwin-native/kinex-1/detail.json +79 -1
- experiments/robotwin-native/kinex-1/presentation/encode.log +0 -0
- experiments/robotwin-native/kinex-1/presentation/frame-comparison.jsonl +250 -0
- experiments/robotwin-native/kinex-1/presentation/frame-mapping.json +255 -0
- experiments/robotwin-native/kinex-1/presentation/media-validation.json +123 -0
- experiments/robotwin-native/kinex-1/presentation/poster.jpg +3 -0
- experiments/robotwin-native/kinex-1/presentation/recording.json +66 -0
- experiments/robotwin-native/kinex-1/presentation/terminal.jpg +3 -0
- experiments/robotwin-native/kinex-1/presentation/video.mp4 +3 -0
- experiments/robotwin-native/kinex-1/protocol.json +9 -0
- experiments/robotwin-native/kinex-1/transcript.json +0 -0
- experiments/robotwin-native/kinex-1/usage.json +428 -0
- experiments/robotwin-native/kinex-1/vla-io.json +43 -0
- experiments/robotwin-native/kinex-2/analysis.json +3 -0
- experiments/robotwin-native/kinex-2/artifact-index.json +392 -0
- experiments/robotwin-native/kinex-2/detail.json +79 -1
- experiments/robotwin-native/kinex-2/presentation/encode.log +0 -0
- experiments/robotwin-native/kinex-2/presentation/frame-comparison.jsonl +136 -0
- experiments/robotwin-native/kinex-2/presentation/frame-mapping.json +141 -0
- experiments/robotwin-native/kinex-2/presentation/media-validation.json +123 -0
- experiments/robotwin-native/kinex-2/presentation/poster.jpg +3 -0
- experiments/robotwin-native/kinex-2/presentation/recording.json +66 -0
- experiments/robotwin-native/kinex-2/presentation/terminal.jpg +3 -0
- experiments/robotwin-native/kinex-2/presentation/video.mp4 +3 -0
- experiments/robotwin-native/kinex-2/protocol.json +9 -0
- experiments/robotwin-native/kinex-2/transcript.json +0 -0
- experiments/robotwin-native/kinex-2/usage.json +281 -0
- experiments/robotwin-native/kinex-2/vla-io.json +43 -0
- experiments/robotwin-native/kinex-3/analysis.json +3 -0
- experiments/robotwin-native/kinex-3/artifact-index.json +512 -0
- experiments/robotwin-native/kinex-3/detail.json +79 -1
- experiments/robotwin-native/kinex-3/presentation/encode.log +0 -0
- experiments/robotwin-native/kinex-3/presentation/frame-comparison.jsonl +543 -0
- experiments/robotwin-native/kinex-3/presentation/frame-mapping.json +548 -0
- experiments/robotwin-native/kinex-3/presentation/media-validation.json +123 -0
- experiments/robotwin-native/kinex-3/presentation/poster.jpg +3 -0
- experiments/robotwin-native/kinex-3/presentation/recording.json +66 -0
- experiments/robotwin-native/kinex-3/presentation/terminal.jpg +0 -0
.gitattributes
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experiments/robotwin-native/kinex_policy-2/combined.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex-3/combined.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex_policy-2/combined.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex-3/combined.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex_policy-3/combined.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex_policy-1/presentation/poster.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex_policy-1/presentation/terminal.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex_policy-1/presentation/video.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex_policy-2/presentation/poster.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex_policy-2/presentation/terminal.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex_policy-2/presentation/video.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/standalone-2/presentation/poster.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/standalone-2/presentation/video.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/standalone-1/presentation/poster.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/standalone-1/presentation/terminal.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/standalone-1/presentation/video.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex-1/presentation/poster.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex-1/presentation/video.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex_policy-3/presentation/poster.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex_policy-3/presentation/terminal.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex_policy-3/presentation/video.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex-3/presentation/poster.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex-3/presentation/video.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex-2/presentation/poster.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex-2/presentation/terminal.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/kinex-2/presentation/video.mp4 filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/standalone-3/presentation/poster.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/standalone-3/presentation/terminal.jpg filter=lfs diff=lfs merge=lfs -text
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experiments/robotwin-native/standalone-3/presentation/video.mp4 filter=lfs diff=lfs merge=lfs -text
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app.js
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assets/anthropic-logo.svg
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assets/kinex-logo-night.svg
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assets/kinex-logo.svg
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assets/openai-logo.svg
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assets/vla-logo.svg
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cost-data.json
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{
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"episodes": {
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"standalone-1": {
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"signature": [
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"standalone-1",
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"experiments/robotwin-native/standalone-1/usage.json",
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|
| 526 |
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|
| 527 |
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"pricing_date": "2026-10-28",
|
| 528 |
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"basis": "Native Pi session estimates; not account charges"
|
| 529 |
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}
|
data-source.json
ADDED
|
@@ -0,0 +1,16 @@
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|
| 1 |
+
{
|
| 2 |
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"files": {
|
| 3 |
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"data.json": {
|
| 4 |
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"url": "data.json"
|
| 5 |
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},
|
| 6 |
+
"cost-data.json": {
|
| 7 |
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"url": "cost-data.json"
|
| 8 |
+
},
|
| 9 |
+
"sources.json": {
|
| 10 |
+
"url": "sources.json"
|
| 11 |
+
},
|
| 12 |
+
"instruction-audit.json": {
|
| 13 |
+
"url": "instruction-audit.json"
|
| 14 |
+
}
|
| 15 |
+
}
|
| 16 |
+
}
|
data.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
experiments/robotwin-native/kinex-1/analysis.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
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|
|
|
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|
|
| 1 |
+
{
|
| 2 |
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"observed": "Kinex measured RGB-D geometry, wrote Cartesian motion and perception tools, and completed the handover. Native success occurred at frame 621; the world ended during final release."
|
| 3 |
+
}
|
experiments/robotwin-native/kinex-1/artifact-index.json
ADDED
|
@@ -0,0 +1,512 @@
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|
| 1 |
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[
|
| 2 |
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{
|
| 3 |
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|
| 4 |
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| 21 |
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| 22 |
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| 27 |
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| 40 |
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| 511 |
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| 512 |
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experiments/robotwin-native/kinex-1/detail.json
CHANGED
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@@ -439,8 +439,14 @@
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|
| 439 |
"usage_source": "provider-raw"
|
| 440 |
},
|
| 441 |
"cost_note": "API equivalent sums the native Pi session cost estimates. Subscription billing is not reported.",
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| 442 |
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| 443 |
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{
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| 445 |
"name": "artifacts.json",
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| 446 |
"path": "experiments/robotwin-native/kinex-1/artifacts.json",
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|
@@ -681,6 +687,60 @@
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|
| 681 |
"bytes": 21320,
|
| 682 |
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|
| 683 |
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|
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|
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|
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|
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|
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|
|
| 684 |
{
|
| 685 |
"name": "provider-requests.jsonl",
|
| 686 |
"path": "experiments/robotwin-native/kinex-1/provider-requests.jsonl",
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|
@@ -717,12 +777,30 @@
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|
| 717 |
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|
| 718 |
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| 719 |
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|
| 720 |
{
|
| 721 |
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|
| 722 |
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|
| 723 |
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|
| 724 |
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| 725 |
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|
|
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|
|
| 726 |
{
|
| 727 |
"name": "workspace/.kinex/devices/head_camera/profile.yaml",
|
| 728 |
"path": "experiments/robotwin-native/kinex-1/workspace/.kinex/devices/head_camera/profile.yaml",
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|
|
|
| 439 |
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|
| 440 |
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| 441 |
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|
| 442 |
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|
| 443 |
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| 444 |
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| 445 |
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| 446 |
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| 451 |
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| 687 |
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| 688 |
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| 689 |
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| 690 |
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| 691 |
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| 695 |
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| 697 |
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| 699 |
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| 700 |
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| 703 |
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| 704 |
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| 707 |
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| 708 |
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| 709 |
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| 721 |
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| 727 |
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| 739 |
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| 744 |
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|
| 745 |
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| 746 |
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| 777 |
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| 780 |
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| 781 |
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| 786 |
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|
| 787 |
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|
| 788 |
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| 791 |
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| 793 |
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| 797 |
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| 798 |
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|
| 799 |
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"name": "vla-io.json",
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| 800 |
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| 801 |
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| 803 |
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| 804 |
{
|
| 805 |
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|
| 806 |
"path": "experiments/robotwin-native/kinex-1/workspace/.kinex/devices/head_camera/profile.yaml",
|
experiments/robotwin-native/kinex-1/presentation/encode.log
ADDED
|
File without changes
|
experiments/robotwin-native/kinex-1/presentation/frame-comparison.jsonl
ADDED
|
@@ -0,0 +1,250 @@
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| 240 |
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| 241 |
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| 242 |
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| 243 |
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| 250 |
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|
experiments/robotwin-native/kinex-1/presentation/frame-mapping.json
ADDED
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@@ -0,0 +1,255 @@
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|
| 254 |
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| 255 |
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}
|
experiments/robotwin-native/kinex-1/presentation/media-validation.json
ADDED
|
@@ -0,0 +1,123 @@
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "rlebench/native-camera-media/3",
|
| 3 |
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"passed": true,
|
| 4 |
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"speed": 4,
|
| 5 |
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"source_fps": 10,
|
| 6 |
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"output_fps": 40,
|
| 7 |
+
"width": 2880,
|
| 8 |
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"height": 720,
|
| 9 |
+
"native_frames": 250,
|
| 10 |
+
"published_frames": 250,
|
| 11 |
+
"source_sample_coverage": 1.0,
|
| 12 |
+
"source_samples_complete": true,
|
| 13 |
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"source_dropped_samples": 0,
|
| 14 |
+
"terminal_frame_retained": true,
|
| 15 |
+
"terminal_source_index": 249,
|
| 16 |
+
"terminal_hold_s": 0,
|
| 17 |
+
"simulation_time_s": 24.84,
|
| 18 |
+
"duration_s": 6.25,
|
| 19 |
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"sha256": "db268699bf6ca884b5ec8fa8d723ca8b7b22a593df1c6d256e7d26321ff3b459",
|
| 20 |
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"source_sha256": {
|
| 21 |
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"third_person.mp4": "7c1bd7ee7b668162aaa82f5aec1eb8c12e4e929f34f1686107f058ae1d7b50c5",
|
| 22 |
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"left_wrist.mp4": "4c2eacfbff0a7bb63f8d121d4ce58f0dee6a3ec8ad3618ca13863f85cc604a26",
|
| 23 |
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"right_wrist.mp4": "bcc3decdacdbb55bba3bd0b96e8aa6de9f73ec560090f7ee69fcc93bbe801cd9"
|
| 24 |
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},
|
| 25 |
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"all_frames_compared": 250,
|
| 26 |
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"minimum_frame_psnr_db": 42.35292305290214,
|
| 27 |
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"maximum_frame_rgb_mae": 1.2616853713989258,
|
| 28 |
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"decode_ok": true,
|
| 29 |
+
"pts_verified": true,
|
| 30 |
+
"playback_kind": "simulation_time",
|
| 31 |
+
"resolution_kind": "independent_720_high",
|
| 32 |
+
"agent_observation_video": false,
|
| 33 |
+
"camera_views": [
|
| 34 |
+
{
|
| 35 |
+
"name": "third_person",
|
| 36 |
+
"width": 960,
|
| 37 |
+
"height": 720,
|
| 38 |
+
"channel": "spectator"
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"name": "left_wrist",
|
| 42 |
+
"width": 960,
|
| 43 |
+
"height": 720,
|
| 44 |
+
"channel": "spectator"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"name": "right_wrist",
|
| 48 |
+
"width": 960,
|
| 49 |
+
"height": 720,
|
| 50 |
+
"channel": "spectator"
|
| 51 |
+
}
|
| 52 |
+
],
|
| 53 |
+
"coverage_basis": "Every scheduled 10 Hz control-boundary sample, plus the terminal state.",
|
| 54 |
+
"frame_mapping": "Each captured sample exactly once; no appended or held frames.",
|
| 55 |
+
"sampling_note": "Samples follow the native simulation clock; model thinking adds no footage.",
|
| 56 |
+
"scope": "Live owner-only spectator views; no replay, rerender, upscaling or invented frames.",
|
| 57 |
+
"recording": {
|
| 58 |
+
"schema": "rosbridge/recording/1",
|
| 59 |
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"run_id": "7b75d3e8384a",
|
| 60 |
+
"task": "robotwin/handover-block-aloha-agilex",
|
| 61 |
+
"state": "complete",
|
| 62 |
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"views": {
|
| 63 |
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"third_person": {
|
| 64 |
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"received": 250,
|
| 65 |
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|
| 66 |
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"segments": [
|
| 67 |
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{
|
| 68 |
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"file": "third_person.mp4",
|
| 69 |
+
"frames": 250,
|
| 70 |
+
"width": 960,
|
| 71 |
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"height": 720,
|
| 72 |
+
"fps": 10.0,
|
| 73 |
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"first_stamp_ns": 0,
|
| 74 |
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"last_stamp_ns": 24840000000
|
| 75 |
+
}
|
| 76 |
+
],
|
| 77 |
+
"error": null
|
| 78 |
+
},
|
| 79 |
+
"left_wrist": {
|
| 80 |
+
"received": 250,
|
| 81 |
+
"dropped": 0,
|
| 82 |
+
"segments": [
|
| 83 |
+
{
|
| 84 |
+
"file": "left_wrist.mp4",
|
| 85 |
+
"frames": 250,
|
| 86 |
+
"width": 960,
|
| 87 |
+
"height": 720,
|
| 88 |
+
"fps": 10.0,
|
| 89 |
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"first_stamp_ns": 0,
|
| 90 |
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"last_stamp_ns": 24840000000
|
| 91 |
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}
|
| 92 |
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],
|
| 93 |
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"error": null
|
| 94 |
+
},
|
| 95 |
+
"right_wrist": {
|
| 96 |
+
"received": 250,
|
| 97 |
+
"dropped": 0,
|
| 98 |
+
"segments": [
|
| 99 |
+
{
|
| 100 |
+
"file": "right_wrist.mp4",
|
| 101 |
+
"frames": 250,
|
| 102 |
+
"width": 960,
|
| 103 |
+
"height": 720,
|
| 104 |
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"fps": 10.0,
|
| 105 |
+
"first_stamp_ns": 0,
|
| 106 |
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"last_stamp_ns": 24840000000
|
| 107 |
+
}
|
| 108 |
+
],
|
| 109 |
+
"error": null
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
"type": "mp4",
|
| 113 |
+
"spectator_views": [
|
| 114 |
+
"third_person",
|
| 115 |
+
"left_wrist",
|
| 116 |
+
"right_wrist"
|
| 117 |
+
],
|
| 118 |
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"fps": 10.0,
|
| 119 |
+
"topics": [],
|
| 120 |
+
"error": null,
|
| 121 |
+
"bag_messages": 0
|
| 122 |
+
}
|
| 123 |
+
}
|
experiments/robotwin-native/kinex-1/presentation/poster.jpg
ADDED
|
Git LFS Details
|
experiments/robotwin-native/kinex-1/presentation/recording.json
ADDED
|
@@ -0,0 +1,66 @@
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|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "rosbridge/recording/1",
|
| 3 |
+
"run_id": "7b75d3e8384a",
|
| 4 |
+
"task": "robotwin/handover-block-aloha-agilex",
|
| 5 |
+
"state": "complete",
|
| 6 |
+
"views": {
|
| 7 |
+
"third_person": {
|
| 8 |
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"received": 250,
|
| 9 |
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"dropped": 0,
|
| 10 |
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"segments": [
|
| 11 |
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{
|
| 12 |
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"file": "third_person.mp4",
|
| 13 |
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"frames": 250,
|
| 14 |
+
"width": 960,
|
| 15 |
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"height": 720,
|
| 16 |
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"fps": 10.0,
|
| 17 |
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"first_stamp_ns": 0,
|
| 18 |
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|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
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"error": null
|
| 22 |
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},
|
| 23 |
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"left_wrist": {
|
| 24 |
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"received": 250,
|
| 25 |
+
"dropped": 0,
|
| 26 |
+
"segments": [
|
| 27 |
+
{
|
| 28 |
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"file": "left_wrist.mp4",
|
| 29 |
+
"frames": 250,
|
| 30 |
+
"width": 960,
|
| 31 |
+
"height": 720,
|
| 32 |
+
"fps": 10.0,
|
| 33 |
+
"first_stamp_ns": 0,
|
| 34 |
+
"last_stamp_ns": 24840000000
|
| 35 |
+
}
|
| 36 |
+
],
|
| 37 |
+
"error": null
|
| 38 |
+
},
|
| 39 |
+
"right_wrist": {
|
| 40 |
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"received": 250,
|
| 41 |
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"dropped": 0,
|
| 42 |
+
"segments": [
|
| 43 |
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{
|
| 44 |
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"file": "right_wrist.mp4",
|
| 45 |
+
"frames": 250,
|
| 46 |
+
"width": 960,
|
| 47 |
+
"height": 720,
|
| 48 |
+
"fps": 10.0,
|
| 49 |
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"first_stamp_ns": 0,
|
| 50 |
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"last_stamp_ns": 24840000000
|
| 51 |
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}
|
| 52 |
+
],
|
| 53 |
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"error": null
|
| 54 |
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}
|
| 55 |
+
},
|
| 56 |
+
"type": "mp4",
|
| 57 |
+
"spectator_views": [
|
| 58 |
+
"third_person",
|
| 59 |
+
"left_wrist",
|
| 60 |
+
"right_wrist"
|
| 61 |
+
],
|
| 62 |
+
"fps": 10.0,
|
| 63 |
+
"topics": [],
|
| 64 |
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"error": null,
|
| 65 |
+
"bag_messages": 0
|
| 66 |
+
}
|
experiments/robotwin-native/kinex-1/presentation/terminal.jpg
ADDED
|
Git LFS Details
|
experiments/robotwin-native/kinex-1/presentation/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:db268699bf6ca884b5ec8fa8d723ca8b7b22a593df1c6d256e7d26321ff3b459
|
| 3 |
+
size 4475743
|
experiments/robotwin-native/kinex-1/protocol.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"max_steps": 800,
|
| 3 |
+
"seed": 0,
|
| 4 |
+
"episodes": 1,
|
| 5 |
+
"control_frequency_hz": 25,
|
| 6 |
+
"provider": "rosbridge",
|
| 7 |
+
"realtime": false,
|
| 8 |
+
"stop_on_success": true
|
| 9 |
+
}
|
experiments/robotwin-native/kinex-1/transcript.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
experiments/robotwin-native/kinex-1/usage.json
ADDED
|
@@ -0,0 +1,428 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
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|
|
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|
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| 360 |
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"output_tokens": 54,
|
| 361 |
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|
| 362 |
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},
|
| 363 |
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{
|
| 364 |
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|
| 365 |
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"cached_input_tokens": 43392,
|
| 366 |
+
"input_tokens": 43967,
|
| 367 |
+
"output_tokens": 81,
|
| 368 |
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"reasoning_output_tokens": 0
|
| 369 |
+
},
|
| 370 |
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{
|
| 371 |
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"cache_write_input_tokens": 0,
|
| 372 |
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"cached_input_tokens": 43904,
|
| 373 |
+
"input_tokens": 44545,
|
| 374 |
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"output_tokens": 66,
|
| 375 |
+
"reasoning_output_tokens": 32
|
| 376 |
+
},
|
| 377 |
+
{
|
| 378 |
+
"cache_write_input_tokens": 0,
|
| 379 |
+
"cached_input_tokens": 44416,
|
| 380 |
+
"input_tokens": 45087,
|
| 381 |
+
"output_tokens": 225,
|
| 382 |
+
"reasoning_output_tokens": 111
|
| 383 |
+
},
|
| 384 |
+
{
|
| 385 |
+
"cache_write_input_tokens": 0,
|
| 386 |
+
"cached_input_tokens": 45184,
|
| 387 |
+
"input_tokens": 45813,
|
| 388 |
+
"output_tokens": 101,
|
| 389 |
+
"reasoning_output_tokens": 29
|
| 390 |
+
},
|
| 391 |
+
{
|
| 392 |
+
"cache_write_input_tokens": 0,
|
| 393 |
+
"cached_input_tokens": 45696,
|
| 394 |
+
"input_tokens": 46415,
|
| 395 |
+
"output_tokens": 32,
|
| 396 |
+
"reasoning_output_tokens": 0
|
| 397 |
+
},
|
| 398 |
+
{
|
| 399 |
+
"cache_write_input_tokens": 0,
|
| 400 |
+
"cached_input_tokens": 46208,
|
| 401 |
+
"input_tokens": 46923,
|
| 402 |
+
"output_tokens": 112,
|
| 403 |
+
"reasoning_output_tokens": 54
|
| 404 |
+
},
|
| 405 |
+
{
|
| 406 |
+
"cache_write_input_tokens": 0,
|
| 407 |
+
"cached_input_tokens": 46976,
|
| 408 |
+
"input_tokens": 47169,
|
| 409 |
+
"output_tokens": 99,
|
| 410 |
+
"reasoning_output_tokens": 47
|
| 411 |
+
},
|
| 412 |
+
{
|
| 413 |
+
"cache_write_input_tokens": 0,
|
| 414 |
+
"cached_input_tokens": 47232,
|
| 415 |
+
"input_tokens": 47665,
|
| 416 |
+
"output_tokens": 745,
|
| 417 |
+
"reasoning_output_tokens": 154
|
| 418 |
+
},
|
| 419 |
+
{
|
| 420 |
+
"cache_write_input_tokens": 0,
|
| 421 |
+
"cached_input_tokens": 48256,
|
| 422 |
+
"input_tokens": 48433,
|
| 423 |
+
"output_tokens": 41,
|
| 424 |
+
"reasoning_output_tokens": 0
|
| 425 |
+
}
|
| 426 |
+
],
|
| 427 |
+
"usage_source": "provider-raw"
|
| 428 |
+
}
|
experiments/robotwin-native/kinex-1/vla-io.json
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"calls": [],
|
| 3 |
+
"coverage": {
|
| 4 |
+
"recorded_inputs": 0,
|
| 5 |
+
"recorded_outputs": 0,
|
| 6 |
+
"kinex_calls_associated": 0,
|
| 7 |
+
"original_temporary_image_paths_recorded": false,
|
| 8 |
+
"normalized_action_tensor_recorded": false,
|
| 9 |
+
"processor_tensors_recorded": false
|
| 10 |
+
},
|
| 11 |
+
"contract": {
|
| 12 |
+
"request": "policy.infer(obs, task). obs contains three ordered RGB image files; no joint state or agent conversation is sent to the VLA.",
|
| 13 |
+
"image_preprocessing": "RGB conversion, then OpenCV INTER_AREA resize to 224 x 224. Model images shown here are reconstructed from retained input pixels with the executed preprocessing.",
|
| 14 |
+
"request_paths": "The logger replaced temporary input filenames with retained image-copy paths. Original temporary path strings were not retained.",
|
| 15 |
+
"service_response": "actions, inference_s and call_id are reconstructed exactly from the logged values and the executed handler return. raw_actions is internal diagnostic data and is not returned to Kinex.",
|
| 16 |
+
"agent_response": "Kinex helpers.run_policy consumes the action array and returns actions_submitted, duration_s and ik_failure. The language agent sees the exec tool result below, including feedback and images selected by its own code.",
|
| 17 |
+
"output_layout": [
|
| 18 |
+
"left_joint_1",
|
| 19 |
+
"left_joint_2",
|
| 20 |
+
"left_joint_3",
|
| 21 |
+
"left_joint_4",
|
| 22 |
+
"left_joint_5",
|
| 23 |
+
"left_joint_6",
|
| 24 |
+
"left_gripper",
|
| 25 |
+
"right_joint_1",
|
| 26 |
+
"right_joint_2",
|
| 27 |
+
"right_joint_3",
|
| 28 |
+
"right_joint_4",
|
| 29 |
+
"right_joint_5",
|
| 30 |
+
"right_joint_6",
|
| 31 |
+
"right_gripper"
|
| 32 |
+
],
|
| 33 |
+
"diagnostic_layout": "Left 6 joints, right 6 joints, left opening, right opening. Gripper conversion: 1 - 2 * clip(opening, 0, 1).",
|
| 34 |
+
"not_recorded": [
|
| 35 |
+
"normalized action tensor before denormalization",
|
| 36 |
+
"backbone processor tensors",
|
| 37 |
+
"exact original temporary filename strings"
|
| 38 |
+
],
|
| 39 |
+
"backbone_prompt": "Reconstructed from the executed QwenOFT and QWen3 implementations; 16 action query markers are appended by the model, not by Kinex.",
|
| 40 |
+
"model_metadata": null,
|
| 41 |
+
"executed_sources": "policy-contract/sources.json"
|
| 42 |
+
}
|
| 43 |
+
}
|
experiments/robotwin-native/kinex-2/analysis.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observed": "Kinex reconstructed the shoes and box from RGB-D, wrote a reusable dual-arm motion tool, and staged the grasps, rotations and placements. Native success occurred at frame 337 during final release."
|
| 3 |
+
}
|
experiments/robotwin-native/kinex-2/artifact-index.json
ADDED
|
@@ -0,0 +1,392 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
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|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"name": "analysis.json",
|
| 4 |
+
"path": "experiments/robotwin-native/kinex-2/analysis.json",
|
| 5 |
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"bytes": 217,
|
| 6 |
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"sha256": "513dd587eab60fc5ea6c7639536d8c28038c0bdd355dad8b08b18717402e2189"
|
| 7 |
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},
|
| 8 |
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{
|
| 9 |
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"name": "artifacts.json",
|
| 10 |
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"path": "experiments/robotwin-native/kinex-2/artifacts.json",
|
| 11 |
+
"bytes": 2652,
|
| 12 |
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"sha256": "57d7ba0ffcc0ac235f28d3f650df77214163bb8c8273849cf47e4db97993ae94"
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},
|
| 14 |
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{
|
| 15 |
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"name": "combined.mp4",
|
| 16 |
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"path": "experiments/robotwin-native/kinex-2/combined.mp4",
|
| 17 |
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"bytes": 3596716,
|
| 18 |
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| 19 |
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},
|
| 20 |
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{
|
| 21 |
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"name": "effective-model.json",
|
| 22 |
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"path": "experiments/robotwin-native/kinex-2/effective-model.json",
|
| 23 |
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"bytes": 444,
|
| 24 |
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|
| 25 |
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},
|
| 26 |
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{
|
| 27 |
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"name": "episode-report.json",
|
| 28 |
+
"path": "experiments/robotwin-native/kinex-2/episode-report.json",
|
| 29 |
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"bytes": 9771,
|
| 30 |
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"sha256": "cb0015b61ed23520d40062cf980f9dda0d7c94167e091003322c546031c4aacc"
|
| 31 |
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},
|
| 32 |
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{
|
| 33 |
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"name": "episode.json",
|
| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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},
|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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},
|
| 44 |
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{
|
| 45 |
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"name": "instruction.json",
|
| 46 |
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|
| 47 |
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"bytes": 5365,
|
| 48 |
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| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"name": "media.json",
|
| 52 |
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"path": "experiments/robotwin-native/kinex-2/media.json",
|
| 53 |
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"bytes": 2321,
|
| 54 |
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| 55 |
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},
|
| 56 |
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{
|
| 57 |
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"name": "observations/015664b9-1.png",
|
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+
},
|
| 338 |
+
{
|
| 339 |
+
"name": "workspace/.kinex/devices/world/profile.yaml",
|
| 340 |
+
"path": "experiments/robotwin-native/kinex-2/workspace/.kinex/devices/world/profile.yaml",
|
| 341 |
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"bytes": 1593,
|
| 342 |
+
"sha256": "459ff5c1dff504e448481e82a8712bc4e77c6a2b03256aa061dd948f57bbd3e8"
|
| 343 |
+
},
|
| 344 |
+
{
|
| 345 |
+
"name": "workspace/.kinex/kinex.json",
|
| 346 |
+
"path": "experiments/robotwin-native/kinex-2/workspace/.kinex/kinex.json",
|
| 347 |
+
"bytes": 50,
|
| 348 |
+
"sha256": "703ec9cee9365c7c5c4b967219de9a9e7b9ca17517eae82cf7af30431de4026e"
|
| 349 |
+
},
|
| 350 |
+
{
|
| 351 |
+
"name": "workspace/.kinex/memos/dual_shoes.md",
|
| 352 |
+
"path": "experiments/robotwin-native/kinex-2/workspace/.kinex/memos/dual_shoes.md",
|
| 353 |
+
"bytes": 2628,
|
| 354 |
+
"sha256": "2471546bfcf53973bcb6c7c6289370d88500aabee87971d9cce7e6c71b45ddd9"
|
| 355 |
+
},
|
| 356 |
+
{
|
| 357 |
+
"name": "workspace/.kinex/tools/dual_shoes.py",
|
| 358 |
+
"path": "experiments/robotwin-native/kinex-2/workspace/.kinex/tools/dual_shoes.py",
|
| 359 |
+
"bytes": 3100,
|
| 360 |
+
"sha256": "dcd118f98fb81df24938ad8c6d38805de3fb823356c90da24ced18c6ec6a55e4"
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"name": "workspace/.kinex/workspace.yaml",
|
| 364 |
+
"path": "experiments/robotwin-native/kinex-2/workspace/.kinex/workspace.yaml",
|
| 365 |
+
"bytes": 335,
|
| 366 |
+
"sha256": "8a0cbe7e2438339e12693ecdda4530b8601e092a11c9e1d5f6301bd67a415ca7"
|
| 367 |
+
},
|
| 368 |
+
{
|
| 369 |
+
"name": "workspace/harness.md",
|
| 370 |
+
"path": "experiments/robotwin-native/kinex-2/workspace/harness.md",
|
| 371 |
+
"bytes": 444,
|
| 372 |
+
"sha256": "81c1ef513247775681eb49b5ac07a5f4eebc7848afab963ef21a3bca473b8485"
|
| 373 |
+
},
|
| 374 |
+
{
|
| 375 |
+
"name": "workspace/instruction.md",
|
| 376 |
+
"path": "experiments/robotwin-native/kinex-2/workspace/instruction.md",
|
| 377 |
+
"bytes": 2273,
|
| 378 |
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"sha256": "2a3f75a12a0c993a55034eba3fe4146b33dd852cdece7e4babb9ccc909d10db0"
|
| 379 |
+
},
|
| 380 |
+
{
|
| 381 |
+
"name": "workspace.json",
|
| 382 |
+
"path": "experiments/robotwin-native/kinex-2/workspace.json",
|
| 383 |
+
"bytes": 4612,
|
| 384 |
+
"sha256": "bbd68386e6b1360de4e802262dbddeeeeca6220e0abfaca9ad2754d8a1ba359e"
|
| 385 |
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},
|
| 386 |
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{
|
| 387 |
+
"name": "workspace.tar.gz",
|
| 388 |
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"path": "experiments/robotwin-native/kinex-2/workspace.tar.gz",
|
| 389 |
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"bytes": 9516,
|
| 390 |
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"sha256": "71314c04c838ff7fa9b7717be16d80887bfd5c3c35d259c94c6c7a2f70450a81"
|
| 391 |
+
}
|
| 392 |
+
]
|
experiments/robotwin-native/kinex-2/detail.json
CHANGED
|
@@ -292,8 +292,14 @@
|
|
| 292 |
"usage_source": "provider-raw"
|
| 293 |
},
|
| 294 |
"cost_note": "API equivalent sums the native Pi session cost estimates. Subscription billing is not reported.",
|
| 295 |
-
"media_note": "
|
| 296 |
"artifacts": [
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 297 |
{
|
| 298 |
"name": "artifacts.json",
|
| 299 |
"path": "experiments/robotwin-native/kinex-2/artifacts.json",
|
|
@@ -420,6 +426,60 @@
|
|
| 420 |
"bytes": 27425,
|
| 421 |
"sha256": "9ed95bdb74b07353de2d3dcb7504e31e5ac36192966d15676fda7c505945b514"
|
| 422 |
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 423 |
{
|
| 424 |
"name": "provider-requests.jsonl",
|
| 425 |
"path": "experiments/robotwin-native/kinex-2/provider-requests.jsonl",
|
|
@@ -456,12 +516,30 @@
|
|
| 456 |
"bytes": 170564,
|
| 457 |
"sha256": "4a4ee315d9044c9bfb8f8ca8d51d9d2c7255b8e7e9732d4516d28cc1ccea1185"
|
| 458 |
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 459 |
{
|
| 460 |
"name": "usage-audit.json",
|
| 461 |
"path": "experiments/robotwin-native/kinex-2/usage-audit.json",
|
| 462 |
"bytes": 7438,
|
| 463 |
"sha256": "ab08002f929415f5870eacd66548fe357f729d9e35d5536cfe059dd363ad4859"
|
| 464 |
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 465 |
{
|
| 466 |
"name": "workspace/.kinex/devices/head_camera/profile.yaml",
|
| 467 |
"path": "experiments/robotwin-native/kinex-2/workspace/.kinex/devices/head_camera/profile.yaml",
|
|
|
|
| 292 |
"usage_source": "provider-raw"
|
| 293 |
},
|
| 294 |
"cost_note": "API equivalent sums the native Pi session cost estimates. Subscription billing is not reported.",
|
| 295 |
+
"media_note": "Three 960 x 720 views side by side; every native sample once at 4x simulation speed.",
|
| 296 |
"artifacts": [
|
| 297 |
+
{
|
| 298 |
+
"name": "analysis.json",
|
| 299 |
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"path": "experiments/robotwin-native/kinex-2/analysis.json",
|
| 300 |
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"bytes": 217,
|
| 301 |
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"sha256": "513dd587eab60fc5ea6c7639536d8c28038c0bdd355dad8b08b18717402e2189"
|
| 302 |
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},
|
| 303 |
{
|
| 304 |
"name": "artifacts.json",
|
| 305 |
"path": "experiments/robotwin-native/kinex-2/artifacts.json",
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|
| 426 |
"bytes": 27425,
|
| 427 |
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| 428 |
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|
| 429 |
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|
| 430 |
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"name": "presentation/encode.log",
|
| 431 |
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| 432 |
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| 434 |
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| 435 |
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{
|
| 436 |
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"name": "presentation/frame-comparison.jsonl",
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| 437 |
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"path": "experiments/robotwin-native/kinex-2/presentation/frame-comparison.jsonl",
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| 438 |
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| 439 |
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| 440 |
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|
| 441 |
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{
|
| 442 |
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"name": "presentation/frame-mapping.json",
|
| 443 |
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| 444 |
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"bytes": 2246,
|
| 445 |
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| 446 |
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|
| 447 |
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{
|
| 448 |
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"name": "presentation/media-validation.json",
|
| 449 |
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"path": "experiments/robotwin-native/kinex-2/presentation/media-validation.json",
|
| 450 |
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|
| 451 |
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| 452 |
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| 453 |
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| 454 |
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"name": "presentation/poster.jpg",
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| 456 |
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| 458 |
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| 459 |
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| 460 |
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"name": "presentation/recording.json",
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| 462 |
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| 463 |
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| 465 |
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| 466 |
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| 468 |
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| 469 |
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| 470 |
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| 471 |
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|
| 472 |
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"name": "presentation/video.mp4",
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| 473 |
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| 474 |
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| 475 |
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| 476 |
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| 477 |
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{
|
| 478 |
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| 479 |
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"path": "experiments/robotwin-native/kinex-2/protocol.json",
|
| 480 |
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|
| 481 |
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| 482 |
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|
| 483 |
{
|
| 484 |
"name": "provider-requests.jsonl",
|
| 485 |
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|
| 516 |
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|
| 517 |
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| 518 |
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|
| 519 |
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{
|
| 520 |
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|
| 521 |
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| 522 |
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|
| 523 |
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| 524 |
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|
| 525 |
{
|
| 526 |
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|
| 527 |
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|
| 528 |
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|
| 529 |
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| 530 |
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| 531 |
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|
| 532 |
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|
| 533 |
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|
| 534 |
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|
| 535 |
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| 536 |
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|
| 537 |
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{
|
| 538 |
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"name": "vla-io.json",
|
| 539 |
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"path": "experiments/robotwin-native/kinex-2/vla-io.json",
|
| 540 |
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"bytes": 2125,
|
| 541 |
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"sha256": "6193730d52eb0dba061313c3324b9161210d4232d71e0d11455a22716d868a8b"
|
| 542 |
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},
|
| 543 |
{
|
| 544 |
"name": "workspace/.kinex/devices/head_camera/profile.yaml",
|
| 545 |
"path": "experiments/robotwin-native/kinex-2/workspace/.kinex/devices/head_camera/profile.yaml",
|
experiments/robotwin-native/kinex-2/presentation/encode.log
ADDED
|
File without changes
|
experiments/robotwin-native/kinex-2/presentation/frame-comparison.jsonl
ADDED
|
@@ -0,0 +1,136 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
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|
|
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|
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|
| 1 |
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experiments/robotwin-native/kinex-2/presentation/frame-mapping.json
ADDED
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@@ -0,0 +1,141 @@
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|
| 140 |
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"playback_fps": 40
|
| 141 |
+
}
|
experiments/robotwin-native/kinex-2/presentation/media-validation.json
ADDED
|
@@ -0,0 +1,123 @@
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "rlebench/native-camera-media/3",
|
| 3 |
+
"passed": true,
|
| 4 |
+
"speed": 4,
|
| 5 |
+
"source_fps": 10,
|
| 6 |
+
"output_fps": 40,
|
| 7 |
+
"width": 2880,
|
| 8 |
+
"height": 720,
|
| 9 |
+
"native_frames": 136,
|
| 10 |
+
"published_frames": 136,
|
| 11 |
+
"source_sample_coverage": 1.0,
|
| 12 |
+
"source_samples_complete": true,
|
| 13 |
+
"source_dropped_samples": 0,
|
| 14 |
+
"terminal_frame_retained": true,
|
| 15 |
+
"terminal_source_index": 135,
|
| 16 |
+
"terminal_hold_s": 0,
|
| 17 |
+
"simulation_time_s": 13.48,
|
| 18 |
+
"duration_s": 3.4,
|
| 19 |
+
"sha256": "3311871fad3acde83e150af9b580ee59942654e52f56636545ca6b6b085e636d",
|
| 20 |
+
"source_sha256": {
|
| 21 |
+
"third_person.mp4": "04138aec81a13c8c1c97ee85fcf318a33d72dd244bd6f420e1333641a637ea91",
|
| 22 |
+
"left_wrist.mp4": "25f80f4540dd139417e01ce80dafcc61a97a333894ff7dae9b7614772be8d915",
|
| 23 |
+
"right_wrist.mp4": "8cd105e8b248befefa849041ca7ad5b1d3e165270a59b505dc946087aa5724fd"
|
| 24 |
+
},
|
| 25 |
+
"all_frames_compared": 136,
|
| 26 |
+
"minimum_frame_psnr_db": 41.682987479494216,
|
| 27 |
+
"maximum_frame_rgb_mae": 1.6074283123016357,
|
| 28 |
+
"decode_ok": true,
|
| 29 |
+
"pts_verified": true,
|
| 30 |
+
"playback_kind": "simulation_time",
|
| 31 |
+
"resolution_kind": "independent_720_high",
|
| 32 |
+
"agent_observation_video": false,
|
| 33 |
+
"camera_views": [
|
| 34 |
+
{
|
| 35 |
+
"name": "third_person",
|
| 36 |
+
"width": 960,
|
| 37 |
+
"height": 720,
|
| 38 |
+
"channel": "spectator"
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"name": "left_wrist",
|
| 42 |
+
"width": 960,
|
| 43 |
+
"height": 720,
|
| 44 |
+
"channel": "spectator"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"name": "right_wrist",
|
| 48 |
+
"width": 960,
|
| 49 |
+
"height": 720,
|
| 50 |
+
"channel": "spectator"
|
| 51 |
+
}
|
| 52 |
+
],
|
| 53 |
+
"coverage_basis": "Every scheduled 10 Hz control-boundary sample, plus the terminal state.",
|
| 54 |
+
"frame_mapping": "Each captured sample exactly once; no appended or held frames.",
|
| 55 |
+
"sampling_note": "Samples follow the native simulation clock; model thinking adds no footage.",
|
| 56 |
+
"scope": "Live owner-only spectator views; no replay, rerender, upscaling or invented frames.",
|
| 57 |
+
"recording": {
|
| 58 |
+
"schema": "rosbridge/recording/1",
|
| 59 |
+
"run_id": "456c61025989",
|
| 60 |
+
"task": "robotwin/place-dual-shoes-aloha-agilex",
|
| 61 |
+
"state": "complete",
|
| 62 |
+
"views": {
|
| 63 |
+
"third_person": {
|
| 64 |
+
"received": 136,
|
| 65 |
+
"dropped": 0,
|
| 66 |
+
"segments": [
|
| 67 |
+
{
|
| 68 |
+
"file": "third_person.mp4",
|
| 69 |
+
"frames": 136,
|
| 70 |
+
"width": 960,
|
| 71 |
+
"height": 720,
|
| 72 |
+
"fps": 10.0,
|
| 73 |
+
"first_stamp_ns": 0,
|
| 74 |
+
"last_stamp_ns": 13480000000
|
| 75 |
+
}
|
| 76 |
+
],
|
| 77 |
+
"error": null
|
| 78 |
+
},
|
| 79 |
+
"left_wrist": {
|
| 80 |
+
"received": 136,
|
| 81 |
+
"dropped": 0,
|
| 82 |
+
"segments": [
|
| 83 |
+
{
|
| 84 |
+
"file": "left_wrist.mp4",
|
| 85 |
+
"frames": 136,
|
| 86 |
+
"width": 960,
|
| 87 |
+
"height": 720,
|
| 88 |
+
"fps": 10.0,
|
| 89 |
+
"first_stamp_ns": 0,
|
| 90 |
+
"last_stamp_ns": 13480000000
|
| 91 |
+
}
|
| 92 |
+
],
|
| 93 |
+
"error": null
|
| 94 |
+
},
|
| 95 |
+
"right_wrist": {
|
| 96 |
+
"received": 136,
|
| 97 |
+
"dropped": 0,
|
| 98 |
+
"segments": [
|
| 99 |
+
{
|
| 100 |
+
"file": "right_wrist.mp4",
|
| 101 |
+
"frames": 136,
|
| 102 |
+
"width": 960,
|
| 103 |
+
"height": 720,
|
| 104 |
+
"fps": 10.0,
|
| 105 |
+
"first_stamp_ns": 0,
|
| 106 |
+
"last_stamp_ns": 13480000000
|
| 107 |
+
}
|
| 108 |
+
],
|
| 109 |
+
"error": null
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
"type": "mp4",
|
| 113 |
+
"spectator_views": [
|
| 114 |
+
"third_person",
|
| 115 |
+
"left_wrist",
|
| 116 |
+
"right_wrist"
|
| 117 |
+
],
|
| 118 |
+
"fps": 10.0,
|
| 119 |
+
"topics": [],
|
| 120 |
+
"error": null,
|
| 121 |
+
"bag_messages": 0
|
| 122 |
+
}
|
| 123 |
+
}
|
experiments/robotwin-native/kinex-2/presentation/poster.jpg
ADDED
|
Git LFS Details
|
experiments/robotwin-native/kinex-2/presentation/recording.json
ADDED
|
@@ -0,0 +1,66 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "rosbridge/recording/1",
|
| 3 |
+
"run_id": "456c61025989",
|
| 4 |
+
"task": "robotwin/place-dual-shoes-aloha-agilex",
|
| 5 |
+
"state": "complete",
|
| 6 |
+
"views": {
|
| 7 |
+
"third_person": {
|
| 8 |
+
"received": 136,
|
| 9 |
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"dropped": 0,
|
| 10 |
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"segments": [
|
| 11 |
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{
|
| 12 |
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"file": "third_person.mp4",
|
| 13 |
+
"frames": 136,
|
| 14 |
+
"width": 960,
|
| 15 |
+
"height": 720,
|
| 16 |
+
"fps": 10.0,
|
| 17 |
+
"first_stamp_ns": 0,
|
| 18 |
+
"last_stamp_ns": 13480000000
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"error": null
|
| 22 |
+
},
|
| 23 |
+
"left_wrist": {
|
| 24 |
+
"received": 136,
|
| 25 |
+
"dropped": 0,
|
| 26 |
+
"segments": [
|
| 27 |
+
{
|
| 28 |
+
"file": "left_wrist.mp4",
|
| 29 |
+
"frames": 136,
|
| 30 |
+
"width": 960,
|
| 31 |
+
"height": 720,
|
| 32 |
+
"fps": 10.0,
|
| 33 |
+
"first_stamp_ns": 0,
|
| 34 |
+
"last_stamp_ns": 13480000000
|
| 35 |
+
}
|
| 36 |
+
],
|
| 37 |
+
"error": null
|
| 38 |
+
},
|
| 39 |
+
"right_wrist": {
|
| 40 |
+
"received": 136,
|
| 41 |
+
"dropped": 0,
|
| 42 |
+
"segments": [
|
| 43 |
+
{
|
| 44 |
+
"file": "right_wrist.mp4",
|
| 45 |
+
"frames": 136,
|
| 46 |
+
"width": 960,
|
| 47 |
+
"height": 720,
|
| 48 |
+
"fps": 10.0,
|
| 49 |
+
"first_stamp_ns": 0,
|
| 50 |
+
"last_stamp_ns": 13480000000
|
| 51 |
+
}
|
| 52 |
+
],
|
| 53 |
+
"error": null
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"type": "mp4",
|
| 57 |
+
"spectator_views": [
|
| 58 |
+
"third_person",
|
| 59 |
+
"left_wrist",
|
| 60 |
+
"right_wrist"
|
| 61 |
+
],
|
| 62 |
+
"fps": 10.0,
|
| 63 |
+
"topics": [],
|
| 64 |
+
"error": null,
|
| 65 |
+
"bag_messages": 0
|
| 66 |
+
}
|
experiments/robotwin-native/kinex-2/presentation/terminal.jpg
ADDED
|
Git LFS Details
|
experiments/robotwin-native/kinex-2/presentation/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3311871fad3acde83e150af9b580ee59942654e52f56636545ca6b6b085e636d
|
| 3 |
+
size 3737529
|
experiments/robotwin-native/kinex-2/protocol.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"max_steps": 600,
|
| 3 |
+
"seed": 0,
|
| 4 |
+
"episodes": 1,
|
| 5 |
+
"control_frequency_hz": 25,
|
| 6 |
+
"provider": "rosbridge",
|
| 7 |
+
"realtime": false,
|
| 8 |
+
"stop_on_success": true
|
| 9 |
+
}
|
experiments/robotwin-native/kinex-2/transcript.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
experiments/robotwin-native/kinex-2/usage.json
ADDED
|
@@ -0,0 +1,281 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
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|
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|
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| 1 |
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|
| 2 |
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| 4 |
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| 243 |
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| 244 |
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| 245 |
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| 246 |
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| 250 |
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| 252 |
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| 254 |
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|
| 255 |
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|
| 256 |
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| 257 |
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| 258 |
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| 259 |
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| 260 |
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| 261 |
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| 262 |
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| 263 |
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|
| 264 |
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| 265 |
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| 266 |
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| 267 |
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| 268 |
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| 269 |
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|
| 270 |
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| 271 |
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| 272 |
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| 273 |
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| 274 |
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| 278 |
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|
| 279 |
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|
| 280 |
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"usage_source": "provider-raw"
|
| 281 |
+
}
|
experiments/robotwin-native/kinex-2/vla-io.json
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"calls": [],
|
| 3 |
+
"coverage": {
|
| 4 |
+
"recorded_inputs": 0,
|
| 5 |
+
"recorded_outputs": 0,
|
| 6 |
+
"kinex_calls_associated": 0,
|
| 7 |
+
"original_temporary_image_paths_recorded": false,
|
| 8 |
+
"normalized_action_tensor_recorded": false,
|
| 9 |
+
"processor_tensors_recorded": false
|
| 10 |
+
},
|
| 11 |
+
"contract": {
|
| 12 |
+
"request": "policy.infer(obs, task). obs contains three ordered RGB image files; no joint state or agent conversation is sent to the VLA.",
|
| 13 |
+
"image_preprocessing": "RGB conversion, then OpenCV INTER_AREA resize to 224 x 224. Model images shown here are reconstructed from retained input pixels with the executed preprocessing.",
|
| 14 |
+
"request_paths": "The logger replaced temporary input filenames with retained image-copy paths. Original temporary path strings were not retained.",
|
| 15 |
+
"service_response": "actions, inference_s and call_id are reconstructed exactly from the logged values and the executed handler return. raw_actions is internal diagnostic data and is not returned to Kinex.",
|
| 16 |
+
"agent_response": "Kinex helpers.run_policy consumes the action array and returns actions_submitted, duration_s and ik_failure. The language agent sees the exec tool result below, including feedback and images selected by its own code.",
|
| 17 |
+
"output_layout": [
|
| 18 |
+
"left_joint_1",
|
| 19 |
+
"left_joint_2",
|
| 20 |
+
"left_joint_3",
|
| 21 |
+
"left_joint_4",
|
| 22 |
+
"left_joint_5",
|
| 23 |
+
"left_joint_6",
|
| 24 |
+
"left_gripper",
|
| 25 |
+
"right_joint_1",
|
| 26 |
+
"right_joint_2",
|
| 27 |
+
"right_joint_3",
|
| 28 |
+
"right_joint_4",
|
| 29 |
+
"right_joint_5",
|
| 30 |
+
"right_joint_6",
|
| 31 |
+
"right_gripper"
|
| 32 |
+
],
|
| 33 |
+
"diagnostic_layout": "Left 6 joints, right 6 joints, left opening, right opening. Gripper conversion: 1 - 2 * clip(opening, 0, 1).",
|
| 34 |
+
"not_recorded": [
|
| 35 |
+
"normalized action tensor before denormalization",
|
| 36 |
+
"backbone processor tensors",
|
| 37 |
+
"exact original temporary filename strings"
|
| 38 |
+
],
|
| 39 |
+
"backbone_prompt": "Reconstructed from the executed QwenOFT and QWen3 implementations; 16 action query markers are appended by the model, not by Kinex.",
|
| 40 |
+
"model_metadata": null,
|
| 41 |
+
"executed_sources": "policy-contract/sources.json"
|
| 42 |
+
}
|
| 43 |
+
}
|
experiments/robotwin-native/kinex-3/analysis.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observed": "Kinex wrote a measured Cartesian manipulation tool, picked and deposited the bottles sequentially, and reached native success at control frame 1,354."
|
| 3 |
+
}
|
experiments/robotwin-native/kinex-3/artifact-index.json
ADDED
|
@@ -0,0 +1,512 @@
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|
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|
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|
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|
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|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"name": "analysis.json",
|
| 4 |
+
"path": "experiments/robotwin-native/kinex-3/analysis.json",
|
| 5 |
+
"bytes": 170,
|
| 6 |
+
"sha256": "716ca9c2ae3c0c33f8bd9731cfb03f69e670f39b6aebd93340345cc569b221bb"
|
| 7 |
+
},
|
| 8 |
+
{
|
| 9 |
+
"name": "artifacts.json",
|
| 10 |
+
"path": "experiments/robotwin-native/kinex-3/artifacts.json",
|
| 11 |
+
"bytes": 2655,
|
| 12 |
+
"sha256": "2e3b7f8171c0aa4d53500c19d10624f0423eb7fbeef544c8f74fc125fbe13453"
|
| 13 |
+
},
|
| 14 |
+
{
|
| 15 |
+
"name": "combined.mp4",
|
| 16 |
+
"path": "experiments/robotwin-native/kinex-3/combined.mp4",
|
| 17 |
+
"bytes": 8255717,
|
| 18 |
+
"sha256": "8f30b26f5d8faf2959a29a4e92fa73238505196687f05eccbfe6dc543b032962"
|
| 19 |
+
},
|
| 20 |
+
{
|
| 21 |
+
"name": "effective-model.json",
|
| 22 |
+
"path": "experiments/robotwin-native/kinex-3/effective-model.json",
|
| 23 |
+
"bytes": 444,
|
| 24 |
+
"sha256": "5a3694bfdd4fbeb4b1f47e125dde01703a7e004ec43f0bd6b47bbe7ba7c989e5"
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"name": "episode-report.json",
|
| 28 |
+
"path": "experiments/robotwin-native/kinex-3/episode-report.json",
|
| 29 |
+
"bytes": 12888,
|
| 30 |
+
"sha256": "c0134794182e5cbc5dee04e2f02ed347c13496d9187172f784bbdd389a54a238"
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"name": "episode.json",
|
| 34 |
+
"path": "experiments/robotwin-native/kinex-3/episode.json",
|
| 35 |
+
"bytes": 293,
|
| 36 |
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"sha256": "7c00c5ac10e73269fdffa5b67e61df1f64e0bd95597e8264eabf8d7c73cc7c6a"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"name": "evidence.tar.gz",
|
| 40 |
+
"path": "experiments/robotwin-native/kinex-3/evidence.tar.gz",
|
| 41 |
+
"bytes": 12619391,
|
| 42 |
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|
| 43 |
+
},
|
| 44 |
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{
|
| 45 |
+
"name": "instruction.json",
|
| 46 |
+
"path": "experiments/robotwin-native/kinex-3/instruction.json",
|
| 47 |
+
"bytes": 4903,
|
| 48 |
+
"sha256": "39fdfb718fe2f7d1a0f3b9fbc674ac5207bc057d8ab7ac621d8ea561f9353e38"
|
| 49 |
+
},
|
| 50 |
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{
|
| 51 |
+
"name": "media.json",
|
| 52 |
+
"path": "experiments/robotwin-native/kinex-3/media.json",
|
| 53 |
+
"bytes": 2325,
|
| 54 |
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|
| 55 |
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|
| 56 |
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{
|
| 57 |
+
"name": "observations/1c00b1c6-1.png",
|
| 58 |
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"path": "experiments/robotwin-native/kinex-3/observations/1c00b1c6-1.png",
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"name": "observations/1c00b1c6-2.png",
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
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| 368 |
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|
| 369 |
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|
| 370 |
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| 375 |
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| 393 |
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| 459 |
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| 477 |
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| 483 |
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| 484 |
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| 489 |
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| 494 |
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|
| 495 |
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| 499 |
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| 500 |
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| 501 |
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| 503 |
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| 504 |
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| 505 |
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| 506 |
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| 507 |
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| 511 |
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|
| 512 |
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]
|
experiments/robotwin-native/kinex-3/detail.json
CHANGED
|
@@ -404,8 +404,14 @@
|
|
| 404 |
"usage_source": "provider-raw"
|
| 405 |
},
|
| 406 |
"cost_note": "API equivalent sums the native Pi session cost estimates. Subscription billing is not reported.",
|
| 407 |
-
"media_note": "
|
| 408 |
"artifacts": [
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|
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|
|
| 409 |
{
|
| 410 |
"name": "artifacts.json",
|
| 411 |
"path": "experiments/robotwin-native/kinex-3/artifacts.json",
|
|
@@ -652,6 +658,60 @@
|
|
| 652 |
"bytes": 40772,
|
| 653 |
"sha256": "7cfa89f6915dd66f0aead3d4ef82e1a961f6ad52eca698ee744e3b2c88e618a9"
|
| 654 |
},
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 655 |
{
|
| 656 |
"name": "provider-requests.jsonl",
|
| 657 |
"path": "experiments/robotwin-native/kinex-3/provider-requests.jsonl",
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|
@@ -688,12 +748,30 @@
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|
| 688 |
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|
| 689 |
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|
| 690 |
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|
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|
|
|
|
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|
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|
|
|
|
|
| 691 |
{
|
| 692 |
"name": "usage-audit.json",
|
| 693 |
"path": "experiments/robotwin-native/kinex-3/usage-audit.json",
|
| 694 |
"bytes": 10295,
|
| 695 |
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|
| 696 |
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 697 |
{
|
| 698 |
"name": "workspace/.kinex/devices/head_camera/profile.yaml",
|
| 699 |
"path": "experiments/robotwin-native/kinex-3/workspace/.kinex/devices/head_camera/profile.yaml",
|
|
|
|
| 404 |
"usage_source": "provider-raw"
|
| 405 |
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|
| 406 |
"cost_note": "API equivalent sums the native Pi session cost estimates. Subscription billing is not reported.",
|
| 407 |
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"media_note": "Three 960 x 720 views side by side; every native sample once at 4x simulation speed.",
|
| 408 |
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|
| 409 |
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{
|
| 410 |
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"name": "analysis.json",
|
| 411 |
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"path": "experiments/robotwin-native/kinex-3/analysis.json",
|
| 412 |
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"bytes": 170,
|
| 413 |
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| 414 |
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| 415 |
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|
| 416 |
"name": "artifacts.json",
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| 417 |
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|
| 658 |
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| 659 |
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| 660 |
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| 661 |
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| 662 |
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| 670 |
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| 671 |
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| 672 |
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| 673 |
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| 674 |
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| 678 |
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| 679 |
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| 680 |
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| 690 |
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| 691 |
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| 692 |
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| 695 |
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| 696 |
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| 698 |
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| 700 |
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| 701 |
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| 702 |
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| 703 |
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| 704 |
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| 708 |
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| 709 |
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| 710 |
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| 715 |
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| 716 |
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| 717 |
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| 748 |
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| 749 |
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| 750 |
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| 751 |
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| 752 |
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| 753 |
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"path": "experiments/robotwin-native/kinex-3/transcript.json",
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| 754 |
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|
| 756 |
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|
| 757 |
{
|
| 758 |
"name": "usage-audit.json",
|
| 759 |
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|
| 760 |
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|
| 761 |
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|
| 762 |
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|
| 763 |
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{
|
| 764 |
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"name": "usage.json",
|
| 765 |
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|
| 766 |
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|
| 767 |
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"sha256": "2614039697c7fd8ff404397847853f9b4d7c4b37254a951e3e53e7bf82d3ddef"
|
| 768 |
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},
|
| 769 |
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{
|
| 770 |
+
"name": "vla-io.json",
|
| 771 |
+
"path": "experiments/robotwin-native/kinex-3/vla-io.json",
|
| 772 |
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"bytes": 2125,
|
| 773 |
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"sha256": "6193730d52eb0dba061313c3324b9161210d4232d71e0d11455a22716d868a8b"
|
| 774 |
+
},
|
| 775 |
{
|
| 776 |
"name": "workspace/.kinex/devices/head_camera/profile.yaml",
|
| 777 |
"path": "experiments/robotwin-native/kinex-3/workspace/.kinex/devices/head_camera/profile.yaml",
|
experiments/robotwin-native/kinex-3/presentation/encode.log
ADDED
|
File without changes
|
experiments/robotwin-native/kinex-3/presentation/frame-comparison.jsonl
ADDED
|
@@ -0,0 +1,543 @@
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|
experiments/robotwin-native/kinex-3/presentation/frame-mapping.json
ADDED
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@@ -0,0 +1,548 @@
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|
| 547 |
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"playback_fps": 40
|
| 548 |
+
}
|
experiments/robotwin-native/kinex-3/presentation/media-validation.json
ADDED
|
@@ -0,0 +1,123 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "rlebench/native-camera-media/3",
|
| 3 |
+
"passed": true,
|
| 4 |
+
"speed": 4,
|
| 5 |
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"source_fps": 10,
|
| 6 |
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|
| 7 |
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"width": 2880,
|
| 8 |
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"height": 720,
|
| 9 |
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|
| 10 |
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"published_frames": 543,
|
| 11 |
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"source_sample_coverage": 1.0,
|
| 12 |
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"source_samples_complete": true,
|
| 13 |
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"source_dropped_samples": 0,
|
| 14 |
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"terminal_frame_retained": true,
|
| 15 |
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"terminal_source_index": 542,
|
| 16 |
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"terminal_hold_s": 0,
|
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| 18 |
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"duration_s": 13.575,
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| 19 |
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"sha256": "84e99f6003d005afb922686e9101691a134e397f0280974f074a60eac494d9f1",
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| 20 |
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"source_sha256": {
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| 21 |
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"third_person.mp4": "dba49f01b2b253ae4cc13159525fdf17948bfb17506fbc8f7a41d0281fd22a37",
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"left_wrist.mp4": "4822fe685288688a8fc2f929b032de30a01239e8db2e07ed52042c9c4a57b96b",
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| 23 |
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"right_wrist.mp4": "72f18a15b2d2aaf41795d027dd461cae4377e49826e392859fdc6139515dbc5d"
|
| 24 |
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},
|
| 25 |
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"all_frames_compared": 543,
|
| 26 |
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"minimum_frame_psnr_db": 42.00768830044577,
|
| 27 |
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"maximum_frame_rgb_mae": 1.432692289352417,
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| 28 |
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"decode_ok": true,
|
| 29 |
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"pts_verified": true,
|
| 30 |
+
"playback_kind": "simulation_time",
|
| 31 |
+
"resolution_kind": "independent_720_high",
|
| 32 |
+
"agent_observation_video": false,
|
| 33 |
+
"camera_views": [
|
| 34 |
+
{
|
| 35 |
+
"name": "third_person",
|
| 36 |
+
"width": 960,
|
| 37 |
+
"height": 720,
|
| 38 |
+
"channel": "spectator"
|
| 39 |
+
},
|
| 40 |
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{
|
| 41 |
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"name": "left_wrist",
|
| 42 |
+
"width": 960,
|
| 43 |
+
"height": 720,
|
| 44 |
+
"channel": "spectator"
|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
+
"name": "right_wrist",
|
| 48 |
+
"width": 960,
|
| 49 |
+
"height": 720,
|
| 50 |
+
"channel": "spectator"
|
| 51 |
+
}
|
| 52 |
+
],
|
| 53 |
+
"coverage_basis": "Every scheduled 10 Hz control-boundary sample, plus the terminal state.",
|
| 54 |
+
"frame_mapping": "Each captured sample exactly once; no appended or held frames.",
|
| 55 |
+
"sampling_note": "Samples follow the native simulation clock; model thinking adds no footage.",
|
| 56 |
+
"scope": "Live owner-only spectator views; no replay, rerender, upscaling or invented frames.",
|
| 57 |
+
"recording": {
|
| 58 |
+
"schema": "rosbridge/recording/1",
|
| 59 |
+
"run_id": "c3ff59536ab0",
|
| 60 |
+
"task": "robotwin/put-bottles-dustbin-aloha-agilex",
|
| 61 |
+
"state": "complete",
|
| 62 |
+
"views": {
|
| 63 |
+
"third_person": {
|
| 64 |
+
"received": 543,
|
| 65 |
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"dropped": 0,
|
| 66 |
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"segments": [
|
| 67 |
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{
|
| 68 |
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"file": "third_person.mp4",
|
| 69 |
+
"frames": 543,
|
| 70 |
+
"width": 960,
|
| 71 |
+
"height": 720,
|
| 72 |
+
"fps": 10.0,
|
| 73 |
+
"first_stamp_ns": 0,
|
| 74 |
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"last_stamp_ns": 54160000000
|
| 75 |
+
}
|
| 76 |
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],
|
| 77 |
+
"error": null
|
| 78 |
+
},
|
| 79 |
+
"left_wrist": {
|
| 80 |
+
"received": 543,
|
| 81 |
+
"dropped": 0,
|
| 82 |
+
"segments": [
|
| 83 |
+
{
|
| 84 |
+
"file": "left_wrist.mp4",
|
| 85 |
+
"frames": 543,
|
| 86 |
+
"width": 960,
|
| 87 |
+
"height": 720,
|
| 88 |
+
"fps": 10.0,
|
| 89 |
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"first_stamp_ns": 0,
|
| 90 |
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"last_stamp_ns": 54160000000
|
| 91 |
+
}
|
| 92 |
+
],
|
| 93 |
+
"error": null
|
| 94 |
+
},
|
| 95 |
+
"right_wrist": {
|
| 96 |
+
"received": 543,
|
| 97 |
+
"dropped": 0,
|
| 98 |
+
"segments": [
|
| 99 |
+
{
|
| 100 |
+
"file": "right_wrist.mp4",
|
| 101 |
+
"frames": 543,
|
| 102 |
+
"width": 960,
|
| 103 |
+
"height": 720,
|
| 104 |
+
"fps": 10.0,
|
| 105 |
+
"first_stamp_ns": 0,
|
| 106 |
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"last_stamp_ns": 54160000000
|
| 107 |
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}
|
| 108 |
+
],
|
| 109 |
+
"error": null
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
"type": "mp4",
|
| 113 |
+
"spectator_views": [
|
| 114 |
+
"third_person",
|
| 115 |
+
"left_wrist",
|
| 116 |
+
"right_wrist"
|
| 117 |
+
],
|
| 118 |
+
"fps": 10.0,
|
| 119 |
+
"topics": [],
|
| 120 |
+
"error": null,
|
| 121 |
+
"bag_messages": 0
|
| 122 |
+
}
|
| 123 |
+
}
|
experiments/robotwin-native/kinex-3/presentation/poster.jpg
ADDED
|
Git LFS Details
|
experiments/robotwin-native/kinex-3/presentation/recording.json
ADDED
|
@@ -0,0 +1,66 @@
|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema": "rosbridge/recording/1",
|
| 3 |
+
"run_id": "c3ff59536ab0",
|
| 4 |
+
"task": "robotwin/put-bottles-dustbin-aloha-agilex",
|
| 5 |
+
"state": "complete",
|
| 6 |
+
"views": {
|
| 7 |
+
"third_person": {
|
| 8 |
+
"received": 543,
|
| 9 |
+
"dropped": 0,
|
| 10 |
+
"segments": [
|
| 11 |
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{
|
| 12 |
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"file": "third_person.mp4",
|
| 13 |
+
"frames": 543,
|
| 14 |
+
"width": 960,
|
| 15 |
+
"height": 720,
|
| 16 |
+
"fps": 10.0,
|
| 17 |
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"first_stamp_ns": 0,
|
| 18 |
+
"last_stamp_ns": 54160000000
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"error": null
|
| 22 |
+
},
|
| 23 |
+
"left_wrist": {
|
| 24 |
+
"received": 543,
|
| 25 |
+
"dropped": 0,
|
| 26 |
+
"segments": [
|
| 27 |
+
{
|
| 28 |
+
"file": "left_wrist.mp4",
|
| 29 |
+
"frames": 543,
|
| 30 |
+
"width": 960,
|
| 31 |
+
"height": 720,
|
| 32 |
+
"fps": 10.0,
|
| 33 |
+
"first_stamp_ns": 0,
|
| 34 |
+
"last_stamp_ns": 54160000000
|
| 35 |
+
}
|
| 36 |
+
],
|
| 37 |
+
"error": null
|
| 38 |
+
},
|
| 39 |
+
"right_wrist": {
|
| 40 |
+
"received": 543,
|
| 41 |
+
"dropped": 0,
|
| 42 |
+
"segments": [
|
| 43 |
+
{
|
| 44 |
+
"file": "right_wrist.mp4",
|
| 45 |
+
"frames": 543,
|
| 46 |
+
"width": 960,
|
| 47 |
+
"height": 720,
|
| 48 |
+
"fps": 10.0,
|
| 49 |
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"first_stamp_ns": 0,
|
| 50 |
+
"last_stamp_ns": 54160000000
|
| 51 |
+
}
|
| 52 |
+
],
|
| 53 |
+
"error": null
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"type": "mp4",
|
| 57 |
+
"spectator_views": [
|
| 58 |
+
"third_person",
|
| 59 |
+
"left_wrist",
|
| 60 |
+
"right_wrist"
|
| 61 |
+
],
|
| 62 |
+
"fps": 10.0,
|
| 63 |
+
"topics": [],
|
| 64 |
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"error": null,
|
| 65 |
+
"bag_messages": 0
|
| 66 |
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}
|
experiments/robotwin-native/kinex-3/presentation/terminal.jpg
ADDED
|