Add first matched RoboTwin outcomes with full sessions and policy traces

.gitattributes

@@ -54,3 +54,5 @@ data/b2/video.mp4 filter=lfs diff=lfs merge=lfs -text
 probes/bridge-20261028/poster.jpg filter=lfs diff=lfs merge=lfs -text
 probes/bridge-20261028/terminal.jpg filter=lfs diff=lfs merge=lfs -text
 probes/bridge-20261028/video.mp4 filter=lfs diff=lfs merge=lfs -text
+experiments/robotwin-native/standalone-1/combined.mp4 filter=lfs diff=lfs merge=lfs -text
+experiments/robotwin-native/kinex-1/combined.mp4 filter=lfs diff=lfs merge=lfs -text

app.js

@@ -14,7 +14,7 @@ const metrics=`<div class="metrics">${[['Native steps',num(e.control_steps)],['T
 if(tab==='overview')target.innerHTML=`<div class="panel">${e.video?`<video id="episode-video" class="video" controls playsinline preload="metadata" poster="${esc(e.poster||'')}"><source src="${esc(e.video)}" type="video/mp4"></video>`:'<div class="empty">Recording is not available yet</div>'}${metrics}<p class="note">${esc(d.cost_note||'API-equivalent cost is an estimate, not a subscription charge.')} ${esc(d.media_note||'')}</p></div><div class="panel"><h2>Observed behavior</h2><p>${esc(d.observation||'Analysis pending.')}</p><a href="${e.path}/detail.json">Episode record ↗</a></div>`;
 else if(tab==='instruction')target.innerHTML=`<div class="panel"><h2>Task instruction</h2><div class="text">${esc(d.instruction)}</div></div>`;
 else if(tab==='artifacts')target.innerHTML=`<div class="panel files"><h2>Recorded artifacts</h2>${(d.artifacts||[]).map(a=>`<a href="${esc(a.path)}" target="_blank" rel="noopener">${esc(a.name)} <span class="muted">${num(a.bytes)} bytes ↗</span></a>`).join('')}</div>`;
-else if(tab==='session'){const v=await load(e.path+'/session.json');target.innerHTML=`<p class="muted">${num(v.length)} messages · <a href="${e.path}/session.json">Download full session</a></p>${v.map(m=>`<article class="message"><b>${esc(m.role)} ${esc(m.name||'')}</b><div class="text">${esc(m.text)}</div>${m.data?`<details><summary>Recorded payload</summary><pre>${esc(JSON.stringify(m.data,null,2))}</pre></details>`:''}</article>`).join('')||'<div class="empty">Standalone evaluation has no planning-agent session.</div>'}`;}
+else if(tab==='session'){const v=await load(e.path+'/session.json');target.innerHTML=`<p class="muted">${num(v.length)} messages · <a href="${e.path}/session.json">Download full session</a></p>${v.map(m=>`<article class="message"><b>${esc(m.role)} ${esc(m.name||'')}</b><div class="text">${esc(m.text)}</div><div class="images">${(m.images||[]).map(x=>`<a href="${esc(x)}" target="_blank"><img loading="lazy" src="${esc(x)}" alt="Agent observation"></a>`).join('')}</div>${m.data?`<details><summary>Recorded payload</summary><pre>${esc(JSON.stringify(m.data,null,2))}</pre></details>`:''}</article>`).join('')||'<div class="empty">Standalone evaluation has no planning-agent session.</div>'}`;}
 else if(tab==='tools'){const v=await load(e.path+'/tool-calls.json');target.innerHTML=`<p class="muted">${num(v.length)} calls · <a href="${e.path}/tool-calls.json">Download tool calls</a></p>${v.map((m,i)=>`<details><summary>${i+1}. ${esc(m.name)} <span class="muted">${esc(m.summary||'')}</span></summary><h3>Input</h3><pre>${esc(JSON.stringify(m.input,null,2))}</pre><h3>Output</h3><pre>${esc(typeof m.output==='string'?m.output:JSON.stringify(m.output,null,2))}</pre></details>`).join('')||'<div class="empty">No agent tool calls</div>'}`;}
 else if(tab==='policy'){const v=await load(e.path+'/policy-calls.json');target.innerHTML=`<p class="muted">${num(v.length)} inferences · <a href="${e.path}/policy-calls.json">Download all input / output records</a></p>${v.map((m,i)=>`<details><summary>${i+1}. ${esc(m.task)} <span class="muted">${m.inference_s?.toFixed(2)||'—'} s</span></summary><div class="images">${(m.images||[]).map(x=>`<a href="${esc(x)}" target="_blank"><img loading="lazy" src="${esc(x)}" alt="Policy input observation"></a>`).join('')}</div><h3>Model output and submitted interface</h3><pre>${esc(JSON.stringify(m.output,null,2))}</pre></details>`).join('')||'<div class="empty">No VLA inference recorded</div>'}`;}}
 function protocol(){$('#main').innerHTML=`<div class="eyebrow">Experiment protocol</div><h1>One task. Three control choices.</h1><div class="panel"><h2>Execution</h2><table><tbody>${[['Suite','RLE-Bench task03 · RoboTwin 2.0 · ALOHA AgileX'],['VLA','StarVLA/Qwen3-VL-OFT-Robotwin2 · steps 40,000'],['Agent','Kinex · GPT-6 Astra · high'],['Policy interface','Native run_policy · one inference per call · agent owns the outer loop'],['Control','25 Hz native joint / gripper frames; original task-specific limits'],['Selection','First three task03 tasks, seed 0; frozen before outcome inspection'],['Scope','Frozen-policy behavior only; no encoder or progress monitor']].map(([k,v])=>`<tr><th>${k}</th><td>${v}</td></tr>`).join('')}</tbody></table></div><p class="muted">This fixed-rate device protocol differs from upstream VLA trajectory execution. Published StarVLA benchmark scores are not a direct comparison. RoboTwin 2.0-Plus is a separate suite and is not included here.</p><a href="sources.json">Source and model identities ↗</a>`}

data.json

@@ -26,7 +26,7 @@
     {
       "id": "standalone",
       "label": "Standalone VLA",
-      "model": "Qwen3-VL-OFT \u00b7 40k"
+      "model": "Qwen3-VL-OFT · 40k"
     },
     {
       "id": "kinex",
@@ -36,7 +36,7 @@
     {
       "id": "kinex_policy",
       "label": "Kinex + VLA",
-      "model": "GPT-6 Astra / high \u00b7 native run_policy"
+      "model": "GPT-6 Astra / high · native run_policy"
     }
   ],
   "episodes": [
@@ -44,13 +44,39 @@
       "id": "standalone-1",
       "task": "1",
       "condition": "standalone",
-      "status": "running"
+      "status": "complete",
+      "success": false,
+      "valid": true,
+      "control_steps": 800,
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+      "vla_calls": 50,
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+      "path": "experiments/robotwin-native/standalone-1",
+      "video": "experiments/robotwin-native/standalone-1/combined.mp4",
+      "poster": "experiments/robotwin-native/standalone-1/poster.jpg",
+      "wall_time_s": 261.565797
     },
     {
       "id": "kinex-1",
       "task": "1",
       "condition": "kinex",
-      "status": "running"
+      "status": "complete",
+      "success": true,
+      "valid": true,
+      "control_steps": 621,
+      "tool_calls": 61,
+      "vla_calls": 0,
+      "input_tokens": 1774043,
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+      "api_cost_usd": 2.73758,
+      "path": "experiments/robotwin-native/kinex-1",
+      "video": "experiments/robotwin-native/kinex-1/combined.mp4",
+      "poster": "experiments/robotwin-native/kinex-1/poster.jpg",
+      "wall_time_s": 635.897416
     },
     {
       "id": "kinex_policy-1",
@@ -95,4 +121,4 @@
       "status": "pending"
     }
   ]
-}
+}

experiments/robotwin-native/kinex-1/artifacts.json

@@ -0,0 +1,109 @@
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+  },
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+}

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experiments/robotwin-native/kinex-1/episode.json

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+  "step_limit": 800,
+  "steps": 621,
+  "success": true,
+  "valid": true
+}

experiments/robotwin-native/kinex-1/evidence.tar.gz

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experiments/robotwin-native/kinex-1/instruction.json

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+{
+  "binding_paths": {},
+  "bindings": {},
+  "context": {},
+  "instruction": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open",
+  "native_instruction": "",
+  "policy": "modified",
+  "prompt": "# Task: robotwin/handover-block-aloha-agilex\n\nuse the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open\n\n## Work to do\n\nSolve the task efficiently using the running rosbridge environment. Follow the\ntask instruction above, including its completion requirements. Read `harness.md`\nand the device profiles for public interfaces, units and calibrated frames.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have 800 native action frames. The execution mode is `stepped`: physics is\nfrozen while idle. Use `world.wait` with `duration_s` to advance the native clock.\nJoint targets are ROS JointTrajectory messages; gripper targets use the units\ndeclared in their profiles. Reads and command publication do not advance physics.\nWaits are sequential; concurrent waits are rejected. A command or elapsed time\ndoes not prove arrival; inspect measured feedback. Device stop holds the device\nwithout ending the episode. The safety timeout is 28800 seconds.\nDo not launch or reset a simulation.\n\n## Completion\n\nReturn when finished. The owner finalizes the episode and reads its native\nverdict. An interrupted or rejected wait does not establish task success. The\nnative step limit stops physics even if your requested wait is longer.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nUse Kinex's ROS device profiles in `.kinex/devices/` and the robot\nspecification in `.kinex/workspace.yaml`. The adapter refreshes them each episode.\nUse `kinex.communication` for typed topic publication, subscriptions and service\nrequests. Inspect operation schemas before acting. Load the provided devices;\nthey borrow the running simulator. Stop holds motion; it does not reset the world.\nImprove existing tools, skills, and memos in place.\n\n",
+  "prompt_template": "<!-- rlebench:resolved-episode-instruction -->\n# Task: robotwin/handover-block-aloha-agilex\n\nuse the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open\n\n## Work to do\n\nSolve the task efficiently using the running rosbridge environment. Follow the\ntask instruction above, including its completion requirements. Read `harness.md`\nand the device profiles for public interfaces, units and calibrated frames.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have 800 native action frames. The execution mode is `stepped`: physics is\nfrozen while idle. Use `world.wait` with `duration_s` to advance the native clock.\nJoint targets are ROS JointTrajectory messages; gripper targets use the units\ndeclared in their profiles. Reads and command publication do not advance physics.\nWaits are sequential; concurrent waits are rejected. A command or elapsed time\ndoes not prove arrival; inspect measured feedback. Device stop holds the device\nwithout ending the episode. The safety timeout is 28800 seconds.\nDo not launch or reset a simulation.\n\n## Completion\n\nReturn when finished. The owner finalizes the episode and reads its native\nverdict. An interrupted or rejected wait does not establish task success. The\nnative step limit stops physics even if your requested wait is longer.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nUse Kinex's ROS device profiles in `.kinex/devices/` and the robot\nspecification in `.kinex/workspace.yaml`. The adapter refreshes them each episode.\nUse `kinex.communication` for typed topic publication, subscriptions and service\nrequests. Inspect operation schemas before acting. Load the provided devices;\nthey borrow the running simulator. Stop holds motion; it does not reset the world.\nImprove existing tools, skills, and memos in place.\n\n",
+  "schema": "rlebench/episode-instruction/3",
+  "source": "catalog",
+  "task_id": "robotwin/handover-block-aloha-agilex",
+  "template": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open"
+}

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+    "run_id": "7b75d3e8384a",
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+}

experiments/robotwin-native/kinex-1/policy-calls.json

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