Publish eight native episodes with policy failure and recovery traces

.gitattributes

@@ -60,3 +60,5 @@ experiments/robotwin-native/kinex_policy-1/combined.mp4 filter=lfs diff=lfs merg
 experiments/robotwin-native/standalone-2/combined.mp4 filter=lfs diff=lfs merge=lfs -text
 experiments/robotwin-native/kinex-2/combined.mp4 filter=lfs diff=lfs merge=lfs -text
 experiments/robotwin-native/standalone-3/combined.mp4 filter=lfs diff=lfs merge=lfs -text
+experiments/robotwin-native/kinex_policy-2/combined.mp4 filter=lfs diff=lfs merge=lfs -text
+experiments/robotwin-native/kinex-3/combined.mp4 filter=lfs diff=lfs merge=lfs -text

app.js

@@ -17,6 +17,6 @@ else if(tab==='artifacts')target.innerHTML=`<div class="panel files"><h2>Recorde
 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="${esc(x)}" alt="Policy input observation"></a>`).join('')}</div><h3>Predicted actions and interface conversion</h3><pre>${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>`}
+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'],['Inputs','VLA: three RGB views and language. Kinex: public RGB-D, joint state, calibration and native tools.'],['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>`}
 async function render(){try{const parts=location.hash.slice(1).split('/');if(parts[0]==='episode')await detail(parts[1],parts[2],parts[3]||'overview');else if(parts[0]==='protocol')protocol();else overview(parts[0]==='tasks')}catch(e){$('#main').innerHTML=`<div class="panel"><h1>Could not load this record</h1><p>${esc(e.message)}</p><a href="#overview">Return to overview</a></div>`}}
 fetch('data.json').then(r=>r.json()).then(x=>{data=x;window.addEventListener('hashchange',render);render()}).catch(e=>{$('#main').textContent=e.message});

data.json

@@ -139,7 +139,20 @@
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       "condition": "kinex_policy",
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@@ -164,13 +177,26 @@
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     {
       "id": "kinex_policy-3",
       "task": "3",
       "condition": "kinex_policy",
-      "status": "pending"
+      "status": "running"
     }
   ]
 }

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experiments/robotwin-native/kinex-3/episode.json

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+  "initialization": {
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+    "requested_seed": 0
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+  "planned_episodes": 1,
+  "reason": "success",
+  "simulation_time_s": 54.160000000000004,
+  "step_limit": 1700,
+  "steps": 1354,
+  "success": true,
+  "valid": true
+}

experiments/robotwin-native/kinex-3/evidence.tar.gz

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experiments/robotwin-native/kinex-3/instruction.json

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+{
+  "binding_paths": {},
+  "bindings": {},
+  "context": {},
+  "instruction": "use arms to grab the bottles and put them into the dustbin to the left of the table",
+  "native_instruction": "",
+  "policy": "original_native",
+  "prompt": "# Task: robotwin/put-bottles-dustbin-aloha-agilex\n\nuse arms to grab the bottles and put them into the dustbin to the left of the table\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 1700 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/put-bottles-dustbin-aloha-agilex\n\nuse arms to grab the bottles and put them into the dustbin to the left of the table\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 1700 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/put-bottles-dustbin-aloha-agilex",
+  "template": "use arms to grab the bottles and put them into the dustbin to the left of the table"
+}

experiments/robotwin-native/kinex-3/media.json

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+}

experiments/robotwin-native/kinex-3/policy-calls.json

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