Publish native LIBERO agent and VLA integration results

Three valid B0/B1/B2 episodes, paired native recordings, observable sessions, policy I/O, and evidence checksums. Single-task integration validation only.

.gitattributes

@@ -33,3 +33,12 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+data/b0/third_person.mp4 filter=lfs diff=lfs merge=lfs -text
+data/b0/wrist.mp4 filter=lfs diff=lfs merge=lfs -text
+data/b1/session-images/093-01.png filter=lfs diff=lfs merge=lfs -text
+data/b1/session-images/126-01.png filter=lfs diff=lfs merge=lfs -text
+data/b1/session-images/127-01.png filter=lfs diff=lfs merge=lfs -text
+data/b1/third_person.mp4 filter=lfs diff=lfs merge=lfs -text
+data/b1/wrist.mp4 filter=lfs diff=lfs merge=lfs -text
+data/b2/third_person.mp4 filter=lfs diff=lfs merge=lfs -text
+data/b2/wrist.mp4 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,10 +1,52 @@
 ---
-title: Programmable Vla
-emoji: 🐠
-colorFrom: green
-colorTo: yellow
+title: Programmable VLA
+emoji: 🦾
+colorFrom: yellow
+colorTo: green
 sdk: static
+app_file: index.html
 pinned: false
+short_description: Agent and VLA behavior, videos and execution traces
 ---
 
-Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference
+# Programmable VLA · experiment results
+
+Native robotics experiments with RLE-Bench, Kinex, rosbridge and StarVLA.
+
+The initial release contains **three valid LIBERO integration episodes** on
+`libero/libero-spatial-01`, seed 0, initial-state index 0:
+
+| Method | Native outcome | Control steps |
+| --- | --- | --- |
+| B0 · standalone frozen VLA | Success | 77 / 600 |
+| B1 · pure Kinex agent | Step limit | 600 / 600 |
+| B2 · Kinex + frozen VLA | Success | 79 / 600 |
+
+The native total-step limit is 605, including five initialization frames.
+There is no planner-decision cap. B1/B2 use GPT-6 sol with high reasoning effort.
+The policy is the original frozen StarVLA Qwen3-VL-4B OFT checkpoint at step 50000.
+No encoder, scientific training or progress monitor is involved.
+
+One task and one initial state per method support integration and behavior
+inspection, not a benchmark-level comparison. B2 delegates the full task in one
+accepted VLA call; this episode does not establish a planning benefit. Three
+engineering failures before task actions are excluded and recorded in the report.
+Earlier pilot experiments used a different protocol and are not pooled here.
+
+## Evidence
+
+The page provides both camera videos, observable agent sessions, VLA invocation
+arguments and returns, policy input images, predicted action chunks, and executed
+action CSVs. B1's joint commands are in its session; it has no OSC action rows.
+Video time follows simulation time at 20 Hz and excludes planner/inference pauses.
+Native success is a separate evaluator result; the VLA does not report semantic
+completion. Internal reasoning blocks, credentials, host-local paths and private
+simulator state are excluded. Session tool IDs are remapped to local identifiers.
+
+`data/report.json` is the machine-readable index. `data/manifest.json` records
+SHA-256 checksums of all other exported files. Each episode includes the hash of
+its retained native evidence archive.
+
+Future training runs are assigned to the W&B team `programmable_vla`, project
+`program_VLA`: https://forge.coreweave.com/wandb/programmable_vla
+This release contains evaluation evidence only.

app.js

@@ -0,0 +1,150 @@
+"use strict";
+
+function element(tag, className, text) {
+  const node = document.createElement(tag);
+  if (className) node.className = className;
+  if (text !== undefined) node.textContent = text;
+  return node;
+}
+function pre(value) { return element("pre", "", JSON.stringify(value, null, 2)); }
+function link(label, href) {
+  const node = element("a", "", label); node.href = href; return node;
+}
+function section(title, open = false) {
+  const node = element("details"); node.open = open;
+  node.append(element("summary", "", title)); return node;
+}
+async function json(path) {
+  const response = await fetch(path);
+  if (!response.ok) throw new Error(`Cannot load ${path} (${response.status})`);
+  return response.json();
+}
+function downloads(path, files) {
+  const box = element("div", "download-links");
+  files.forEach(([label, file]) => box.append(link(label, `${path}/${file}`)));
+  return box;
+}
+let selection = 0;
+async function inspect(episode, button) {
+  const request = ++selection;
+  const panel = document.querySelector("#inspection");
+  panel.hidden = false;
+  document.querySelectorAll(".inspect").forEach(b => b.setAttribute("aria-expanded", String(b === button)));
+  document.querySelector("#inspection-title").textContent = `${episode.method} · ${episode.label}`;
+  document.querySelector("#inspection-note").textContent = episode.observation;
+  const body = document.querySelector("#inspection-content");
+  body.replaceChildren(element("p", "", "Loading evidence…"));
+  panel.scrollIntoView({behavior: "auto", block: "start"});
+  try {
+    const detail = await json(`${episode.path}/detail.json`);
+    if (request !== selection) return;
+    body.replaceChildren();
+    const calls = section(`VLA calls · ${episode.vla_calls} accepted`, true);
+    if (!detail.calls.length) calls.append(element("p", "", "This agent uses native arm and gripper commands. Its commands are in the observable session below."));
+    for (const call of detail.calls) {
+      const grid = element("div", "io-grid");
+      for (const [name, value] of [["Invocation input", call.input], ["Executor return", call.output]]) {
+        const column = element("div"); column.append(element("h3", "", name), pre(value)); grid.append(column);
+      }
+      calls.append(grid);
+    }
+    if (detail.calls.length) calls.append(element("p", "caption", "Native success is judged separately by the evaluator. The executor does not provide a semantic completion signal."));
+    calls.append(downloads(episode.path, [["Invocation JSON", "vla-calls.json"]])); body.append(calls);
+    if (detail.policy_inputs.length) {
+      const policy = section("Policy observations & action chunks");
+      policy.append(element("p", "", "Two RGB views and language enter the frozen policy. It predicts an 8 × 7 action chunk; the executor may use only a prefix. The first six columns are OSC controller inputs, not meter displacements. The seventh is mapped to native gripper ±1."));
+      const view = element("div", "policy-view");
+      const label = element("label", "", "Policy step");
+      const select = element("select"); select.setAttribute("aria-label", `${episode.method} policy step`);
+      detail.policy_inputs.forEach((input, index) => {
+        const option = element("option", "", `${index + 1} / ${detail.policy_inputs.length} · control step ${input.control_step}`);
+        option.value = index; select.append(option);
+      });
+      const content = element("div");
+      function showInput() {
+        const index = Number(select.value), input = detail.policy_inputs[index];
+        const images = element("div", "image-pair");
+        input.images.forEach((src, number) => {
+          const img = element("img"); img.src = src;
+          img.alt = `${number === 0 ? "Agent view" : "Wrist view"}, control step ${input.control_step}`;
+          img.loading = "lazy"; images.append(img);
+        });
+        content.replaceChildren(element("p", "", input.instruction), images,
+          element("p", "caption", "Policy views after orientation transform, before resize to 224 × 224."),
+          pre(detail.policy_chunks[index]));
+      }
+      select.addEventListener("change", showInput); label.append(select); view.append(label, content); showInput();
+      policy.append(view, downloads(episode.path, [["Policy inputs", "policy-inputs.json"], ["Predicted chunks", "policy-chunks.json"], ["Executed actions · CSV", "executed-actions.csv"]]));
+      body.append(policy);
+    }
+    const session = section(`Observable agent session · ${episode.session_messages} messages · ${episode.tool_calls} tool calls`);
+    session.append(element("p", "caption", "Public text, tool arguments, returns and camera images. Internal reasoning blocks are omitted. Tool IDs are local aliases. Container paths in tool code describe the recorded execution environment."));
+    session.append(downloads(episode.path, [["Session JSON", "session.json"]]));
+    let loaded = false;
+    session.addEventListener("toggle", async () => {
+      if (!session.open || loaded) return;
+      loaded = true;
+      try {
+        const messages = await json(`${episode.path}/session.json`);
+        if (!messages.length) session.append(element("p", "", "B0 has no planner session. Its operator-supplied VLA invocation is shown above."));
+        messages.forEach((message, index) => {
+          const tools = message.content.filter(b => b.type === "toolCall").map(b => b.name);
+          const heading = `${String(index + 1).padStart(3, "0")} · ${message.role}${tools.length ? ` · ${tools.join(", ")}` : ""}${message.toolCallId ? ` · ${message.toolCallId}` : ""}`;
+          const entry = section(heading); entry.className = "session-message";
+          message.content.forEach(block => {
+            if (block.type === "image") {
+              const img = element("img"); img.src = block.src; img.alt = `Agent observation in message ${index + 1}`; img.loading = "lazy"; entry.append(img);
+            } else entry.append(block.type === "text" ? element("pre", "", block.text) : pre(block));
+          });
+          session.append(entry);
+        });
+      } catch (error) { loaded = false; session.append(element("p", "error", error.message)); }
+    }); body.append(session);
+    const provenance = section("Episode usage & evidence identity");
+    provenance.append(pre({usage: detail.usage, note: detail.usage_note, policy: detail.policy, evidence_archive_sha256: detail.evidence_archive_sha256}), downloads(episode.path, [["Episode metadata", "detail.json"], ["Third-person video", "third_person.mp4"], ["Wrist video", "wrist.mp4"]]));
+    body.append(provenance);
+  } catch (error) { if (request === selection) body.replaceChildren(element("p", "error", error.message)); }
+}
+function card(episode) {
+  const node = element("article", "episode"); node.dataset.method = episode.method;
+  const top = element("div", "card-top"), name = element("div");
+  name.append(element("span", "method", episode.method), element("h3", "", episode.label));
+  top.append(name, element("span", `badge${episode.success ? "" : " fail"}`, episode.success ? "Success" : "Step limit"));
+  const video = element("video"); video.controls = true; video.preload = "none"; video.playsInline = true;
+  video.poster = `${episode.path}/initial.png`; video.src = `${episode.path}/third_person.mp4`;
+  video.setAttribute("aria-label", `${episode.method} robot recording`);
+  const cameras = element("div", "camera-bar"), camera = element("select");
+  camera.setAttribute("aria-label", `${episode.method} camera`);
+  for (const [label, value] of [["Third-person camera", "third_person"], ["Wrist camera", "wrist"]]) {
+    const option = element("option", "", label); option.value = value; camera.append(option);
+  }
+  camera.addEventListener("change", () => { video.src = `${episode.path}/${camera.value}.mp4`; video.removeAttribute("poster"); video.load(); });
+  cameras.append(element("span", "", "RECORDED AT 20 Hz"), camera);
+  const metrics = element("dl", "metrics");
+  for (const [label, value, suffix] of [["Control steps", episode.control_steps, "/ 600"], ["Episode wall", episode.wall_time_sec.toFixed(1), "s"], ["LLM responses", episode.model_responses, ""], ["VLA calls", episode.vla_calls, "accepted"]]) {
+    const item = element("div"), dd = element("dd", "", `${value} `);
+    if (suffix) dd.append(element("small", "", suffix)); item.append(element("dt", "", label), dd); metrics.append(item);
+  }
+  const button = element("button", "inspect"); button.type = "button";
+  button.setAttribute("aria-expanded", "false"); button.setAttribute("aria-controls", "inspection");
+  button.append(element("span", "", "Inspect calls & behavior"), element("span", "", "↗"));
+  button.addEventListener("click", () => inspect(episode, button));
+  node.append(top, video, cameras, metrics, button); return node;
+}
+document.querySelector("#close-inspection").addEventListener("click", () => {
+  selection++;
+  document.querySelector("#inspection").hidden = true;
+  const current = document.querySelector('.inspect[aria-expanded="true"]');
+  if (current) { current.setAttribute("aria-expanded", "false"); current.focus(); }
+});
+async function main() {
+  const report = await json("data/report.json");
+  document.querySelector("#instruction").textContent = report.instruction;
+  document.querySelector("#scope").textContent = report.scope;
+  report.episodes.forEach(episode => document.querySelector("#episodes").append(card(episode)));
+  const protocol = document.querySelector("#protocol-content");
+  protocol.append(element("p", "", "RLE-Bench owns job execution and native judgment; Kinex owns the agent; rosbridge owns simulator access; StarVLA supplies the pretrained policy. The three episodes have equal initial camera images and joint states. B0 and B2 also have equal first policy observations."), pre(report.protocol), element("p", "", `${report.excluded_engineering_attempts.count} excluded engineering attempts. ${report.excluded_engineering_attempts.reason}`));
+  report.export_notes.forEach(note => protocol.append(element("p", "", note)));
+  protocol.append(downloads("data", [["Full result JSON", "report.json"], ["SHA-256 file manifest", "manifest.json"]]));
+}
+main().catch(error => { document.querySelector("#episodes").append(element("p", "error", error.message)); });

data/b0/detail.json

@@ -0,0 +1,1016 @@
+{
+  "calls": [
+    {
+      "input": {
+        "wall_time_ns": 1793160089865480594,
+        "control_step": 0,
+        "sim_time_s": 0.0,
+        "event": "invocation_started",
+        "invocation_id": "canonical_000",
+        "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate",
+        "max_control_steps": 600,
+        "timeout_wall_s": 900,
+        "target": null,
+        "schema_version": "programvla.invocation.v1"
+      },
+      "output": {
+        "wall_time_ns": 1793160104267332810,
+        "control_step": 77,
+        "sim_time_s": 3.8499999999997705,
+        "event": "invocation_finished",
+        "invocation_id": "canonical_000",
+        "reason": "episode_ended",
+        "control_steps": 77,
+        "policy_chunks": 10,
+        "wall_s": 14.401903199031949,
+        "semantic_completion": "unavailable"
+      }
+    }
+  ],
+  "policy_inputs": [
+    {
+      "wall_time_ns": 1793160091208326593,
+      "control_step": 0,
+      "sim_time_s": 0.0,
+      "event": "policy_input",
+      "invocation_id": "canonical_000",
+      "images": [
+        "data/b0/observations/call_canonical_000_step_00000_view0.png",
+        "data/b0/observations/call_canonical_000_step_00000_view1.png"
+      ],
+      "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate",
+      "target": null
+    },
+    {
+      "wall_time_ns": 1793160097605039860,
+      "control_step": 8,
+      "sim_time_s": 0.4000000000000003,
+      "event": "policy_input",
+      "invocation_id": "canonical_000",
+      "images": [
+        "data/b0/observations/call_canonical_000_step_00008_view0.png",
+        "data/b0/observations/call_canonical_000_step_00008_view1.png"
+      ],
+      "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate",
+      "target": null
+    },
+    {
+      "wall_time_ns": 1793160098431126549,
+      "control_step": 16,
+      "sim_time_s": 0.8000000000000005,
+      "event": "policy_input",
+      "invocation_id": "canonical_000",
+      "images": [
+        "data/b0/observations/call_canonical_000_step_00016_view0.png",
+        "data/b0/observations/call_canonical_000_step_00016_view1.png"
+      ],
+      "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate",
+      "target": null
+    },
+    {
+      "wall_time_ns": 1793160099280733443,
+      "control_step": 24,
+      "sim_time_s": 1.2000000000000008,
+      "event": "policy_input",
+      "invocation_id": "canonical_000",
+      "images": [
+        "data/b0/observations/call_canonical_000_step_00024_view0.png",
+        "data/b0/observations/call_canonical_000_step_00024_view1.png"
+      ],
+      "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate",
+      "target": null
+    },
+    {
+      "wall_time_ns": 1793160100256502165,
+      "control_step": 32,
+      "sim_time_s": 1.6000000000000012,
+      "event": "policy_input",
+      "invocation_id": "canonical_000",
+      "images": [
+        "data/b0/observations/call_canonical_000_step_00032_view0.png",
+        "data/b0/observations/call_canonical_000_step_00032_view1.png"
+      ],
+      "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate",
+      "target": null
+    },
+    {
+      "wall_time_ns": 1793160101017209323,
+      "control_step": 40,
+      "sim_time_s": 1.9999999999999736,
+      "event": "policy_input",
+      "invocation_id": "canonical_000",
+      "images": [
+        "data/b0/observations/call_canonical_000_step_00040_view0.png",
+        "data/b0/observations/call_canonical_000_step_00040_view1.png"
+      ],
+      "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate",
+      "target": null
+    },
+    {
+      "wall_time_ns": 1793160101800692055,
+      "control_step": 48,
+      "sim_time_s": 2.3999999999999297,
+      "event": "policy_input",
+      "invocation_id": "canonical_000",
+      "images": [
+        "data/b0/observations/call_canonical_000_step_00048_view0.png",
+        "data/b0/observations/call_canonical_000_step_00048_view1.png"
+      ],
+      "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate",
+      "target": null
+    },
+    {
+      "wall_time_ns": 1793160102455852486,
+      "control_step": 56,
+      "sim_time_s": 2.7999999999998857,
+      "event": "policy_input",
+      "invocation_id": "canonical_000",
+      "images": [
+        "data/b0/observations/call_canonical_000_step_00056_view0.png",
+        "data/b0/observations/call_canonical_000_step_00056_view1.png"
+      ],
+      "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate",
+      "target": null
+    },
+    {
+      "wall_time_ns": 1793160103115668271,
+      "control_step": 64,
+      "sim_time_s": 3.1999999999998416,
+      "event": "policy_input",
+      "invocation_id": "canonical_000",
+      "images": [
+        "data/b0/observations/call_canonical_000_step_00064_view0.png",
+        "data/b0/observations/call_canonical_000_step_00064_view1.png"
+      ],
+      "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate",
+      "target": null
+    },
+    {
+      "wall_time_ns": 1793160103950707903,
+      "control_step": 72,
+      "sim_time_s": 3.5999999999997976,
+      "event": "policy_input",
+      "invocation_id": "canonical_000",
+      "images": [
+        "data/b0/observations/call_canonical_000_step_00072_view0.png",
+        "data/b0/observations/call_canonical_000_step_00072_view1.png"
+      ],
+      "instruction": "Pick the akita black bowl between the plate and the ramekin and place it in the center of the plate",
+      "target": null
+    }
+  ],
+  "policy_chunks": [
+    {
+      "wall_time_ns": 1793160091208731131,
+      "control_step": 0,
+      "sim_time_s": 0.0,
+      "event": "policy_chunk",
+      "invocation_id": "canonical_000",
+      "chunk_index": 0,
+      "actions": [
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+      "sim_time_s": 0.4000000000000003,
+      "event": "policy_chunk",
+      "invocation_id": "canonical_000",
+      "chunk_index": 1,
+      "actions": [
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+          -0.02440039813518524,
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+  "usage_note": "Provider cost is unavailable for B1/B2. B0 has no planner calls; GPU inference cost is not measured for any method.",
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data/b0/executed-actions.csv

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data/b0/policy-chunks.json

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data/b0/session.json

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data/b0/vla-calls.json

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data/b1/detail.json

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data/b1/executed-actions.csv

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data/b1/policy-chunks.json

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data/b1/policy-inputs.json

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