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liqiang
2026-08-20 13:12:50 +00:00
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chapter6/rgb-sim2real-grasping/validation/host_execution_2026-07-29.json
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"kind": "reference_and_blocker_audit_not_acceptance",
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"runtime": {
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"mani_skill_importable": false,
"nvidia_smi": null,
"apple_mps_available": true,
"upstream_training_backend": "CUDA (the pinned PPO implementation sets device cuda when available and the documented setup requires NVIDIA >=8GB)"
},
"stages": {
"1": {
"name": "environment_alignment",
"robot_actuation_required": true,
"reference_asset_verified": {
"path": "docs/assets/camera_alignment_step_1.2.png",
"sha256": "195d35f2f944345db9d21215d7bbf1745370605c20959cff315293ebcd58415c",
"width": 1260,
"height": 1260,
"channels": 3,
"mean_rgb": [
144.2132,
117.0811,
103.9883
],
"pixel_stddev": 33.3767
},
"local_upstream_invocation": {
"command": [
"/Users/boj/miniconda3/bin/python",
"/tmp/lerobot-sim2real-audit-20260729/lerobot_sim2real/scripts/camera_alignment.py",
"--help"
],
"return_code": 1,
"timed_out": false,
"output": "Traceback (most recent call last):\n File \"/tmp/lerobot-sim2real-audit-20260729/lerobot_sim2real/scripts/camera_alignment.py\", line 7, in <module>\n from mani_skill.utils.wrappers.flatten import FlattenRGBDObservationWrapper\nModuleNotFoundError: No module named 'mani_skill'\n"
},
"complete": false,
"blocker": "No authorized/calibrated SO-100 camera run or ManiSkill runtime. The pinned script connects the robot and calls real_env.reset(), so only --help was probed; the verified image is upstream reference evidence, not this host's alignment."
},
"2": {
"name": "background_replacement",
"robot_actuation_required": false,
"reference_asset_verified": {
"path": "docs/assets/camera_alignment_step_1.3.png",
"sha256": "f8e79ebf6f727dc703d091978af60b04563b8eb37ee4360df14809dd36c75503",
"width": 1260,
"height": 1260,
"channels": 3,
"mean_rgb": [
113.6085,
114.9122,
112.5164
],
"pixel_stddev": 57.1852
},
"local_upstream_invocation": {
"command": [
"/Users/boj/miniconda3/bin/python",
"/tmp/lerobot-sim2real-audit-20260729/lerobot_sim2real/scripts/capture_background_image.py",
"--help"
],
"return_code": 1,
"timed_out": false,
"output": "Traceback (most recent call last):\n File \"/tmp/lerobot-sim2real-audit-20260729/lerobot_sim2real/scripts/capture_background_image.py\", line 3, in <module>\n from mani_skill.utils.wrappers.flatten import FlattenRGBDObservationWrapper\nModuleNotFoundError: No module named 'mani_skill'\n"
},
"complete": false,
"blocker": "No local empty-scene background capture or ManiSkill runtime; the verified composite is upstream reference evidence, not a local composite."
},
"3": {
"name": "domain_randomization_and_real_dynamics_calibration",
"robot_actuation_required": false,
"real_dynamics_measurement": {
"path": "system_id_so100.npy",
"sha256": "4ca6cc4cd5c26540685d54e2cd2babde2204d0d3f369a63b5e817b1e7cf381db",
"source": "real SO-100 system-identification capture committed by the pinned upstream",
"samples": 139,
"joints": 6,
"qpos_dtype": "float32",
"target_qpos_dtype": "float32",
"mean_absolute_tracking_error_by_joint": [
0.09687472,
0.13199401,
0.14799425,
0.0692635,
0.11893595,
0.0782366
],
"max_absolute_tracking_error_by_joint": [
0.18611592,
0.23677669,
0.22161102,
0.18297092,
0.18330097,
0.19700873
],
"best_tracking_lag_samples_by_joint": [
3,
4,
4,
4,
3,
3
],
"sample_period_seconds": null,
"note": "The upstream artifact contains no timestamps, so lag is reported in samples and is not converted to milliseconds."
},
"local_upstream_invocation": {
"command": [
"/Users/boj/miniconda3/bin/python",
"/tmp/lerobot-sim2real-audit-20260729/lerobot_sim2real/scripts/record_reset_distribution.py",
"--help"
],
"return_code": 1,
"timed_out": false,
"output": "Traceback (most recent call last):\n File \"/tmp/lerobot-sim2real-audit-20260729/lerobot_sim2real/scripts/record_reset_distribution.py\", line 5, in <module>\n from mani_skill.utils.wrappers.record import RecordEpisode\nModuleNotFoundError: No module named 'mani_skill'\n"
},
"complete": false,
"blocker": "Pinned real dynamics were measured, but randomized ManiSkill resets could not execute without ManiSkill/NVIDIA and the required visual/physical ranges were not locally evaluated."
},
"4": {
"name": "rgb_only_ppo_training_and_evaluation",
"robot_actuation_required": false,
"local_upstream_invocation": {
"command": [
"/Users/boj/miniconda3/bin/python",
"/tmp/lerobot-sim2real-audit-20260729/lerobot_sim2real/scripts/train_ppo_rgb.py",
"--help"
],
"return_code": 1,
"timed_out": false,
"output": "Traceback (most recent call last):\n File \"/tmp/lerobot-sim2real-audit-20260729/lerobot_sim2real/scripts/train_ppo_rgb.py\", line 6, in <module>\n import tyro\nModuleNotFoundError: No module named 'tyro'\n"
},
"complete": false,
"simulation_success_rate": null,
"blocker": "No importable ManiSkill or NVIDIA CUDA runtime; no PPO checkpoint or >90% direct evaluation exists on this host. Apple MPS is not a proven substitute for this pinned CUDA path."
},
"5": {
"name": "zero_shot_real_world_deployment",
"robot_actuation_required": true,
"complete": false,
"blocker": "No SO-100, authorized operator, calibrated workspace, E-stop, observer, or stage-4 checkpoint; no actuation was attempted."
}
},
"actuation_attempted": false
}