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227 lines
9.0 KiB
JSON
227 lines
9.0 KiB
JSON
{
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"schema_version": "1.0",
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"experiment_id": "6-13",
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"kind": "reference_and_blocker_audit_not_acceptance",
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"generated_at": "2026-07-29T15:35:16.622749+00:00",
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"host": {
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"node": "bojMacBook-Pro.local",
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"platform": "macOS-26.3-arm64-arm-64bit",
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"machine": "arm64"
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},
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"source_integrity": {
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"files": [
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{
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{
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{
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"passed": true
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"expected_blob": "af900d1e247349b61b707b4a63d30e0d297c9ea9",
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"passed": true
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}
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]
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},
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"runtime": {
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"python": "3.11.4",
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"mani_skill_importable": false,
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"nvidia_smi": null,
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"apple_mps_available": true,
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"upstream_training_backend": "CUDA (the pinned PPO implementation sets device cuda when available and the documented setup requires NVIDIA >=8GB)"
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},
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"stages": {
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"1": {
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"name": "environment_alignment",
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"robot_actuation_required": true,
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"reference_asset_verified": {
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"path": "docs/assets/camera_alignment_step_1.2.png",
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"sha256": "195d35f2f944345db9d21215d7bbf1745370605c20959cff315293ebcd58415c",
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"width": 1260,
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"height": 1260,
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"channels": 3,
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"mean_rgb": [
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144.2132,
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117.0811,
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103.9883
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],
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"pixel_stddev": 33.3767
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},
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"local_upstream_invocation": {
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"command": [
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"/Users/boj/miniconda3/bin/python",
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"/tmp/lerobot-sim2real-audit-20260729/lerobot_sim2real/scripts/camera_alignment.py",
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"--help"
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],
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"return_code": 1,
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"timed_out": false,
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"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"
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},
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"complete": false,
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"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."
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},
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"2": {
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"name": "background_replacement",
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"robot_actuation_required": false,
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"reference_asset_verified": {
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"path": "docs/assets/camera_alignment_step_1.3.png",
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"sha256": "f8e79ebf6f727dc703d091978af60b04563b8eb37ee4360df14809dd36c75503",
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"width": 1260,
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"height": 1260,
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"channels": 3,
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"mean_rgb": [
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113.6085,
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114.9122,
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112.5164
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],
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"pixel_stddev": 57.1852
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},
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"local_upstream_invocation": {
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"command": [
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"/Users/boj/miniconda3/bin/python",
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"/tmp/lerobot-sim2real-audit-20260729/lerobot_sim2real/scripts/capture_background_image.py",
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"--help"
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],
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"return_code": 1,
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"timed_out": false,
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"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"
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},
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"complete": false,
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"blocker": "No local empty-scene background capture or ManiSkill runtime; the verified composite is upstream reference evidence, not a local composite."
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},
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"3": {
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"name": "domain_randomization_and_real_dynamics_calibration",
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"robot_actuation_required": false,
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"real_dynamics_measurement": {
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"path": "system_id_so100.npy",
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"sha256": "4ca6cc4cd5c26540685d54e2cd2babde2204d0d3f369a63b5e817b1e7cf381db",
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"source": "real SO-100 system-identification capture committed by the pinned upstream",
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"samples": 139,
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"joints": 6,
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"qpos_dtype": "float32",
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"target_qpos_dtype": "float32",
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"mean_absolute_tracking_error_by_joint": [
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0.09687472,
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0.13199401,
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0.14799425,
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0.0692635,
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0.11893595,
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0.0782366
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],
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"max_absolute_tracking_error_by_joint": [
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0.18611592,
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0.23677669,
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0.22161102,
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0.18297092,
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0.18330097,
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0.19700873
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],
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"best_tracking_lag_samples_by_joint": [
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3,
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4,
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4,
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4,
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3,
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3
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],
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"sample_period_seconds": null,
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"note": "The upstream artifact contains no timestamps, so lag is reported in samples and is not converted to milliseconds."
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},
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"local_upstream_invocation": {
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"command": [
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"/Users/boj/miniconda3/bin/python",
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"/tmp/lerobot-sim2real-audit-20260729/lerobot_sim2real/scripts/record_reset_distribution.py",
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"--help"
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],
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"return_code": 1,
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"timed_out": false,
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"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"
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},
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"complete": false,
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"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."
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},
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"4": {
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"name": "rgb_only_ppo_training_and_evaluation",
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"robot_actuation_required": false,
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"local_upstream_invocation": {
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"command": [
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"/Users/boj/miniconda3/bin/python",
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"/tmp/lerobot-sim2real-audit-20260729/lerobot_sim2real/scripts/train_ppo_rgb.py",
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"--help"
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],
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"return_code": 1,
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"timed_out": false,
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"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"
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},
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"complete": false,
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"simulation_success_rate": null,
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"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."
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},
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"5": {
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"name": "zero_shot_real_world_deployment",
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"robot_actuation_required": true,
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"complete": false,
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"blocker": "No SO-100, authorized operator, calibrated workspace, E-stop, observer, or stage-4 checkpoint; no actuation was attempted."
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}
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},
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"actuation_attempted": false
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}
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