{ "schema_version": "1.0", "experiment_id": "9-10", "kind": "reference_and_blocker_audit_not_acceptance", "generated_at": "2026-07-29T15:35:16.622749+00:00", "host": { "node": "bojMacBook-Pro.local", "platform": "macOS-26.3-arm64-arm-64bit", "machine": "arm64" }, "source_integrity": { "head": "87d6c1d969f6e0ca4dc5697940804e231118a63a", "expected_head": "87d6c1d969f6e0ca4dc5697940804e231118a63a", "passed": true, "files": [ { "path": "docs/zero_shot_rgb_sim2real.md", "expected_blob": "844d113a726d7c3c8494700496591a2604f742e0", "found_blob": "844d113a726d7c3c8494700496591a2604f742e0", "passed": true }, { "path": "docs/assets/camera_alignment_step_1.2.png", "expected_blob": "688f0089c4a99bb2f608a805cbbb9fd96fb80830", "found_blob": "688f0089c4a99bb2f608a805cbbb9fd96fb80830", "passed": true }, { "path": "docs/assets/camera_alignment_step_1.3.png", "expected_blob": "20943d0a0eff5b64afaafb04dab3522791e3bcf2", "found_blob": "20943d0a0eff5b64afaafb04dab3522791e3bcf2", "passed": true }, { "path": "docs/assets/eval_return_success_curves.png", "expected_blob": "7185d982e165081ec0ad5ded4eb21dc9f172bac9", "found_blob": "7185d982e165081ec0ad5ded4eb21dc9f172bac9", "passed": true }, { "path": "docs/assets/tutorial_result_video.mp4", "expected_blob": "d15f57adfd8b889ed8bb4d44d073f0cf7ba96c4a", "found_blob": "d15f57adfd8b889ed8bb4d44d073f0cf7ba96c4a", "passed": true }, { "path": "env_config.json", "expected_blob": "e32727956fc9dbf64336b53b77bc1a6044e2f5ef", "found_blob": "e32727956fc9dbf64336b53b77bc1a6044e2f5ef", "passed": true }, { "path": "system_id_so100.npy", "expected_blob": "047b0110496f15f3a78a41b59c9f041cbbbbfd91", "found_blob": "047b0110496f15f3a78a41b59c9f041cbbbbfd91", "passed": true }, { "path": "lerobot_sim2real/scripts/record_reset_distribution.py", "expected_blob": "ff20e1c3ea34b6d75f646c325f6fe49e1d83903c", "found_blob": "ff20e1c3ea34b6d75f646c325f6fe49e1d83903c", "passed": true }, { "path": "lerobot_sim2real/scripts/camera_alignment.py", "expected_blob": "5d7a323075e43ba5c0a24bd2ce6c910f89e4a9c6", "found_blob": "5d7a323075e43ba5c0a24bd2ce6c910f89e4a9c6", "passed": true }, { "path": "lerobot_sim2real/scripts/capture_background_image.py", "expected_blob": "f30d97cd7ead0cdfe9b38ea6c9523a5f38b404aa", "found_blob": "f30d97cd7ead0cdfe9b38ea6c9523a5f38b404aa", "passed": true }, { "path": "lerobot_sim2real/scripts/train_ppo_rgb.py", "expected_blob": "af900d1e247349b61b707b4a63d30e0d297c9ea9", "found_blob": "af900d1e247349b61b707b4a63d30e0d297c9ea9", "passed": true } ] }, "runtime": { "python": "3.11.4", "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 \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 \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 \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 \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 }