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"median": 0.03151780809275806, "q95": 0.03238708178978413, "max": 0.03250600676983595 }, "object_motion": { "locomanip_target_zone": { "max_precommand_displacement_m": 0.0, "max_precommand_z_change_m": 0.0 } }, "initial_state": { "root_position": [ 0.0, 0.0, -0.014999978244304657 ], "root_quaternion_wxyz": [ 1.0, 0.0, 0.0, 0.0 ], "root_linear_velocity": [ 0.0, 0.0, 0.0 ], "root_angular_velocity": [ 0.0, 0.0, 0.0 ], "joint_position": [ -0.10000000149011612, -0.10000000149011612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.30000001192092896, 0.30000001192092896, 0.0, 0.0, -0.20000000298023224, -0.20000000298023224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "joint_velocity": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "joint_names": [ "left_hip_pitch_joint", "right_hip_pitch_joint", "waist_yaw_joint", "left_hip_roll_joint", "right_hip_roll_joint", "waist_roll_joint", "left_hip_yaw_joint", "right_hip_yaw_joint", "waist_pitch_joint", "left_knee_joint", "right_knee_joint", "left_shoulder_pitch_joint", "right_shoulder_pitch_joint", "left_ankle_pitch_joint", "right_ankle_pitch_joint", "left_shoulder_roll_joint", "right_shoulder_roll_joint", "left_ankle_roll_joint", "right_ankle_roll_joint", "left_shoulder_yaw_joint", "right_shoulder_yaw_joint", "left_elbow_joint", "right_elbow_joint", "left_wrist_roll_joint", "right_wrist_roll_joint", "left_wrist_pitch_joint", "right_wrist_pitch_joint", "left_wrist_yaw_joint", "right_wrist_yaw_joint", "left_hand_index_0_joint", "left_hand_middle_0_joint", "left_hand_thumb_0_joint", "right_hand_index_0_joint", "right_hand_middle_0_joint", "right_hand_thumb_0_joint", "left_hand_index_1_joint", "left_hand_middle_1_joint", "left_hand_thumb_1_joint", "right_hand_index_1_joint", "right_hand_middle_1_joint", "right_hand_thumb_1_joint", "left_hand_thumb_2_joint", "right_hand_thumb_2_joint" ], "object_names": [ "locomanip_target_zone" ], "object_positions": [ [ 4.305593967437744, 0.06320536136627197, -0.800000011920929 ] ], "object_quaternions": [ [ 0.9999824166297913, 0.0, 0.0, -0.005934017710387707 ] ], "object_linear_velocity": [ [ 0.0, 0.0, 0.0 ] ], "object_angular_velocity": [ [ 0.0, 0.0, 0.0 ] ], "root_quaternion": [ 1.0, 0.0, 0.0, 0.0 ], "articulated": { "locomanip_mobile_cart": { "root_position": [ 1.3081153631210327, -0.0075826519168913364, -0.8000006079673767 ], "root_quaternion_wxyz": [ 0.722885251045227, 2.9103830456733704e-11, 2.7921487344428897e-10, -0.6909683346748352 ], "joint_position": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "joint_velocity": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "joint_names": [ "sm_mobileshelvingcart_a01_backjointwheelleft_01_swivel_joint", "sm_mobileshelvingcart_a01_backjointwheelright_01_swivel_joint", "sm_mobileshelvingcart_a01_frontjointwheelright_01_swivel_joint", "sm_mobileshelvingcart_a01_frontjointwheelleft_01_swivel_joint", "sm_mobileshelvingcart_a01_backwheelleft_joint", "sm_mobileshelvingcart_a01_backwheelright_joint", "sm_mobileshelvingcart_a01_frontwheelright_joint", "sm_mobileshelvingcart_a01_frontwheelleft_joint" ], "root_linear_velocity": [ 0.0, 0.0, 0.0 ], "root_angular_velocity": [ 0.0, 0.0, 0.0 ] } }, "articulated_joint_names": { "locomanip_mobile_cart": [ "sm_mobileshelvingcart_a01_backjointwheelleft_01_swivel_joint", "sm_mobileshelvingcart_a01_backjointwheelright_01_swivel_joint", "sm_mobileshelvingcart_a01_frontjointwheelright_01_swivel_joint", "sm_mobileshelvingcart_a01_frontjointwheelleft_01_swivel_joint", "sm_mobileshelvingcart_a01_backwheelleft_joint", "sm_mobileshelvingcart_a01_backwheelright_joint", "sm_mobileshelvingcart_a01_frontwheelright_joint", "sm_mobileshelvingcart_a01_frontwheelleft_joint" ] } }, "head_camera_config": { "class": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/Robot/head_link/RobotHeadCam", "width": 640, "height": 480, "offset": { "pos": [ 0.085, 0.0, 0.53 ], "rot": [ -0.6272113751, 0.6272113751, -0.3265055756, 0.3265055756 ], "convention": "ros" }, "focal_length": 15.0, "horizontal_aperture": 68.1801863678004, "clipping_range": [ 0.1, 50.0 ] }, "kinematics_source": { "asset_sha256": "c2f363dd19e72c11db5f01818d110932d1834970fbabc7395f4ff71b8774cf3e", "asset_uri": "https://huggingface.co/datasets/nvidia/G1-Factory/resolve/e005c6be4e8b5522c7efe1040764b97df7fcdc38/g1_robot/g1_29dof_with_hand_rev_1_0.usd", "root_link": "pelvis", "quaternion_convention": "wxyz", "format": "g1_usd_kinematics_json" }, "late_camera_background_diagnostic_steps": [], "camera_streaming_busy_query_steps": [], "late_camera_flags_exclude_outcomes": false, "evidence_sha256": { "job.json": "f14f4ff6685293e8ec54fa894c8726bd2fc5394e1591b79e06e0ee25851d7ed2", "job_result.json": "55049d4ea3d096a8045575ca516d4a6ca98867f5374a7de9171ddab08bd19fbd", "execution_audit.json": "f25134ce41edb760fdcb0e823146d2e361a2b2c1971066b34d71e0e84d62d172", "initial_observation.npz": "6302a49bc58a0ecc6aec0d59075ac04a691e41def5701017f9e3bc4486405a11" } } ], "protocol_interpretation": [ "10 matched reset seeds per task is a small engineering sample; not an exact reproduction of published100-episode figures.", "Expert trained on all900public demonstrations plus foundation pretraining; ACT810train90calibration uses taskID and smaller images. Not a controlled causal architecture comparison.", "Synchronous inference pauses simulation; no asynchronous latency-hiding, Jetson orWAN claim.", "Unknown policy disagreement between queries remains unknown, not zero.", "No threshold tuning on final evaluation outcomes.", "Native success may use geometric or hand-position proxies rather than physical grasp contact; report native predicate names and visual evidence." ], "limitations": [ "Current-checkpoint engineering comparison, not causal evidence of architecture superiority. GR00T foundation pretraining and task training differ from ACT; ACT has catalog task IDs and smaller images.", "The 90 reserved demonstrations serve both checkpoint selection and router calibration. They are not an untouched validation set. Calibration is empirical, not a safety guarantee.", "Ten randomized reset seeds per task are a small sample. Results are not a reproduction of the published 100-episode-per-task figures.", "Native success predicates include geometric and finger-position proxies. Native success alone does not prove secure physical grasp or collision-free execution.", "The primary comparison uses complete triples with matching measured initial robot, rigid object and articulation states. Infrastructure failures and missing jobs never count as task failures.", "Wilson intervals are descriptive binomial reference intervals; they do not cover scene or domain uncertainty. Overall rates weight the nine tasks equally only when every task is complete.", "Expert RNG is isolated per episode. Render and physics feedback are not claimed bitwise deterministic; even two GR00T-only executions can diverge.", "Action disagreement compares predicted trajectories only on queried chunks. It is not oracle error, and unqueried disagreement remains unknown.", "This is an empirical action-space router. Preserved expert action distributions and a formal task-safety bound are not established.", "Inference uses synchronous loopback RPC while simulation waits. No asynchronous latency hiding, WAN, Jetson, or real-time deployment claim is made.", "Video and object trajectory frames precede commands; native terminal predicates follow the final command. Unrecorded post-terminal states are not reconstructed.", "Known upright reset images must pass camera readiness before any learned action. Later dark-image or streaming flags remain diagnostics and do not censor physical occlusion or fall outcomes.", "If approved logging-only runtime revisions are combined, wall-time statistics are separated by exact runtime SHA. Task outcomes, simulation clocks and switching counts retain their original per-run evidence." ] }