G1 Factory · observation integrity review

Comparative outcomes suspended. Policy-camera capture defect detected: four recorded attempts have near-uniform dark first policy inputs despite matched physical reset states and clearly visible scenes in their GR00T-only counterparts. Native outcomes from those attempts are infrastructure-invalid, not policy failures. Comparative counts are suspended pending corrected capture and revalidation.
13 / 270 trials validated; 3 fully matched task/seed triples. All 270 prespecified trials remain visible. Pending jobs are unknown, never failures. Pilot seed 42 is excluded.

Historical native flags · not valid comparative rates

The per-task denominators below include only measured initial-state matches across all three policies. Aggregate differences are descriptive for this finite set, with different prior training and data exposure.

TaskACTGR00TAdaptive
LMBoxLift1 / 1
0 expert requests · 0 switches		1 / 1
7 expert requests · 0 switches		1 / 1
7 expert requests · 1 switches
LMBoxLiftFloor0 / 1
0 expert requests · 0 switches		1 / 1
12 expert requests · 0 switches		0 / 1
25 expert requests · 0 switches
LMBoxTableToShelfPnPUnknown
0 expert requests · 0 switches		Unknown
0 expert requests · 0 switches		Unknown
0 expert requests · 0 switches
LMDrillLift0 / 1
0 expert requests · 0 switches		1 / 1
9 expert requests · 0 switches		0 / 1
25 expert requests · 0 switches
LMDrillLiftObsUnknown
0 expert requests · 0 switches		Unknown
0 expert requests · 0 switches		Unknown
0 expert requests · 0 switches
LMDrillPnPUnknown
0 expert requests · 0 switches		Unknown
0 expert requests · 0 switches		Unknown
0 expert requests · 0 switches
LMPickDrillFromHolderUnknown
0 expert requests · 0 switches		Unknown
0 expert requests · 0 switches		Unknown
0 expert requests · 0 switches
LMPushButtonUnknown
0 expert requests · 0 switches		Unknown
0 expert requests · 0 switches		Unknown
0 expert requests · 0 switches
LMPushShelfForwardUnknown
0 expert requests · 0 switches		Unknown
0 expert requests · 0 switches		Unknown
0 expert requests · 0 switches
Routing on matched triples: 1 actual switches; ACT selected 16/2,256 steps (0.7%); 57/57 adaptive decisions queried GR00T. Initial assignments are excluded. 2 matched cases differ in outcome even though adaptive executed only GR00T; those differences cannot be attributed to switching. Success differences alone do not establish a routing benefit.

LMBoxLift

Walk to the table and pick up the box

Native success: Object root world Z >0.18m and at least one finger link within0.2m.
Interpretation: Absolute world root height plus finger proximity; no secure-contact or dwell requirement.

Matched resetACTGR00TAdaptive
Seed 1000
Initial states matched		Success · replay
268 steps · 0 expert queries · 0 switches		Success · replay
250 steps · 7 expert queries · 0 switches		Success · replay
256 steps · 7 expert queries · 1 switches
Seed 1001
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1002
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1003
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1004
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1005
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1006
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1007
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1008
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1009
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted

LMBoxLiftFloor

Walk to the box and pick it up from the floor

Native success: Object root world Z >−0.5m, local-Z/world-up dot ≥0.9, and at least one finger within0.6m.
Interpretation: Absolute root height and orientation; the0.6m finger proximity allowance is a broad proxy.

Matched resetACTGR00TAdaptive
Seed 1000
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
465 steps · 12 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches
Seed 1001
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1002
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1003
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1004
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1005
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1006
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1007
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1008
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1009
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted

LMBoxTableToShelfPnP

Move the box from the table to the shelf

Native success: Object/destination root separation per axis <[0.16,0.14,0.9227]m, object static, every finger >0.1m away, and destination contact >0.95N.
Interpretation: World-axis root proximity and destination contact; static permits speed up to0.15m/s and0.15rad/s.

Matched resetACTGR00TAdaptive
Seed 1000
Pairing pending		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
492 steps · 13 expert queries · 0 switches		Pending
No task outcome counted
Seed 1001
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1002
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1003
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1004
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1005
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1006
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1007
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1008
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1009
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted

LMDrillLift

Walk to the table and pick up the power drill

Native success: Drill root world Z >0.16m and approximate grasp predicate.
Interpretation: Grasp is approximated by finger proximity and joint closure, without required object-hand contact.

Matched resetACTGR00TAdaptive
Seed 1000
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
337 steps · 9 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches
Seed 1001
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1002
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1003
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1004
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1005
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1006
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1007
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1008
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1009
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted

LMDrillLiftObs

Navigate around the shelf and pick up the power drill from the table

Native success: Drill root world Z >0.16m and approximate grasp predicate. Success does not explicitly require obstacle avoidance.
Interpretation: Approximate grasp; success does not explicitly test that the robot avoided colliding with the obstacle.

Matched resetACTGR00TAdaptive
Seed 1000
Pairing pending		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
511 steps · 13 expert queries · 0 switches		Pending
No task outcome counted
Seed 1001
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1002
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1003
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1004
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1005
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1006
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1007
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1008
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1009
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted

LMDrillPnP

Move the power drill from one table to another

Native success: Drill/destination-table root separation <[0.3,0.27,0.81]m, static, local-Z/world-up dot ≥0.8, and every finger >0.1m away. No contact term.
Interpretation: Root proximity, orientation and static test; no destination contact term.

Matched resetACTGR00TAdaptive
Seed 1000
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1001
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1002
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1003
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1004
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1005
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1006
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1007
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1008
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1009
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted

LMPickDrillFromHolder

Pick up the power drill from the holder

Native success: Drill root world Z >0.13m, approximate grasp, and holder contact is not above0.95N.
Interpretation: Approximate hand grasp plus no holder contact; removing the drill is not a secure-grasp guarantee.

Matched resetACTGR00TAdaptive
Seed 1000
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1001
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1002
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1003
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1004
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1005
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1006
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1007
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1008
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1009
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted

LMPushButton

Walk to the console and press the red button

Native success: Button joint normalized pressedness >0.5 and at least one finger within0.2m.
Interpretation: Normalized joint travel plus finger proximity; no force-contact or sustained-press requirement.

Matched resetACTGR00TAdaptive
Seed 1000
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1001
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1002
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1003
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1004
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1005
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1006
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1007
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1008
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1009
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted

LMPushShelfForward

Push the tall wheeled shelf to the marked area

Native success: Shelf/target root separation <[0.3,0.3,0.01]m, static, local-Z/world-up dot ≥0.9, and a finger within1.1m.
Interpretation: Root/target proximity and static/upright test; the1.1m finger proximity allowance is broad.

Matched resetACTGR00TAdaptive
Seed 1000
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1001
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1002
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1003
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1004
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1005
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1006
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1007
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1008
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted
Seed 1009
Pairing pending		Pending
No task outcome counted		Pending
No task outcome counted		Pending
No task outcome counted

6 infrastructure, evidence, or incomplete attempts are excluded from task outcomes and retained in the strict aggregate.