Native task definition will appear with a recorded run.
—No outcomes recorded
—Initial assignments excluded
—Recorded requests only
—Simulation time / wall time kept separate
Recorded simulation
Waiting for actual simulator media▷
No rollout loadedThe viewer is ready. Real simulator video and measurements will appear here after a recorded run passes validation.
No recorded steps
Click a chart or event to seek. Space: play / pause · ← / →: one recorded step.
Active policyACT / GR00T
Queried wrist RMSmm · left / right
Selected observation
Unknown- Episode / step
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- Simulation time, run
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- Wall time, run
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- Five-step crossfade
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- Query at this observation
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ACT / GR00T action disagreement
Unknown until both policies are measured.
—millimetres
—degrees
—RMS radians
- Right wrist / orientation / hand
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- Height / nav XY / yaw
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- Waist RMS (diagnostic)
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- Task deviation score
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- ACT ensemble dispersion
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- Query threshold
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- GR00T RPC wall latency
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Action disagreement compares predicted commands. It is not robot tracking error or a calibrated failure probability.
Switching and action deviation
Horizontal axis: episode video / simulation seconds. Query measurements are points; missing comparisons remain gaps. RPC latency uses wall-clock milliseconds, plotted at the query's simulation time. Adaptive queries also occur at initialization, while GR00T is selected, and on the scheduled refresh. At queried chunks, task score above 1 selects GR00T; two consecutive acceptable comparisons release it.
Active policyACT · GR00T
Amber overlay: crossfade
Amber overlay: crossfade
Wrist positionmm · left / right
Wrist orientationdegrees · left / right
Hand jointsRMS radians · left / right
Base heightmetres
Navigation XYmetres / second
Navigation yawradians / second
Waist jointsRMS radians · diagnostic only
Task deviation scoreDimensionless maximum ratio
Dashed bound: 1
Dashed bound: 1
ACT dispersionTask-space ensemble spread
Dashed: calibrated query threshold
Dashed: calibrated query threshold
GR00T RPC latencyWall-clock milliseconds
Simulation pauses during inference
Simulation pauses during inference
Queries and actual switches
Click to inspect| Episode step | Policy | Event | RPC wall ms |
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Episode evidence
Native simulator flags| Episode | Steps | Completed | Success |
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Synchronous calls pause simulation. Playback does not demonstrate real-time edge execution or WAN latency.
Evidence and provenance
Recorded inputs, no generated outcomes- Trace
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- SHA-256
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