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Static layout audits confirm the authored object groups and asset roles across the shipped X5 layouts.", "runtime_confounds": "Agent memos report stale first head-camera reads and use repeated observations. They also discuss gripper hold behavior and reachability errors while building reusable controllers. These shared-runtime and tool-development costs are not treated as pure task difficulty. No owner RPC errors or provider-accounting gaps occurred in the selected attempt.", "evidence": { "geometry": "hard-candidate-provenance/task04-11-geometry.json", "execution": "hard-candidate-provenance/execution-audit.json", "instructions": "hard-candidate-provenance/instruction-surfaces.json", "recording_complete": true, "native_geometry_passed": true }, "selection_caveat": "One successful seed-0 attempt under clarified instructions and the longer RLE budget. This is not a success-rate estimate or a measured RSI gain. Original gallery failure and the external Astra report use different protocols.", "summary": "Retain the ten-piece, four-peg assembly task. The measured attempt succeeded after 9,297 native frames with all four groups geometrically complete.", "observation": "Original wrist observations show tilted and dropped star pieces followed by recovery attempts. The final native state has all ten pieces on the assigned pegs: group-anchor XY errors are 0.292, 0.903, 0.300 and 0.523 mm; the largest checked adjacent-piece XY error is 0.507 mm, all below the 1 mm native thresholds. Every piece also meets the native depth condition. Both arms entered the native home region.", "difficulty": "High contact and precision burden: ten small pieces, four shape groups and stack heights, grasp-dependent hole offsets, reachability limits, and retreat paths that can tip already placed pieces. The observed 90-degree regrasp and vertical-retreat recovery support this assessment independently of raw call count or elapsed time.", "heterogeneity": "Adds multi-part precision assembly and recovery of unstable stacked pieces to the original seven-task set. Its grouping, growing stack heights and submillimeter final alignment differ from a single thin-coin insertion or seating three nuts.", "instruction_alignment": "The clarification resolves which pegs are correct by specifying the 4/3/2/1 shape groups in descending peg-height order, precise centering, lowering into each stack, and arm return. All 165 shipped X5 layouts have this same grouping and height order. Native success predicates and tolerances are unchanged.", "rsi_hypothesis": "Reusable wrist-based grasp-offset estimation, staged insertion, vertical retreat before lateral travel, and recovery by regrasping a tilted piece could reduce failures and work on later layouts. The saved memo explicitly tells future runs to reobserve positions. No cross-seed improvement is measured here." }, "instruction_diff": [ { "text": "St", "changed": true }, { "text": "ac", "changed": false }, { "text": "k", "changed": true }, { "text": " all ", "changed": false }, { "text": "t", "changed": false }, { "text": "e", "changed": true }, { "text": "n", "changed": false }, { "text": " toy pieces on", "changed": false }, { "text": " the four pegs, grouping pieces of the same shape together. Put the group of four on the tallest peg, the group of three on the next tallest, the group of two on the next, and the single piece on the shortest peg. Center each piece precisely on its peg and lower it in", "changed": true }, { "text": "to the ", "changed": false }, { "text": "sta", "changed": true }, { "text": "c", "changed": false }, { "text": "k. Leave all pieces ", "changed": true }, { "text": "o", "changed": false }, { "text": "n the toy and ", "changed": true }, { "text": "re", "changed": false }, { "text": "t", "changed": false }, { "text": "urn both arms to their starting", "changed": true }, { "text": " p", "changed": false }, { "text": "os", "changed": true }, { "text": "e", "changed": false }, { "text": "s.", "changed": false } ], "native_instruction_diff": [ { "text": "Pl", "changed": true }, { "text": "ac", "changed": false }, { "text": "e", "changed": true }, { "text": " all ", "changed": false }, { "text": "s", "changed": true }, { "text": "t", "changed": false }, { "text": "acki", "changed": true }, { "text": "n", "changed": false }, { "text": "g", "changed": true }, { "text": " toy pieces on", "changed": false }, { "text": "to the ", "changed": false }, { "text": "c", "changed": false }, { "text": "o", "changed": false }, { "text": "r", "changed": true }, { "text": "re", "changed": false }, { "text": "c", "changed": true }, { "text": "t", "changed": false }, { "text": " p", "changed": false }, { "text": "e", "changed": false }, { "text": "g", "changed": true }, { "text": "s.", "changed": false } ], "recording_status": { "backend": "robodojo", "capture_errors": 0, "complete": true, "dropped_events": 0, "enabled": true, "error": null, "format": "roboenv/recording/1", "frames": 9298, "intermediate_states_recorded": false, "invalid_files": [], "playback_kind": "native-command-replay", "replay_supported": true, "states": 0, "video_available": false }, "historical_slot": 11, "catalog_path": "tasks/task04/catalog/10-robodojo-play-stacking-toy/task.yaml", "catalog_sha256": "cd1ca677defc449254f2489e332021d8749420ea1203ea17ecd3561f32c65a3b", "current_instruction": "Stack all ten toy pieces on the four pegs, grouping matching shapes together: four pieces on the tallest peg, three on the next tallest, two on the next, and one on the shortest. Center each piece precisely on its peg and lower it into the stack, then return both arms to their starting poses.", "current_instruction_status": "Current catalog wording differs from the measured episode; not rerun with this exact current wording. The measured instruction and native verdict below are preserved.", "current_selection_decision": "Retain provisionally", "selection_review": "The saved-layout shape counts and peg heights support the mapping. Preserve all four group sizes, descending height assignment and precise seating; delete redundant restatement that pieces stay on the toy. The native success already requires every group, not merely partial credit." }