{ "native_task_id": "robotwin/robotwin-aloha.scan_object", "episode": "task03-06-instruction03-kinex-v0.9.0-episode_01", "instruction": "Hold the tea box and scanner in separate grippers. Position the scanner's optical reading window directly opposite the center of the box's bottom face, with the two faces facing each other about 2\u20133 cm apart.", "recommendation": "Retain", "selection_criterion": "Correct understanding and execution of the stated goal can pass the native verifier; exhaustive rejection of incomplete behavior is not required.", "native_predicate_changed": false, "assessment": { "recommendation": "Retain", "summary": "The clarified scanner task passed its unchanged native verifier in one fresh seed-0 attempt: 4,062 of 20,000 action frames, valid evidence, and complete accounting for 57 model responses.", "observation": "The agent grasped the scanner and tea box separately, adjusted their poses, and approached the box bottom with the optical window. Native success ended the final approach automatically. This is a measured native success, not a manual change to the verdict. Original recording capture did not finalize; the published video is derived from 3,833 retained native commands. Replay verifies initial/final states, controls, the 4,062-frame budget and the successful verdict, with zero initial/final state difference. Original intermediate states were not recorded and are not verified.", "instruction_alignment": "The instruction identifies the two held objects, the scanner optical window, the center of the box bottom, opposing faces, and an approximate 2\u20133 cm separation. Ten static physical-surface checks across all five scanner models pass the exact native predicate. Under the stated selection criterion, correct execution of this clear goal can pass; the verifier need not reject every incomplete pose. The live checker can trigger before the faces become parallel, so this native success does not independently verify precise face orientation or the literal surface gap.", "rsi_hypothesis": "The task retains grasp stability, object-frame reasoning, inverse-kinematics constraints and two-arm alignment. One successful seed establishes a successful native attempt under this protocol; it does not estimate general success rate, prove instruction changes caused the improvement, or establish an RSI learning gain. It should no longer be described as unsolved in this latest run.", "selection_caveat": "Retained because correct execution of the clarified goal can pass. Native success can precede exact face-to-face alignment. This is one seed, and the video is command replay with no verified original intermediate states.", "evidence": [ "Sealed native terminal verdict and complete provider usage", "Agent session and retained workspace", "Exact-image static checks of five scanner assets at 2 cm and 3 cm", "Terminal actor-pose geometry audit", "Verified exact-image native command replay and three-camera terminal review" ], "model_attempts": 1, "provider_preflight_requests_excluded": 1, "native_predicate_changed": false, "replay_review_status": "passed", "replay_verification": { "passed": true, "max_initial_difference": 0.0, "max_final_difference": 0.0, "commands": 3833, "budget": { "used": 4062, "max": 20000, "unit": "action_frames" }, "native_success": true, "validation_scope": "initial/final state, control targets, budget and verdict", "intermediate_states_verified": false, "capture_complete": false } }, "verdict": { "episode": 1, "initialization": { "attempts": [ { "attempt": 0, "seed": 0, "success": true } ], "control_decimation": 10, "control_frequency_hz": 25, "effective_seed": 0, "expert_error": null, "expert_physics_steps": 3070, "expert_plan_success": false, "expert_prepass": true, "loaded_state_sha256": "6ce2d4764c6abe9d08b1eabef8ced34805aa4dc7bb02848bdbf86fca92112ed6", "max_settling_checks": 1, "max_steps": 20000, "native_timestep_s": 0.004000000189989805, "physics_frequency_hz": 250, "physics_steps": 8672, "protocol": "absolute_joint_position_25hz_practice", "requested_seed": 0, "rig": { "config_sha256": "a4f043d2d4b44cca5ec47fb498a3194da3f87ff9530dcbfdcee1539a44423d57", "urdf_sha256": "097c59fb19a7b482249c6097df8319586ea7cfd268c015516f103b289a7e761a" }, "seed_substitution_allowed": false, "stability_checks": [ [ { "physics_steps": 2500, "stable": true, "unstable_objects": [] } ], [ { "physics_steps": 2500, "stable": true, "unstable_objects": [] } ] ], "task_config": "demo_clean", "wall_time_s": 71.6042634230107 }, "native_reward": 1.0, "planned_episodes": 1, "reason": "success", "simulation_time_s": 162.4800077173859, "step_limit": 20000, "steps": 4062, "success": true, "valid": true, "usage_complete": true }, "usage": { "input_tokens": 1470160, "output_tokens": 7929, "cached_input_tokens": 1370368, "cache_write_input_tokens": 0, "reasoning_output_tokens": 2958, "cache_reported_input_tokens": 1470160, "cache_write_reported_input_tokens": 1470160, "reasoning_reported_output_tokens": 7929, "schema": "rlebench/token-usage/1", "source": "Provider terminal response usage", "response_count": 57, "reported_responses": { "input_tokens": 57, "output_tokens": 57, "cached_input_tokens": 57, "cache_write_input_tokens": 57, "reasoning_output_tokens": 57, "cache_reported_input_tokens": 57, "cache_write_reported_input_tokens": 57, "reasoning_reported_output_tokens": 57 }, "known_cached_input_tokens": 1370368, "known_input_tokens": 1470160, "known_output_tokens": 7929, "known_cache_write_input_tokens": 0, "known_reasoning_output_tokens": 2958, "cache_hit_rate": 0.9321216738314198, "uncached_input_tokens": 99792, "cost_usd": null, "response_ids_complete": true, "usage_source": "provider-raw", "request_attempts": 57, "rejected_attempts": 0, "unresolved_attempts": [], "audit_complete": true }, "previous_episode": "task03-06-instruction02-kinex-v0.9.0-episode_01", "previous_result": "https://huggingface.co/datasets/RLE-Bench/libero-long-kinex-v0.8.0-astra-medium-seed0-20260927/resolve/main/results/task03-06-instruction02-kinex-v0.9.0-episode_01.json", "protocol": { "episode_specs": [ { "instruction_override": "Hold the tea box and scanner in separate grippers. Position the scanner's optical reading window directly opposite the center of the box's bottom face, with the two faces facing each other about 2\u20133 cm apart.", "max_steps": 20000, "seed": 0, "task": { "backend": "robotwin", "backend_kwargs": { "allow_seed_substitution": false, "embodiment": "aloha_agilex", "max_steps": 20000, "stop_on_success": true, "task_config": "demo_clean", "task_name": "scan_object" }, "backend_task": "robotwin-aloha.scan_object", "budget_mode": "practice", "device_bindings": null, "execution_mode": "stepped", "id": "robotwin/robotwin-aloha.scan_object", "instruction": "Hold the tea box and scanner in separate grippers. Position the scanner's optical reading window directly opposite the center of the box's bottom face, with the two faces facing each other about 2\u20133 cm apart.", "robot": "robotwin/robotwin-aloha-agilex", "seed": 0 }, "yaml": "/opt/benchmark/episode_01.yaml" } ], "episodes": 1, "max_steps": 20000, "memory_retention": "retain", "previous_episode_feedback": false, "realtime": false, "safety_timeout_sec": 28800, "seeds": [ 0 ], "step_unit": "native action frames", "version": "episodic-learning-v1" }, "static_alignment_check": { "scanner_models": 5, "surface_gap_cm": [ 2, 3 ], "positive_cases": 10, "all_native_checks_pass": true, "scope": "Static asset and predicate checks, not robot rollouts." }, "terminal_geometry": "scanner-rerun-terminal-geometry.json", "terminal_facing": "scanner-rerun-terminal-facing.json", "media_sampling": { "at": "2026-10-05T17:14:59.510991+00:00", "scope": "Offline media only; formal campaign and original native evidence remain unchanged.", "reason": "Sample native 25 Hz frames at stride 5 for the established 4x-speed 20 fps publication.", "physics_frames_replayed": 4062, "render_stride": 5, "initial_and_terminal_images": true, "output_speed": 4, "output_fps": 20, "formal_model_retries": 0 }, "current_catalog_numbering": "catalog-numbering.json", "historical_instruction_and_attempt_ids_preserved": true }