{ "schema_version": "2026.08-v1", "generated_at": "2026-08-25", "view": "experiment-decision", "purpose": "实验决策视图：把谱系结论转成可执行工程问题，直接回答在 G1/H2/Go2 上遇到接触失败时先查什么。", "note": "检查顺序来自知识库既有约束与已核验论文；证据等级按 anatomy 的 evidence 字段。", "decision_loop": { "schema_ref": "data/tech/ontology/research-decision-loop-schema.json", "stages": [ "research_evidence", "project_contract", "criteria_freeze", "reversible_simulation_comparison", "verdict", "merge", "human_onmachine_acceptance", "result_feedback" ], "evidence_boundary": "任何阶段只能消费前序已落盘证据；仿真、合并或接口成功都不能替代人工真机验收，回流事件也不能自动升级为论文结论。" }, "generalization_protocol": { "schema_version": "2026.08-v1", "purpose": "跨论文、框架和本体比较时，统一记录已报告、可复现、未披露和不适用，禁止把单平台结果外推为跨本体能力。", "dimensions": [ "same_embodiment_real_robot", "unseen_or_ood", "cross_task", "perturbation_or_dynamics_shift", "cross_embodiment", "cross_sensor_or_hand", "independent_reproduction" ], "dimension_definitions": { "same_embodiment_real_robot": "同一本体真机；记录硬件 revision、试次分母、人工接管和失败恢复，不用视频演示替代统计。", "unseen_or_ood": "未见物体/场景/地形/指令；必须冻结切分并报告 OOD 分母，禁止把训练增强当作未见测试。", "cross_task": "至少两个任务族或明确任务迁移；保持同一成功定义并分别报告任务级结果。", "perturbation_or_dynamics_shift": "延迟、摩擦、质量、接触、遮挡、传感器 dropout 或执行器退化；记录扰动范围和恢复协议。", "cross_embodiment": "源/目标本体不同；必须记录 adapter、动作/传感器契约、标定 revision、控制频率与安全边界。", "cross_sensor_or_hand": "传感器、触觉阵列或末端执行器改变；必须报告坐标、采样率、同步、缺失通道回退和重新标定。", "independent_reproduction": "非原作者团队以固定 revision 和同协议复现；只引用社区讨论不算复现。" }, "allowed_states": [ "reported", "reproduced", "partially_reported", "not_disclosed", "not_applicable" ], "required_evidence": { "reported": [ "protocol", "denominator_or_trial_count", "metric", "source" ], "reproduced": [ "fixed_revision", "same_protocol", "independent_team", "raw_or_aggregate_result", "source" ], "partially_reported": [ "known_scope", "missing_fields", "source" ], "not_disclosed": [ "checked_sources", "last_verified_at" ], "not_applicable": [ "reason", "source" ] }, "comparison_gate": { "same_protocol_required": true, "same_metric_and_denominator_required": true, "cross_embodiment_requires_adapter_and_calibration": true, "cross_sensor_requires_clock_calibration_and_dropout_test": true, "ood_requires_frozen_split_and_failure_breakdown": true, "closed_loop_requires_latency_safety_and_recovery_metrics": true, "independent_reproduction_required_for_replaced_or_champion": true, "missing_evidence_state": "not_disclosed", "fail_closed_on_contract_mismatch": true, "not_comparable_reasons": [ "metric_or_success_definition_mismatch", "denominator_or_trial_count_missing", "privileged_information_at_test_time", "source_and_target_contract_unmapped", "latency_or_control_frequency_unreported", "safety_or_recovery_protocol_missing" ] }, "decision_use": { "long_term_watch": "允许缺少制品，但必须保留证据缺口和反例。", "test_soon": "只能进入冻结 criteria 的仿真或受控测试，不能替换生产模型。", "migrate": "需接口、安全、许可证闭合，并完成同协议回归。", "replace": "需多 seed、闭环仿真、跨场景/本体证据、独立复现和必要人工真机验收。", "reject_or_prune": "仅在证据冲突、契约不符或已被可靠反证时使用，不以热度单独触发。" } }, "retained_intelligence_domains": [ "global_humanoid_and_legged_papers", "official_and_community_repositories", "real_and_simulation_datasets", "companies_and_products", "WAM", "vision_tactile", "WBC", "Sim2Real", "navigation" ], "result_feedback_contract": { "measurement_state": "not_measured", "reason": "机器人侧任务/地图/语音/遥操作事件尚未产生可验收真实回传，人工干预率分母为 0。", "accepted_event_types": [ "task_execution", "map_operation", "voice_interaction", "teleoperation", "human_takeover", "recovery", "failure", "human_onmachine_acceptance" ], "required_fields": [ "event_id", "occurred_at", "robot_id", "project_id", "contract_id", "event_type", "software_revision", "model_revision", "outcome", "human_intervention", "evidence_ref" ], "ingest_gates": [ "registered_robot_identity", "bounded_event_schema", "idempotent_event_id", "source_and_clock_provenance", "human_receipt_for_onmachine_acceptance" ], "promotion_gate": "事件先进入 G1.21 使用过程台账；只有同契约、同版本、同协议且人工真机回执闭合后，才能更新项目 verdict。单条事件不得升级为论文、开放性或可复现性结论。", "g2_8_metric": "人工接管、遥操作、恢复和异常事件数 / 已核验真机任务事件数；分母为 0 时必须保持 not_measured。" }, "storage_policy": { "nas": { "role": "authoritative_complete_private_archive", "required": true }, "oss": { "role": "validated_public_display_only", "content_addressed": true }, "ecs": { "role": "route_shell_manifest_pointer_only", "heavy_data": false } }, "project_contracts": [ { "contract_id": "g1-h2-wam-adapter-smoke-001", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "legacy-a6d9ab9d90bc", "arxiv-2608-06375", "arxiv-2603-22078" ], "target_projects": [ "G1", "H2" ], "affected_modules": [ "WAM adapter/action head", "独立 WBC/安全平面", "Sim2Real 回归集" ], "input_contract": { "observations": [ "RGB/RGB-D", "proprioception", "可选触觉；必须显式声明采样率与延迟" ], "action_space": "目标项目既有 action schema；候选不得直接改变生产 VLA/WBC 输出语义", "data_requirements": "同批成功、失败、恢复和边界样本；本体、标定、版本和许可证必须可追溯" }, "embodiment_contract": { "G1": { "status": "simulator_asset_partially_verified", "evidence": "MuJoCo Playground fixed revision; exact action/observation adapter still must be frozen" }, "H2": { "status": "asset_verified_contract_pending", "asset_evidence": { "repository": "unitreerobotics/unitree_rl_mjlab", "revision": "1425b15f73bd4095f0df53709d7c389c3eb9e790", "mjcf": "src/assets/robots/unitree_h2/xmls/h2.xml", "constants": "src/assets/robots/unitree_h2/h2_constants.py", "license": "Apache-2.0 repository; MuJoCo, mjlab and robot assets retain separate terms", "joint_count_excluding_floating_base": 29, "joint_count_evidence": "Official fixed-revision h2.xml declares 30 named joints: one floating base plus 29 controllable joints. It has no head_pitch/head_yaw joints.", "sonic_interface_divergence": { "status": "unresolved_blocking", "sonic_action_dof": 31, "official_mjlab_action_dof": 29, "difference": "SONIC H2 includes head_pitch/head_yaw while the official mjlab H2 XML at this fixed revision omits both. A provisional offline name-indexed adapter is recorded separately, but no action/state runtime contract or same-protocol equivalence result is frozen.", "effect": "Do not use a SONIC 31-DOF checkpoint or action head against this 29-DOF simulator asset until a clean-source adapter and its zero-action, bounds, ordering, and rollout checks are recorded." }, "provisional_adapter_contract": { "path": "data/tech/training-evolution/adapters/h2-sonic31-to-mjlab29.json", "status": "provisional_unfrozen", "scope": "offline vector permutation and zero-head expansion only", "effect": "does not close the physical-timing, sensor-calibration, clean-source, bounds-from-runtime, or rollout-equivalence gates" }, "actuator_groups": { "leg": { "stiffness": 200, "damping": 4, "effort_limit": 360, "armature": 0.01 }, "ankle_roll": { "stiffness": 40, "damping": 2, "effort_limit": 19, "armature": 0.01 }, "ankle_pitch": { "stiffness": 40, "damping": 2, "effort_limit": 66, "armature": 0.01 }, "waist": { "stiffness": 150, "damping": 3, "effort_limit": 120, "armature": 0.01 }, "arm": { "stiffness": 40, "damping": 2, "effort_limit": 54, "armature": 0.01 }, "wrist": { "stiffness": 20, "damping": 1, "effort_limit": 25, "armature": 0.01 } }, "action_scale_formula": "0.25 * effort_limit / stiffness", "source_urls": [ "https://github.com/unitreerobotics/unitree_rl_mjlab", "https://github.com/unitreerobotics/unitree_rl_mjlab/blob/1425b15f73bd4095f0df53709d7c389c3eb9e790/src/assets/robots/unitree_h2/xmls/h2.xml" ], "official_velocity_env": { "path": "src/tasks/velocity/config/h2/env_cfgs.py", "control_decimation": 4, "mujoco_timestep_seconds": 0.005, "derived_sim_control_period_seconds": 0.02, "derived_sim_control_hz": 50, "actor_observations": [ "robot/imu_ang_vel", "projected_gravity", "twist_command", "phase", "relative_joint_position", "relative_joint_velocity", "last_action", "terrain_scan_height" ], "critic_only_observations": [ "robot/imu_lin_vel", "foot_height", "foot_air_time", "foot_contact", "foot_contact_forces" ], "sensors": [ "terrain_scan_at_pelvis", "feet_ground_contact", "self_collision" ], "evidence_note": "50 Hz is derived only for this official simulator configuration (0.005 s MuJoCo step × decimation 4); it is not a claim about physical robot runtime frequency." } }, "required_before_smoke": [ "physical runtime control frequency and actuator command timing (simulator 50 Hz is not sufficient)", "camera/IMU/proprioception frame and calibration contract", "name-indexed 29↔31 action/state adapter with zero-action, bounds, ordering, and rollout-equivalence checks", "asset and dependency license manifest" ], "production_use": "blocked" } }, "output_contract": { "candidate_output": "adapter/action-head proposal 或离线动作候选", "safety_gate": "动作限幅、时延、终止、恢复和 WBC 可实现性检查", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "只从 Hub 台账和实时观测选择训练资源；不假定 242 可用，244/245 仅按共享资源处理", "license_policy": "代码、权重、数据和上游依赖逐层核验；未闭合即阻断迁移/替换", "risk_and_rollback": "失败、NaN、契约不符、资源冲突或许可证不明即 fail-closed；回滚到冻结基线，不覆盖生产模型", "execution": { "simulator_revision": { "status": "verified", "repository": "unitreerobotics/unitree_rl_mjlab", "revision": "1425b15f73bd4095f0df53709d7c389c3eb9e790", "license_scope": "Apache-2.0 repository; MuJoCo, mjlab and robot assets retain separate terms", "verified_target_embodiments": [ "G1", "H2" ], "evidence_source": "official Unitree repository and fixed H2 MJCF path" }, "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/g1-h2-wam-adapter-smoke-001-resource-lease-1b239ef6233646c9.json" }, "license_manifest": { "status": "partial", "code": { "status": "verified", "license": "Apache-2.0", "source": "official unitreerobotics/unitree_rl_mjlab revision 1425b15f73bd4095f0df53709d7c389c3eb9e790" }, "robot_assets": { "status": "partial", "reason": "repository access and H2 asset path are verified, but MuJoCo/mjlab/robot-asset terms have not been closed for this frozen run" }, "weights": { "status": "pending", "reason": "baseline and candidate revisions are not frozen; no weight artifact may be assumed licensed or usable" }, "data": { "status": "pending", "reason": "same-batch success/failure/recovery data split and its provenance/license are not frozen" } } }, "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "adapter_or_action_head_only_pending_contract_check", "replaceable": "no_evidence", "reject_or_prune": "direct_production_replacement" }, "frozen_experiment": { "criteria": [ "同一数据切分与本体配置", "固定 seed 集", "同一评测协议", "记录失败类型与资源消耗", "跨场景回归不退化" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "confidence": "primary_sources_reviewed_but_no_independent_cross_embodiment_reproduction" }, { "contract_id": "g1-h2-visual-tactile-adapter-smoke-002", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-15816", "arxiv-2607-02840", "arxiv-2607-23782", "arxiv-2606-31836" ], "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "视觉-触觉 adapter/action head", "触觉延迟与标定检查", "接触任务 OOD 回归" ], "input_contract": { "observations": [ "RGB/RGB-D", "本体感受", "触觉/力觉（必须标注采样率、坐标和延迟）" ], "action_space": "目标项目既有动作语义；候选只能产生受限动作残差或离线候选", "data_requirements": "RoboTacDex 仅作为待开放数据契约参考；候选实验必须使用已下载、哈希固定、许可证闭合的同批 ID/OOD、成功、失败、恢复与传感器扰动样本；逐项记录本体、标定、版本和许可证" }, "embodiment_contract": { "G1": { "status": "adapter_contract_pending", "required_before_smoke": [ "固定触觉/视觉时间戳与坐标", "动作残差限幅与 WBC 接口" ] }, "H2": { "status": "adapter_contract_pending", "required_before_smoke": [ "固定手部/腕部传感器方案", "物理控制频率与执行器时延", "资产和依赖许可证清单" ] } }, "output_contract": { "candidate_output": "受限触觉残差或离线动作候选", "safety_gate": "独立 WBC、安全平面、限幅、终止与恢复状态机", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "只从 Hub 台账和实时观测选择训练资源；不假定 242 可用，244/245 仅按共享资源处理", "license_policy": "代码、权重、数据、触觉基准和上游模型逐层核验；缺失即阻断", "risk_and_rollback": "契约不符、NaN、时延超限、资源冲突或许可证不明即 fail-closed；删除候选 adapter 并恢复冻结基线", "execution": { "simulator_revision": { "status": "pending_freeze", "verified_target_embodiments": [ "G1", "H2" ] }, "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "pending", "weights": "not_verified", "data": "not_verified" } }, "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "adapter_or_action_head_only_pending_contract_check", "replaceable": "no_evidence", "reject_or_prune": "direct_production_replacement" }, "frozen_experiment": { "criteria": [ "固定 ID/OOD 切分", "固定 seed 集", "同一传感器时延与标定协议", "记录失败/恢复/资源消耗", "跨场景回归不退化" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "confidence": "primary_source_reviewed_but_cross_embodiment_and_open_artifact_status_incomplete" }, { "contract_id": "geniworld-to-g1-h2-spatial-wam-003", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-06332" ], "target_projects": [ "G1", "H2", "R1", "M20" ], "affected_modules": [ "interactive world model", "spatial conditioning", "synthetic trajectory selection", "dual-arm OOD regression" ], "input_contract": { "observations": [ "RGB/RGB-D", "proprioception", "explicit timestamp and camera calibration" ], "action_space": "existing project action schema; candidate may only produce offline trajectory or bounded adapter output", "data_requirements": "same-batch ID/OOD, success/failure/recovery samples, provenance and upstream license manifest" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze camera/proprioception timestamps", "fix action adapter and WBC limits" ] }, "H2": { "status": "asset_verified_contract_pending", "required_before_smoke": [ "freeze H2 asset revision", "verify physical control timing and sensor calibration" ] } }, "output_contract": { "candidate_output": "offline synthetic trajectory ranking or bounded WAM/VLA adapter", "safety_gate": "latency, action limits, termination, recovery and WBC feasibility checks", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared", "license_policy": "paper, code, weights, generated data and upstream dependencies verified separately", "risk_and_rollback": "missing artifacts, NaN, contract mismatch, resource conflict or license uncertainty fail closed; restore frozen WAM/VLA baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "adapter_only_pending_independent_reproduction", "replaceable": "no_evidence", "reject_or_prune": "direct_production_replacement" }, "frozen_experiment": { "criteria": [ "fixed ID/OOD split", "fixed seed set", "same trajectory budget", "record failure/recovery and resource cost", "no regression across scenes" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收 required; cron cannot change reward, replace production model or send robot actions", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "not supplied", "weights": "not verified", "data": "not verified" } }, "confidence": "primary_source_reviewed_author_real_robot_evidence_without_open_artifacts_or_independent_reproduction" }, { "contract_id": "jepa-wam-to-g1-h2-visual-action-smoke-004", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-09381" ], "target_projects": [ "G1", "H2" ], "affected_modules": [ "JEPA-WAM visual-action adapter", "action chunk decoder", "latency and WBC safety gate" ], "input_contract": { "observations": [ "RGB/video", "proprioception where target stack exposes it", "fixed camera timestamp and calibration" ], "action_space": "target project action schema; candidate may emit offline action chunks or a bounded adapter output only", "data_requirements": "same ID/OOD scenes, recovery and failure samples, fixed embodiment metadata, checkpoint/data provenance and third-party license manifest" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze camera/proprioception timestamps", "map action chunks to G1 joint semantics", "verify WBC feasibility and stop limits" ] }, "H2": { "status": "asset_verified_contract_pending", "required_before_smoke": [ "freeze H2 asset revision", "verify physical control timing and sensor calibration", "separate arm/leg action semantics before adapter use" ] } }, "output_contract": { "candidate_output": "offline visual-action chunk proposal or bounded adapter residual", "safety_gate": "latency/jitter budget, action limits, termination, recovery and independent WBC safety plane", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared", "license_policy": "MIT repository and checkpoint claims are recorded separately from Qwen/V-JEPA/OpenPI/LIBERO and other upstream terms; missing data or dependency terms block migration", "risk_and_rollback": "contract mismatch, NaN, latency overrun, resource conflict or license uncertainty fail closed; remove JEPA-WAM adapter and restore frozen VLA/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_and_replay", "migratable": "adapter_or_action_head_only_pending_contract_check", "replaceable": "no_evidence", "reject_or_prune": "direct_production_replacement" }, "frozen_experiment": { "criteria": [ "same ID/OOD split and seed set", "same action-chunk budget and latency measurement", "record failure/recovery and resource cost", "no cross-scene regression", "compare against frozen baseline under identical protocol" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收 required; cron cannot change reward, replace production model or send robot actions", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "MIT repository verified", "weights": "checkpoint available; upstream terms require separate review", "data": "training data and full provenance not verified" } }, "confidence": "primary_source_and_fixed_repo_checkpoint_reviewed; no independent cross-embodiment reproduction" }, { "contract_id": "gigabrain-wbc-to-g1-h2-safety-filter-smoke-005", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-18234" ], "target_projects": [ "G1", "H2" ], "affected_modules": [ "behavior world model", "terrain/contact WBC", "OOD command filter", "fall recovery regression" ], "input_contract": { "observations": [ "proprioception", "command history", "terrain/contact features only when target sensor contract provides them" ], "action_space": "existing whole-body action schema; candidate safety filter may reject or bound commands but cannot bypass the independent WBC", "data_requirements": "same terrain/command split, missing-support and recovery negatives, annotated failure causes, fixed model and simulator revisions" }, "embodiment_contract": { "G1": { "status": "author_platform_evidence_target_contract_pending", "required_before_smoke": [ "freeze G1 observation/action schema", "reproduce terrain/contact feature timing", "define fallback when OOD score is unavailable" ] }, "H2": { "status": "asset_verified_contract_pending", "required_before_smoke": [ "freeze H2 asset and actuator timing", "map terrain/contact observations", "verify safety filter latency and WBC feasibility" ] } }, "output_contract": { "candidate_output": "bounded command acceptance/rejection signal or offline behavior-filter trace", "safety_gate": "independent WBC, command limits, timeout, stop/recovery state machine and explicit OOD fallback", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared", "license_policy": "paper, code, weights, MotionDecode/BONES-SEED data and simulator assets verified separately; absent terms block migration", "risk_and_rollback": "false rejection, missed OOD, NaN, timing overrun, contract mismatch or resource conflict fail closed; remove behavior-filter branch and restore frozen WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "safety_filter_or_adapter_only_pending_reproduction", "replaceable": "no_evidence", "reject_or_prune": "direct_production_replacement" }, "frozen_experiment": { "criteria": [ "same terrain and command distributions", "fixed multi-seed baseline/candidate comparison", "measure false reject and missed-OOD rates", "record fall/recovery and latency/resource cost", "no cross-scene regression" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收 required; cron cannot change reward, replace production model or send robot actions", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "not verified", "weights": "not verified", "data": "external data and assets not verified" } }, "confidence": "primary_source_reviewed_humanoid_evidence_without_open_artifacts_or_independent_reproduction" }, { "contract_id": "tac4loco-to-g1-h2-plantar-tactile-smoke-006", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-15766" ], "target_projects": [ "G1", "H2" ], "affected_modules": [ "plantar tactile encoder", "terrain/contact observation adapter", "locomotion WBC and soft-ground regression" ], "input_contract": { "observations": [ "bilateral plantar pressure maps", "proprioception", "terrain/contact labels only when available" ], "action_space": "existing locomotion action schema; tactile branch may only provide bounded residual/features to the frozen WBC", "data_requirements": "fixed calibration, sensor dropout/latency cases, hard/soft terrain ID/OOD split, failures and recovery labels" }, "embodiment_contract": { "G1": { "status": "author_platform_evidence_target_contract_pending", "required_before_smoke": [ "freeze plantar sensor geometry and units", "map 60-taxel layout and timing", "verify WBC action limits and fallback without tactile input" ] }, "H2": { "status": "sensor_contract_pending", "required_before_smoke": [ "select and calibrate plantar sensor hardware", "freeze actuator timing", "define sensor-missing fallback before deployment" ] } }, "output_contract": { "candidate_output": "bounded tactile feature/residual or offline terrain-contact decision", "safety_gate": "independent WBC, dropout/timeout fallback, action limits, stop and recovery state machine", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared", "license_policy": "paper, promised code/configuration, sensor assets and any weights/data verified separately; unverified terms block migration", "risk_and_rollback": "sensor saturation, calibration drift, timing overrun, NaN, contract mismatch or resource conflict fail closed; remove tactile branch and restore frozen WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "adapter_only_pending_sensor_contract", "replaceable": "no_evidence", "reject_or_prune": "direct_production_replacement" }, "frozen_experiment": { "criteria": [ "same terrain and command split", "fixed multi-seed baseline/candidate", "measure tactile dropout and delay sensitivity", "record fall/recovery and resource cost", "no regression on hard-surface locomotion" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收 required; cron cannot change reward, replace production model or send robot actions", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "promised/not verified", "weights": "not verified", "data": "not verified" } }, "confidence": "primary_source_g1_plantar_tactile_results_without_open_artifacts_or_independent_reproduction" }, { "contract_id": "verdiwm-to-g1-h2-r1-m20-control-plane-smoke-007", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-09537" ], "target_projects": [ "G1", "H2", "R1", "M20" ], "affected_modules": [ "experiment evidence certificates", "WAM/VLA candidate migration gate", "negative-result memory and rollback" ], "input_contract": { "observations": [ "experiment metadata", "revision/seed/resource records", "validation outputs" ], "action_space": "no robot action output; control-plane certificate only", "data_requirements": "immutable evidence bundle, candidate/baseline provenance, license manifest and failure/negative-result records" }, "embodiment_contract": { "G1": { "status": "control_plane_only", "required_before_smoke": [ "bind every certificate to the target simulator and embodiment revision" ] }, "H2": { "status": "control_plane_only", "required_before_smoke": [ "bind H2 asset, timing and license snapshot before dispatch" ] }, "R1": { "status": "control_plane_only", "required_before_smoke": [ "separate fleet/project namespace and checkpoint terms" ] }, "M20": { "status": "control_plane_only", "required_before_smoke": [ "record terrain/sensor contract and resource lease" ] } }, "output_contract": { "candidate_output": "signed migration certificate, rejection reason or frozen experiment record", "safety_gate": "schema/revision/license/resource checks and fail-closed rejection", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "scheduler may use only Hub ledger and live observation; 242 unavailable, 244/245 shared", "license_policy": "certificate cannot widen code/weight/data/upstream terms; missing terms reject dispatch", "risk_and_rollback": "stale certificate, missing evidence, schema mismatch, negative transfer or resource conflict fail closed; revoke certificate and restore frozen baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "control_plane_only", "migratable": "evidence_gate_only", "replaceable": "not_applicable", "reject_or_prune": "automatic_model_or_reward_replacement" }, "frozen_experiment": { "criteria": [ "immutable revision and seed records", "certificate verification before dispatch", "negative-result and rollback path", "no automatic reward/model/robot-action mutation" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；GPU结果、跨本体回归和真机均需人工验收；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "Apache-2.0 repository verified", "weights": "upstream checkpoints not supplied", "data": "training data not verified" } }, "confidence": "independent_cpu_control_plane_checks_verified; GPU, cross-backbone and real-robot claims remain unverified" }, { "contract_id": "tacwam-to-g1-h2-visual-tactile-smoke-008", "hub_loop_slug": "tacwam-g1-h2-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2607-28391", "arxiv-2608-15816", "arxiv-2606-13877" ], "target_projects": [ "G1", "H2" ], "affected_modules": [ "visual-tactile encoder", "WAM future-state/action adapter", "independent WBC and safety plane" ], "input_contract": { "observations": [ "RGB/RGB-D", "tactile or force channels only when timestamp/calibration are verified", "proprioception" ], "action_space": "existing target action schema; candidate must not change production VLA/WBC output semantics", "data_requirements": "same task split with success, failure, recovery and contact-boundary samples; embodiment, calibration, revision and license provenance required" }, "embodiment_contract": { "G1": { "status": "asset_contract_pending", "required_before_smoke": [ "freeze camera/tactile placement, frame transforms and 50 Hz action timing" ] }, "H2": { "status": "asset_contract_pending", "required_before_smoke": [ "verify H2 sensor availability, actuator timing, action schema and asset license snapshot" ] } }, "output_contract": { "candidate_output": "offline visual-tactile future-state or action-head proposal", "safety_gate": "timestamp/calibration checks, action limits, delay budget, WBC realizability, termination and recovery checks", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "只从 Hub 台账和实时观测选择训练资源；不假定 242 可用，244/245 仅按共享资源处理", "license_policy": "代码、权重、数据、触觉资产和上游模型逐层核验；许可证不闭合即阻断迁移与替换", "risk_and_rollback": "同步漂移、触觉失真、NaN、契约不符、负迁移或资源冲突即 fail-closed；回滚到冻结视觉/本体感知基线", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "adapter_or_action_head_only_pending_sensor_contract", "replaceable": "no_evidence", "reject_or_prune": "direct_production_replacement" }, "frozen_experiment": { "criteria": [ "same task and embodiment split", "fixed seed set", "same baseline/candidate evaluation protocol", "report calibration, latency and failure/recovery classes", "OOD contact regression must not degrade" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "simulator_revision": { "status": "verified", "repository": "unitreerobotics/unitree_rl_mjlab", "revision": "1425b15f73bd4095f0df53709d7c389c3eb9e790", "license_scope": "Apache-2.0 repository; MuJoCo, mjlab and robot assets retain separate terms", "verified_target_embodiments": [ "G1", "H2" ], "evidence_source": "official Unitree repository and fixed H2 MJCF path" }, "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "candidate repositories require fixed-revision verification", "weights": "not verified", "data": "not verified" } }, "confidence": "primary sources and local reviews exist; no independent cross-embodiment reproduction or closed artifact license set" }, { "contract_id": "decowam-to-g1-h2-m20-r1-smoke-009", "hub_loop_slug": "decowam-cross-embodiment-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-20114" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "base-velocity-conditioned WAM adapter", "mobile-manipulation action schema", "camera/base-motion synchronization", "WBC feasibility and recovery gate" ], "input_contract": { "observations": [ "RGB", "proprioception", "base velocity and action history with explicit timestamps" ], "action_space": "target project action schema; candidate may emit offline trajectory or bounded adapter output only", "data_requirements": "fixed ID/OOD scenes, successful and failed contact episodes, recovery labels, embodiment/calibration/revision provenance and separate code/weight/data license records" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze camera/base-motion timing", "map joint and base-velocity semantics", "verify WBC limits and recovery fallback" ] }, "H2": { "status": "asset_verified_contract_pending", "required_before_smoke": [ "freeze H2 asset revision", "verify physical control timing and camera/IMU calibration", "define arm/base action adapter" ] }, "M20": { "status": "target_contract_pending", "required_before_smoke": [ "verify wheeled-leg base and arm action dimensions", "freeze terrain/contact and end-effector frames" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze humanoid base/arm action semantics", "verify simulator and actuator timing before any comparison" ] } }, "output_contract": { "candidate_output": "offline action-trajectory ranking or bounded WAM adapter proposal", "safety_gate": "base/arm synchronization, latency and action limits, independent WBC/safety plane, termination and recovery checks", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared", "license_policy": "paper, code, weights, ARMDOG data, generated trajectories and upstream dependencies verified separately; missing terms block migration", "risk_and_rollback": "timestamp drift, contract mismatch, NaN, unsafe action, resource conflict or license uncertainty fail closed; remove DECOWAM adapter and restore frozen WAM/VLA/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "adapter_only_pending_cross_embodiment_contract", "replaceable": "no_evidence", "reject_or_prune": "direct_production_replacement" }, "frozen_experiment": { "criteria": [ "same ID/OOD scenes and trajectory budget", "fixed multi-seed baseline/candidate comparison", "measure base/arm synchronization and end-to-end latency", "record contact failure/recovery and resource cost", "no cross-scene or safety regression" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "not verified", "weights": "not verified", "data": "ARMDOG and generated trajectories not verified" } }, "confidence": "primary_source_author_real_robot evidence; no open artifact, cross-embodiment or independent reproduction" }, { "contract_id": "hitac-wam-to-g1-h2-dexterous-smoke-010", "hub_loop_slug": "hitacwam-contact-replanning-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-19574" ], "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "hierarchical tactile predictor", "candidate action ranking", "contact-triggered replanning", "independent WBC/safety plane" ], "input_contract": { "observations": [ "RGB", "触觉/接触传感器 with fixed calibration and timestamps", "proprioception" ], "action_space": "target project action schema; candidate may only rank offline action chunks or emit bounded residuals", "data_requirements": "fixed contact ID/OOD tasks, successful/failed/recovery episodes, sensor delay/dropout cases, calibration and license provenance" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze hand/arm tactile placement and frame transforms", "map action chunks to G1 semantics", "verify WBC feasibility and timeout fallback" ] }, "H2": { "status": "asset_verified_contract_pending", "required_before_smoke": [ "verify available tactile/force sensing and actuator timing", "freeze hand/arm action schema", "define missing-tactile fallback" ] }, "灵巧手": { "status": "sensor_contract_pending", "required_before_smoke": [ "fix tactile sensor sampling, calibration and contact labels", "separate hand controller from whole-body safety plane" ] } }, "output_contract": { "candidate_output": "offline action-chunk ranking or bounded tactile residual", "safety_gate": "contact timestamp/calibration checks, latency budget, action limits, independent WBC, termination and recovery state machine", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared", "license_policy": "paper, tactile hardware, code, weights, data and upstream models verified separately; missing terms block migration", "risk_and_rollback": "sensor drift, false contact prediction, unsafe-pass, NaN, contract mismatch, resource conflict or license uncertainty fail closed; remove HiTac adapter and restore frozen VLA/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "adapter_or_action_ranker_only_pending_sensor_contract", "replaceable": "no_evidence", "reject_or_prune": "direct_production_replacement" }, "frozen_experiment": { "criteria": [ "same ID/OOD contact tasks and action budget", "fixed multi-seed baseline/candidate comparison", "report predictor, ranking, replanning and execution stages separately", "record false contact, missed contact, recovery and latency/resource cost", "no regression under tactile dropout or delay" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "not verified", "weights": "not verified", "data": "not verified" } }, "confidence": "primary_source_author tactile trials; hardware, artifacts, cross-embodiment transfer and independent reproduction incomplete" }, { "contract_id": "embodmocap-to-g1-h2-data-capture-011", "hub_loop_slug": "embodmocap-data-capture-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "legacy-0bc5b8baaba0" ], "target_projects": [ "G1", "H2" ], "affected_modules": [ "human/robot motion data capture", "scene alignment and calibration", "motion retargeting data adapter", "sim-to-real regression dataset" ], "input_contract": { "observations": [ "dual RGB-D mobile cameras", "camera trajectories", "human pose/shape and scene geometry with explicit timestamps" ], "action_space": "output is dataset/retargeting evidence only; no direct robot action or production controller output", "data_requirements": "fixed capture protocol, calibration metadata, subject/privacy terms, success/failure and scene split, upstream SMPL/model license manifest" }, "embodiment_contract": { "G1": { "status": "target_data_contract_pending", "required_before_smoke": [ "map retargeted joints and coordinate frames", "freeze scene scale and camera-to-robot calibration", "separate qualitative robot demo from quantified regression" ] }, "H2": { "status": "asset_verified_contract_pending", "required_before_smoke": [ "freeze H2 joint/action schema", "verify calibration and timing adapter", "check asset/model terms before dataset use" ] } }, "output_contract": { "candidate_output": "versioned human-scene capture bundle or offline retargeting sample", "safety_gate": "schema/scale/calibration/privacy/license checks; downstream controller remains isolated", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared", "license_policy": "code, dataset, SMPL/model assets, privacy terms and downstream robot assets verified separately; missing terms block training use", "risk_and_rollback": "scale drift, calibration mismatch, privacy/license conflict, malformed trajectory, NaN or resource conflict fail closed; remove capture adapter and restore frozen dataset baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_data_and_sim_only", "migratable": "data_adapter_only_pending_license_and_calibration", "replaceable": "no_evidence", "reject_or_prune": "direct_controller_replacement" }, "frozen_experiment": { "criteria": [ "fixed capture subject/scene split", "fixed calibration and coordinate-frame checks", "retargeting error and scene alignment metrics", "privacy/license and provenance audit", "no downstream sim-to-real regression before acceptance" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "Apache-2.0 code verified", "weights": "mixed upstream checkpoints not attributed", "data": "download endpoint reviewed; full download and upstream terms incomplete" } }, "confidence": "primary source capture and dataset evidence reviewed; full download, privacy, downstream calibration and independent robot reproduction incomplete" }, { "contract_id": "agile-to-g1-t1-training-workflow-013", "hub_loop_slug": "agile-humanoid-training-workflow-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2603-20147" ], "target_projects": [ "G1", "T1", "H2" ], "affected_modules": [ "training environment validation", "reward/MDP diagnostics", "I/O descriptor export", "sim2sim and deployment regression" ], "input_contract": { "observations": [ "proprioception", "task/terrain state", "explicit observation history and action scaling" ], "action_space": "target project's frozen joint/action schema; descriptor must be checked before export", "data_requirements": "exact code/config/checkpoint revision, deterministic and random evaluation splits, failure/timeout logs and task license manifest" }, "embodiment_contract": { "G1": { "status": "author real-robot evidence; target deployment contract pending", "required_before_smoke": [ "freeze joint order, observation history and action scale", "separate quantitative simulation from qualitative real-robot claims" ] }, "T1": { "status": "author real-robot evidence; target deployment contract pending", "required_before_smoke": [ "freeze T1 actuator and joint mapping", "record seed sensitivity and recovery behavior" ] }, "H2": { "status": "asset_verified_contract_pending", "required_before_smoke": [ "map H2 action/observation schema", "verify physical timing and upstream asset terms" ] } }, "output_contract": { "candidate_output": "versioned training/evaluation workflow, I/O descriptor and regression report", "safety_gate": "descriptor, joint-limit, latency, deterministic sim2sim and failure-log checks", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared", "license_policy": "CC BY-SA 4.0 repository/checkpoint terms and Isaac Lab/RSL-RL/robot assets verified separately", "risk_and_rollback": "descriptor mismatch, NaN, timeout, seed instability, resource conflict or license uncertainty fail closed; restore frozen training workflow and checkpoint", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_and_sim2sim", "migratable": "workflow/I-O-descriptor/diagnostic modules only", "replaceable": "no_evidence", "reject_or_prune": "treating qualitative real-robot transfer or one simulation score as production proof" }, "frozen_experiment": { "criteria": [ "same code/config/checkpoint revisions", "fixed multi-seed set", "deterministic plus randomized regression", "record reward/MDP/descriptor failures and resource cost", "no real-robot action before human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/agile-to-g1-t1-training-workflow-013-resource-lease-468cf61a263c428d.json" }, "license_manifest": { "status": "partial", "code": "official fixed commit and license evidence reviewed", "weights": "LFS/checkpoint evidence reviewed; exact deployment package must be frozen", "data": "procedural/sim and generated demonstration terms require separate audit" } }, "confidence": "primary full-paper, fixed official repository, artifact and community issue evidence reviewed; independent reproduction and H2 transfer incomplete" }, { "contract_id": "worldsimprobe-to-g1-h2-r1-m20-eval-012", "hub_loop_slug": "worldsimprobe-fidelity-evaluation-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-09298" ], "target_projects": [ "G1", "H2", "R1", "M20" ], "affected_modules": [ "world-model evaluation", "simulator fidelity probes", "candidate/baseline regression gate", "evidence certificate" ], "input_contract": { "observations": [ "action-conditioned video", "robot state/context", "simulator metadata and timestamps" ], "action_space": "evaluate the target project's existing action schema; the probe may not alter policy outputs or send robot actions", "data_requirements": "fixed ID/OOD split, probe inputs, simulator revision, model revision, seed, failure taxonomy and per-suite third-party notices" }, "embodiment_contract": { "G1": { "status": "simulator_asset_contract_pending", "required_before_smoke": [ "freeze target simulator asset and action schema", "separate simulator result from G1 real-robot evidence" ] }, "H2": { "status": "simulator_asset_contract_pending", "required_before_smoke": [ "freeze H2 asset revision and action timing", "verify asset/dependency terms" ] }, "R1": { "status": "simulator_or_replay_contract_pending", "required_before_smoke": [ "freeze R1 replay/simulator interface", "do not infer physical deployment from benchmark scores" ] }, "M20": { "status": "simulator_or_replay_contract_pending", "required_before_smoke": [ "freeze M20 replay/simulator interface", "record missing real-robot measurements explicitly" ] } }, "output_contract": { "candidate_output": "fidelity certificate, probe scorecard and fail-closed evidence decision", "safety_gate": "schema/version/license checks, deterministic probe inputs, seed capture and stale-evidence rejection", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared", "license_policy": "MIT code and public evaluation inputs are recorded separately from RobotSeg/TAPNext++, simulator assets, checkpoints and each tested model's terms", "risk_and_rollback": "missing suite inputs, stale revision, NaN, contract mismatch, resource conflict or license uncertainty fail closed; revoke the certificate and restore the prior evaluation gate", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "evaluation_protocol_and_gate_only", "replaceable": "no_evidence", "reject_or_prune": "using_probe_score_as_direct_model_or_robot_replacement" }, "frozen_experiment": { "criteria": [ "same probe inputs and simulator revision", "fixed seed set", "same model/action budget", "record local/global/interaction/dynamics failures", "no claim of real-robot benefit from simulation-only evidence" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "MIT repository verified", "weights": "benchmark consumes upstream checkpoints; not supplied", "data": "public evaluation inputs verified; full 18,000-instance coverage and third-party terms incomplete" } }, "confidence": "primary paper, project, repository and public evaluation-input evidence reviewed; simulation-only, external dependency and independent reproduction boundaries retained" }, { "contract_id": "vt-muse-to-g1-h2-dexterous-memory-smoke-014", "hub_loop_slug": "vt-muse-visuotactile-memory-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-21290" ], "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手" ], "affected_modules": [ "visual-tactile temporal encoder", "gated policy memory adapter", "contact-rich action chunking", "independent WBC/safety plane" ], "input_contract": { "observations": [ "external RGB", "left/right optical tactile RGB", "proprioception", "task token" ], "action_space": "existing target policy action schema; VT-MUSE may only provide frozen memory adapter/action-chunk input, never direct torque or WBC commands", "data_requirements": "synchronized RGB/tactile windows, fixed calibration and timestamps, tactile depth-flow definition, dropout/delay/drift cases, successful/failed/recovery episodes, license provenance" }, "embodiment_contract": { "G1": { "status": "sensor_contract_pending", "required_before_smoke": [ "freeze hand/arm tactile placement and RGB-to-tactile transforms", "map Flexiv action chunk semantics to G1 hand/arm schema", "verify WBC feasibility, timeout and missing-tactile fallback" ] }, "H2": { "status": "sensor_contract_pending", "required_before_smoke": [ "verify available optical tactile/force sensing and timing", "freeze hand/arm action schema and calibration revision", "define no-tactile fallback and recovery state machine" ] }, "M20": { "status": "target_contract_pending", "required_before_smoke": [ "freeze sensor layout and action dimensions", "check morphology adapter and latency budget", "run contact dropout regression" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze sensor layout and action dimensions", "check morphology adapter and latency budget", "run contact dropout regression" ] }, "灵巧手": { "status": "sensor_contract_pending", "required_before_smoke": [ "fix tactile sensor sampling, calibration, contact labels and object split", "separate hand controller from whole-body safety plane" ] } }, "output_contract": { "candidate_output": "frozen visuotactile memory tokens or offline action-chunk ranking only", "safety_gate": "timestamp/calibration checks, latency and memory budget, action limits, independent WBC, termination/recovery and no-tactile fallback", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper, optical tactile hardware, code, weights, data and upstream model terms verified separately; missing terms block migration", "risk_and_rollback": "sensor drift, misalignment, false contact state, NaN, latency/resource conflict, contract mismatch or license uncertainty fail closed; disable VT-MUSE memory gate and restore frozen policy/VLA plus independent WBC", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "adapter_or_action_head_only_pending_sensor_contract", "replaceable": "no_evidence", "reject_or_prune": "direct_production_replacement" }, "frozen_experiment": { "criteria": [ "same task/object split and action budget", "fixed multi-seed baseline/candidate comparison", "report encoder, memory retrieval and policy execution separately", "measure tactile dropout, timestamp skew, calibration drift and latency", "record false contact, missed contact, recovery, resource cost and no-tactile fallback; no regression on visual-only baseline" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "not verified", "weights": "not verified", "data": "not verified" } }, "confidence": "primary-source single-arm results with 80 physical trials and systematic ablations; no independent reproduction, cross-embodiment transfer or artifact/license closure" }, { "contract_id": "hydra0-action-flow-to-g1-h2-m20-r1-eval-015", "hub_loop_slug": "hydra0-action-flow-world-model-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-18077" ], "target_projects": [ "G1", "H2", "M20", "R1", "轮臂/轮足" ], "affected_modules": [ "action-flow encoder", "scenario-conditioned world-model evaluator", "WAM inverse action head challenger", "independent WBC/safety plane" ], "input_contract": { "observations": [ "initial RGB and tracked embodiment/object points", "camera intrinsics/extrinsics or explicitly marked uncalibrated video", "candidate robot trajectory converted to image-plane action flow", "desired object flow only in inverse mode" ], "action_space": "target project action schema is converted to visibility-aware pixel trajectories; inverse action head remains offline/sim-only until action feasibility is separately proven", "data_requirements": "paired real-sim scenarios, embodiment/object masks, calibration revision, action-flow visibility, success/failure labels, robot action replay and license provenance" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze camera calibration and point sampling on G1 body/hand", "define flow-to-action adapter and WBC feasibility check", "evaluate unseen contact/occlusion and timeout fallback" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "freeze camera geometry and body/arm visibility masks", "map action-flow output to H2 action schema", "define no-flow/recovery fallback" ] }, "M20": { "status": "target_contract_pending", "required_before_smoke": [ "freeze camera and wheel/arm morphology projection", "separate evaluator from executable controller", "run cross-scene latency and occlusion regression" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze camera and wheel/arm morphology projection", "separate evaluator from executable controller", "run cross-scene latency and occlusion regression" ] } }, "output_contract": { "candidate_output": "scenario-conditioned predicted rollout/risk interval or offline inverse action proposal; never direct torque", "safety_gate": "calibration/mask/visibility checks, scenario uncertainty, latency, action feasibility, independent WBC, stop-recover-replan-escalate state machine", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper, video backbone, datasets, code, weights and upstream terms verified separately; official page currently says code coming soon", "risk_and_rollback": "camera calibration drift, flow ambiguity, occlusion, latent video hallucination, NaN, latency/resource conflict or license uncertainty fail closed; disable Hydra flow evaluator/action head and restore frozen baseline evaluator/controller", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_and_replay_only", "migratable": "evaluation_shell/action-flow adapter only pending paired real-sim evidence", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA/WBC replacement" }, "frozen_experiment": { "criteria": [ "same paired real-sim scenario set and action budget", "fixed multi-seed baseline/candidate comparison", "report video prediction error, policy ranking calibration and executable action feasibility separately", "measure OOD scene, occlusion, camera calibration and latency sensitivity", "inverse mode must pass action limits and WBC feasibility; no regression against native-action evaluator" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "code": "coming_soon_not_verified", "weights": "not verified", "data": "not verified" } }, "confidence": "primary-source world-model paper plus official NVIDIA project page; RoboLab correlation and single qualitative real task are useful evaluation evidence, not general humanoid deployment proof" }, { "contract_id": "scape-sim2real-policy-eval-to-g1-h2-go2-m20-r1-016", "hub_loop_slug": "scape-paired-sim2real-evaluation-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-19425" ], "target_projects": [ "G1", "H2", "Go2", "M20", "R1", "足式/轮足" ], "affected_modules": [ "paired real-sim policy evaluator", "scenario-conditioned performance predictor", "conformal uncertainty gate", "data-collection and deployment decision gate", "independent WBC/safety plane" ], "input_contract": { "observations": [ "scenario context x", "simulation metric s for a fixed policy and task", "paired real rollout metric r for the same scenario", "held-out calibration scenarios Dc(x,r)" ], "action_space": "evaluation-only: consumes policy/rollout metrics and emits deploy/test/collect-more-evidence decision; never emits torque or executable action", "data_requirements": "fixed paired set Dp(x,r,s), simulation-only set Ds(x,s), held-out calibration set Dc(x,r), independent test set, scenario/version/calibration provenance, policy revision and license provenance" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze camera/proprioception/action timing and scenario labels", "define paired Go2-to-G1 metric adapter without conflating morphology", "separate evaluator output from WBC feasibility" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "freeze camera/proprioception/action timing and scenario labels", "define paired Go2-to-H2 metric adapter", "test OOD contact, terrain and latency buckets" ] }, "Go2": { "status": "evidence_anchor_pending_replication", "required_before_smoke": [ "reproduce same velocity-tracking policy and indoor/outdoor scenario split", "record paired sim/real rollouts with fixed calibration and failure labels", "report coverage and interval width before any action decision" ] }, "M20": { "status": "target_contract_pending", "required_before_smoke": [ "freeze wheel/arm sensor-action contract", "run paired scenario adapter and latency regression", "keep evaluator separate from controller" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze sensor-action contract and scenario labels", "run paired scenario adapter and occlusion regression", "keep evaluator separate from controller" ] } }, "output_contract": { "candidate_output": "scenario-conditioned predicted real-world performance interval, calibration coverage, interval width and collect-more-data/deploy-test gate", "safety_gate": "missing paired data, scenario shift, calibration coverage failure, NaN, stale revision, action-contract mismatch or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper is CC BY-NC-SA 4.0; code, weights and dataset redistribution terms not verified, so no artifact transfer or production dependency", "risk_and_rollback": "sim-real bias, sparse paired coverage, conformal undercoverage, scenario/OOD shift, metric leakage and morphology adapter error fail closed; disable SCAPE gate and restore frozen baseline evaluation/acceptance policy", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_plus_replay_and_Go2_paired_evaluation_only", "migratable": "evaluation/gating adapter and evidence protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct policy/controller/VLA/WAM/WBC replacement" }, "frozen_experiment": { "criteria": [ "freeze policy baseline/challenger and revisions", "use same paired scenario split Dp plus simulation-only Ds, calibration Dc and held-out test", "report absolute error, rank correlation, calibrated coverage, interval width, false-accept/false-reject and sample efficiency separately", "stratify indoor/outdoor, terrain, occlusion, latency and OOD scenarios", "simulation-only result cannot authorize real deployment; Go2 physical replay requires manual review" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "paper": "CC BY-NC-SA 4.0", "code": "not verified", "weights": "not verified", "data": "not verified" } }, "confidence": "primary-source SCAPE paper; paired sim/real formulation, conformal calibration and Unitree Go2 physical evaluation are verified, but artifact availability and cross-embodiment replication remain unverified" }, { "contract_id": "vitar-bounded-visuotactile-residual-to-g1-h2-dexterous-017", "hub_loop_slug": "vitar-bounded-residual-adaptation-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-15816" ], "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "frozen VLA action interface", "visuotactile residual adapter", "contact-state calibration and synchronization", "OOD/failure-recovery regression", "independent WBC/safety plane" ], "input_contract": { "observations": [ "language instruction", "RGB views", "proprioception", "synchronized 9DTact tactile frames", "execution history", "frozen VLA action chunk" ], "action_space": "bounded structured residual options plus continuous gain over frozen VLA action chunk; adapter output must pass action limits and WBC feasibility, never direct torque", "data_requirements": "same-state positive/neutral/negative branch outcomes, synchronized RGB/tactile/proprioception, contact calibration revision, task and failure labels, sensor/model/data license provenance" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze hand/arm action schema and independent WBC interface", "map 9DTact or target tactile sensor calibration and delay", "test no-contact/no-tactile fallback plus recovery termination" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "freeze wrist/hand sensor and action timing contract", "define residual dimension and amplitude bounds", "stratify contact/OOD/occlusion/latency regressions" ] }, "灵巧手": { "status": "target_contract_pending", "required_before_smoke": [ "freeze sensor taxel/force representation and hand action schema", "separate tactile adapter from grasp controller", "test sensor dropout, calibration drift and safe release fallback" ] } }, "output_contract": { "candidate_output": "bounded residual option and gain with confidence/abstain flag", "safety_gate": "missing tactile calibration, stale synchronization, out-of-distribution contact, NaN, residual bound violation, WBC infeasibility or resource/license conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper license, upstream OpenVLA-OFT, UniVTAC, repository, weights, data and tactile sensor terms verified separately; current ViTaR repository is README-only and no method artifact closure is assumed", "risk_and_rollback": "single fixed-base arm evidence, small physical denominator, branch-supervision leakage, sensor mismatch and unsupported cross-embodiment generalization fail closed; disable residual adapter and restore frozen VLA/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_and_replay_only", "migratable": "sensor/action adapter and bounded residual evaluation shell only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WAM/WBC or safety-plane replacement" }, "frozen_experiment": { "criteria": [ "freeze base VLA revision and candidate adapter revision", "same task/scenario seed and same-state branch split for baseline/candidate", "report success with explicit denominator, contact retention, recovery success, unsafe-pass/false-reject, latency and tactile dropout separately", "stratify ID/OOD contact, calibration drift, sensor dropout, occlusion and unseen object/hand configuration", "candidate must not regress frozen VLA on no-contact tasks and must pass WBC feasibility" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "paper": "verified_arxiv_license_only", "repository": "readme_only_no_method_license_verified", "weights": "not verified", "data": "not verified", "upstream": "separate verification required" } }, "confidence": "primary-source full-text and fixed-base physical results verified; no independent reproduction, cross-embodiment evidence or complete artifact/license closure" }, { "contract_id": "humanoid-everyday-data-contract-to-g1-h2-018", "hub_loop_slug": "humanoid-everyday-data-quality-and-contract-smoke", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "legacy-7286211b0d7b" ], "target_projects": [ "G1", "H2", "灵巧手", "VLA", "WAM" ], "affected_modules": [ "multimodal trajectory loader", "sensor/action contract adapter", "dataset quality and failure-data gate", "cross-embodiment replay evaluator", "independent WBC/safety plane" ], "input_contract": { "observations": [ "RGB", "depth", "LiDAR", "tactile/hand pressure", "language", "proprioception", "action trajectory", "task/episode metadata" ], "action_space": "evaluation/replay-only: converts and validates dataset actions; never emits torque or executable robot command", "data_requirements": "fixed dataset revision, G1/H1 embodiment labels, sensor calibration/synchronization provenance, action schema, task split, license manifest, success/failure labels and storage checksum" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze G1 action/state schema and timestamp units", "validate lite/full package revision and checksums", "separate replay output from WBC" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "define H2 adapter rather than copying G1 joints", "map camera/tactile/proprioception timing", "run held-out task replay" ] }, "灵巧手": { "status": "target_contract_pending", "required_before_smoke": [ "verify pressure/taxel semantics and calibration", "test missing-touch fallback", "do not infer grasp success from labels alone" ] } }, "output_contract": { "candidate_output": "dataset schema/quality report, replay compatibility result, failure-cluster and data-gap recommendation", "safety_gate": "license conflict, checksum mismatch, stale revision, missing calibration, timestamp/action mismatch, NaN, resource conflict or viewer read failure => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "repository README MIT claim conflicts with absent LICENSE and dataset cards; commercial or production use blocked until artifact-scoped license is resolved", "risk_and_rollback": "dataset packaging mismatch, sensor/action contract error, hidden success-only bias, viewer degradation and license leakage; disable adapter and restore frozen baseline dataset/replay path", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_loader_and_replay_smoke_only", "migratable": "schema adapter, quality gate and failure-cluster tooling only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WAM/WBC replacement or unverified commercial ingestion" }, "frozen_experiment": { "criteria": [ "freeze full/lite dataset revisions and checksums", "compare baseline loader with candidate loader on the same task/episode batch", "report field completeness, timestamp skew, action-range violations, duplicate episodes, success/failure balance and replay compatibility separately", "stratify G1/H1, task category, sensor availability, contact/no-contact and held-out tasks", "any license or contract ambiguity blocks merge; simulated/replay evidence cannot authorize physical deployment" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked_pending_owner_resolution", "paper": "verified_arxiv", "repository": "license conflict", "weights": "not verified", "data": "main card Apache-2.0; lite cards undisclosed" } }, "confidence": "primary project/paper and prior download evidence; downstream policy effect, field completeness and license closure remain unverified" }, { "contract_id": "imagewam-image-editing-to-g1-h2-m20-r1-019", "hub_loop_slug": "imagewam-low-latency-world-action-evaluation", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2606-19531" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM" ], "affected_modules": [ "world-action-model image-editing predictor", "action-chunk interface", "RoboTwin/LIBERO evaluation adapter", "latency and resource gate", "independent WBC/safety plane" ], "input_contract": { "observations": [ "language instruction", "current RGB observation", "action chunk", "task/scene seed", "embodiment and camera calibration metadata" ], "action_space": "evaluation-only image-conditioned action chunk; no torque, no direct deployment command", "data_requirements": "fixed ImageWAM source commit, checkpoint revision, FLUX/Qwen/upstream dataset terms, simulator revision, action dimension mapping, scene seed and latency measurement protocol" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "define camera/action adapter and image resolution", "validate action chunk against G1 WBC feasibility", "separate WAM output from low-level controller" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "freeze H2 camera/action timing", "test morphology mismatch and occlusion buckets", "retain baseline VLA/WAM rollback" ] }, "M20": { "status": "target_contract_pending", "required_before_smoke": [ "freeze wheel-arm action representation", "test navigation/arm coupling is out of scope", "run latency and action-range regression" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze wheel-foot camera and action schema", "test viewpoint and terrain-shift buckets", "do not infer locomotion safety from manipulation metrics" ] } }, "output_contract": { "candidate_output": "simulator action-chunk prediction, image-editing vs video-generation ablation, latency/resource report and transfer-risk decision", "safety_gate": "checkpoint/dependency license ambiguity, scene or embodiment shift, action dimension mismatch, NaN, stale revision, latency budget failure or WBC infeasibility => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "ImageWAM repository MIT is separate from FLUX.2, Qwen, InternData-A1, RoboTwin, LIBERO and vendor terms; no transfer or production dependency until upstream manifests are closed", "risk_and_rollback": "image-editing predictor may hide temporal inconsistency, published physical denominator conflict, simulator overfit, large checkpoint/resource burden and morphology mismatch; disable challenger and restore frozen WAM/VLA baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "RoboTwin/LIBERO controlled_sim_only", "migratable": "evaluation adapter, image-editing/video-generation ablation and latency gate only", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA/WBC replacement or real-robot transfer from simulation checkpoint" }, "frozen_experiment": { "criteria": [ "freeze ImageWAM commit and both official checkpoint revisions", "same scene/task seed for image-editing candidate, video-generation baseline and current project baseline", "report action success, temporal consistency, action-range violations, latency, GPU memory and failure categories separately", "stratify ID/OOD scenes, camera shift, action chunk length, embodiment adapter and simulator version", "published Dobot trial-denominator conflict remains a red flag; simulator win cannot authorize physical deployment" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": "5d4a341ed20a95cdb08f0293f3d44778b9a9e05a", "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "paper": "verified_arxiv", "repository": "MIT", "weights": "official public non-gated checkpoints", "data": "upstream terms not fully resolved" } }, "confidence": "primary paper, fixed official source and two public checkpoint revisions verified; no independent rerun, physical checkpoint or cross-embodiment evidence" }, { "contract_id": "motionwam-g1-matched-real-eval-and-adapter-020", "hub_loop_slug": "motionwam-g1-matched-real-evaluation-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2606-09215" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "Video DiT to Motion DiT latent adapter", "whole-body action-chunk interface", "SONIC/WBC feasibility boundary", "matched baseline/challenger evaluator", "camera grounding and failure recovery" ], "input_contract": { "observations": [ "egocentric RGB", "language instruction", "robot state", "action history", "camera calibration", "embodiment metadata" ], "action_space": "unified whole-body motion latent/action chunk consumed by an independent WBC; never direct torque or safety-plane command", "data_requirements": "frozen MotionWAM/related baseline revisions, G1 action schema, camera/hand/teleoperation calibration, same task reset and success definition, 20 trials per task, intervention/failure logs and license provenance" }, "embodiment_contract": { "G1": { "status": "evidence_anchor_pending_controlled_replay", "required_before_smoke": [ "reproduce public related DiT4DiT path without calling it MotionWAM", "freeze G1/ALOHA2/D435i/SONIC interface", "run camera-grounding and action-limit smoke" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "define morphology/action-latent adapter", "test unseen camera and hand configuration", "keep WBC independent" ] }, "M20": { "status": "target_contract_pending", "required_before_smoke": [ "define wheel-arm observation/action contract", "exclude navigation claims from manipulation metric", "run latency and action feasibility regression" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "define wheel-foot state/action adapter", "stratify terrain and viewpoint shift", "do not infer locomotion safety from G1 tasks" ] } }, "output_contract": { "candidate_output": "matched G1 action-chunk evaluator, grounding/failure report and bounded adapter recommendation", "safety_gate": "missing MotionWAM artifacts/data permission, stale revision, action schema mismatch, camera shift, NaN, latency failure, WBC infeasibility or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "MotionWAM paper evidence is separate from related DiT4DiT MIT code; MotionWAM 2.5B weights and 1,800 G1 Stage-3 episodes are not released, so no artifact transfer or production dependency", "risk_and_rollback": "single-G1 author-only evidence, no strict OOD objects, camera grounding failure, unmatched trial/latency definitions and unavailable data; disable challenger and restore frozen VLA/WAM/SONIC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_G1_replay_and_simulation_only", "migratable": "matched evaluation protocol, camera/action adapter and failure taxonomy only", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA/WBC replacement or treating DiT4DiT as MotionWAM implementation" }, "frozen_experiment": { "criteria": [ "freeze G1 task/reset definitions, camera/hand configuration, SONIC interface and baseline/challenger revisions", "same Stage-3-like batch and same 9 task split for baseline and candidate; report 20 trials per task with explicit denominator", "report success, intervention, failure/stop, camera grounding loss, action-limit violation, latency and WBC rejection separately", "stratify ID/OOD objects, viewpoint shift, occlusion, action chunk length and embodiment adapter", "author 76.1% vs 43.9% remains author evidence only; no independent or cross-embodiment claim until reproduced" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked_pending_owner_resolution", "paper": "verified_arxiv", "repository": "MotionWAM not released; DiT4DiT related MIT only", "weights": "not verified", "data": "not released" } }, "confidence": "primary full-text matched G1 evidence and related-code boundary verified; MotionWAM artifacts, independent reproduction and cross-embodiment transfer remain unverified" }, { "contract_id": "pilot-representational-wam-to-agibot-g1-021", "hub_loop_slug": "pilot-wam-intention-trajectory-decoupling-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-06994" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA" ], "affected_modules": [ "future-representation supervisor", "Wan2.2/V-JEPA2-AC understanding path", "flow-matching action head", "multi-view camera/action adapter", "independent WBC/safety plane" ], "input_contract": { "observations": [ "three-view RGB", "language instruction", "proprioception", "action history", "camera calibration", "embodiment metadata" ], "action_space": "flow-matching action chunk through a frozen safety/WBC interface; no direct torque or autonomous real-machine dispatch", "data_requirements": "fixed PILOT project/paper revision, AgiBot-G1 schema, 3-view calibration, same task/reset split, 20 episodes per task, understanding/action path timestamps, data license and checkpoint provenance" }, "embodiment_contract": { "G1": { "status": "evidence_anchor_pending_controlled_replay", "required_before_smoke": [ "freeze AgiBot-G1 camera/action schema and task reset", "separate 111.60ms understanding path from 6.9ms action step", "record WBC feasibility and intervention" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "map multi-view camera and action dimensions", "test unseen hand/waist and viewpoint shift", "retain frozen VLA/WAM rollback" ] }, "M20": { "status": "target_contract_pending", "required_before_smoke": [ "define wheel-arm observation/action adapter", "exclude navigation claims from manipulation score", "measure end-to-end latency separately" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "define wheel-foot viewpoint and action adapter", "stratify terrain/occlusion", "do not infer locomotion safety from AgiBot-G1 manipulation" ] } }, "output_contract": { "candidate_output": "representation/action-path matched evaluator, latency decomposition, OOD generalization and bounded adapter decision", "safety_gate": "placeholder artifacts, missing checkpoint/data permission, stale revision, timestamp mismatch, NaN, action-contract mismatch, latency budget failure or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "PILOT project page and static GitHub repository do not provide method code, weights or data licenses; no transfer or production dependency until artifacts and upstream Wan/V-JEPA/Qwen terms are closed", "risk_and_rollback": "single AgiBot-G1 author-only evidence, placeholder release links, no independent logs, no cross-embodiment proof and mixed latency denominators; disable challenger and restore frozen baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_AgiBot-G1_replay_and_simulation_only", "migratable": "representation/action-path evaluation protocol and camera/action adapter only", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA/WBC replacement or treating 145Hz action step as end-to-end control frequency" }, "frozen_experiment": { "criteria": [ "freeze task/reset, three-view camera calibration and baseline/candidate revisions", "same batch baseline/candidate on 8 standard tasks, three generalization settings and 10% few-shot split where artifacts permit", "report success, intervention, failure, understanding latency, action-step latency, end-to-end latency and WBC rejection separately", "stratify viewpoint/illumination/desk/object/color shifts and unseen embodiment adapters", "author 83.1/68.3/62.4 percentages remain author evidence only; no independent or cross-embodiment claim" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked_pending_owner_resolution", "paper": "verified_arxiv", "repository": "static project repository only", "weights": "not verified", "data": "described_not_downloadable" } }, "confidence": "primary paper/project evidence and AgiBot-G1 author protocol verified; method artifacts, independent reproduction and cross-embodiment transfer remain unverified" }, { "contract_id": "gigaworld-policy-05-realtime-wam-to-g1-h2-m20-r1-022", "hub_loop_slug": "gigaworld-policy-realtime-wam-adapter-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2607-13960" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA" ], "affected_modules": [ "GigaWorld-Policy-0.5 action-conditioned world model", "wam.cpp/GGUF low-latency runtime", "whole-body action-chunk adapter", "matched latency and closed-loop evaluator", "independent WBC and safety plane" ], "input_contract": { "observations": [ "RGB/video context", "language instruction", "robot state", "action history", "task normalization", "camera and embodiment metadata" ], "action_space": "evaluation-only action chunk through an independent WBC; never direct torque, actuator or safety-plane command", "data_requirements": "freeze GigaWorld-Policy commit f3d5a8864895aa57377095ceddf21e9419c0b7e6, Transformer revision 4b68e90c0833fec96df456426be344bab64e01a3, wam.cpp v0.6 commit e189107a5c9424781dea58c0481355350a051385, Wan2.2 VAE/scheduler, normalization, simulator/task seed and latency protocol" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "define camera/state/action adapter and chunk dimensions", "check WBC feasibility and contact limits", "retain frozen production VLA/WAM rollback" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "freeze sensor timing and morphology mapping", "test unseen hand/waist and viewpoint shifts", "separate WAM output from low-level control" ] }, "M20": { "status": "target_contract_pending", "required_before_smoke": [ "define wheel-arm state/action schema", "exclude navigation claims from manipulation score", "measure end-to-end latency and action range" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "define wheel-foot observation/action adapter", "stratify terrain and occlusion", "do not infer locomotion safety from PiPER evidence" ] } }, "output_contract": { "candidate_output": "matched simulator/replay action chunks, Python-vs-wam.cpp latency decomposition, WBC rejection and failure taxonomy", "safety_gate": "missing weights/VAE/scheduler/normalization, root-license ambiguity, stale revision, action mismatch, NaN, resource conflict, latency or WBC failure => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "wam.cpp Apache-2.0 and model-card terms are separate from the unlicensed Python repository root, Wan2.2 components, simulator, data and robot integration; no transfer or production dependency until manifests close", "risk_and_rollback": "author-only PiPER results, graded and binary metrics are not comparable, two long-horizon tasks, unreleased data/client/calibration/safety stack, 24GB Transformer dependencies and no independent reproduction; disable challenger and restore frozen VLA/WAM baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_and_replay_only", "migratable": "wam.cpp latency/runtime adapter, action-chunk evaluator and failure taxonomy only", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA/WBC replacement or physical transfer from author-only PiPER metrics" }, "frozen_experiment": { "criteria": [ "freeze all source/checkpoint/dependency revisions and license manifests", "same task/reset/seed and action chunk for Python, wam.cpp and current baseline; do not mix graded progress with binary success", "report success, intervention, WBC rejection, action-limit violation, end-to-end latency, GPU memory and failure categories separately", "stratify ID/OOD scenes, viewpoint/embodiment adapter, chunk length and simulator revision", "85ms RTX 4090 and PiPER 0.85/0.89/0.80 remain author evidence until independently reproduced" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": "f3d5a8864895aa57377095ceddf21e9419c0b7e6", "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv", "repository": "Python root license missing; wam.cpp Apache-2.0", "weights": "Transformer-only; external Wan2.2 terms", "data": "training and robot data not released" } }, "confidence": "primary paper, fixed official Python/runtime/weight revisions and quantified author PiPER evidence verified; no independent reproduction, complete data, robot client, calibration, safety stack or cross-embodiment evidence" }, { "contract_id": "selfwam-fast-control-to-g1-h2-m20-r1-023", "hub_loop_slug": "selfwam-self-grounded-wam-adapter-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-00725" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA" ], "affected_modules": [ "SelfMask robot-grounded WAM objective", "Wan2.2 future-video/action branches", "action-chunk adapter and latency evaluator", "RoboTwin data loader/quality gate", "independent WBC and safety plane" ], "input_contract": { "observations": [ "RGB/video context", "language/task instruction", "robot state", "clean demonstration action", "action history", "camera and embodiment metadata" ], "action_space": "evaluation-only action chunk consumed by an independent WBC; no direct torque, actuator or safety-plane command", "data_requirements": "freeze SelfWAM commit de7dd2b98af23ada9bf6c28b77df3f3456d84af9, Wan2.2 initialization revision, processed RoboTwin dataset aac262c35d02cc71b2f6ef670bd65fd9f2bb2547, task seed/reset, action chunk and latency protocol" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "define camera/state/action adapter and chunk dimensions", "test morphology gap from AgileX Cobot Magic", "retain frozen production WAM/VLA rollback" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "freeze sensor timing and hand/waist mapping", "separate SelfMask output from WBC feasibility", "stratify unseen viewpoint and occlusion" ] }, "M20": { "status": "target_contract_pending", "required_before_smoke": [ "define wheel-arm observation/action schema", "exclude navigation claims from manipulation score", "measure latency and action-range violations" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "define wheel-foot observation/action adapter", "exclude locomotion safety from bimanual evidence", "stratify terrain and camera shift" ] } }, "output_contract": { "candidate_output": "same-batch SelfWAM/FastWAM/current-baseline action chunks, SelfMask ablation, latency and WBC rejection report", "safety_gate": "missing checkpoint, stale code/data revision, action mismatch, NaN, resource/license conflict, WBC rejection or latency budget failure => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "SelfWAM repository MIT and processed-data card metadata are separate from upstream RoboTwin assets, Wan2.2 components and robot data; no production dependency until all manifests close", "risk_and_rollback": "38/40 AgileX Cobot Magic trials are author-team evidence, no independent reproduction, checkpoint Coming Soon, processed dataset is not upstream RoboTwin release and training cost is reported at 64xA800; disable challenger and restore frozen VLA/WAM baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_and_replay_only", "migratable": "SelfMask ablation, action-chunk evaluation, data-quality gate and latency/failure taxonomy only", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA/WBC replacement or cross-embodiment generalization from AgileX-only evidence" }, "frozen_experiment": { "criteria": [ "freeze repository/data/Wan revisions and license manifests; checkpoint absence is a hard gate for full reproduction", "same RoboTwin task/reset/seed and action chunk for SelfWAM, FastWAM and current baseline; isolate clean-action visibility and SelfMask supervision", "report success, intervention, WBC rejection, action-limit violation, latency, GPU memory and failure categories separately", "stratify ID/OOD scenes, viewpoint, embodiment adapter, action chunk length and data filtering policy", "38/40 author result and 95% average remain author evidence until independent fixed-artifact replay" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": "de7dd2b98af23ada9bf6c28b77df3f3456d84af9", "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv", "repository": "MIT", "weights": "checkpoint_not_released", "data": "processed_RoboTwin_metadata_verified; upstream terms separate" } }, "confidence": "primary paper, fixed official MIT repository, downloadable processed dataset and quantified author AgileX evidence verified; checkpoint, independent reproduction and cross-embodiment transfer remain unverified" }, { "contract_id": "eatr-stereo-embodiment-routing-to-g1-h2-r1-024", "hub_loop_slug": "eatr-stereo-humanoid-vla-routing-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-17453" ], "target_projects": [ "G1", "H2", "R1", "VLA", "WBC" ], "affected_modules": [ "paired-stereo cross-view auxiliary tokens", "body-segmented proprioceptive token routing", "humanoid observation/action adapter and latency budget", "RoboCasa-to-Omega transfer evaluation", "independent WBC and safety plane" ], "input_contract": { "observations": [ "paired stereo RGB", "body-segmented proprioception", "language/task instruction", "action history", "camera and embodiment metadata" ], "action_space": "evaluation-only VLA action chunks consumed by an independent WBC; no direct torque, actuator or safety-plane command", "data_requirements": "freeze EATR-Stereo paper revision and available implementation status; reproduce the same RoboCasa/Omega task split, occlusion protocol, token route ablations, seed/trial accounting and observation latency" }, "embodiment_contract": { "G1": { "status": "adapter_required", "required_before_smoke": [ "map stereo/proprioception schema and action dimensions", "measure camera timing and morphology gap from Omega 1.0", "retain frozen production VLA rollback" ] }, "H2": { "status": "adapter_required", "required_before_smoke": [ "freeze torso/hand/waist proprioceptive mapping", "test asymmetric occlusion and viewpoint shift", "separate token routing from WBC feasibility" ] }, "R1": { "status": "conditional", "required_before_smoke": [ "do not infer wheel-foot navigation benefit from Omega manipulation results", "define locomotion-state exclusion and action adapter", "test camera and terrain shift only after humanoid smoke" ] } }, "output_contract": { "candidate_output": "same-batch flat-state, token-concat, CVAT and EATR-Stereo action chunks with route/latency/occlusion breakdown", "safety_gate": "missing implementation, stale revision, action mismatch, NaN, timing drift, WBC rejection or unmeasured OOD failure => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper and any future code/weights/data licenses must be recorded separately; unknown artifact license blocks production dependency", "risk_and_rollback": "180 physical trials and 60% full-task success are author evidence on Omega 1.0; no independent reproduction, standardized sim-real gap, full failure logs or cross-embodiment evidence; disable challenger and restore frozen VLA/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_and_replay_only", "migratable": "embodiment-aware token routing, occlusion evaluation protocol, proprioceptive schema and latency taxonomy only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or humanoid/wheel-foot generalization from Omega-only evidence" }, "frozen_experiment": { "criteria": [ "freeze paper revision, implementation status, observation/action schema and license manifest", "same RoboCasa/Omega task split, paired stereo inputs, occlusion severity and trial accounting for all ablations", "report full-task, grasp, stage, OOD and severe-asymmetric-occlusion success with latency and WBC rejection separately", "stratify stereo dropout, proprioceptive masking, viewpoint shift and G1/H2 adapter mismatch", "no claim of cross-embodiment transfer without fixed adapter, multiple seeds and independent replay" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": "paper-arxiv-2608.17453-v3", "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv", "repository": "implementation/license not verified", "weights": "not verified", "data": "not verified" } }, "confidence": "primary paper and project evidence with quantified Omega 1.0 trials; implementation, independent reproduction, standardized sim-real gap and cross-embodiment transfer remain unverified" }, { "contract_id": "haf-hierarchical-flow-steer-to-g1-h2-r1-025", "hub_loop_slug": "haf-humanoid-whole-body-flow-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-16837" ], "target_projects": [ "G1", "H2", "R1", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "hierarchical locomotion/head→waist→bimanual action-flow generation", "cross-stage clean-action KV cache and action masks", "DCT low-frequency latent adapter with BC→offline/online SAC", "teleoperation data quality and fixed-budget regression", "independent WBC, termination and safety plane" ], "input_contract": { "observations": [ "first-person RGB", "head IMU", "dual-arm and leg/waist proprioception", "language/task instruction", "teleoperation action history", "embodiment metadata" ], "action_space": "evaluation-only staged whole-body action chunks or low-frequency latent corrections consumed by independent WBC; no direct torque or safety-plane command", "data_requirements": "freeze HAF paper revision, available repository HEAD 74d85062d5cc9ab8816ebf6268e59612b55b9c84, 120 teleoperation trajectories per task, task seed/reset, stage order, DCT coefficient count, BC/SAC schedule and termination protocol" }, "embodiment_contract": { "G1": { "status": "adapter_required", "required_before_smoke": [ "map TienKung staged action and proprioception schema to G1", "freeze body-part ordering, frequency and latency", "retain production VLA/WBC rollback" ] }, "H2": { "status": "adapter_required", "required_before_smoke": [ "separate waist/hand mapping from locomotion", "test action limits, delay and contact feasibility", "exclude online RL until simulation safety gate passes" ] }, "R1": { "status": "conditional", "required_before_smoke": [ "do not infer wheel-foot navigation benefit from humanoid household tasks", "define wheel-arm action adapter and terrain exclusion", "test only after humanoid same-batch baseline" ] } }, "output_contract": { "candidate_output": "same-batch HAF-VLA, all-joint, stage-order and frozen-VLA/HAF-Steer action chunks with normalized-progress and binary-success metrics kept separate", "safety_gate": "missing runnable artifacts, stale revision, action mismatch, NaN, unsafe exploration, WBC rejection, timing drift or unmeasured termination => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper is evidence only; HAF code, weights and data licenses are not verified, so no production dependency until artifact and license manifests close", "risk_and_rollback": "author-only TienKung 2.0/3.0 evidence: seven tasks, 120 teleoperation trajectories per task and 10 rollouts per method/task; HAF-VLA 70.5 normalized score is not universal success, DSRL had unsafe exploration early-stop; disable HAF/HAF-Steer and restore frozen champion", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_and_replay_only", "migratable": "stage ordering, action-interface contract, low-frequency latent adapter and fixed-budget safety/termination evaluation only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement, unbounded online RL or wheel-foot generalization from TienKung-only evidence" }, "frozen_experiment": { "criteria": [ "freeze paper/repository revision, stage order, action scale/frequency, DCT coefficient count, data split and license manifest", "same task/reset/seed and 120-trajectory budget for HAF-VLA, pi0.5, GR00T, Cosmos, ACT and HAF-Steer where artifacts permit", "keep normalized milestone progress separate from binary success; report latency, WBC rejection, intervention, unsafe termination and resource cost", "stratify ID/OOD object placement, viewpoint shift, action delay, embodiment adapter and online exploration budget", "DSRL unsafe early-stop and missing artifact cases are fail-closed, not scored as zero success" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型、运行不受限在线 RL 或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": "74d85062d5cc9ab8816ebf6268e59612b55b9c84", "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv", "repository": "remote HEAD only; code/license not verified", "weights": "not verified", "data": "author teleoperation data not released" } }, "confidence": "primary full-text, project-page and git ls-remote evidence with quantified author TienKung trials; runnable artifacts, independent reproduction, standardized sim-real gap and cross-embodiment transfer remain unverified" }, { "contract_id": "ioi-kinematic-prior-world-model-to-g1-h2-m20-r1-026", "hub_loop_slug": "ioi-kinematic-prior-world-model-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2606-23296" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA evaluator", "Sim2Real" ], "affected_modules": [ "versioned URDF/mesh and FK/IK contract", "multi-view kinematic aggregation and injection", "action-conditioned future-video generator", "synthetic rollout policy-ranking evaluator", "independent VLA/WBC/force safety plane" ], "input_contract": { "observations": [ "multi-view RGB", "versioned camera extrinsics", "URDF/mesh and joint state", "action history", "task instruction" ], "action_space": "evaluation-only action-conditioned video prediction and policy-ranking signal; no direct torque, actuator or safety-plane command", "data_requirements": "freeze IOI paper revision, RoboTwin task/action/seed/reset split, URDF/mesh versions, view geometry, video metric implementation and π0 policy evaluator protocol" }, "embodiment_contract": { "G1": { "status": "adapter_required", "required_before_smoke": [ "audit URDF, camera and joint/action alignment", "measure contact/mesh mismatch against current simulator", "keep production WAM/VLA rollback" ] }, "H2": { "status": "adapter_required", "required_before_smoke": [ "define stereo/waist/hand mapping", "separate kinematic prior from full-body contact physics", "test occlusion and extrinsic drift" ] }, "M20": { "status": "conditional", "required_before_smoke": [ "define wheel-arm state/action schema", "exclude navigation claims from arm policy ranking", "measure latency and IK failure" ] }, "R1": { "status": "conditional", "required_before_smoke": [ "define wheel-foot kinematics and terrain state", "do not infer locomotion benefit from dual-arm simulation", "stratify contact and camera shift" ] } }, "output_contract": { "candidate_output": "same-seed IOI/IRASim/Ctrl-World future-video metrics and π0 policy ranking with explicit kinematic-prior ablations", "safety_gate": "URDF/mesh/action mismatch, unsupported higher-level policy, uncalibrated OOD, NaN, latency or missing real evidence => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper is evidence only; IOI method code, weights, data and licenses are not verified, so no production dependency", "risk_and_rollback": "RoboTwin simulation reports FVD41.23 and π0 evaluator 45.6% over five tasks; physical Franka result is qualitative only, no trial count or synthetic-policy execution evidence; disable IOI challenger and restore current evaluator", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_and_replay_only", "migratable": "versioned morphology/URDF contract, analytical-vs-learned decomposition and predicted-vs-physics evaluator agreement checks", "replaceable": "no_evidence", "reject_or_prune": "synthetic-policy parity, direct VLA/WBC replacement or humanoid/legged generalization when kinematic mismatch, contact OOD, ranking calibration or latency gates fail" }, "frozen_experiment": { "criteria": [ "freeze IOI/IRASim/Ctrl-World revisions, URDF/mesh/extrinsic versions, task/action/seed/reset and π0 evaluator", "same RoboTwin five-task budget with MKAI, no-injection, Add/Concat/Cross-attention/AdaLN and explicit camera-extrinsic oracle ablations", "report FVD, policy-ranking agreement, action feasibility, IK failures, latency and resource cost separately", "stratify camera occlusion, extrinsic drift, mesh mismatch, contact state and held-out morphology", "qualitative Franka evidence cannot be promoted to physical success or sim2real benefit without measured trials" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": "paper-arxiv-2606.23296-v1", "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv", "repository": "not verified", "weights": "not verified", "data": "not released" } }, "confidence": "primary paper/full-text and project evidence with quantitative simulation comparisons; method artifacts, independent reproduction, physical metrics and cross-embodiment transfer remain unverified" }, { "contract_id": "graphop-wm-morphology-generalization-to-g1-h2-m20-r1-027", "hub_loop_slug": "graphop-wm-cross-embodiment-evaluation-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-20936" ], "target_projects": [ "G1", "H2", "M20", "R1", "quadruped WAM", "Sim2Real" ], "affected_modules": [ "morphology graph and actuator/action-dimension adapter", "local dynamics basis and structured graph operator", "TD-MPC world-model evaluator", "interpolation/extrapolation/held-out-composition regression matrix", "independent WBC, contact and safety plane" ], "input_contract": { "observations": [ "morphology graph", "link geometry/mass/damping/inertia", "actuator attributes", "state/action history", "task reward and termination" ], "action_space": "simulation-only structured transition/reward/value prediction and TD-MPC planning signal; no direct torque or production controller command", "data_requirements": "freeze MuJoCo family, Latin-hypercube parameter ranges, topology/action schema, interpolation/extrapolation/held-out-composition split, seeds and evaluator implementation" }, "embodiment_contract": { "G1": { "status": "simulation_adapter_required", "required_before_smoke": [ "encode full-body morphology and actuator graph", "separate contact dynamics from parameter-only evidence", "keep current WAM/VLA/WBC rollback" ] }, "H2": { "status": "simulation_adapter_required", "required_before_smoke": [ "define hand/waist/contact graph extensions", "test action-dimension instantiation and delay", "exclude hardware claims" ] }, "M20": { "status": "simulation_adapter_required", "required_before_smoke": [ "encode wheel-arm graph and navigation state separately", "test wheel-ground/contact topology shift", "do not mix with arm-only scores" ] }, "R1": { "status": "simulation_adapter_required", "required_before_smoke": [ "encode wheel-foot terrain/contact graph", "stratify topology versus parameter shift", "retain independent locomotion safety" ] } }, "output_contract": { "candidate_output": "same-seed GraphOp-WM versus current morphology-conditioning baseline on interpolation, extrapolation and held-out composition with calibrated transition/reward/value error", "safety_gate": "topology/action mismatch, uncalibrated prediction, missing result table, NaN, contact/actuator delay omission or unsupported cross-topology claim => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper evidence only; code, weights, benchmark artifact and licenses are not verified, so no production dependency", "risk_and_rollback": "paper discloses mechanism and split design but no independently reproducible performance numbers, code, weights or real robot evidence; retain current baseline and run GraphOp-WM only as a simulation challenger", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_simulation_only", "migratable": "morphology graph/action-dimension adapter and cross-embodiment world-model evaluation protocol", "replaceable": "no_evidence", "reject_or_prune": "prune if predictive calibration, topology/action contract or held-out morphology gains fail; reject hardware or contact generalization claims" }, "frozen_experiment": { "criteria": [ "freeze MuJoCo version, morphology parameter ranges, graph schema, action dimensions, task reward/termination and evaluator", "same seeds and rollout budget for generic morphology conditioning, GraphOp-WM factorization and ablations", "report transition, reward, value, planning success, calibration error and compute separately", "stratify interpolation, extrapolation, held-out composition, actuator delay, contact and topology shifts", "no real-robot or cross-topology claim without a separately approved embodiment adapter and evidence" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": "paper-arxiv-2608-20936-v1", "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv", "repository": "not verified", "weights": "not verified", "data": "benchmark specification only" } }, "confidence": "primary paper and clearly specified simulation mechanism/splits; no quantitative result table, artifacts, independent reproduction, contact dynamics or real-robot evidence" }, { "contract_id": "g1-g2-8-usage-feedback-min-intervention-028", "hub_loop_slug": "g1-usage-feedback-g2-8-min-intervention-contract", "status": "criteria_frozen_pending_data_contract", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2606-17011" ], "evidence_summary": "ROVE 官方 arXiv 与项目页核验：人形 VLA rollout→人工接管→adaptation/recovery 分段，OVE critic 与跨本体人类视频用于筛选混合质量轨迹；两项真实接触操作、三轮 rollout-intervention 迭代。论文/项目页未提供代码、权重、经验数据或部署许可证，因此只支持事件账本与仿真 replay contract，不支持生产模型替换。", "target_projects": [ "G1", "H2", "G2.8", "VLA", "WBC" ], "affected_modules": [ "任务/地图/语音/遥操作事件账本", "人工接管与失败恢复标注", "干预价值与数据缺口聚类", "独立 WBC/安全平面" ], "input_contract": { "observations": [ "任务与地图 revision", "语音/遥操作事件", "策略命令与 WBC 输出", "人工接管、失败、恢复和异常事件", "传感器/本体/软件 revision" ], "action_space": "只记录事件与评测结果；候选策略输出必须经过独立 WBC/安全平面，不允许账本直接发真机动作", "data_requirements": "先建立脱敏 schema、时间同步、事件 ID、任务/地图/本体/许可证 provenance；当前生产使用数据尚未接入，禁止填充伪造样本" }, "embodiment_contract": { "G1": { "status": "data_ingestion_pending", "required_before_smoke": [ "确认 G1.21 数据源与授权边界", "冻结事件 schema、时钟和地图/任务 revision", "保留当前 VLA/WBC 回滚" ] }, "H2": { "status": "adapter_required", "required_before_smoke": [ "定义 H2 传感器/动作事件映射", "区分仿真事件与真机事件", "未完成人工验收前禁止生产接线" ] } }, "output_contract": { "candidate_output": "数据缺口、失败聚类、最小人工干预指标和可回滚仿真回归样本；不输出生产模型替换指令", "safety_gate": "PII/时钟/本体契约缺失、事件重复、NaN、资源冲突或人工接管边界不清即 fail-closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "任务、地图、语音、遥操作和现场日志逐项确认授权；无授权不得入库或发布", "risk_and_rollback": "当前没有可报告的 G1.21/G2.8 生产分母；回滚为停用摄取与聚类任务、保留原始只读边界，不改 reward 或生产模型", "verdicts": { "long_term_attention": "yes", "test_soon": "schema_and_replay_smoke_only", "migratable": "event-schema, failure-cluster and intervention-value adapter only", "replaceable": "no_evidence", "reject_or_prune": "reject any synthetic-as-real usage claim or automatic on-machine action" }, "frozen_experiment": { "criteria": [ "固定事件 schema、时间同步和脱敏规则", "同批历史成功/失败/接管/恢复样本", "报告 contact/接管/恢复分母与缺失值", "仿真 replay 与当前基线同 seed 对照", "跨场景回归不退化" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked_pending_authorization", "events": "not_connected", "voice_and_maps": "not_connected", "robot_logs": "not_connected" } }, "confidence": "primary evidence supports the intervention-value concept; project usage data and independent G1/H2 reproduction are not available" }, { "contract_id": "btgenbot-2-behavior-tree-planning-to-g1-h2-r1-029", "hub_loop_slug": "btgenbot-2-robot-task-planning-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2602-01870" ], "target_projects": [ "G1", "H2", "R1", "VLA", "WBC", "navigation" ], "affected_modules": [ "language-to-behavior-tree planner", "closed action-primitive registry", "recovery/retry validation", "independent WBC and safety plane" ], "input_contract": { "observations": [ "task language", "versioned action primitive registry", "navigation/manipulation state", "failure and recovery predicates" ], "action_space": "XML behavior tree and validated high-level action calls only; no direct torque, actuator or safety-plane command", "data_requirements": "freeze BTGenBot-2 commit, model revision, action vocabulary, task/seed/reset split, simulator version and recovery predicate semantics" }, "embodiment_contract": { "G1": { "status": "adapter_required", "required_before_smoke": [ "map action primitives to G1 skills", "validate locomotion/manipulation handoff", "retain current VLA/WBC rollback" ] }, "H2": { "status": "adapter_required", "required_before_smoke": [ "define waist/hand/navigation primitive boundaries", "test action limits and timeout recovery", "exclude hardware claims" ] }, "R1": { "status": "conditional", "required_before_smoke": [ "separate wheel-foot navigation primitives from humanoid manipulation", "freeze terrain and map contract", "do not infer cross-morphology success from Isaac-only scores" ] } }, "output_contract": { "candidate_output": "validated behavior-tree plan, primitive calls, recovery branch and failure reason classification", "safety_gate": "unknown primitive, malformed tree, timeout, unsafe recovery, WBC rejection, NaN or contract mismatch => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "BTGenBot-2 repository/model/dataset and Llama/Qwen/Isaac Sim/ROS2 terms remain separate; verify each before any deployment dependency", "risk_and_rollback": "author results are Isaac Sim benchmark evidence; disable candidate planner and restore frozen planner/VLA/WBC path on any tree, latency or recovery regression", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_and_replay_only", "migratable": "action-primitive schema, tree validation and recovery evaluation protocol", "replaceable": "no_evidence", "reject_or_prune": "direct production planner replacement or any tree bypassing WBC/safety" }, "frozen_experiment": { "criteria": [ "same task/action vocabulary and seed/reset split", "same baseline planner and candidate model", "report syntactic validity, task success, recovery success, latency and resource use separately", "unseen task and primitive-composition split", "cross-scenario regression with no safety degradation" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": "7b8a7b70ee2df6f95ad5e1ffe6924defc15343f5", "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "code": "MIT repository source", "weights": "Hugging Face collection requires separate model-card review", "data": "dataset card and upstream terms pending" } }, "confidence": "primary paper/repository/project/Hugging Face sources reviewed; no independent cross-embodiment or physical reproduction" }, { "contract_id": "robust-wam-semantic-foresight-to-g1-h2-r1-030", "hub_loop_slug": "robust-wam-semantic-foresight-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-05903" ], "target_projects": [ "G1", "H2", "R1", "WAM", "VLA", "Sim2Real" ], "affected_modules": [ "semantic-future foresight alignment", "VAE-WAM action stream", "appearance-shift OOD evaluator", "independent WBC and safety plane" ], "input_contract": { "observations": [ "RGB/video", "proprioception where target stack exposes it", "fixed camera timestamp and calibration", "action-token history" ], "action_space": "existing target action schema; candidate may only emit offline action chunks or a bounded adapter output, never direct torque or safety commands", "data_requirements": "freeze WAM backbone, semantic-future target construction, action/future-step positional mapping, ID/OOD split, seeds, simulator and license manifest" }, "embodiment_contract": { "G1": { "status": "adapter_required", "required_before_smoke": [ "map action tokens to G1 semantics", "freeze camera/proprioception timestamps", "check WBC feasibility and rollback" ] }, "H2": { "status": "adapter_required", "required_before_smoke": [ "resolve 29/31 DOF action contract", "verify physical timing and sensor calibration", "exclude hardware claims" ] }, "R1": { "status": "conditional", "required_before_smoke": [ "separate wheel-foot terrain/contact state", "do not infer legged OOD benefit from arm-only or FR3 evidence" ] } }, "output_contract": { "candidate_output": "offline semantic-foresight WAM adapter or action-chunk proposal with calibrated OOD score", "safety_gate": "action mismatch, uncalibrated semantic target, latency/jitter, NaN, WBC rejection or contract failure => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "use Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper, WAM backbone, VAE, semantic encoder, code, weights, data and simulator terms verified separately; missing artifact or dependency terms block migration", "risk_and_rollback": "semantic foresight may improve appearance-shift robustness without improving contact feasibility; disable candidate adapter and restore frozen WAM/VLA/WBC baseline on any regression", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_and_replay_only", "migratable": "semantic-future target, action-token alignment and OOD evaluation protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA replacement or any appearance-only gain without action feasibility and cross-embodiment evidence" }, "frozen_experiment": { "criteria": [ "same WAM backbone and action budget", "fixed ID/OOD illumination/viewpoint/embodiment splits", "same seed and rollout budget", "report success, calibration, WBC rejection, latency and resource cost separately", "cross-scene regression must not degrade" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv_v2", "repository": "official README-only source; method code not verified", "weights": "not verified", "data": "not released" } }, "confidence": "primary paper/full-text reviewed with quantified simulation and real-robot claims; method artifacts, independent reproduction and cross-embodiment transfer remain unverified" }, { "contract_id": "radar-generalization-diagnostics-to-g1-h2-m20-r1-031", "hub_loop_slug": "radar-training-distribution-generalization-contract", "status": "criteria_frozen_pending_data_contract", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2603-11426" ], "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "Sim2Real", "数据回流" ], "affected_modules": [ "训练数据检索与覆盖诊断", "OOD泛化轴标注", "回归矩阵与数据缺口聚类", "独立评测与安全平面" ], "input_contract": { "observations": [ "冻结的训练样本元数据", "测试任务/场景/本体/传感器描述", "VLA或视觉embedding revision", "脱敏任务与地图版本" ], "action_space": "只产生检索、泛化分类和数据采集优先级；不得产生控制动作或模型替换命令", "data_requirements": "固定训练数据快照、任务轴定义、ID/OOD划分、检索集大小、VLM解释协议、隐私和许可证边界" }, "embodiment_contract": { "G1": { "status": "data_contract_pending", "required_before_smoke": [ "冻结G1任务/地图/本体标签", "区分仿真与真机事件", "保留当前VLA/WBC回滚" ] }, "H2": { "status": "data_contract_pending", "required_before_smoke": [ "固定传感器和动作语义", "不把ALOHA诊断准确度外推为H2收益" ] }, "M20": { "status": "conditional", "required_before_smoke": [ "单独定义轮臂导航/操作泛化轴", "禁止把机械臂检索结果混作轮足控制证据" ] }, "R1": { "status": "conditional", "required_before_smoke": [ "固定轮足地形和接触标签", "报告跨本体缺失而非插值填充" ] } }, "output_contract": { "candidate_output": "训练分布覆盖报告、泛化类型、失败聚类和数据采集需求", "safety_gate": "数据快照漂移、PII/许可证不明、任务轴缺失、embedding不一致或外部API不可审计 => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "只从Hub台账和实时观测选择资源；242不可用，244/245共享；诊断本身不得占用未批准训练资源", "license_policy": "训练数据、任务/地图/语音日志、VLA/VLM模型和第三方API逐层核验；未闭合不得发布或用于自动决策", "risk_and_rollback": "RADAR诊断错误可能导致错误采集优先级；停用诊断并回退到冻结人工评测矩阵，不改reward、不替换模型、不发真机动作", "verdicts": { "long_term_attention": "yes", "test_soon": "schema_and_offline_replay_only", "migratable": "泛化轴schema、检索覆盖指标、失败聚类与采集需求接口", "replaceable": "no_evidence", "reject_or_prune": "用诊断分数自动替换生产策略或把ALOHA结果冒充G1/H2/M20/R1收益" }, "frozen_experiment": { "criteria": [ "同一训练快照与测试任务", "固定embedding和检索集大小", "固定ID/OOD轴与人工标签", "报告retrieval recall、分类一致性、人工复核和数据采集成本", "跨本体回归不得把缺失数据当成负例" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv", "repository": "official demo; fixed runnable repository not verified", "weights": "upstream embeddings not owned by RADAR", "data": "full annotation and private datasets not released" } }, "confidence": "primary paper and author demo reviewed; no independent cross-embodiment reproduction and no production data authorization" }, { "contract_id": "rise-adaptive-rollout-scheduler-to-g1-h2-wam-032", "hub_loop_slug": "rise-wam-compute-gating-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-20430" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "WAM rollout scheduler", "future-planning-gain evaluator", "latency/resource budget", "independent WBC and safety plane" ], "input_contract": { "observations": [ "current latent prefix", "candidate future rollout", "risk profile", "planning gain estimate", "compute cost and latency telemetry" ], "action_space": "scheduler may choose continue/stop or fixed horizon only; it cannot alter action semantics, reward, VLA/WBC weights or safety limits", "data_requirements": "same-batch ID/OOD scenes, successful and failed rollouts, stop/continue labels, horizon-wise planning score, latency/resource logs, simulator and license revisions" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze G1 WAM latent/action schema", "define contact and fall safety rollback", "separate simulation latency from hardware runtime" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "freeze H2 action timing and sensor state", "verify 29/31 DoF interface before any rollout comparison", "keep independent WBC" ] }, "M20": { "status": "conditional", "required_before_smoke": [ "define wheel-arm navigation/operation horizon and collision contract" ] }, "R1": { "status": "conditional", "required_before_smoke": [ "define legged terrain/contact horizon and recovery semantics" ] } }, "output_contract": { "candidate_output": "bounded rollout horizon decision plus audit reason and estimated cost", "safety_gate": "NaN, stale latent, cost overrun, contract mismatch, WBC infeasibility or resource conflict => stop and fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "only Hub ledger and live observation; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "RISE MIT code/config is separate from CounterDrive CC-BY-NC-ND-4.0, NavSim/NuPlan and upstream WAM/model terms; unresolved terms block migration", "risk_and_rollback": "scheduler may hide hard scenes or amplify hallucinated future gains; disable scheduler and restore fixed-horizon WAM champion plus independent safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "rollout-cost/gain interface and audit schema only", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA/WBC replacement or autonomous reward modification" }, "frozen_experiment": { "criteria": [ "same WAM backbone and action budget", "fixed ID/OOD scene and embodiment splits", "same seeds and maximum horizon", "report planning quality, rollout count, latency, resource cost, unsafe-pass and false-stop separately", "cross-scene regression must not degrade" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv_fulltext", "repository": "MIT code/config only", "weights": "not verified", "data": "CounterDrive route license CC-BY-NC-ND-4.0; file-level reproducibility not verified" } }, "confidence": "primary full-text/project/repository/dataset-route review; no humanoid/legged transfer or independent end-to-end reproduction" }, { "contract_id": "tac4loco-plantar-pressure-to-g1-humanoid-033", "hub_loop_slug": "tac4loco-g1-plantar-tactile-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-15766" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "plantar pressure adapter", "sim-to-real sensor calibration", "locomotion policy observation", "independent WBC and fall safety" ], "input_contract": { "observations": [ "IMU/proprioception", "bilateral topology-preserving ordinal plantar pressure", "pressure history", "terrain-orientation estimate", "commanded velocity and gait phase" ], "action_space": "residual joint-position targets only through the existing locomotion/WBC interface; no direct torque or safety-plane bypass", "data_requirements": "same terrain/seed split with partial, asymmetric, changing, compliant and granular support; sensor calibration, dropout, latency, failure and recovery labels" }, "embodiment_contract": { "G1": { "status": "asset_and_sensor_contract_pending", "required_before_smoke": [ "freeze foot taxel topology and ordinal quantizer", "verify pressure/IMU timing, zero-order hold and dropout model", "map residual joint-position output to current WBC" ] }, "H2": { "status": "not_transferable_without_sensor_contract", "required_before_smoke": [ "verify H2 foot sensor layout and 29/31 DoF interface", "separate H2 calibration from G1 quantizer" ] }, "M20": { "status": "conditional", "required_before_smoke": [ "define wheel-foot/arm contact semantics; do not treat plantar pressure as equivalent" ] }, "R1": { "status": "conditional", "required_before_smoke": [ "define quadruped foot/contact topology and terrain contract separately" ] } }, "output_contract": { "candidate_output": "pressure-aware observation embedding and bounded residual joint-position proposal", "safety_gate": "stale/missing pressure, quantizer drift, NaN, delay overrun, WBC infeasibility, slip/fall or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "only Hub ledger and live observation; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper is not an artifact license; physical pressure hardware, sensor firmware, code, weights, data and upstream simulator terms must be verified separately", "risk_and_rollback": "pressure sensor failure or calibration mismatch can destabilize gait; disable pressure encoder and restore proprio-only champion plus independent safety/fall controller", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_G1_sim_and_sensor_replay", "migratable": "ordinal sensor/interface and regression protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct production WBC/VLA replacement or cross-body extrapolation" }, "frozen_experiment": { "criteria": [ "same G1 terrain/seed and command distribution", "fixed pressure quantization/calibration and latency/dropout schedule", "same proprio-only baseline and action budget", "report survival, completion, tracking, falls, slip, false contact, latency and WBC rejection separately", "unseen compliant/granular terrain only as held-out test" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv_fulltext", "repository": "not released", "weights": "not verified", "data": "not released" } }, "confidence": "primary full-text G1 simulation/physical protocol reviewed; no public method artifacts or independent reproduction" }, { "contract_id": "spd-simulation-pretraining-to-g1-h2-dexterity-034", "hub_loop_slug": "spd-sim-pretrain-dexterity-contract", "status": "criteria_frozen_pending_artifact_freeze", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-15917" ], "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "simulation dexterity pretraining", "history/chunk action head", "real-data fine-tuning", "camera/action contract and safety plane" ], "input_contract": { "observations": [ "three RGB-D camera views", "joint/proprioception history", "VR/hand-guiding demonstrations", "task language or fixed task id" ], "action_space": "target embodiment joint/action chunk schema; candidate initialization cannot bypass hand controller, WBC or independent safety limits", "data_requirements": "fixed MuJoCo asset/physics revision, 75h simulation/teleoperation provenance, per-task real demonstrations, success/progress rubric, failures, thermal and license records" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "map YAM/Sharpa 56-DoF action semantics to G1 hands/arms", "freeze camera and joint calibration", "define whole-body balance/WBC fallback" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "freeze H2 29/31 DoF interface and hand configuration", "verify no simulator-to-physical action aliasing", "keep independent WBC" ] }, "灵巧手": { "status": "asset_contract_pending", "required_before_smoke": [ "fix hand taxonomy, joint limits, grasp safety and contact calibration", "separate task progress from binary completion" ] } }, "output_contract": { "candidate_output": "simulation-pretrained initialization or adapter checkpoint plus audit metadata", "safety_gate": "artifact/license mismatch, NaN, contact instability, thermal risk, contract mismatch, OOD regression or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "only Hub ledger and live observation; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper, simulator, robot assets, camera/hand data, code, weights and dataset terms verified separately; release claims do not close the artifact gate", "risk_and_rollback": "simulation pretraining may encode asset-specific contacts or hide OOD failures; disable SPD initialization and restore from-scratch real-data BC champion", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_same-embodiment_sim_and_replay", "migratable": "data filtering, history/chunk ablations and adapter interface only", "replaceable": "no_evidence", "reject_or_prune": "direct production policy/WBC replacement or cross-hand performance extrapolation" }, "frozen_experiment": { "criteria": [ "same task/embodiment and camera/action split", "fixed history/chunk and simulator revision", "from-scratch BC champion versus SPD initialization under same real-data budget", "multiple seeds and repeated trials with binary completion plus progress separately", "held-out objects/poses, thermal and contact regression must not degrade" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv_fulltext", "repository": "not verified; release claimed", "weights": "not verified", "data": "not verified; release claimed" } }, "confidence": "primary paper/full-text and official project page reviewed; target platform differs from G1/H2, artifacts and independent reproduction incomplete" }, { "contract_id": "tac-loco-go2-wbc-tactile-to-m20-r1-035", "hub_loop_slug": "tac-loco-legged-tactile-contact-contract", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2607-10132" ], "target_projects": [ "M20", "R1", "G1", "H2" ], "affected_modules": [ "tactile gripper encoder", "legged loco-manipulation WBC", "grasp-force regulation", "object-slip recovery and safety plane" ], "input_contract": { "observations": [ "proprioception", "user velocity/end-effector command", "history", "two FlexiTac tactile arrays", "grasp/contact state" ], "action_space": "unified leg, arm and gripper action through existing WBC/servo interfaces; no direct torque or safety bypass", "data_requirements": "fixed Go2/WidowX/hand geometry, tactile calibration and normalization, 8,000 simulation rollouts, same command/object split, established-grasp precondition and force/slip/failure logs" }, "embodiment_contract": { "M20": { "status": "target_contract_pending", "required_before_smoke": [ "map wheel-arm base and gripper action schema separately", "do not equate Go2 contact semantics with M20", "freeze arm collision and safety limits" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "map quadruped leg/contact and end-effector schema", "verify tactile sensor placement and timing" ] }, "G1": { "status": "not_directly_transferable", "required_before_smoke": [ "separate humanoid whole-body balance contract and hand tactile layout" ] }, "H2": { "status": "not_directly_transferable", "required_before_smoke": [ "freeze H2 hand/arm/leg action and sensor contract" ] } }, "output_contract": { "candidate_output": "compact tactile latent plus bounded unified control proposal", "safety_gate": "stale/ambiguous tactile, grasp precondition failure, slip/fall, NaN, action-limit or WBC infeasibility => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "only Hub ledger and live observation; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper, FlexiTac hardware/firmware, Go2/WidowX assets, code, weights, simulation and data terms verified separately; no public method artifact currently verified", "risk_and_rollback": "method begins from established grasp and uses relative tactile normalization; disable tactile latent and restore existing Deep-WBC/force controller with independent safety", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_same-platform_sim_and_replay", "migratable": "tactile latent and force/slip regression protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct M20/R1/G1/H2 WBC replacement or treating established-grasp results as general manipulation" }, "frozen_experiment": { "criteria": [ "same platform and command/object split", "fixed tactile normalization and sensor dropout/latency", "compare against existing WBC with same established-grasp precondition", "report grasp force, drop rate, slip, locomotion tracking, fall/recovery and latency separately", "held-out payload and disturbance regression" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv_fulltext", "repository": "not released", "weights": "not verified", "data": "not released" } }, "confidence": "primary paper review with Go2 physical trials; established-grasp, single platform, absent artifacts and no independent reproduction constrain transfer" }, { "contract_id": "himemwam-to-g1-h2-long-horizon-memory-adapter-001", "status": "criteria_frozen_pending_sim_smoke", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2606-10363" ], "target_projects": [ "G1", "H2" ], "affected_modules": [ "WAM hierarchical memory adapter", "long-horizon latent/state cache", "independent WBC and safety plane", "cross-task forgetting regression" ], "input_contract": { "observations": [ "RGB/RGB-D task observations", "proprioception and action history", "language/task context", "optional tactile only when timestamp/calibration is frozen" ], "action_space": "existing G1/H2 action schema through adapter or action head; no direct torque and no WBC/safety-plane bypass", "data_requirements": "fixed task/seed split with long-horizon success, failure, recovery, interruption and old-skill regression labels" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze observation/action history length and cache reset semantics", "map memory output to current G1 action head and WBC limits", "verify delay, interruption and recovery state handling" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "resolve the official 29-DoF versus any 31-DoF runtime action interface", "freeze H2 camera/proprioception timing and cache reset semantics", "keep independent WBC and safety fallback" ] } }, "output_contract": { "candidate_output": "bounded memory-conditioned latent or action-head proposal with audit metadata", "safety_gate": "cache corruption, stale state, NaN, contract mismatch, delay overrun, OOD regression or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "only Hub ledger and live observation; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper evidence is not an artifact license; code, weights, data, simulator and robot-asset terms must be verified independently", "risk_and_rollback": "hierarchical memory may amplify stale context or catastrophic forgetting; disable the memory adapter and restore the frozen champion plus independent WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_G1_H2_sim_only_after_interface_freeze", "migratable": "memory interface and forgetting regression protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WAM/WBC replacement or cross-embodiment extrapolation" }, "frozen_experiment": { "criteria": [ "same task, seed, embodiment and data revision", "from-scratch or current champion baseline versus memory adapter under identical budget", "fixed history/cache reset, interruption and delay schedule", "report long-horizon completion, recovery, latency, NaN and old-skill forgetting separately", "held-out tasks and cross-scene regression must not degrade" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial_blocked", "paper": "verified_arxiv_fulltext", "repository": "MIT code reported; fixed revision and complete artifacts not verified", "weights": "not released/verified", "data": "benchmark data and provenance not released/verified" } }, "confidence": "primary_source_reviewed; LIBERO/RMBench results and author-reported Piper trials do not establish cross-embodiment or independent reproduction" }, { "contract_id": "cg-world-to-g1-h2-m20-r1-world-state-generalization-001", "status": "criteria_draft_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2607-26452" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "world-state schema/adapter", "counterfactual split and leakage audit", "WAM/VLA evaluation harness", "independent WBC and safety plane" ], "input_contract": { "observations": [ "RGB/RGB-D or target project sensor stream", "proprioception/action history only when timestamped", "world-state labels must distinguish observed, constructed and latent fields" ], "action_space": "target project existing action schema through an adapter; CG-World is supervision/evaluation infrastructure, not a production action or torque interface", "data_requirements": "fixed CG-World revision and license tier; factual/observation/action/mechanism counterfactual lineage; no train/eval branch leakage; same batch success/failure/recovery labels" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "map world-state fields to G1 camera/proprioception/action schema", "freeze contact/latency and reset semantics", "retain independent WBC/safety fallback" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "freeze H2 sensor/action interface and clock", "separate synthetic state supervision from real-state evidence", "retain production rollback" ] }, "M20": { "status": "target_contract_pending", "required_before_smoke": [ "exclude navigation claims from manipulation score", "define wheel-arm sensor/action adapter and occlusion split" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "define wheel-foot viewpoint/terrain adapter", "separate locomotion safety from desktop manipulation benchmark" ] } }, "output_contract": { "candidate_output": "world-state representation or evaluation report with lineage, split, calibration and uncertainty metadata; no direct motor command", "safety_gate": "missing revision/license, branch leakage, schema mismatch, NaN, delay overrun, OOD failure or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper is verified; dataset/code/weights/license are not released or fixed, and planned noncommercial/L3 controlled access blocks dispatch until audited", "risk_and_rollback": "industrial CG state is not physical truth; disable adapter/evaluator and restore frozen project baseline plus independent WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_schema_and_leakage_audit_sim_only_after_artifact_gate", "migratable": "world-state schema, split/leakage audit and evaluation protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WAM/WBC replacement or real-robot generalization claim" }, "frozen_experiment": { "criteria": [ "freeze dataset revision, license tier, state/action schema and branch lineage", "same-batch baseline versus candidate on ID, unseen-object/scene OOD and counterfactual splits", "report metric and denominator, leakage audit, latency, calibration, failure/recovery and resource cost separately", "three seeds and cross-embodiment adapter checks; missing fields remain not_disclosed" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "not released/verified", "weights": "not released/verified", "data": "planned but not downloadable/verified" } }, "confidence": "primary_source_reviewed; simulation-only protocol with artifact and cross-embodiment evidence gaps" }, { "contract_id": "ultrasound-wam-reward-to-g1-h2-m20-r1-challenger-001", "status": "criteria_draft_domain_mismatch_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2607-21918" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "frozen WAM reward/evaluation challenger", "observation-action-time-offset adapter", "independent WBC/force/safety plane" ], "input_contract": { "observations": [ "target project visual/proprioceptive stream only after schema freeze", "explicit timestamps and calibration", "optional tactile/force only if independently measured" ], "action_space": "existing project action schema through adapter; ultrasound 6-DoF probe action cannot be copied to humanoid/legged control", "data_requirements": "same-batch supervised-only versus frozen-WAM reward, ID/OOD and recovery labels, latency and safety logs" }, "embodiment_contract": { "G1": { "status": "domain_mismatch_pending_adapter", "required_before_smoke": [ "define camera/proprioception/action mapping", "exclude ultrasound-specific target-plane assumptions", "retain WBC and emergency stop" ] }, "H2": { "status": "domain_mismatch_pending_adapter", "required_before_smoke": [ "freeze sensor/action/time-offset contract", "no direct policy transfer" ] }, "M20": { "status": "domain_mismatch_pending_adapter", "required_before_smoke": [ "separate wheel-arm navigation/manipulation metrics", "measure contact/occlusion separately" ] }, "R1": { "status": "domain_mismatch_pending_adapter", "required_before_smoke": [ "exclude locomotion claims", "define terrain/viewpoint adapter" ] } }, "output_contract": { "candidate_output": "frozen reward/evaluation report with calibration, realizability and failure metadata; no direct motor command", "safety_gate": "missing artifacts, domain mismatch, stale revision, NaN, delay overrun, unsafe contact or contract mismatch => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper only; code, weights, data, compute and license not verified", "risk_and_rollback": "medical ultrasound dynamics and single-axis action are not general robot control; remove challenger reward and restore frozen planner/controller plus independent safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_offline_and_sim_only_after_domain_contract", "migratable": "frozen-reward experiment structure and closed-loop measurement protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct WAM/VLA/WBC replacement or cross-embodiment performance claim" }, "frozen_experiment": { "criteria": [ "freeze target observation/action/time-offset schema and artifact revisions", "same-batch supervised-only baseline versus frozen-reward challenger", "report prediction calibration, closed-loop success, recovery, latency, force/safety and denominator separately", "three seeds and held-out scene/task regression; no extrapolation from ultrasound metrics" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_v2_fulltext", "repository": "not released/verified", "weights": "not released/verified", "data": "described_not_released" } }, "confidence": "primary_source_reviewed narrow real-robot evidence; domain and artifact gate block migration" }, { "contract_id": "world-models-2018-to-g1-h2-wam-lineage-baseline-001", "status": "lineage_reference_not_dispatchable", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "milestone-world-models-ha-schmidhuber" ], "target_projects": [ "G1", "H2" ], "affected_modules": [ "WAM latent-state/dynamics ablation", "dream-rollout evaluation baseline", "independent WBC and safety plane" ], "input_contract": { "observations": [ "target sensor stream only after explicit adapter", "timestamped proprioception/action history" ], "action_space": "target robot action schema; original game action interface is not transferable", "data_requirements": "fixed target replay with success/failure/recovery and old-skill regression labels" }, "embodiment_contract": { "G1": { "status": "lineage_only", "required_before_smoke": [ "freeze observation/action contract", "retain WBC/safety fallback" ] }, "H2": { "status": "lineage_only", "required_before_smoke": [ "freeze H2 sensor/action timing", "no direct model transfer" ] } }, "output_contract": { "candidate_output": "historical ablation report only; no direct motor command", "safety_gate": "contract mismatch, stale revision, NaN, delay or OOD regression => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "no dispatch; future experiment uses Hub ledger only; 242 unavailable, 244/245 shared", "license_policy": "paper and interactive page are evidence; third-party reimplementation is not author artifact or production license", "risk_and_rollback": "game-domain latent dynamics may mislead contact-rich robots; remove ablation and restore current frozen baseline", "verdicts": { "long_term_attention": "yes_as_lineage", "test_soon": "only_reproducibility_or_ablation_sim_if_needed", "migratable": "latent-state/dream-rollout evaluation concepts only", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA/WBC replacement" }, "frozen_experiment": { "criteria": [ "same target replay and baseline/candidate revision", "report latent prediction, policy success, recovery, latency and old-skill regression separately", "three seeds and held-out scene/task split" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "lineage_only", "paper": "verified_arxiv_fulltext", "repository": "third_party_reimplementation_not_author_artifact", "weights": "not verified", "data": "game_environment_data_not_robot_dataset" } }, "confidence": "historical primary paper and official interactive page; no robot deployment evidence" }, { "contract_id": "vt-muse-to-g1-h2-dexterous-hand-visuotactile-adapter-001", "status": "criteria_draft_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-21290" ], "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "视觉-触觉时序表示 adapter", "跨模态时间同步/标定", "接触任务 ID/OOD 回归与安全门" ], "input_contract": { "observations": [ "RGB/RGB-D with explicit frame timestamps", "tactile history with sensor calibration and dropout flags", "proprioception/action history only after clock alignment" ], "action_space": "existing target action schema through representation adapter; no direct WBC/torque output", "data_requirements": "fixed sensor revision, paired visual-tactile episodes, contact/failure/recovery labels, same-batch baseline and candidate" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze camera/tactile layout, rates and calibration", "map representation output to existing action head", "retain independent WBC/safety plane" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "resolve official sensor/action interface", "test occlusion/dropout and delay" ] }, "灵巧手": { "status": "target_contract_pending", "required_before_smoke": [ "freeze hand morphology and tactile taxel semantics", "cross-hand calibration audit" ] } }, "output_contract": { "candidate_output": "bounded visuotactile latent/representation with uncertainty and audit metadata; not a policy replacement", "safety_gate": "missing artifacts, timestamp drift, calibration mismatch, NaN, OOD regression or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper-only evidence; code, weights, data and tactile license not verified", "risk_and_rollback": "abstract-level real-world claim lacks platform and denominator; disable adapter and restore frozen visual/tactile baseline plus WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sensor_and_representation_sim_only_after_artifact_gate", "migratable": "time-alignment, representation and evaluation protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or cross-hand claim" }, "frozen_experiment": { "criteria": [ "freeze sensor/action schema, calibration and dataset revision", "same-batch visual-only versus VT-MUSE-style representation on ID/OOD contact tasks", "report representation quality, task success, dropout/delay, recovery, latency and calibration separately", "three seeds and held-out object/scene/hand split; abstract-only real claim remains unverified" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_record_and_review", "repository": "not verified", "weights": "not verified", "data": "not verified" } }, "confidence": "primary-source abstract-level review; real-platform and artifact evidence incomplete" }, { "contract_id": "vitacphys-to-g1-h2-dexterous-hand-property-adapter-001", "status": "criteria_draft_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-21355" ], "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "物性 token/visual-tactile adapter", "抓取策略数据筛选", "跨手型 ID/OOD 回归与安全平面" ], "input_contract": { "observations": [ "visual sequence with explicit timing", "tactile history and calibration metadata", "物性标签 only when annotation provenance is frozen" ], "action_space": "existing hand/action schema through adapter; no direct torque or WBC replacement", "data_requirements": "fixed 60-object/1800-demo revision if released, object/material split, success/failure/recovery labels and sensor calibration" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "map hand/tactile schema and delay", "freeze action-head and WBC limits" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "resolve H2 hand/sensor interface", "test occlusion/dropout" ] }, "灵巧手": { "status": "target_contract_pending", "required_before_smoke": [ "freeze morphology/taxel semantics", "cross-hand calibration and unseen-hand split" ] } }, "output_contract": { "candidate_output": "bounded物性-conditioned representation/action proposal with confidence metadata; not direct motor command", "safety_gate": "missing artifacts, label leakage, calibration mismatch, NaN, OOD regression or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper/project evidence; code and dataset marked Coming Soon, no fixed license verified", "risk_and_rollback": "single-arm author evidence and unpublished artifacts may hide material-label leakage; remove adapter and restore frozen baseline plus safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_and_released_artifact_audit_only", "migratable": "物性标签/筛选协议 and adapter interface only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or cross-hand claim" }, "frozen_experiment": { "criteria": [ "freeze data revision/license and object/material split", "same-batch visual-only versus物性-conditioned candidate", "report ID/OOD success, calibration, dropout/delay, recovery and denominator separately", "three seeds and held-out object/scene/hand regression before human review" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_full_text_and_project_page", "repository": "coming_soon", "weights": "not verified", "data": "coming_soon" } }, "confidence": "primary full-text/project review; author single-platform evidence and artifact gate incomplete" }, { "contract_id": "pilot-wam-to-g1-h2-representation-supervision-challenger-001", "status": "criteria_draft_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-06994" ], "target_projects": [ "G1", "H2" ], "affected_modules": [ "future-representation WAM adapter", "flow-matching action head challenger", "multi-view humanoid data/evaluation", "independent WBC and safety plane" ], "input_contract": { "observations": [ "multi-view RGB with fixed 224x224 preprocessing", "G1 proprioception/action history after timestamp audit", "future representation supervision only when V-JEPA2-AC revision is fixed" ], "action_space": "existing G1/H2 action schema through adapter; PILOT action output cannot bypass WBC/safety", "data_requirements": "fixed LeRobot revision, calibration, 32-session provenance if released, task/few-shot/OOD split, success/failure/recovery labels" }, "embodiment_contract": { "G1": { "status": "source_embodiment_direct_but_artifact_blocked", "required_before_smoke": [ "freeze G1 camera/action/latency schema", "separate 111.60ms understanding path from 6.9ms action step", "retain WBC and emergency stop" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "resolve H2 camera/waist/action interface", "adapter and calibration audit before transfer" ] } }, "output_contract": { "candidate_output": "bounded future-state representation and action proposal with separate latency/audit fields; no direct motor command", "safety_gate": "missing artifacts, stale revision, latency budget failure, NaN, action mismatch or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; 32×H20 is author configuration, not a dispatch guarantee", "license_policy": "paper/project page evidence; code, weights, data and method license unavailable", "risk_and_rollback": "single AgiBot-G1 author evidence and placeholder artifact links; disable challenger and restore frozen champion plus independent WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_G1_replay_and_simulation_after_artifact_gate", "migratable": "representation-supervision protocol, latency decomposition and evaluation contract only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or treating 145Hz action step as end-to-end control rate" }, "frozen_experiment": { "criteria": [ "freeze G1/H2 sensor/action/calibration contract and artifact revisions", "same-batch current champion versus representation-supervised challenger on 8 tasks, 3 OOD settings and 10% few-shot split", "report success, intervention, failure/recovery, understanding latency, action-step latency, end-to-end latency and WBC rejection separately", "three seeds and cross-embodiment adapter regression; author 83.1/68.3/62.4 remain non-independent evidence" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "static_project_media_only", "weights": "not released", "data": "described_not_downloadable" } }, "confidence": "primary full-text and author-project review; quantified G1 evidence without open artifacts or independent reproduction" }, { "contract_id": "vitar-to-g1-h2-dexterous-hand-bounded-residual-001", "status": "criteria_draft_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-15816" ], "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "frozen VLA visuotactile residual adapter", "tactile calibration/synchronization", "contact recovery and OOD regression", "independent WBC and safety plane" ], "input_contract": { "observations": [ "language instruction", "RGB views", "proprioception", "synchronized tactile frames with calibration metadata", "execution history", "frozen VLA action chunk" ], "action_space": "bounded structured residual and continuous gain over frozen VLA action chunk; never direct torque or WBC bypass", "data_requirements": "fixed UniVTAC/target data revision, same-state positive/neutral/negative branches, contact/failure/recovery labels, tactile calibration and license provenance" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "map 9DTact or available G1 tactile sensor and delay", "freeze hand/arm action schema and residual bounds", "test no-contact fallback and WBC feasibility" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "resolve H2 wrist/hand sensor interface", "test occlusion/dropout/delay and unseen-object regression" ] }, "灵巧手": { "status": "target_contract_pending", "required_before_smoke": [ "freeze taxel/force semantics and hand action schema", "cross-hand calibration and safe-release fallback" ] } }, "output_contract": { "candidate_output": "bounded visuotactile residual option/gain with uncertainty and abstain metadata; not a policy replacement", "safety_gate": "missing ViTaR artifacts, stale calibration, timestamp drift, NaN, residual bound violation, OOD regression, WBC rejection or resource/license conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "UniVTAC Apache-2.0 benchmark terms verified separately; ViTaR code, weights, training branches, real logs, tactile calibration and method/data license are not released", "risk_and_rollback": "RM65-B fixed-base arm evidence cannot be generalized to humanoid/legged bodies; imported baseline and branch-supervision leakage require audit; disable residual adapter and restore frozen VLA/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sensor/replay_and_simulation_only", "migratable": "bounded residual interface, tactile time-alignment and evaluation protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WAM/WBC replacement or treating UniVTAC openness as ViTaR artifact openness" }, "frozen_experiment": { "criteria": [ "freeze base OpenVLA-OFT and candidate revisions plus sensor/calibration contract", "same-state visual-only versus visuotactile candidate on seven benchmark tasks and held-out objects/scenes", "report task success, contact retention, recovery, unsafe-pass/false-reject, latency and tactile dropout separately with denominators", "three seeds, ID/OOD contact, calibration drift, occlusion and unseen-hand regression; no cross-embodiment claim from RM65-B alone" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "README_only_no_method_license", "weights": "not_released", "data": "benchmark_only_vitar_data_not_released" } }, "confidence": "primary full-text and official-source review with quantified fixed-base evidence; no independent reproduction or deployable artifact closure" }, { "contract_id": "w2-vla-to-g1-h2-m20-r1-future-wrist-adapter-001", "status": "criteria_draft_artifact_license_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-05369" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "future wrist latent representation", "VLA action-head adapter", "fine-grained bimanual evaluation", "independent WBC and safety plane" ], "input_contract": { "observations": [ "multi-view RGB with fixed timestamps", "language/task context", "proprioception and action history after calibration audit" ], "action_space": "existing target action schema through a bounded future-wrist representation/action-head adapter; no direct torque or WBC bypass", "data_requirements": "fixed W2-VLA code/weight/data revisions, task and OOD split, calibration, success/failure/recovery labels, dataset license provenance" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze camera/arm/action schema and wrist coordinate transform", "map future-wrist latent to G1 action head", "test locomotion/contact and delay regressions" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "resolve H2 wrist/hand interface", "run held-out-object/scene and latency regression" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel-base motion from arm future state", "test base-ego-motion and action realizability" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel/arm sensor-action contract", "test occlusion, base motion and recovery fallback" ] } }, "output_contract": { "candidate_output": "bounded future-wrist latent with uncertainty and action proposal metadata; not a policy or safety replacement", "safety_gate": "missing revision/license, coordinate mismatch, NaN, latency budget failure, action mismatch, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; 4×A100/8×B200 are author training configurations, not dispatch guarantees", "license_policy": "W2-VLA repository has MIT-derived text with additional upstream preservation obligations; model metadata says Apache-2.0; both training datasets have no dataset-card license and require separate review", "risk_and_rollback": "CoBoT/Mobile ALOHA bimanual evidence cannot be treated as G1/H2/M20/R1 evidence; high compute and nonstandard/data license gaps block transfer; disable adapter and restore frozen champion plus WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_replay_and_simulation_after_license_and_schema_gate", "migratable": "future-wrist representation, action-head adapter and OOD evaluation protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WAM/WBC replacement or cross-embodiment performance claim" }, "frozen_experiment": { "criteria": [ "freeze W2-VLA code/weight/data revisions and target sensor/action/calibration contract", "same-batch current champion versus future-wrist challenger on matched tasks plus held-out objects/scenes", "report LIBERO/RoboTwin-style task metrics, real/replay denominator, latency, action feasibility, recovery and unsafe-pass separately", "three seeds and cross-embodiment G1/H2/M20/R1 adapter regression; preserve dataset-license hold" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "fixed_commit_nonstandard_license", "weights": "fixed_revision_model_metadata", "data": "downloadable_without_dataset_license" } }, "confidence": "primary full-text and fixed-artifact review with quantified bimanual evidence; no independent reproduction or cross-embodiment validation" }, { "contract_id": "dypes-vla-to-g1-h2-m20-r1-shared-dynamics-prior-001", "status": "criteria_draft_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-06374" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "shared dynamics prior", "embodiment-specific control router", "cross-embodiment data/evaluation", "independent WBC and safety plane" ], "input_contract": { "observations": [ "RGB and proprioception under fixed timestamps", "task/language condition", "embodiment identifier only through audited routing contract" ], "action_space": "embodiment-native action head behind adapter/router; no shared latent may bypass target WBC or safety plane", "data_requirements": "fixed 1,800-demo revision if released, robot/action/calibration metadata, per-embodiment task splits, failures/recovery and license provenance" }, "embodiment_contract": { "G1": { "status": "source_embodiment_direct_but_artifact_blocked", "required_before_smoke": [ "freeze G1/GR00T baseline and Inspire RH56DFQ action/calibration schema", "separate shared prior from native control head", "run contact/latency/WBC regression" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "resolve H2 sensor/action contract and adapter", "hold out tasks and calibration drift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base/arm dynamics and wheel contact", "test native action feasibility and recovery" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel/arm sensor-action schema", "test locomotion/manipulation routing and safe fallback" ] } }, "output_contract": { "candidate_output": "shared dynamics representation plus bounded native action proposal with routing/audit metadata; not a controller replacement", "safety_gate": "missing artifacts, embodiment-id leakage, action mismatch, NaN, latency/WBC failure, resource conflict or license gap => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; 16×H100 author training setup is not a dispatch guarantee", "license_policy": "paper and project-page evidence only; code, weights, demonstration data and method license are not released", "risk_and_rollback": "author cross-embodiment numbers are non-independent, single checkpoint and 1,800 demos are not reproducible; disable shared-prior challenger and restore frozen per-embodiment champion plus WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_G1_replay_and_cross_embodiment_simulation_after_artifact_gate", "migratable": "shared dynamics representation, routing/evaluation contract and data metadata only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WAM/WBC replacement or assuming G1 results transfer to H2/M20/R1" }, "frozen_experiment": { "criteria": [ "freeze current champion and candidate revisions plus per-embodiment observation/action/calibration contracts", "same-batch per-embodiment native-head baseline versus shared-prior challenger on matched tasks", "report each robot/task denominator, success, recovery, action feasibility, latency, unsafe-pass/false-reject separately", "three seeds, held-out embodiment/task/scenario and calibration drift regression; author 75.6/59.6/32.4 remain non-independent evidence" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "code_coming_soon", "weights": "not_released", "data": "1800_demonstrations_described_not_downloadable" } }, "confidence": "primary full-text and official project-page review with quantified author cross-embodiment evidence; no open artifacts or independent reproduction" }, { "contract_id": "contactguard-to-g1-h2-m20-r1-precontact-veto-001", "status": "criteria_draft_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-13438" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "pre-contact execution monitor", "action-conditioned latent risk estimator", "policy-agnostic veto and audit log", "independent WBC/emergency-stop plane" ], "input_contract": { "observations": [ "fixed RGB/proprioception/action history only after timestamp audit", "candidate action chunk", "contact context and task state" ], "action_space": "monitor may abstain/veto or request safe fallback; it must not generate torque, alter reward, replace VLA/WAM or bypass WBC", "data_requirements": "fixed labeled pre-contact clips, action-conditioned failure/recovery labels, task/reset split, sensor calibration and false-positive/false-negative ground truth" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze camera/proprioception/action schema and emergency-stop interface", "measure veto latency and WBC handoff", "test false-accept/false-reject on contact-rich replay" ] }, "H2": { "status": "target_contract_pending", "required_before_smoke": [ "resolve whole-body action and safety interface", "test locomotion/manipulation contact distribution shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel-base motion and arm contact signals", "test terrain/obstacle false-veto and safe fallback" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel/arm action monitor contract", "test navigation/manipulation handoff and stop latency" ] } }, "output_contract": { "candidate_output": "auditable risk score, veto/abstain decision, reason code and latency; no policy/controller output", "safety_gate": "missing platform/runtime details, stale sensor, NaN, veto latency over budget, calibration shift, unsafe-pass, resource conflict or WBC interface mismatch => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "arXiv manuscript evidence only; no official code, environment, weights, data, license or deployable interface verified", "risk_and_rollback": "Piper dual-arm author evidence lacks robot model/runtime and detailed denominators; abort is not recovery; disable monitor and restore existing independent WBC/emergency-stop baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_replay_and_simulation_only", "migratable": "monitoring contract, veto audit schema and failure taxonomy only", "replaceable": "no_evidence", "reject_or_prune": "using ContactGuard as VLA/WAM/WBC replacement or certified safety claim" }, "frozen_experiment": { "criteria": [ "freeze current policy, monitor and safety revisions", "same-state baseline versus monitor-on replay with explicit denominator and counterfactual labels", "report probe accuracy, unsafe-pass, false-reject, abort latency, recovery success and no-contact regression separately", "three seeds and held-out contact/scene/embodiment regression; simulation result cannot authorize real deployment" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "not_verified", "weights": "not_verified", "data": "described_not_released" } }, "confidence": "primary full-text review with author Piper evidence but missing platform/runtime/artifact closure and independent reproduction" }, { "contract_id": "roboreact-to-g1-h2-egovideo-skill-distillation-001", "status": "criteria_draft_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-03387" ], "target_projects": [ "G1", "H2" ], "affected_modules": [ "ego-video generation and filtering", "3D keyframe/re-grounding interface", "whole-body skill distillation", "independent WBC and safety plane" ], "input_contract": { "observations": [ "single RGB-D observation with fixed camera calibration", "language/task instruction", "generated first-person video with provenance and uncertainty", "object-centric 3D keyframes" ], "action_space": "existing target whole-body action schema through bounded skill adapter; no generated-video module may bypass WBC/safety", "data_requirements": "fixed generator/editor revisions, source video provenance, keyframe/re-grounding labels, success/failure/recovery episodes and license terms" }, "embodiment_contract": { "G1": { "status": "source_embodiment_direct_but_artifact_blocked", "required_before_smoke": [ "freeze G1 camera/action/calibration and Revo2 Touch interface", "separate generated-video skill from controller", "test object/scene/OOD and recovery regression" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "resolve H2 camera/hand/action contract", "adapter and whole-body feasibility audit before transfer" ] } }, "output_contract": { "candidate_output": "provenance-tagged skill trajectory proposal and 3D re-grounding metadata; not direct motor command", "safety_gate": "missing generator provenance, closed-source dependency, calibration mismatch, hallucinated geometry, NaN, action mismatch, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; no hard-coded training machine", "license_policy": "paper/project page evidence only; generator/editor, code, weights, data and method licenses not disclosed", "risk_and_rollback": "single G1 author platform, 80 total trials and approximately 20 offline generation/edit rounds; closed generators and no artifacts block reproducibility; disable generated-video branch and restore frozen skill baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_G1_replay_and_simulation_only", "migratable": "ego-video provenance schema, 3D re-grounding/evaluation protocol and adapter boundary only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WAM/WBC replacement or treating generated video as real demonstration data" }, "frozen_experiment": { "criteria": [ "freeze generator/editor and target policy revisions plus camera/action/calibration contract", "same-state real/replay baseline versus generated-video challenger on four matched tasks", "report generated-video rejection, keyframe alignment, task success, recovery, hallucinated-contact/unsafe-pass and latency separately", "three seeds, held-out objects/scenes and H2 adapter regression; author 81.25% remains non-independent evidence" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "not_released", "weights": "not_released", "data": "not_released" } }, "confidence": "primary full-text and official project review with quantified G1 evidence; no reproducible artifacts or independent reproduction" }, { "contract_id": "robodojo-to-g1-h2-m20-r1-generalization-eval-001", "status": "criteria_draft_license_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2607-04434" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "sim-real benchmark adapter", "policy evaluation and anti-cheating checks", "cross-embodiment regression matrix", "data/asset provenance ledger" ], "input_contract": { "observations": [ "benchmark-defined camera/proprioception streams with fixed timestamps", "task and embodiment metadata", "policy action trace and reset state" ], "action_space": "benchmark adapter only; policies remain behind target action contract and WBC/safety plane", "data_requirements": "fixed RoboDojo code/data revisions, 42 simulation and 18 real task definitions, per-task denominator, asset provenance and license manifest" }, "embodiment_contract": { "G1": { "status": "benchmark_adapter_pending", "required_before_smoke": [ "map G1 sensor/action schema and task subset", "run anti-cheating and reset-state audit" ] }, "H2": { "status": "benchmark_adapter_pending", "required_before_smoke": [ "define H2 task coverage and calibration mapping", "hold out scenes/tasks" ] }, "M20": { "status": "wheel_arm_coverage_pending", "required_before_smoke": [ "verify wheel-arm task semantics and contact limits", "separate base motion from arm evaluation" ] }, "R1": { "status": "wheel_arm_coverage_pending", "required_before_smoke": [ "verify navigation/manipulation task coverage", "freeze sensor/action adapter and fallback" ] } }, "output_contract": { "candidate_output": "standardized per-task metrics, denominator, variance, failure taxonomy and sim-real gap; not a controller output", "safety_gate": "license conflict, missing asset provenance, reset leakage, NaN, action mismatch, resource conflict or missing denominator => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; single-4090 tag is benchmark evidence, not dispatch guarantee", "license_policy": "RoboDojo repository README/LICENSE conflict blocks commercial use until clarified; XPolicyLab Apache-2.0 and dataset-card Apache-2.0 remain separate from upstream assets/models", "risk_and_rollback": "author-operated physical station and no independent RealEval replication; 2.91TB full download not performed; remove benchmark gate and restore existing evaluation protocol if asset/license or reset audit fails", "verdicts": { "long_term_attention": "yes", "test_soon": "standardized_sim_and_replay_evaluation_only", "migratable": "evaluation protocol, anti-cheating checks and denominator/failure schema", "replaceable": "no_evidence", "reject_or_prune": "using benchmark score as direct production model replacement or treating author cloud station as independent evidence" }, "frozen_experiment": { "criteria": [ "freeze code/data revisions and per-robot action/sensor adapters", "same policy set, task seeds and reset states across baseline/challenger; report 42 sim and 18 real task scope separately", "report success, variance, failure taxonomy, sim-real gap, runtime and resource cost with denominators", "three seeds, held-out scenes/embodiments and asset/license audit; no production effect from benchmark result alone" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "README_LICENSE_conflict", "weights": "not_applicable_benchmark", "data": "fixed_public_revision_sampled_not_full_downloaded" } }, "confidence": "primary full-text, official benchmark/data and fixed-code review; no independent physical replication" }, { "contract_id": "starvla-to-g1-h2-m20-r1-modular-vla-challenger-001", "status": "criteria_draft_artifact_license_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2604-05014", "arxiv-2604-11757" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "VLA backbone/action-head adapter", "cross-benchmark evaluation interface", "data and embodiment registry", "independent WBC and safety plane" ], "input_contract": { "observations": [ "fixed RGB or multi-view RGB timestamps", "language/task instruction", "proprioception only if target contract explicitly permits it" ], "action_space": "bounded action-head output through the existing target adapter; no direct torque, WBC or safety-plane bypass", "data_requirements": "freeze StarVLA/StarVLA-alpha revision, Qwen3-VL backbone, benchmark/task splits, action normalization, calibration and license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze camera/proprioception/action schema and humanoid action adapter", "test locomotion/contact, delay and action feasibility regressions" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 hand/arm action mapping", "run held-out objects/scenes and latency regression" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel-base motion from arm action output", "test base-ego-motion and recovery fallback" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel/arm sensor-action contract", "test navigation/manipulation and occlusion regressions" ] } }, "output_contract": { "candidate_output": "bounded action chunk plus normalization and uncertainty metadata; not a production controller or safety decision", "safety_gate": "missing fixed revision/license, shape mismatch, NaN, latency budget failure, action infeasibility, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; author-reported multi-GPU training settings are not dispatch guarantees", "license_policy": "StarVLA main repository license not verified; StarVLA-alpha code is MIT; paper, code, checkpoint and benchmark/data terms remain separate and must be frozen independently", "risk_and_rollback": "benchmark success and ARX5 results do not establish G1/H2/M20/R1 generalization; disable challenger adapter and restore frozen champion plus WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_replay_and_simulation_after_revision_license_and_action_schema_gate", "migratable": "modular action-head interface, benchmark adapter and evaluation protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or treating author-reported benchmark numbers as target-robot evidence" }, "frozen_experiment": { "criteria": [ "freeze exact code/backbone/checkpoint/data revisions and target sensor/action/calibration contract", "same-batch current champion versus StarVLA challenger on matched tasks plus held-out objects/scenes and perturbations", "report per-task denominator, success, variance, action feasibility, latency, recovery, unsafe-pass and resource cost separately", "three seeds and cross-embodiment G1/H2/M20/R1 adapter regression before any human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "main_unverified_alpha_MIT", "weights": "alpha_checkpoint_available_paper_checkpoint_not_fully_recovered", "data": "benchmark_terms_require_separate_review" } }, "confidence": "primary full-text and official project/repository review; author-reported benchmark/ARX5 evidence, no independent cross-embodiment reproduction" }, { "contract_id": "egohumanoid-to-g1-h2-m20-r1-egocentric-loco-manipulation-001", "status": "criteria_draft_data_scope_cross_embodiment_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "legacy-0ef13ba22caf" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "egocentric human-video capture and alignment", "human-to-robot action retargeting", "whole-body policy adapter", "independent WBC and safety plane" ], "input_contract": { "observations": [ "timestamped egocentric human RGB/video", "language/task context", "target robot proprioception and calibration only after adapter freeze" ], "action_space": "bounded retargeted action chunks through existing humanoid/WBC adapter; no direct torque or safety bypass", "data_requirements": "freeze repository commit, sample/full-corpus distinction, LeRobot schema, G1 camera/hand calibration, target embodiment mapping and dependency licenses" }, "embodiment_contract": { "G1": { "status": "author_path_available_independent_reproduction_pending", "required_before_smoke": [ "freeze G1 dexterous-hand/camera calibration and 50Hz action mapping", "replay held-out scenes and failure recovery" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 hand/arm retargeting and action limits", "test unseen hand morphology and contact recovery" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel-base and arm motion from human-video actions", "test base ego-motion and occlusion" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel/arm sensor-action semantics", "test navigation/manipulation latency and fallback" ] } }, "output_contract": { "candidate_output": "retargeted whole-body action chunks and policy conditioning; not a production controller", "safety_gate": "sample/full-data confusion, schema/calibration mismatch, NaN, latency, action infeasibility, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger/live observation only; 242 unavailable, 244/245 shared; documented RTX 4090 is not dispatch guarantee", "license_policy": "Official repository code and public sample dataset declare Apache-2.0, while GR00T/OpenPI/SDK dependencies and any unreleased full training corpus retain separate terms", "risk_and_rollback": "author G1 evidence and sample data do not establish full-corpus or cross-embodiment transfer; disable retargeting adapter and restore frozen champion/WBC safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled G1 replay and simulation after data-scope/calibration gate", "migratable": "capture schema, retargeting adapter and evaluation protocol only", "replaceable": "no_evidence", "reject_or_prune": "treating sample data as full corpus or directly deploying to H2/M20/R1 without contract closure" }, "frozen_experiment": { "criteria": [ "freeze repository commit, sample/full-corpus boundary, LeRobot schema, calibration and target action mapping", "same-batch champion versus EgoHumanoid adapter on matched and held-out loco-manipulation tasks with contact/occlusion perturbations", "report retargeting error, task success, contact stability, latency, recovery and unsafe-pass separately", "three seeds and G1/H2/M20/R1 closed-loop simulation before any human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partially_open_scope_blocked", "paper": "verified_arxiv_fulltext", "repository": "Apache-2.0_fixed_commit", "weights": "not_verified", "data": "public_sample_only_full_corpus_not_verified" } }, "confidence": "primary full-text/project/repository/sample-data review with author G1 evidence and no independent end-to-end cross-embodiment reproduction" }, { "contract_id": "wholebodyvla-to-g1-h2-m20-r1-latent-locomotion-challenger-001", "status": "criteria_draft_artifact_license_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "legacy-5cb68ca18e0f" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "latent action representation", "whole-body loco-manipulation planner", "dual-arm and locomotion action adapter", "independent WBC and safety plane" ], "input_contract": { "observations": [ "timestamped egocentric visual frames", "language/task context", "proprioception and contact state only after target adapter freeze" ], "action_space": "bounded latent/action-chunk proposal through existing whole-body adapter; no direct torque/WBC/safety bypass", "data_requirements": "freeze latent-token schema, camera/action calibration, locomotion-manipulation interface, dependency and artifact license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze G1 camera/action and locomotion mapping", "test contact, delay and recovery" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 hand/arm and locomotion contract", "test held-out tasks and WBC feasibility" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel-base and arm outputs", "test base motion and recovery" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel/arm action semantics", "test occlusion, latency and safety fallback" ] } }, "output_contract": { "candidate_output": "latent action tokens and bounded dual-arm/locomotion action chunks; not a production controller", "safety_gate": "missing method artifacts/license, shape mismatch, NaN, latency, action infeasibility, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger/live observation only; 242 unavailable, 244/245 shared; official project compute claims are not dispatch guarantees", "license_policy": "Official repository MIT covers current resource/README material only; README states method code has no concrete open-source timeline; weights, training data and deployment artifacts are not verified", "risk_and_rollback": "official project descriptions and media are not independent quantitative proof; disable latent adapter and restore frozen champion plus WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled interface replay and simulation after artifact/action-contract gate", "migratable": "latent-action interface and evaluation protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or treating resource repository as code release" }, "frozen_experiment": { "criteria": [ "freeze latent/action token schema, camera/action calibration and locomotion interface", "same-batch champion versus WholeBodyVLA adapter on matched and held-out loco-manipulation tasks with perturbations", "report manipulation success, locomotion stability, action feasibility, latency, recovery and unsafe-pass separately", "three seeds and G1/H2/M20/R1 closed-loop simulation before any human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_record", "repository": "MIT_resource_repository_only", "weights": "not_verified", "data": "not_verified" } }, "confidence": "official repository and paper/project evidence reviewed; method artifacts and independent reproduction unavailable" }, { "contract_id": "jepa-wam-to-g1-h2-m20-r1-stage-future-challenger-001", "status": "criteria_draft_artifact_license_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-10780" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "stage-level future representation", "local WAM video-action predictor", "cross-embodiment action adapter", "independent WBC and safety plane" ], "input_contract": { "observations": [ "causal visual frame buffer with timestamps", "language/task context", "proprioception and action history only after target adapter freeze" ], "action_space": "bounded action chunk proposal through existing target adapter; no direct torque/WBC/safety bypass", "data_requirements": "freeze V-JEPA2/Motus revisions, stage schema, frame/action normalization, camera calibration, benchmark split and license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze humanoid camera/action mapping and causal buffer", "test long-horizon contact, delay and recovery" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 hand/arm observation-action contract", "test held-out objects and stage-boundary errors" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel motion from arm action chunks", "test base ego-motion, occlusion and recovery" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel/arm sensor-action semantics", "test navigation-manipulation latency and safety fallback" ] } }, "output_contract": { "candidate_output": "stage-level latent future plus local WAM action chunks; not a production controller", "safety_gate": "missing code/weights/data license, stage/schema mismatch, NaN, latency, action infeasibility, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger/live observation only; 242 unavailable, 244/245 shared; reported 8xA800 training is not dispatch guarantee", "license_policy": "No author code, weights, data package or license was verified in the paper/project surfaces; paper copyright does not grant artifact rights", "risk_and_rollback": "author-only RoboTwin and two-task LIFT2 evidence, no independent reproduction or target-embodiment validation; remove JEPA-WAM adapter and restore frozen champion/WBC safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled replay and simulation after artifact/stage/action-contract gate", "migratable": "stage-level evaluation protocol and bounded adapter only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or treating LIFT2 progress as cross-embodiment proof" }, "frozen_experiment": { "criteria": [ "freeze exact V-JEPA2/Motus revisions, stage labels, camera/action/calibration and frame buffer", "same-batch champion versus JEPA-WAM on matched and held-out long-horizon tasks with visual/contact perturbations", "report stage prediction, task progress, success, latency/compute, action feasibility, recovery and unsafe-pass separately", "three seeds and G1/H2/M20/R1 closed-loop simulation before any human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "not_verified", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary full-text review with author-quantified RoboTwin/LIFT2 evidence and no independent reproduction or artifact closure" }, { "contract_id": "abot-n1-to-g1-h2-m20-r1-navigation-challenger-001", "status": "criteria_draft_artifact_license_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2607-10383" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "slow-fast visual-language navigation planner", "SE(2) waypoint/action adapter", "localization and collision safety monitor", "independent WBC and recovery plane" ], "input_contract": { "observations": [ "timestamped camera/vision observations", "task or POI language context", "proprioception/localization only when target adapter permits" ], "action_space": "bounded SE(2) waypoint proposal through the existing navigation and WBC adapter; no direct torque or safety bypass", "data_requirements": "freeze ABot evaluator revision, coordinate convention, target frame/waypoint schema, collision budget, latency and license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze humanoid camera/localization and waypoint mapping", "test stairs, narrow passages, recovery and latency" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 sensor/action mapping", "test held-out scenes and collision budget" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel-base motion from arm/navigation output", "test occlusion and fallback recovery" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel/arm navigation contract", "test localization drift and obstacle recovery" ] } }, "output_contract": { "candidate_output": "slow-system semantic/affordance target plus fast bounded SE(2) waypoints; not a production controller", "safety_gate": "coordinate mismatch, missing model/artifact license, NaN, latency, collision-risk, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger/live observation only; 242 unavailable, 244/245 shared; author-reported Jetson compute is not dispatch guarantee", "license_policy": "ABot-N1 model, weights and 30M training corpus are not released; public benchmark/evaluator and renderer have separate terms, root repository license remains unresolved", "risk_and_rollback": "author-reported benchmark and qualitative TuTu trials lack independent physical denominators; disable ABot planner/adapter and restore frozen navigation champion plus WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled replay and simulation after coordinate/artifact/license gate", "migratable": "benchmark protocol, slow-fast planner interface and coordinate-contract checks only", "replaceable": "no_evidence", "reject_or_prune": "direct production navigation/VLA/WBC replacement or treating ABotN self-benchmarks as independent proof" }, "frozen_experiment": { "criteria": [ "freeze evaluator commit, coordinate convention, target sensor/action mapping and collision budget", "same-batch champion versus ABot challenger on matched and held-out scenes with localization/occlusion perturbations", "report per-task success, SPL/waypoint error, collision rate, recovery, latency and unsafe-pass separately", "three seeds and G1/H2/M20/R1 closed-loop simulation before any human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "benchmark_evaluator_public_root_license_unresolved", "weights": "not_released", "data": "30M_training_corpus_not_released_benchmark_terms_separate" } }, "confidence": "primary full-text, official project and fixed evaluator review; author-reported physical demonstrations without independent reproduction" }, { "contract_id": "tau0-vla-to-g1-h2-m20-r1-test-time-compute-001", "status": "criteria_draft_artifact_license_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-16885" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "hierarchical task/subtask planner", "world-model-guided test-time computation", "40D state/action adapter", "independent WBC and safety plane" ], "input_contract": { "observations": [ "timestamped RGB/vision observations", "language/task context", "proprioception/action history only if target contract permits" ], "action_space": "bounded subtask/action-chunk proposal through existing target adapter; no direct torque/WBC/safety bypass", "data_requirements": "freeze tau0 model/HF revision, 40D mapping, task/subtask schema, benchmark splits, action normalization and license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze sensor/action schema and 40D adapter", "test latency, recovery and WBC feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 sensor/action mapping", "test held-out scenes, latency and recovery" ] }, "M20": { "status": "cross_embodiment_pending", "required_before_smoke": [ "separate wheel-base and arm action semantics", "test navigation/manipulation recovery" ] }, "R1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze wheel/arm sensor-action contract", "test occlusion, latency and WBC feasibility" ] } }, "output_contract": { "candidate_output": "world-model subtask forecasts, value/beam ranking and bounded action chunks; not production controller", "safety_gate": "missing HF revision/license, shape mismatch, NaN, latency, action infeasibility, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger/live observation only; 242 unavailable, 244/245 shared; author training compute is not dispatch guarantee", "license_policy": "HF checkpoint license unresolved; GitHub source URL 404; data mostly unreleased/mixed terms; paper license does not grant artifact rights", "risk_and_rollback": "author-reported multi-embodiment results, no independent reproduction; remove tau0 planner/adapter and restore frozen champion/WBC safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled replay and simulation after artifact/license/action-contract gate", "migratable": "subtask prediction/evaluation protocol and adapter only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or treating author results as independent evidence" }, "frozen_experiment": { "criteria": [ "freeze HF revision and target sensor/action/40D mapping", "same-batch champion vs tau0 on matched long-horizon tasks, held-out scenes and perturbations", "report next-subtask accuracy, long-horizon success, progress, latency/compute, action feasibility and recovery separately", "three seeds, cross-embodiment G1/H2/M20/R1 simulation before any human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "github_404", "weights": "HF_public_license_unresolved", "data": "mostly_unreleased_mixed_terms" } }, "confidence": "primary full-text/project/HF review with author-reported cross-embodiment evidence and no independent reproduction" }, { "contract_id": "agibot-world-to-g1-h2-m20-r1-real-data-adapter-001", "status": "criteria_draft_data_scope_license_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "dataset-agibot-world-beta" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "real-robot trajectory ingestion", "LeRobot schema and data-quality filter", "cross-embodiment action adapter", "VLA/WAM evaluation and independent WBC/safety plane" ], "input_contract": { "observations": [ "RGB/video", "depth", "proprioception/state", "language/task context", "visual-tactile or contact channels only when calibrated" ], "action_space": "dataset actions remain demonstrations/training targets; adapter output must be bounded action chunks through existing target controller, never direct torque or WBC bypass", "data_requirements": "freeze dataset/repository revision, sample/full-corpus boundary, contact-gate status, LeRobot schema, robot/camera calibration, failure-data policy, deduplication and upstream license manifest" }, "embodiment_contract": { "G1": { "status": "source_platform_related_target_calibration_pending", "required_before_smoke": [ "freeze G1 camera/hand/proprioception calibration and action normalization", "separate public sample from full gated corpus and replay held-out contact/occlusion cases" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 morphology, hand and action mapping", "test unseen morphology, contact recovery and latency" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel-base motion from arm actions", "test ego-motion, navigation/manipulation timing and fallback" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel/arm sensor-action semantics", "test occlusion, localization and recovery" ] } }, "output_contract": { "candidate_output": "filtered/reweighted demonstrations and bounded adapter conditioning for VLA/WAM evaluation; not a production controller", "safety_gate": "contact-gated/full-corpus ambiguity, schema or calibration mismatch, license conflict, leakage, NaN, action infeasibility, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; dataset storage/training estimates are not dispatch guarantees", "license_policy": "AgiBot World data scope is CC BY-NC-SA 4.0 with full-corpus contact-information gate; public sample, repository code, GO-1 models, visual/language assets and downstream commercial use require separate manifests", "risk_and_rollback": "sample is not full corpus and live/historical scale summaries differ; disable dataset adapter/filter and restore frozen champion data pipeline, VLA/WAM and WBC safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled sample replay and simulation after schema/calibration/license gate", "migratable": "data schema, quality filtering, action normalization and evaluation protocol only", "replaceable": "no_evidence", "reject_or_prune": "treating sample as complete corpus, merging incompatible scale 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"data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "no_paper_specific_claim", "repository": "official_repository_reviewed", "weights": "GO-1/model_terms_separate", "data": "sample_public_full_corpus_contact_gate_CC_BY_NC_SA_4_0" } }, "confidence": "official dataset card and repository evidence refreshed; no independent end-to-end cross-embodiment reproduction or training run" }, { "contract_id": "vtam-to-g1-h2-m20-r1-visuotactile-wam-001", "status": "criteria_draft_artifact_license_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2603-23481" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "visual-tactile temporal encoder", "joint visual/tactile world-action prediction", "virtual-force/contact residual adapter", "independent WBC and safety plane" ], "input_contract": { "observations": [ "timestamped multi-view RGB", "synchronized tactile/contact observations", "task context", "target proprioception only after calibration freeze" ], "action_space": "bounded action chunks or contact residual proposals through target adapter; no direct torque, WBC or safety bypass", "data_requirements": "freeze exact paper/project revision, tactile sensor geometry/calibration, visual-tactile clock alignment, task split, virtual-force target construction and artifact/license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze G1 hand/tactile geometry, camera calibration and action mapping", "test slip/contact recovery and visual occlusion" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 hand/tactile layout and action limits", "test morphology and sensor-placement shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel-base motion from arm/contact actions", "test base ego-motion and delayed tactile feedback" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel/arm tactile-camera semantics", "test navigation-manipulation latency and fallback" ] } }, "output_contract": { "candidate_output": "joint visual-tactile future representation and bounded contact residual; not a production controller", "safety_gate": "missing code/weights/data license, clock/calibration mismatch, virtual-force target ambiguity, NaN, latency, action infeasibility, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; reported training hardware is not dispatch guarantee", "license_policy": "Paper/project evidence was reviewed, but repository is not anonymously readable and code, weights, data and license were not verified; paper copyright does not grant artifact rights", "risk_and_rollback": "author-reported four real-arm tasks and 1Hz results lack independent reproduction and target-embodiment calibration; disable VTAM adapter and restore frozen champion plus WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled replay and simulation after artifact/tactile-calibration gate", "migratable": "visual-tactile alignment checks, virtual-force evaluation protocol and bounded residual interface only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or treating arm-only author trials as humanoid/legged proof" }, "frozen_experiment": { "criteria": [ "freeze exact model/repository revision, tactile geometry, clock alignment, calibration, task split and virtual-force target", "same-batch champion versus VTAM adapter on matched/held-out contact tasks with occlusion, slip and delay perturbations", "report visual-only 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author-reported real-arm evidence; no independently readable artifact or cross-embodiment reproduction" }, { "contract_id": "tacforesight-to-g1-h2-m20-r1-visuotactile-prediction-001", "status": "criteria_draft_artifact_license_data_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2606-11184" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "visual-tactile temporal encoder", "Zarr stream adapter", "contact/failure prediction", "independent WBC and safety plane" ], "input_contract": { "observations": [ "30Hz RGB/image streams", "30Hz tactile streams", "30Hz action streams", "120Hz force/state streams", "task context only after target calibration" ], "action_space": "bounded prediction or risk proposal through an adapter; no direct torque, WBC or safety bypass", "data_requirements": "freeze commit, Zarr schema, stream clocks, tactile geometry, target calibration, split and artifact/license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map camera/tactile/proprioception streams and action dimensions", "test contact delay, occlusion and recovery" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 sensor layout and action limits", "test morphology and clock shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel-base motion from arm/contact streams", "test ego-motion and delayed tactile fallback" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel/arm sensor-action semantics", "test navigation/manipulation latency and recovery" ] } }, "output_contract": { "candidate_output": "contact/future-state prediction or bounded risk signal for evaluation; not a production controller", "safety_gate": "schema/clock/calibration mismatch, missing license, NaN, latency, infeasible action, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; reported hardware is not dispatch guarantee", "license_policy": "official repository code is readable at the fixed commit, but root license is not declared; training data and checkpoints are explicitly not released; paper copyright does not grant artifact rights", "risk_and_rollback": "code-only release with no data/checkpoint and no independent reproduction; disable adapter/predictor and restore frozen champion plus WBC safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "schema-only replay and simulation after data/license/calibration gate", "migratable": "stream schema, clock-alignment checks and failure-evaluation protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or treating code availability as reproducibility" }, "frozen_experiment": { "criteria": [ "freeze commit 385e5b99f4850dc8bb2d4716f9a192ca66eaa020, Zarr schema, clocks, calibration and license manifest", "same-batch visual-only, tactile-only and fused baselines on matched/held-out contact and delay cases", "report prediction quality, contact stability, recovery, latency and unsafe-pass separately", "three seeds and G1/H2/M20/R1 closed-loop simulation before any human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": "385e5b99f4850dc8bb2d4716f9a192ca66eaa020", "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "official_fixed_commit_code_readable", "weights": "not_released", "data": "not_released" } }, "confidence": "official repository/README review; no data, checkpoint, declared license, independent reproduction or target-embodiment evidence" }, { "contract_id": "contactguard-to-g1-h2-m20-r1-precontact-monitor-001", "status": "criteria_draft_artifact_license_cross_embodiment_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-13438" ], "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "action-conditioned latent monitor", "pre-contact veto/abort adapter", "failure probe and threshold calibration", "independent WBC, stop and human handover plane" ], "input_contract": { "observations": [ "synchronized multi-view RGB", "planned action chunks from an existing policy", "proprioception/contact state only after target calibration" ], "action_space": "monitor-only veto/hold signal around bounded policy chunks; never rewrite torque, WBC or safety limits", "data_requirements": "freeze ContactGuard paper protocol, action chunk format, camera timing, trigger horizon, labels, threshold and artifact/license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "define pre-contact events and hold/abort semantics for whole-body policy", "test camera/action latency, false-abort and unsafe-pass under contact/occlusion" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 policy chunk and stop interface", "test morphology, latency and recovery with independent safety plane" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base/arm contact trigger and navigation fallback", "test delayed observation and localization loss" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm action/stop semantics", "test obstacle/contact false-abort and human handover" ] } }, "output_contract": { "candidate_output": "pre-contact risk score plus bounded hold/abort request; not policy success, collision certification or direct controller", "safety_gate": "unfrozen threshold, missing stop path, timing mismatch, NaN, resource conflict, WBC rejection or human handover failure => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; RTX 5090 in paper is not a dispatch guarantee", "license_policy": "arXiv manuscript is CC BY 4.0, but no ContactGuard code, weights, data or artifact license was verified; manuscript license does not grant implementation rights", "risk_and_rollback": "author-reported Piper dual-arm monitor with counterfactual pause/recovery proxy; disable monitor and restore frozen policy plus independent stop/WBC plane", "verdicts": { "long_term_attention": "yes", "test_soon": "offline replay and isolated monitor simulation only", "migratable": "pre-contact metric protocol, threshold calibration and monitor-only interface", "replaceable": "no_evidence", "reject_or_prune": "treating AUC/false-abort as safety certification, bypassing independent stop/WBC, or direct production model replacement" }, "frozen_experiment": { "criteria": [ "freeze action chunk, multi-view clock, contact trigger, K=30 horizon, labels and validation threshold", "same-batch baseline monitor versus ContactGuard on held-out contact/occlusion/delay cases", "report AUC, precision, recall, false-abort, unsafe-pass, hold latency, recovery and human handover separately", "three seeds and G1/H2/M20/R1 closed-loop simulation before any human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "not_verified", "weights": "not_released", "data": "described_not_released" } }, "confidence": "primary full-text review with quantified author-only Piper evidence; no code/data/weights/license, independent reproduction or target-embodiment validation" }, { "contract_id": "xeworld-to-g1-h2-m20-r1-cross-embodiment-generalization-001", "status": "criteria_draft_simulation_only_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-05799" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM" ], "affected_modules": [ "action-conditioned world-model representation", "cross-embodiment action/rendering adapter", "generalization benchmark and forgetting audit", "simulation-to-real evidence gate" ], "input_contract": { "observations": [ "action-conditioned visual history", "robot embodiment metadata", "task/scene specification", "privileged simulator state only for controlled ablations" ], "action_space": "pixel/action-conditioned future prediction for evaluation; not a policy, torque or WBC command", "data_requirements": "freeze task/scene split, seen/unseen embodiment split, renderer/action alignment, metrics and simulator revision" }, "embodiment_contract": { "G1": { "status": "target_asset_pending", "required_before_smoke": [ "add G1 morphology/actuator/rendering asset and held-out task split", "separate pixel alignment from actionable control transfer" ] }, "H2": { "status": "target_asset_pending", "required_before_smoke": [ "freeze H2 geometry/action metadata", "test unseen morphology without privileged pixel alignment" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base/arm action semantics and egomotion", "test navigation/manipulation scenes independently" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm rendering/action contract", "test camera/terrain shift and recovery" ] } }, "output_contract": { "candidate_output": "cross-embodiment generalization report and adapter recommendation; not a deployable controller", "safety_gate": "privileged information leakage, split contamination, unseen-asset mismatch, NaN, metric-only improvement without actionable transfer or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; simulator/rendering compute reports are not dispatch guarantees", "license_policy": "paper-only evidence; code, generated dataset, checkpoint and simulator license were not released or verified", "risk_and_rollback": "paper's pixel-action protocol may measure appearance matching rather than controllable dynamics; remove adapter/benchmark claim and restore frozen cross-embodiment evaluation protocol", "verdicts": { "long_term_attention": "yes", "test_soon": "simulation benchmark reproduction only after split/privilege gate", "migratable": "seen/unseen embodiment split, forgetting audit and metric protocol", "replaceable": "no_evidence", "reject_or_prune": "using LPIPS or privileged renderer alignment as proof of cross-robot control transfer or real-machine benefit" }, "frozen_experiment": { "criteria": [ "freeze 25 tasks, seen Aloha/ARX/UR5 versus unseen Franka/Piper split, simulator/renderer revision and action alignment", "compare abstract joint-action, pixel-action and oracle-privileged variants on identical episodes", "report LPIPS plus task success, action feasibility, dynamics error, catastrophic forgetting after adaptation and cross-scene shift", "three seeds and G1/H2/M20/R1 closed-loop simulation before any human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_full_paper", "repository": "not_released", "weights": "not_released", "data": "2500_episodes_described_not_released" } }, "confidence": "primary paper review with explicit seen/unseen embodiment protocol and catastrophic forgetting result; no code, data, independent reproduction or real-robot validation" }, { "contract_id": "harnesswam-to-g1-h2-m20-r1-task-orchestration-001", "status": "criteria_draft_simulation_only_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-09516" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM" ], "affected_modules": [ "WAM task manager and scene belief", "capability-conditioned executable-space projection", "progress/recovery state machine", "simulation and failure-regression gate" ], "input_contract": { "observations": [ "dual-view RGB", "robot state", "task instruction", "subtask/action history", "event/progress evidence" ], "action_space": "existing skill/action schema only; projection may reject or sequence skills but must not emit torque/WBC commands", "data_requirements": "freeze task graph vocabulary, skill capability bounds, matched initial states, failure/recovery labels and benchmark revision" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "map WAM skills to G1 action schema", "freeze camera/state timestamps and independent WBC feasibility checks" ] }, "H2": { "status": "asset_verified_contract_pending", "required_before_smoke": [ "freeze H2 action/observation revision", "separate arm/leg skill capabilities and physical timing" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "split base/arm navigation-manipulation skills", "test partial observability and recovery independently" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze target skill vocabulary and sensor/action adapter" ] } }, "output_contract": { "candidate_output": "auditable task graph, bounded skill sequence, progress estimate or recovery request; not direct policy/WBC replacement", "safety_gate": "capability projection, state evidence, timeout, action limits, termination, recovery and independent WBC/safety plane", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "only Hub ledger and live observation; 242 unavailable, 244/245 shared", "license_policy": "HarnessWAM paper, LingBot-VA/Qwen3-VL/SigLIP2 dependencies, benchmark and any future code/weights/data terms verified separately", "risk_and_rollback": "missing artifacts, stale scene belief, invalid capability projection, NaN, timeout, resource conflict or license uncertainty fail closed; restore frozen WAM/VLA task runtime", "execution": { "simulator_revision": { "status": "pending_freeze", "verified_target_embodiments": [ "G1", "H2", "M20", "R1" ] }, "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_v1", "code": "not_released", "weights": "not_released", "data": "no_harnesswam_release" } }, "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "task-graph/progress/recovery protocol only pending adapter checks", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA/WBC replacement" }, "frozen_experiment": { "criteria": [ "same benchmark revision and initial states", "fixed seed set", "same skill vocabulary", "report full-task/subtask success, projection rejects, recovery, timeout, latency and unsafe-pass", "cross-scene regression without forgetting" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "confidence": "primary paper and protocol reviewed; simulation-only, no artifacts, independent reproduction or target-embodiment validation" }, { "contract_id": "cowam-to-g1-h2-m20-r1-selective-intervention-001", "status": "criteria_draft_simulation_only_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-02578" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "WAM candidate-action selector", "coordination contracts and risk gate", "abstain/rollback path", "WBC feasibility and unsafe-pass regression" ], "input_contract": { "observations": [ "multi-view RGB-D future candidates", "predicted proprioception", "action/history and event labels" ], "action_space": "existing candidate action schema; selector may preserve, replace under contract, or abstain, never emit torque/WBC directly", "data_requirements": "freeze proposal candidate pool, synchronization/role/collision obligations, thresholds, matched initial states and negative interventions" }, "embodiment_contract": { "G1": { "status": "target_contract_pending", "required_before_smoke": [ "map candidate action blocks to G1 semantics", "freeze timing, bounds and independent WBC rejection" ] }, "H2": { "status": "asset_verified_contract_pending", "required_before_smoke": [ "freeze H2 action/observation revision", "separate arm/leg coordination obligations" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base/arm role compatibility and navigation constraints" ] }, "R1": { "status": "target_contract_pending", "required_before_smoke": [ "freeze candidate action and sensor contract" ] } }, "output_contract": { "candidate_output": "keep/replace/abstain decision plus contract evidence; not policy, torque or safety certification", "safety_gate": "synchronization, role compatibility, collision convergence, risk/utility thresholds, timeout, NaN, WBC feasibility and independent stop plane", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "only Hub ledger and live observation; 242 unavailable, 244/245 shared", "license_policy": "paper CC BY 4.0 does not grant CoWAM code/weights/data or RoboTwin terms; each artifact and upstream license must be audited separately", "risk_and_rollback": "contract mismatch, stale candidate pool, unsafe-pass, NaN, resource conflict or license uncertainty fail closed; preserve original WAM candidate or abstain and restore frozen WBC baseline", "execution": { "simulator_revision": { "status": "pending_freeze", "verified_target_embodiments": [ "G1", "H2", "M20", "R1" ] }, "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_cc_by_4", "code": "not_released", "weights": "not_released", "data": "RoboTwin_protocol_not_released_by_authors" } }, "verdicts": { "long_term_attention": "yes", "test_soon": "controlled_sim_only", "migratable": "coordination-contract schema, abstain logic and unsafe-pass evaluation only", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA/WBC replacement or treating selector gains as generator gains" }, "frozen_experiment": { "criteria": [ "same candidate pool and proposal revision", "fixed seed set and RoboTwin task/reset", "same synchronization/role/collision obligations", "report coordination valid, natural closed-loop success, harmful intervention, abstain, latency and WBC rejection", "ID/OOD and cross-scene regression without unsafe-pass increase" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "confidence": "primary paper protocol reviewed; simulation-only, no artifacts, independent reproduction or target-embodiment validation" }, { "contract_id": "ovtf-afm-to-g1-h2-m20-r1-visuotactile-future-interface-001", "status": "criteria_draft_simulation_only_oracle_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-00547" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC", "灵巧手" ], "affected_modules": [ "RGB/触觉未来接口", "WAM action-consumer adapter", "oracle-vs-learned foresight ablation", "independent WBC and safety plane" ], "input_contract": { "observations": [ "头部/腕部 RGB", "左右触觉 RGB", "8维关节位置", "动作历史", "成功 HDF 参考轨迹（仅 oracle 对照）" ], "action_space": "future-interface features consumed by an existing action expert; never torque/WBC", "data_requirements": "freeze UniVTAC task/reset map, HDF episode IDs, 7-task split, 50 rollouts/task, modality clocks and artifact/license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map camera/tactile/proprioception streams and action semantics", "test contact delay, occlusion and WBC feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 sensor layout and tactile calibration", "test morphology and clock shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel-base ego-motion from arm/contact streams", "test delayed tactile fallback" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel/arm sensor-action semantics", "test navigation/manipulation latency and recovery" ] } }, "output_contract": { "candidate_output": "interface/ablation report or bounded adapter signal; not a learned future predictor, policy, torque or WBC command", "safety_gate": "oracle leakage, split mismatch, missing calibration/license, NaN, latency, infeasible action, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; reported 2x RTX 4090D is not a dispatch guarantee", "license_policy": "paper and UniVTAC dependency terms require separate audit; no public code, weights, HDF split, data license or fixed artifact was verified", "risk_and_rollback": "oracle future comes from matched successful trajectories and is unavailable at deployment; disable the adapter/ablation and restore frozen WAM/VLA plus independent WBC safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled simulation interface ablation only", "migratable": "modality-ablation protocol, future-interface schema and OOD/unsafe-pass metrics", "replaceable": "no_evidence", "reject_or_prune": "direct WAM/VLA/WBC replacement or treating AFM Oracle as learned tactile foresight or real-robot benefit" }, "frozen_experiment": { "criteria": [ "freeze same HDF IDs, seven UniVTAC tasks, 50 rollouts/task and three seeds", "compare AFM Oracle, IFM, RGB-only, tactile-only and existing action expert on identical episodes", "report success, contact stability, latency, OOD, unsafe-pass and WBC rejection separately", "keep oracle and learned-predictor claims in separate columns; no real-robot extrapolation" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_v1", "code": "not_released", "weights": "not_released", "data": "UniVTAC/HDF split not verified" } }, "confidence": "primary paper/HTML review with author-reported 7-task simulation only; no public artifacts, independent reproduction or real-robot evidence" }, { "contract_id": "vitar-to-g1-h2-m20-r1-bounded-tactile-residual-001", "status": "criteria_draft_artifact_gate_cross_embodiment_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-15816" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC", "灵巧手" ], "affected_modules": [ "frozen VLA action interface", "visual-tactile residual adapter", "effect-guided branch selection", "independent WBC and safety plane" ], "input_contract": { "observations": [ "RGB from D455", "proprioception", "language/task context", "execution history", "dual 9DTact tactile summaries" ], "action_space": "7D structured residual selected/scaled around frozen OpenVLA-OFT; never direct torque or WBC", "data_requirements": "freeze OpenVLA-OFT revision, residual bounds, tactile calibration, EGM preference labels, UniVTAC split and real-robot trial protocol" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map tactile/camera/proprioception streams and action dimensions", "test contact delay, occlusion and WBC rejection" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 tactile layout and calibration", "test morphology and latency shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base/arm ego-motion and contact streams", "test navigation/manipulation fallback" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm sensor/action semantics", "test delayed tactile recovery" ] } }, "output_contract": { "candidate_output": "bounded residual action proposal plus adapter confidence/abstain signal; not a production controller or safety certification", "safety_gate": "unfrozen residual bound, missing tactile calibration, NaN, latency, infeasible action, WBC rejection, unsafe-pass or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; paper compute or RealMan hardware is not a dispatch guarantee", "license_policy": "ViTaR code/weights/training branch/data/license were not released; UniVTAC Apache-2.0 is a third-party benchmark and does not license ViTaR artifacts", "risk_and_rollback": "single-team RM65-B evidence lacks independent logs and cross-embodiment proof; disable residual adapter and restore frozen VLA/WBC champion", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled simulation and offline replay after artifact/calibration gate", "migratable": "bounded residual interface, EGM/RAM comparison protocol and tactile calibration checks", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement, treating author-only 48.3% as generalization, or calling UniVTAC openness ViTaR reproducibility" }, "frozen_experiment": { "criteria": [ "freeze VLA, residual bound, tactile calibration, EGM labels and UniVTAC split", "same-batch frozen VLA, ViTaR-style residual, RGB-only and tactile-only baselines with three seeds", "report seven-task success, contact stability, residual magnitude, latency, OOD, unsafe-pass and WBC rejection separately", "if physical replay is later authorized, retain 20 trials/method/task protocol and never infer humanoid benefit" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_v1_fulltext", "code": "readme_only", "weights": "not_released", "data": "method_data_not_released" } }, "confidence": "primary paper/HTML and project/repository review with quantified author-only arm evidence; no open method artifacts, independent reproduction or target-embodiment validation" }, { "contract_id": "hitacwam-to-g1-h2-m20-r1-hierarchical-tactile-forecast-001", "status": "criteria_draft_artifact_calibration_cross_embodiment_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-19574" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC", "灵巧手" ], "affected_modules": [ "contact/deformation/slip hierarchical predictor", "candidate action-chunk selector", "execution-time residual monitor", "independent WBC and safe retreat plane" ], "input_contract": { "observations": [ "three synchronized RGB views", "bilateral DM-Tac W2 tactile streams", "robot state", "candidate action chunks", "task progress" ], "action_space": "candidate ranking and bounded retreat/replan request; never direct torque or WBC", "data_requirements": "freeze 30Hz clocks, tactile calibration/coordinates, 160/20/20 episode split, K candidate budget, contact/deformation/slip labels and threshold revision" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map whole-body contact/action semantics and tactile placement", "test delay, occlusion and WBC feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 tactile/camera calibration", "test morphology and recovery timing" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "split wheel-base ego-motion from arm contact streams", "test navigation fallback and delayed tactile" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm contact/action semantics", "test obstacle recovery and safe retreat" ] } }, "output_contract": { "candidate_output": "contact/deformation/slip forecast, candidate ranking and bounded retreat/replan request; not calibrated safety probability or production controller", "safety_gate": "uncalibrated risk, missing clocks/calibration, candidate mismatch, NaN, latency, infeasible action, WBC rejection, unsafe-pass or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; IMETA-Y1/DM-Tac hardware is not a dispatch guarantee", "license_policy": "paper-only evidence; no official code, weights, dataset package, artifact license or fixed environment was verified", "risk_and_rollback": "single IMETA-Y1 platform, 30 trials/method/task, uncalibrated rare-slip AUPRC and no independent reproduction; disable predictor/selector and restore frozen WAM plus independent safe retreat/WBC", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled simulation/tabletop replay after artifact and calibration gate", "migratable": "hierarchical contact/deformation/slip schema, candidate-ranking protocol and fail-closed retreat interface", "replaceable": "no_evidence", "reject_or_prune": "treating AUPRC as calibrated safety probability, mixing 72.2% with other tasks/bodies, or direct production WAM/VLA/WBC replacement" }, "frozen_experiment": { "criteria": [ "freeze sensor clocks, label definitions, K candidates, threshold and action-chunk revision", "same-batch frozen WAM, HiTac-style hierarchy, visual-only and tactile-only baselines with three seeds", "report candidate quality, contact/deformation/slip metrics, calibration, retreat precision/recall, latency, unsafe-pass and WBC rejection separately", "G1/H2/M20/R1 closed-loop simulation before any human gate; physical protocol remains manual and non-production" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_v1_fulltext", "code": "not_released", "weights": "not_released", "data": "described_episodes_not_download_verified" } }, "confidence": "primary full-text review with quantified author-only single-arm evidence; no public artifacts, calibrated risk, independent reproduction or target-embodiment validation" }, { "contract_id": "fasterwam-to-g1-h2-m20-r1-low-latency-action-head-001", "status": "criteria_draft_artifact_compute_realrobot_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-02365" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "video-DiT representation center", "lightweight action head", "cross-layer KV-Fusion/RoPE alignment", "latency and feasibility gate" ], "input_contract": { "observations": [ "video context", "task instruction", "action history/context" ], "action_space": "32-step action chunk from a lightweight action head; no direct torque or WBC", "data_requirements": "freeze Wan2.2-TI2V-5B/video-DiT revision, 24GB GPU measurement protocol, benchmark manifests, denoising steps and action horizon" }, "embodiment_contract": { "G1": { "status": "target_asset_pending", "required_before_smoke": [ "map action chunk to G1 WAM/WBC schema", "test closed-loop delay and feasibility" ] }, "H2": { "status": "target_asset_pending", "required_before_smoke": [ "freeze H2 action timing and morphology adapter", "test latency shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "split base/arm action semantics", "test navigation/manipulation latency" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm action schema", "test recovery under delayed chunks" ] } }, "output_contract": { "candidate_output": "low-latency action chunk and benchmark report; not a deployable controller or production WAM replacement", "safety_gate": "benchmark leakage, missing hardware/latency details, NaN, infeasible action, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported 24GB consumer GPU is not a dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "paper-only evidence; no Faster-WAM/DoT code, weights, training manifest, fixed environment or artifact license verified; upstream benchmark terms apply", "risk_and_rollback": "5.05B trainable parameters, no real robot, unpublished implementation and partially inherited baseline results; disable action-head candidate and restore frozen WAM/VLA champion", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled benchmark reproduction and latency smoke only", "migratable": "latency measurement protocol, action-head interface and KV/RoPE ablation design", "replaceable": "no_evidence", "reject_or_prune": "calling 66.5ms a real-time robot guarantee, treating 3.2x speedup as generalization, or direct production WAM/VLA/WBC replacement" }, "frozen_experiment": { "criteria": [ "freeze 24GB GPU class, batch/context, 32-step horizon, 10 denoising steps and benchmark manifests", "same-batch Faster-WAM, Fast-WAM, full/deep action module and action-head ablations with three seeds", "report end-to-end latency, peak memory, success, action feasibility, OOD, cross-scene regression and WBC rejection separately", "G1/H2/M20/R1 closed-loop simulation before any human gate; no real-machine claim from LIBERO/RoboTwin" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_v1_fulltext", "code": "not_released", "weights": "not_released", "data": "uses_external_benchmarks_no_new_release" } }, "confidence": "primary paper review with author-reported simulation latency/benchmark results; no implementation, real-robot evidence, independent reproduction or complete compute disclosure" }, { "contract_id": "vid2wam-to-g1-h2-m20-r1-video-teacher-distillation-001", "status": "criteria_draft_partial_artifact_license_realrobot_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-08558" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "offline video-diffusion teacher", "IDM pseudo-action adapter", "5B WAM student and source-aware residual", "bimanual/whole-body transfer gate" ], "input_contract": { "observations": [ "image/video context", "language/task instruction", "student action history", "real or pseudo action provenance" ], "action_space": "student 32-step action chunk; teacher and IDM are offline training components; never direct torque or WBC", "data_requirements": "freeze student checkpoint revision, benchmark manifests, teacher/IDM provenance, pseudo-data policy, Piper camera/action calibration and weight license" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map student action schema to G1 WAM/WBC", "test morphology, latency and contact feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 action/camera contract", "test timing and recovery" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base/arm action semantics", "test mobile manipulation delay" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm action schema", "test navigation fallback" ] } }, "output_contract": { "candidate_output": "offline-distilled WAM student checkpoint and benchmark report; not a teacher-at-runtime, production controller or safety certification", "safety_gate": "missing checkpoint license, provenance leakage, dataset mismatch, NaN, latency, infeasible action, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; paper RTX4090/8-GPU reports are not dispatch guarantees; 242 unavailable, 244/245 shared", "license_policy": "official evaluation code fixed commit 4fc0a437 is Apache-2.0; checkpoint repository has no declared weight license; teacher/IDM/pseudo-data/real trajectories are not released", "risk_and_rollback": "student checkpoints cover benchmark regimes only, no complete training stack or Piper control path, novel tasks use synthetic initial images; remove candidate and restore frozen WAM/VLA champion", "verdicts": { "long_term_attention": "yes", "test_soon": "benchmark checkpoint reproduction after weight-license and environment gate", "migratable": "offline teacher-distillation protocol, source-aware residual schema and benchmark evaluation harness", "replaceable": "no_evidence", "reject_or_prune": "treating public checkpoints as full reproducibility, teacher as deployable online policy, or Piper gains as humanoid/mobile transfer" }, "frozen_experiment": { "criteria": [ "freeze fixed code commit, checkpoint revision, license manifest and LIBERO/RoboTwin protocols", "same-batch Vid2WAM checkpoint, Fast-WAM and frozen WAM baselines with three seeds/trial budgets", "report latency, success, novel-task provenance, action feasibility, OOD, cross-scene regression and WBC rejection separately", "only after benchmark closure consider G1/H2/M20/R1 closed-loop simulation; human gate required before any physical test" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": "4fc0a43756d09931cae679d65c4694ad31e0670d", "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_v1_fulltext", "code": "official_fixed_commit_apache2", "weights": "public_but_license_undeclared", "data": "teacher_idm_pseudo_and_real_not_released" } }, "confidence": "primary full-text, official repository/checkpoint and author-reported Piper evidence; no independent reproduction or complete training/data/license closure" }, { "contract_id": "sgwam-to-g1-h2-m20-r1-semantic-spatial-guidance-001", "status": "criteria_draft_artifact_compute_deployment_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-08839" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "text-grounded semantic future", "spatial/depth future alignment", "gated video/action expert", "camera/action calibration and safety gate" ], "input_contract": { "observations": [ "current RGB observations", "language/task instruction", "spatial/depth cues", "action history" ], "action_space": "36-step action chunk guided by semantic/spatial future features; not direct torque or WBC", "data_requirements": "freeze Qwen3.5-2B/SigLIP2/Depth Anything 3 revisions, LTX-Video guidance, four-task data split, camera calibration and DROID/LIBERO manifests" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map semantic/spatial features and action chunks to G1", "test camera timing, depth scale and WBC feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 camera/depth contract", "test occlusion and morphology shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base ego-motion from arm semantic actions", "test navigation/manipulation delay" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm camera/action schema", "test spatial cue failure and recovery" ] } }, "output_contract": { "candidate_output": "semantic/spatial guidance features and bounded action chunks; not a deployable controller or safety certification", "safety_gate": "missing project/artifact, camera calibration, metric table, NaN, latency, infeasible action, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported 8xH100 training is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "paper-only evidence; listed project URL returned 404 at verification and no code, weights, data manifest or artifact license was verified", "risk_and_rollback": "controlled dual-arm desktop evidence, graph-only success numbers and 8xH100 training cost; disable semantic guidance and restore frozen WAM/VLA champion", "verdicts": { "long_term_attention": "yes", "test_soon": "offline semantic/spatial feature replay and controlled simulation only", "migratable": "semantic/depth alignment protocol and camera/action contract", "replaceable": "no_evidence", "reject_or_prune": "mixing graph-only task results into a universal WAM ranking, treating 8xH100 training as deployment evidence, or direct production WAM/VLA/WBC replacement" }, "frozen_experiment": { "criteria": [ "freeze model revisions, four-task split, unseen-height/lighting protocol, camera calibration and machine-readable metric table", "same-batch SG-WAM, Fast-WAM and frozen WAM with semantic-only/spatial-only/fused ablations and three seeds", "report success, OOD, depth/semantic failure, latency, action feasibility and WBC rejection separately", "G1/H2/M20/R1 closed-loop simulation before any human gate; controlled Cobot evidence cannot be reused as humanoid result" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_v1_fulltext", "code": "project_url_404", "weights": "not_released", "data": "not_released" } }, "confidence": "primary paper/HTML review with controlled Cobot evidence; no machine-readable tables, artifacts, independent reproduction or target-embodiment validation" }, { "contract_id": "mobilewam-to-g1-h2-m20-r1-mobile-manipulation-001", "status": "criteria_draft_artifact_trialdenominator_compute_recovery_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-04657" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "6.5B video-diffusion world expert", "lightweight action expert", "Chain-of-Foresight future states", "mobile MoE and localization/recovery gate" ], "input_contract": { "observations": [ "RGB-only camera stream", "language/task instruction", "action history", "mobile base/arm state" ], "action_space": "mobile manipulation action chunks; not direct torque or WBC", "data_requirements": "freeze video backbone, ManiSkill-HAB split, ARX Lift2/D405 calibration, remote-inference latency, action horizon and trial denominators" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map mobile action/state to G1 whole-body schema", "test localization and WBC feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 camera/action contract", "test morphology and latency" ] }, "M20": { "status": "wheel_arm_priority", "required_before_smoke": [ "separate wheel-base navigation from arm manipulation", "test localization loss and recovery" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm action schema", "test obstacle and delayed-action fallback" ] } }, "output_contract": { "candidate_output": "RGB-only mobile action chunk plus bounded recovery request; not a deployable safety controller", "safety_gate": "unknown trial denominator, localization error, remote latency, missing artifact, NaN, infeasible action, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported dual A800 remote inference is not a dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "paper-only evidence; code promised after acceptance but no official repository, weights, data or license was verified", "risk_and_rollback": "five physical percentages omit trial denominators, about 40% failure attributed to localization with no recovery, remote dual A800 dependency; disable candidate and restore frozen mobile/WAM controller", "verdicts": { "long_term_attention": "yes", "test_soon": "ManiSkill-HAB controlled simulation only after artifact gate", "migratable": "mobile WAM action/state contract, localization-failure taxonomy and recovery protocol", "replaceable": "no_evidence", "reject_or_prune": "ranking denominator-free physical percentages, treating remote A800 latency as deployment-ready, or direct production WAM/VLA/WBC replacement" }, "frozen_experiment": { "criteria": [ "freeze video backbone, ManiSkill-HAB tasks, ARX/D405 calibration, action horizon, remote/local latency and trial denominator", "same-batch MobileWAM, pi0.5, AnchorVLA and frozen WAM baselines with three seeds", "report task success, localization failure, recovery, latency, action feasibility, OOD and WBC rejection separately", "M20/R1 mobile simulation before any human gate; no human/legged transfer claim" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_v2_fulltext", "code": "promised_not_released", "weights": "not_released", "data": "not_released" } }, "confidence": "primary paper review with ARX Lift2 author evidence but denominator, recovery and artifact gates incomplete" }, { "contract_id": "dreamwam-to-g1-h2-m20-r1-multitarget-foresight-001", "status": "criteria_draft_artifact_license_compute_cross_embodiment_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-04996" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "RGB/flow/depth/semantic future targets", "multi-target video predictor", "RGB-only deployment adapter", "visual robustness and WBC gate" ], "input_contract": { "observations": [ "RGB context", "task instruction", "action history" ], "action_space": "RGB-only WAM action chunks with training-time auxiliary future targets; not direct torque or WBC", "data_requirements": "freeze Fast-WAM backbone/data, Wan2.2/RAFT/DINOv2/Depth Anything revisions, LIBERO-Plus perturbation protocol, 400-demo split and weight/code licenses" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map RGB/action schema to G1", "test visual perturbation, latency and WBC feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 camera/action contract", "test occlusion and morphology shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base/arm visual motion", "test navigation/manipulation degradation" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm RGB/action schema", "test visual failure recovery" ] } }, "output_contract": { "candidate_output": "RGB-only WAM action chunk and robustness report; not a deployable safety controller", "safety_gate": "missing code license, weight/data mismatch, NaN, latency, infeasible action, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported 8x H20 training is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "public code repository has no declared license; model card reports MIT weights; training data and upstream dependencies require separate license audit", "risk_and_rollback": "single dual-arm platform, 8xH20 training dependency and unverified independent reproduction; disable auxiliary-target adapter and restore frozen WAM/VLA champion", "verdicts": { "long_term_attention": "yes", "test_soon": "fixed-code/weight benchmark replay and visual-perturbation simulation", "migratable": "multi-target future supervision protocol and RGB-only deployment interface", "replaceable": "no_evidence", "reject_or_prune": "treating auxiliary future targets as real-world causality proof, mixing single-platform 74.4% with other bodies, or direct production WAM/VLA/WBC replacement" }, "frozen_experiment": { "criteria": [ "freeze code commit, weight revisions, data split, 400 demos and perturbation protocol", "same-batch DreamWAM, Fast-WAM and RGB-only baseline with auxiliary-target ablations and three seeds", "report standard/perturbed success, latency, memory, failure type, OOD and WBC rejection separately", "G1/H2/M20/R1 closed-loop simulation before human gate; dual-arm result not humanoid evidence" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_v1_fulltext", "code": "public_license_missing", "weights": "public_mit_model_card", "data": "not_released" } }, "confidence": "primary paper/project/repository/weights review with author-only dual-arm evidence and no independent cross-embodiment validation" }, { "contract_id": "generativempc-to-m20-r1-g1-h2-vlm-rag-mpc-001", "status": "criteria_draft_hardware_safety_simulation_split_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2604-19522" ], "target_projects": [ "M20", "R1", "G1", "H2", "WBC", "导航" ], "affected_modules": [ "VLM-RAG semantic parameter proposal", "10Hz whole-body MPC", "50Hz impedance/admittance controller", "human-aware navigation and manipulation simulation gate" ], "input_contract": { "observations": [ "VLP-16 lidar", "D435 RGB-D", "robot/base/arm state", "task language", "retrieved demonstrations" ], "action_space": "bounded velocity, distance and impedance parameters consumed by MPC; never direct torque or safety bypass", "data_requirements": "freeze ROS2/Jetson revisions, five-demo ChromaDB snapshot, 10/50Hz loops, Modbus delay, human-distance threshold and sim/real task split" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map semantic parameters to G1 whole-body/navigation contract", "test independent WBC and stop plane" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 perception/navigation interface", "test latency and safe-stop" ] }, "M20": { "status": "wheel_arm_priority", "required_before_smoke": [ "separate base navigation from SO-101 arm manipulation", "test localization and impedance fallback" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm sensors and action semantics", "test obstacle and human-aware recovery" ] } }, "output_contract": { "candidate_output": "bounded MPC parameter proposal and navigation behavior; not a manipulation success claim or production safety certification", "safety_gate": "retrieval mismatch, stale map, lidar/depth failure, delay, NaN, infeasible parameter, WBC rejection or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; Jetson Orin NX and hardware in paper are not dispatch guarantees; 242 unavailable, 244/245 shared", "license_policy": "paper-only evidence; no official code, weights, demo bundle, ChromaDB snapshot or artifact license was verified", "risk_and_rollback": "real evidence is navigation only (n=5/condition), dual-arm manipulation is Isaac Sim (n=10/arm), VLM is asynchronous ~3.5s; disable retrieval/MPC proposal and restore frozen navigation/WBC controller", "verdicts": { "long_term_attention": "yes", "test_soon": "navigation simulation and shadow parameter replay only", "migratable": "VLM-RAG-to-MPC bounded parameter interface, human-distance protocol and latency regression", "replaceable": "no_evidence", "reject_or_prune": "calling simulated arm success real, using asynchronous VLM in high-frequency loop, or direct production WBC/controller replacement" }, "frozen_experiment": { "criteria": [ "freeze ROS2/Jetson/sensor revisions, five-demo retrieval snapshot, MPC/impedance rates and delay budget", "same-batch retrieval ablation, fixed-parameter MPC and GenerativeMPC in matched navigation scenes with three seeds", "report navigation error, human-distance violations, parameter bounds, latency, recovery, arm simulation success separately and WBC rejection", "M20/R1 then G1/H2 simulation before any human gate; no real arm claim from Isaac Sim" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_v2_fulltext", "code": "not_released", "weights": "not_released", "data": "demo_and_log_bundle_not_released" } }, "confidence": "primary full-text review with measured differential-drive navigation and simulated arm result; no artifacts or independent reproduction" }, { "contract_id": "vitacworld-to-g1-h2-m20-r1-visuotactile-dream-rollout-001", "status": "criteria_draft_artifact_license_compute_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2607-22530" ], "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手" ], "affected_modules": [ "action-conditioned visuotactile world model", "dream-rollout data filter", "tactile policy adapter", "sim2real and WBC regression" ], "input_contract": { "observations": [ "main RGB", "wrist RGB", "Xense tactile stream", "proprioception", "task instruction", "action chunk" ], "action_space": "bounded action chunks consumed by an adapter; no direct torque, WBC or safety bypass", "data_requirements": "freeze stream geometry, camera/tactile calibration, action horizon, simulator revision, D_expert/D_dream split and artifact license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze hand/tactile/camera layout and action mapping", "test sensor dropout, delay and WBC feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze wrist/hand sensor placement and timing", "test morphology and calibration shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base ego-motion from arm/contact actions", "test delayed tactile fallback" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm camera/tactile semantics", "test navigation-manipulation latency and recovery" ] }, "灵巧手": { "status": "sensor_contract_pending", "required_before_smoke": [ "freeze taxel/force representation and safe release fallback" ] } }, "output_contract": { "candidate_output": "filtered future visual-tactile rollout and policy-evaluation score; not a production controller", "safety_gate": "missing artifacts/license, calibration or clock mismatch, dream-data leakage, NaN, latency, action infeasibility or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported 32xH20 training is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "paper and project page verified; method code, weights, generated data and dataset license are not released; project-page Coming Soon is not openness", "risk_and_rollback": "single Franka/Xense platform, 10 trials per task, manually filtered dream rollouts, high compute and no independent reproduction; disable ViTacWorld rollout adapter and restore frozen policy/VLA/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled replay and simulation only", "migratable": "stream/calibration contract, dream-data filtering and dual TSR/success evaluation", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or treating Panda/Xense results as humanoid proof" }, "frozen_experiment": { "criteria": [ "freeze model/project revision, stream geometry, calibration, action horizon and D_expert/D_dream split", "same-batch visual-only, tactile-only, fused and ViTacWorld-augmented baselines on matched/held-out contact tasks", "report policy success, tactile contact stability, dream-rollout precision, latency, unsafe-pass, recovery and WBC rejection separately", "three seeds and G1/H2/M20/R1 closed-loop simulation before human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "website_source_only_no_method_code", "weights": "not_released", "data": "not_released" } }, "confidence": "primary full-text and project-page review; four-task Panda/Xense author results, no independent cross-embodiment reproduction" }, { "contract_id": "dcwam-to-g1-h2-m20-r1-dynamic-ood-supervision-001", "status": "criteria_draft_artifact_license_cross_embodiment_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2607-25918" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM" ], "affected_modules": [ "dynamic-centric WAM visual supervision", "DynaRoute future-token adapter", "OOD robustness regression", "independent WBC/safety gate" ], "input_contract": { "observations": [ "RGB context", "action history", "task language", "offline object/hand trajectory graph" ], "action_space": "bounded WAM action chunks; no direct torque, WBC or safety bypass", "data_requirements": "freeze Wan2.2/FastWAM-AC revisions, 2000-demo split, tracker/DynaRoute parameters, clean/OOD protocol and artifact license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map RGB/action schema and latency", "test visual OOD and WBC feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze camera/action contract", "test morphology and occlusion shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base motion from arm action", "test navigation/manipulation OOD" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm visual/action semantics", "test recovery and delay" ] } }, "output_contract": { "candidate_output": "dynamic future-token supervision and OOD robustness report; not a production controller", "safety_gate": "missing artifacts/license, tracker leakage, NaN, latency, action infeasibility or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported 8xH100/8xA100 is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "paper-only primary evidence; DC-WAM code, weights, data, DynaRoute config and licenses not verified", "risk_and_rollback": "single Piper platform, incomplete trial denominator and appearance-focused OOD; disable DynaRoute adapter and restore frozen WAM/VLA/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "fixed replay and OOD simulation only", "migratable": "dynamic-supervision and robustness protocol, not weights", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA/WBC replacement or mixing Piper results with humanoid claims" }, "frozen_experiment": { "criteria": [ "freeze code/data/backbone revisions, tracker graph and OOD split", "same-batch visual-only, FastWAM-AC and DC-WAM comparisons with three seeds", "report clean/OOD success, sim2real drop, latency, failure types and WBC rejection separately", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "not_verified", "weights": "not_released", "data": "not_released" } }, "confidence": "primary full-text review with quantified OOD and Piper evidence; no released artifacts, independent reproduction or target-body validation" }, { "contract_id": "vist3d-to-g1-h2-m20-r1-visuotactile-benchmark-001", "status": "criteria_draft_data_calibration_cross_embodiment_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-20740" ], "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手" ], "affected_modules": [ "vision-tactile calibration", "3D reconstruction benchmark", "sensor-layout adapter", "contact/WBC regression" ], "input_contract": { "observations": [ "RGB", "depth", "tactile response", "IMU", "camera extrinsics", "registered point cloud" ], "action_space": "benchmark/evaluation outputs only; no policy torque or WBC output", "data_requirements": "freeze VisTa3D revision, file manifests, coordinate frames, time sync, tactile geometry, depth scale and MIT dataset terms" }, "embodiment_contract": { "G1": { "status": "sensor_contract_pending", "required_before_smoke": [ "map hand/camera/tactile coordinates", "test calibration drift and contact occlusion" ] }, "H2": { "status": "sensor_contract_pending", "required_before_smoke": [ "freeze wrist/hand sensor geometry", "test depth/tactile timing" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base motion from arm sensor frames", "test mobile-camera extrinsics" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm frame graph", "test navigation-manipulation delay" ] } }, "output_contract": { "candidate_output": "reconstruction/calibration and cross-sensor generalization report; not a robot controller", "safety_gate": "missing file/license, frame or clock mismatch, calibration drift, NaN or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 111GB dataset is not copied to ECS; 242 unavailable, 244/245 shared", "license_policy": "official Hugging Face dataset card reports MIT; verify revision, file hashes and dataset-specific terms before use; no separate code license assumed", "risk_and_rollback": "exact robot embodiment and benchmark protocol remain incomplete; remove adapter and restore frozen sensor/calibration regression baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "file/hash/calibration smoke and isolated benchmark replay", "migratable": "sensor schema, frame/timestamp checks and TSR/DSR-style contact evaluation", "replaceable": "no_evidence", "reject_or_prune": "treating benchmark metrics as humanoid manipulation or WBC benefit" }, "frozen_experiment": { "criteria": [ "freeze dataset revision, file hashes, frame graph, depth scale and tactile calibration", "same-batch RGB-only, depth-only, tactile-only and fused reconstruction baselines", "report reconstruction error, synchronization failures, sensor dropout, contact quality and WBC rejection separately", "three seeds and G1/H2/M20/R1 simulation before human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", 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wheel-arm visual/action semantics", "test recovery" ] } }, "output_contract": { "candidate_output": "4D-aware WAM latent/action proposal; teacher and alignment heads removed at inference; not production VLA/WBC", "safety_gate": "missing artifacts/license, future leakage, NaN, latency, action infeasibility or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported 8xH100 is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "arXiv full text verified; code, weights, training data and independent reproduction unavailable", "risk_and_rollback": "ARX LIFT2-only evidence with 5.5% mean reported success and task-count inconsistency; disable 4D alignment adapter and restore frozen WAM/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "leakage-safe replay and closed-loop simulation only", "migratable": "train-only trajectory alignment and OOD 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license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "separate base/arm semantics", "test whole-body feasibility and contact delay" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze camera/action timing", "test morphology and reachability shift" ] }, "M20": { "status": "wheel_arm_priority_pending", "required_before_smoke": [ "freeze wheel-arm frame graph", "test navigation-manipulation delay and recovery" ] }, "R1": { "status": "wheel_arm_priority_pending", "required_before_smoke": [ "freeze mobile base/arm action contract", "test terrain and recovery" ] } }, "output_contract": { "candidate_output": "task-space trajectory-conditioned candidate score and action chunk; not production VLA/WBC", "safety_gate": "candidate infeasibility, stale dynamics, NaN, latency or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported ARX setup is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "paper and author-reported experiments verified; code, weights, data and license not available", "risk_and_rollback": "single ARX mobile platform, three tasks, no independent reproduction or explicit OOD protocol; disable trajectory scorer and restore frozen action/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "M20/R1 replay and closed-loop simulation", "migratable": "task-space trajectory contract, candidate scoring and recovery metrics", "replaceable": "no_evidence", "reject_or_prune": "direct humanoid WBC replacement or treating 90% ARX result as cross-body proof" }, "frozen_experiment": { "criteria": [ "freeze revisions, task-space frames, candidate count, calibration and data hashes", "same-batch action-only/trajectory-guided/refiner comparisons with three seeds", "report task success, candidate ranking, latency, recovery, 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"cross_embodiment_pending", "required_before_smoke": [ "freeze camera/action timing", "test morphology shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base motion from arm action", "test navigation-manipulation delay" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm visual/action semantics", "test recovery" ] } }, "output_contract": { "candidate_output": "latent-future-conditioned action chunk with train-only teacher removed at inference; not production VLA/WBC", "safety_gate": "future leakage, missing artifact/license, NaN, latency or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported A800 inference hardware is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "arXiv and project page verified; code/weights unavailable and HF placeholder not treated as official", "risk_and_rollback": "LIBERO-only, no real robot, no seed disclosure and no independent reproduction; disable Future-KV/LA adapter and restore frozen WAM/VLA baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "leakage-safe LIBERO replay and closed-loop simulation", "migratable": "train-only latent-future supervision, latency budget and OOD protocol", "replaceable": "no_evidence", "reject_or_prune": "claiming LIBERO-Plus gain as sim2real or replacing production WAM/VLA/WBC" }, "frozen_experiment": { "criteria": [ "freeze project revision, Future-KV/mask/LA schedule and data hashes", "same-batch base/Future-KV/LA/both comparisons with three seeds", "report OOD gain, leakage, latency, failure class and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": 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"affected_modules": [ "panoramic visual encoder", "KV-cache fusion adapter", "mobile base+arm action interface", "whole-body regression" ], "input_contract": { "observations": [ "local camera views", "dual-fisheye panorama", "language", "base/arm proprioception" ], "action_space": "bounded mobile-base plus dual-arm action chunks; no direct torque or WBC bypass", "data_requirements": "freeze camera calibration, panorama projection, 5.5h demonstration split, expert revisions, task frames and artifact license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map panoramic/local camera and action schema", "test whole-body feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze camera/action timing", "test morphology and occlusion shift" ] }, "M20": { "status": "wheel_arm_priority_pending", "required_before_smoke": [ "freeze mobile base/dual-arm frame graph", "test long-horizon navigation-manipulation delay" ] }, "R1": { "status": "wheel_arm_priority_pending", "required_before_smoke": [ "map wheel-arm sensors and action chunks", "test recovery and panoramic dropout" ] } }, "output_contract": { "candidate_output": "panorama-conditioned mobile manipulation action chunk; not production VLA/WBC", "safety_gate": "calibration drift, panorama dropout, NaN, latency or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported platform is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "paper evidence and author-reported real-robot protocol verified; code, weights and 5.5h data not released", "risk_and_rollback": "single RANGER MINI 3 plus dual Piper platform, four tasks and undisclosed trial denominator; disable panorama adapter and restore frozen local-view baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "M20/R1 panorama replay and closed-loop simulation", "migratable": "camera calibration, KV fusion and long-horizon spatial regression protocol", "replaceable": "no_evidence", "reject_or_prune": "direct humanoid VLA/WBC replacement or treating one mobile platform as cross-body proof" }, "frozen_experiment": { "criteria": [ "freeze camera projection, calibration, task frames and data hashes", "same-batch local-only/raw-panorama/panorama-expert comparisons with three seeds", "report success, spatial drift, dropout, latency, recovery and WBC rejection", "M20/R1 then G1/H2 closed-loop simulation before human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "not_verified", "weights": "not_verified", "data": "author_collected_not_released" } }, "confidence": "primary full-text review with author-reported mobile-manipulation evidence; no open artifacts, independent reproduction or cross-body validation" }, { "contract_id": "openvla-cdpr-to-g1-h2-m20-r1-adapter-001", "status": "criteria_draft_privileged_sim_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-01013" ], "target_projects": [ "G1", "H2", "M20", "R1", "VLA" ], "affected_modules": [ "embodiment adapter/action head", "privileged-geometry RL alignment", "sim2real regression", "independent safety/WBC gate" ], "input_contract": { "observations": [ "visual observation", "language", "CDPR geometry/state", "simulator privileged signals" ], "action_space": "target-body action interface only after adapter; no direct torque, WBC or safety bypass", "data_requirements": "freeze OpenVLA-OFT revision, CDPR geometry, reward/privileged-state contract, PPO/GRPO settings, object splits and artifact license manifest" }, "embodiment_contract": { "G1": { "status": "not_evidenced", "required_before_smoke": [ "replace CDPR with fixed G1 adapter", "test action/state contract and WBC feasibility" ] }, "H2": { "status": "not_evidenced", "required_before_smoke": [ "freeze H2 morphology and timing", "test bounds and recovery" ] }, "M20": { "status": "not_evidenced", "required_before_smoke": [ "separate base/arm contract", "test navigation-manipulation delay" ] }, "R1": { "status": "not_evidenced", "required_before_smoke": [ "freeze wheel-arm interface", "test recovery" ] } }, "output_contract": { "candidate_output": "embodiment-aligned VLA action proposal for simulation evaluation; not production controller", "safety_gate": "privileged leakage, dense-reward mismatch, instability, NaN, action infeasibility or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported simulation setup is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "paper evidence only; method code, weights and data not verified open", "risk_and_rollback": "CDPR-only simulation, no real trials, privileged geometry and late-stage instability; reject direct humanoid migration and restore frozen VLA baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "contract/leakage audit and isolated adapter simulation", "migratable": "adapter criteria and no-demonstration RL evaluation protocol only", "replaceable": "no_evidence", "reject_or_prune": "zero-shot CDPR result as humanoid transfer or production VLA/WBC replacement" }, "frozen_experiment": { "criteria": [ "freeze OpenVLA revision, target-body adapter, privileged-state exclusion and object splits", "same-batch imitation/current baseline/PPO/GRPO comparisons with three seeds", "report strict success, instability, leakage, action feasibility and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "not_verified", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary full-text review with simulation-only CDPR result; no real robot, open artifacts, independent reproduction or target-body evidence" }, { "contract_id": "vlk-to-g1-h2-m20-r1-synthetic-contact-001", "status": "criteria_draft_artifact_data_coverage_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "oa-w7166900964" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA" ], "affected_modules": [ "synthetic interaction data pipeline", "contact-label action interface", "VLK trajectory adapter", "SceneBot/WBC regression" ], "input_contract": { "observations": [ "egocentric RGB", "language", "G1 kinematic state", "synthetic contact labels" ], "action_space": "H=30 whole-body kinematic trajectory and contact-conditioned targets; no direct torque or WBC bypass", "data_requirements": "freeze reconstruction/scene revision, OMOMO/BONES-SEED retargeting, 3DGS/render parameters, domain-randomization ranges, G1 calibration and synthetic split hashes" }, "embodiment_contract": { "G1": { "status": "real_robot_evidence_verified", "required_before_smoke": [ "freeze ZED/camera and SceneBot timing", "reproduce contact-label and surface-task failure gates" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map kinematics/contact semantics", "test morphology and calibration shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate mobile base/arm frames", "test navigation-manipulation delay" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm trajectory contract", "test recovery" ] } }, "output_contract": { "candidate_output": "synthetic-data-trained kinematic trajectory plus contact label consumed by tracker; not a production WBC or physical 3DGS training route", "safety_gate": "scene/retarget mismatch, contact-label leakage, surface coverage gap, NaN, action infeasibility or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported 5090+5000 Ada setup is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "paper evidence verified; 48K/96K synthetic data, code and weights not released, paper license does not license derived data", "risk_and_rollback": "G1-only, small-object/surface interaction gap, no seeds or independent reproduction; disable VLK/SceneBot adapter and restore frozen VLA/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "G1 synthetic replay and contact-label regression", "migratable": "data curation, contact-label interface, domain-randomization and failure matrix", "replaceable": "no_evidence", "reject_or_prune": "treating 3DGS reconstruction as a general physical training route or replacing production WBC/VLA" }, "frozen_experiment": { "criteria": [ "freeze scene/reconstruction/retarget revisions and synthetic hashes", "same-batch no-DR/camera-DR/lighting-DR/full-DR and contact-label ablations with three seeds", "report surface success, contact-label leakage, sim2real gap, latency and WBC rejection", "G1 replay then H2/M20/R1 closed-loop simulation before human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "coming_soon_not_released", "weights": "not_verified", "data": "author_synthetic_not_released" } }, "confidence": "primary full-text review with 240 G1 real trials and explicit sim2real evidence; no open artifacts, seed disclosure or independent reproduction" }, { "contract_id": "sigloma-go2-openworld-loco-manipulation-001", "status": "criteria_draft_artifact_data_coverage_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2605-03846" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "导航" ], "affected_modules": [ "egocentric semantic perception", "quadruped loco-manipulation policy", "failure-replay curriculum", "WBC/safety adapter" ], "input_contract": { "observations": [ "egocentric RGB", "proprioception", "language/semantic object goal" ], "action_space": "Go2 locomotion plus low-cost gripper; candidate output must pass target-platform WBC", "data_requirements": "freeze camera extrinsics, object/task split, ASC replay IDs, policy/control frequency and calibration revision" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map quadruped base/gripper actions to humanoid whole-body contract", "test camera and contact timing" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "define hand/object and locomotion action adapter" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel-arm base and manipulation frames" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm recovery and navigation delay contract" ] } }, "output_contract": { "candidate_output": "semantic-goal-conditioned locomotion/manipulation action proposal; not a production VLA/WBC replacement", "safety_gate": "object/task split leakage, perception timeout, action infeasibility, NaN, contact instability or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported single RTX 4090/Orin NX is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "paper and MIT code repository verified; weights/data not released, project media license not disclosed; verify all dependency and data terms before reuse", "risk_and_rollback": "Go2-only, 30 real trials per task and no cross-body or independent reproduction; disable SigLoMa adapter and restore frozen VLA/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "Go2 replay-derived semantic failure curriculum in simulation", "migratable": "failure replay/ASC, semantic goal schema, camera-delay and object/task split checks", "replaceable": "no_evidence", "reject_or_prune": "directly replacing humanoid VLA/WBC or treating three Go2 tasks as general open-world transfer" }, "frozen_experiment": { "criteria": [ "freeze object/task IDs, camera calibration, ASC replay and action adapter revisions", "same-batch baseline, SigLoMa adapter and RGB-only candidate across three seeds", "report seen/unseen object success, first-attempt failures, recovery, latency and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "verified_mit_code", "weights": "not_verified", "data": "not_released" } }, "confidence": "primary full-text review with official MIT repository and three Go2 tasks; 30 trials/task, no weights/data or independent cross-embodiment reproduction" }, { "contract_id": "ld4wam-motion-aligned-latent-bridge-g1-h2-m20-r1-001", "status": "criteria_draft_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-22403" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA" ], "affected_modules": [ "human-video data curation", "motion-aligned latent dynamics", "WAM video/action bridge", "cross-embodiment adapter", "independent WBC/safety gate" ], "input_contract": { "observations": [ "RGB video", "language/task context", "proprioception", "camera-frame end-effector deltas where labeled" ], "action_space": "target project action schema supplied through an adapter; LD4WAM latent tokens are not direct torque or WBC commands", "data_requirements": "freeze LeRobot dataset revision, human/robot split, camera extrinsics, end-effector coordinate frame, temporal stride, model revisions and license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze whole-body observation/action adapter", "map camera/proprioception timing and WBC feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "resolve 29-DOF simulator/action contract and camera calibration", "test latency and morphology shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base ego-motion from arm motion and navigation fallback" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm action semantics and delayed execution contract" ] } }, "output_contract": { "candidate_output": "motion-aligned latent bridge or adapter-conditioned action proposal; not a production VLA/WBC replacement", "safety_gate": "missing data/model license, stale camera/action calibration, latent/action contract mismatch, NaN, latency budget violation or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; paper-reported bf16/DeepSpeed hardware is not a dispatch guarantee", "license_policy": "arXiv paper page is CC BY 4.0; the reported 5,086-hour corpus and model artifacts have no verified reusable release in this review; dataset and dependency licenses must be audited separately", "risk_and_rollback": "author-only dual-arm gripper/dexterous-hand evidence, no humanoid/legged validation, background-shift weakness and artifact gap; disable latent bridge and restore frozen VLA/WAM baseline plus independent WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "controlled replay and closed-loop simulation only after artifact/data gate", "migratable": "motion-aligned latent interface, data filtering and generalization protocol only", "replaceable": "no_evidence", "reject_or_prune": "direct production WAM/VLA/WBC replacement or treating 5,086 hours as an open dataset" }, "frozen_experiment": { "criteria": [ "freeze baseline/candidate revisions, LeRobot data split, camera/EE calibration and temporal stride", "same-batch frozen baseline, LD4WAM-style latent bridge and pixel-only ablation with three seeds", "report RoboTwin-like success, latent regression, action feasibility, latency, object/background OOD and WBC rejection separately", "G1/H2/M20/R1 closed-loop simulation before any manual on-machine review" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_cc_by_4", "repository": "not_verified", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary arXiv full-text review with explicit simulation/real denominators and counter-evidence; no independent reproduction, open artifact closure or target-body validation" }, { "contract_id": "fetchman-sim-scale-flow-grpo-g1-h2-m20-r1-001", "status": "criteria_draft_artifact_gate_and_cross_embodiment_pending", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-17027" ], "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WBC", "Sim2Real", "导航" ], "affected_modules": [ "procedural humanoid scene/data generation", "DINOv3 visual encoder", "flow-matching action head", "Flow-GRPO post-training", "SONIC lower-body controller interface", "independent WBC and safety plane" ], "input_contract": { "observations": [ "head fisheye RGB", "wrist RGB", "proprioception", "object name only in multi-object variant" ], "action_space": "15-dimensional base velocity/height, waist, arm and gripper targets at 10Hz; SONIC tracks base commands at 50Hz and PD tracks upper-body targets; no direct torque or WBC bypass", "data_requirements": "freeze MolmoSpaces/scene and object asset revisions, grasp/IK filters, camera intrinsics/extrinsics, action-noise ranges, FetchMan-Bench held-out IDs, DINOv3/DiT/Flow-GRPO revisions and license manifest" }, "embodiment_contract": { "G1": { "status": "author_reported_zero_shot_real_robot", "required_before_smoke": [ "freeze 15D action/SONIC timing and camera/proprioception calibration", "replay 100 held-out simulation IDs and test contact/phase leakage", "verify emergency stop, actuator limits and independent WBC rejection" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map base/upper-body/gripper semantics and morphology", "test camera/action latency and lower-body controller replacement" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel-base navigation from arm/height actions", "define recovery and delayed-execution contract" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm action semantics and navigation fallback", "test contact and braking safety" ] } }, "output_contract": { "candidate_output": "simulation-trained visual loco-manipulation action proposal behind target low-level controller; no production VLA/WBC replacement", "safety_gate": "privileged-state leakage, stale camera/action calibration, hidden phase mismatch, NaN, action infeasibility, contact instability, latency violation or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported single L40S/approximately 40 GPU-hours is author profile, not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "arXiv paper page CC BY 4.0; FetchMan-Bench/Data & Code availability must be independently verified before reuse; MolmoSpaces, DINOv3, SONIC, simulator, assets and checkpoints have separate terms", "risk_and_rollback": "single-object fetch/pick dominates evidence, fixed SONIC lower body cannot adapt to heavy-object bracing or disturbances, multi-object sim performance is 62% and no cross-body proof; disable FetchMan adapter and restore frozen VLA/WBC baseline plus independent safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "replay FetchMan-Bench and closed-loop G1/H2/M20/R1 simulation only after artifact/license gate", "migratable": "scene/object coverage, delta-action contract, phase-boundary diagnosis, sparse-reward Flow-GRPO and held-out evaluation protocol", "replaceable": "no_evidence", "reject_or_prune": "treating 73.3% author-only G1 result as general humanoid deployment or replacing production VLA/WBC" }, "frozen_experiment": { "criteria": [ "freeze baseline/candidate revisions, scene/object IDs, camera calibration and 15D action schema", "same-batch scripted/BC/BC+RL and DINOv3-vs-SigLIP/absolute-vs-delta controls with three seeds", "report manipulation versus loco-manipulation success, phase-transition failures, action feasibility, latency, OOD and WBC rejection separately", "G1 replay then H2/M20/R1 closed-loop simulation before any manual on-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_cc_by_4", "repository": "not_verified_in_current_review", "weights": "not_verified", "data": "benchmark_or_data_release_not_verified" } }, "confidence": "primary arXiv full text with explicit simulation and G1 denominators; author-only evidence, no independent reproduction, no verified artifact closure or cross-embodiment validation" }, { "contract_id": "humanoidvln-physics-grounded-navigation-g1-h2-m20-r1-001", "status": "criteria_draft_release_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-12860" ], "target_projects": [ "G1", "H2", "M20", "R1", "导航", "Sim2Real", "VLA", "WBC" ], "affected_modules": [ "navigability-curated scene pipeline", "3DGS/TSDF collision reconstruction", "language instruction generation and human verification", "VLN observation-action adapter", "PD/MPC path tracker", "per-embodiment RL locomotion and independent safety plane" ], "input_contract": { "observations": [ "egocentric RGB", "depth", "IMU", "natural-language instruction", "embodiment-specific state" ], "action_space": "discrete forward/turn/stop or continuous velocity reference consumed by interchangeable PD/MPC tracker and per-body RL gait policy; no direct production torque interface", "data_requirements": "freeze Isaac Sim/PhysX revision, four humanoid URDF/USD and RL gait policies, 87 scene IDs, 933 episode/instruction IDs, 3DGS/TSDF assets, stop/fall criteria, sensor calibration and model checkpoint revisions" }, "embodiment_contract": { "G1": { "status": "author_reported_20_episode_sim_real_pilot", "required_before_smoke": [ "freeze G1 gait/tracker, D435i or target camera and navigation action interface", "replay paired sim-real episodes with emergency stop and manual takeover" ] }, "H2": { "status": "simulation_only_pending_artifacts", "required_before_smoke": [ "verify H1/H2 morphology mapping, gait policy and camera height", "test fall and tracker behavior under 10-12 lower-body DoF shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheeled base navigation from biped gait assumptions", "define wheel-arm obstacle and manipulation handoff" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-foot navigation/action semantics", "test braking, recovery and camera-motion contract" ] } }, "output_contract": { "candidate_output": "physics-grounded VLN benchmark and navigation action reference; not a trained production VLA/WBC or safety certification", "safety_gate": "missing gait/controller/artifact license, scene or instruction leakage, tracker mismatch, fall, collision, NaN, latency violation or emergency-stop failure => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported Isaac Sim/Jetson AGX Orin/RTX A6000 Pro conditions are author setup, not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "arXiv manuscript CC BY 4.0 does not license simulator code, USD/3DGS assets, scene data, checkpoints or upstream VLN models; official project page currently marks Code/Dataset soon and license undisclosed", "risk_and_rollback": "anonymous under-review release boundary, Internal-A/B undisclosed, G1 pilot only 20 paired episodes and no success/fall/intervention denominator; disable HumanoidVLN adapter and restore existing navigation/WBC benchmark contract", "verdicts": { "long_term_attention": "yes", "test_soon": "only after official artifact release: one-body G1 benchmark replay then controlled cross-body simulation", "migratable": "physical navigation metrics, navigability curation, tracker/body factorization, instruction verification and sim-real correlation protocol", "replaceable": "no_evidence", "reject_or_prune": "treating JanusVLN mean SR or N=20 pilot as universal model ranking, safety or real deployment proof" }, "frozen_experiment": { "criteria": [ "freeze scene/instruction split, embodiment/controller, stop threshold and fall definition", "same-batch NaVILA/StreamVLN/DualVLN/JanusVLN or authorized fixed checkpoints under identical tracker/action interface", "report SR, NE, SPL, nDTW, oracle success and fall rate separately with intervention/reset counts", "G1 replay then H2/M20/R1 closed-loop simulation before any manual on-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_cc_by_4", "repository": "project_code_soon_not_released", "weights": "not_verified", "data": "benchmark_scene_assets_soon_not_released" } }, "confidence": "primary arXiv full text and current official project page; strong protocol evidence but no released artifacts, independent reproduction or broad real-world safety evidence" }, { "contract_id": "golem-modular-humanoid-experiment-contract-g1-h2-m20-r1-001", "status": "criteria_draft_artifact_and_cross_embodiment_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-21550" ], "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "导航", "灵巧手" ], "affected_modules": [ "ROS2/DDS module interfaces", "lower-body walking/standing controller", "upper-body IK/planning", "FAST-LIO/Nav2 navigation", "object localization/grasping", "spatiotemporal memory", "independent safety controller/e-stop" ], "input_contract": { "observations": [ "27-DoF q/qdot/IMU/foot contact", "Livox MID-360 LiDAR", "D435i/D405 RGB-D", "language/object query", "base twist and skill request" ], "action_space": "12-DoF lower-body and 15-DoF upper-body joint-position references; 500Hz PD/gravity compensation underneath; no module bypasses independent safety plane", "data_requirements": "freeze GOLEM commit and Docker/ROS2/DDS domain, H1-2 URDF/calibration, sensor revisions, controller/memory backend, task/scene IDs, safety limits and dependency licenses" }, "embodiment_contract": { "G1": { "status": "adapter_pending", "required_before_smoke": [ "map 27+12/15DoF interfaces to G1 and freeze sensor/action calibration", "test safety/e-stop and capability ladder on G1 twin" ] }, "H2": { "status": "same_family_contract_pending", "required_before_smoke": [ "align H2 torque/sensor/gripper envelope", "verify controller and Nav2 interface" ] }, "M20": { "status": "wheel-arm_contract_pending", "required_before_smoke": [ "replace biped lower-body twist with wheel-base/braking contract", "separate arm reach and navigation-induced pose variance" ] }, "R1": { "status": "wheel-foot_contract_pending", "required_before_smoke": [ "define wheel-foot mobility and stop/recovery semantics", "test contact and safety projection" ] } }, "output_contract": { "candidate_output": "modular experiment harness and bounded module outputs; not a production autonomy claim or unsupervised human-environment certification", "safety_gate": "stale state, DDS loss, torque/joint limit, e-stop loss, collision, NaN, unsupported body/action mapping or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; H1-2/author compute is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "official GOLEM repo fixed HEAD e0a33dfe and simulation repo are source evidence; top-level license, gated SAM3 weights, dependencies, robot/asset and data terms require separate verification", "risk_and_rollback": "single H1-2 platform, controlled EV battery cell, no independent reproduction, real contact errors and navigation variance remain large; disable candidate module and restore prior Hub component contract plus independent safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "artifact-pinned module replay and closed-loop simulation; then manual H1-2/G1 gate", "migratable": "interface equivalence, capability ladder, error budget, safety/e-stop contract and module champion/challenger evaluation", "replaceable": "no_evidence", "reject_or_prune": "treating GOLEM as a universal learned controller or claiming simulation/contact success proves unsupervised deployment" }, "frozen_experiment": { "criteria": [ "freeze GOLEM commit, container/dependency lock, robot identity, sensors, safety limits and task IDs", "same-batch vendor/MJPC/ALMI and grasp/memory backends under identical interfaces", "report navigation error, CoM margin/recovery, grasp success by autonomy tier, latency, e-stop and failure attribution separately", "G1/H2/M20/R1 closed-loop simulation before any manual real-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_cc_by_4", "repository": "fixed_commit_verified_license_incomplete", "weights": "gated_or_not_verified", "data": "experiment_provenance_not_downloadable" } }, "confidence": "primary full text and fixed official repository support interface/safety/experiment evidence; independent, cross-body, full-license and long-run deployment gates remain open" }, { "contract_id": "ld4wam-human-video-dynamics-g1-h2-m20-r1-001", "status": "criteria_draft_artifact_gate_and_cross_embodiment_pending", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-22403" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "DINOv3 semantic encoder", "SoftVQ motion-aligned latent", "Wan2.2 future-video expert", "learnable-query latent expert", "embodiment-specific action projections", "independent WBC and safety plane" ], "input_contract": { "observations": [ "15 FPS head/wrist video", "language", "target-body proprioception/state", "action-labelled Delta EE where available" ], "action_space": "target-body action expert output behind embodiment projection and low-level controller; no direct torque/WBC bypass", "data_requirements": "freeze eight-source LeRobot corpus and clip filters, camera/wrist frames, DINOv3/Wan2.2 revisions, LDM latent codebook, target action projection and license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "define G1 camera/state/action adapter and WBC projection", "test texture/background shift and contact feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "freeze H2 multi-view calibration and action dimensions", "test biped latency/occlusion and safety stop" ] }, "M20": { "status": "wheel-arm_contract_pending", "required_before_smoke": [ "separate wheel-base and arm action heads", "define camera motion, braking and degraded fallback" ] }, "R1": { "status": "wheel-foot_contract_pending", "required_before_smoke": [ "map wheel-foot/base action and braking limits", "test WBC projection and recovery" ] } }, "output_contract": { "candidate_output": "motion-aligned latent and bounded action proposal; not a production VLA/WBC or safety certification", "safety_gate": "human-video leakage, stale calibration, unsupported action projection, generated-video OOD, NaN, latency or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; author 64xH20 setup is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "paper CC BY 4.0 is not code/data/model license; five human and five robot source dataset terms, Wan2.2/DINOv3, checkpoints and any LD4WAM release require independent closure", "risk_and_rollback": "author-only two-platform evidence, no verified method artifact/data/checkpoint release, background shift trails pi0.5, no humanoid/wheel-foot evidence; disable LD4WAM adapter and restore frozen VLA/WAM baseline plus independent WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "artifact-gated latent/action replay and closed-loop simulation only", "migratable": "motion-aligned latent target, human/robot data cleaning contract, multi-view action projection and background regression protocol", "replaceable": "no_evidence", "reject_or_prune": "treating 70.5% two-arm author result or learnable query bridge as humanoid production replacement; do not conflate with pretraining query-token shortcut" }, "frozen_experiment": { "criteria": [ "freeze baseline/candidate revisions, human/robot source manifests, clip filters, camera/action frames and target-body projection", "same-batch video-action WAM, no-motion-alignment and LD4WAM controls with three seeds", "report latent retrieval, action error, texture/object OOD, contact/latency, feasibility and WBC rejection separately", "G1 then H2/M20/R1 closed-loop simulation before any manual on-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_cc_by_4", "repository": "not_verified", "weights": "not_verified", "data": "source_terms_and_new_corpus_release_not_verified" } }, "confidence": "primary arXiv full text and appendix disclose architecture, corpus, filters, losses, stages and two-platform trials; artifacts, independent reproduction and target-body gates remain open" }, { "contract_id": "decowam-legged-mobile-manipulation-g1-h2-m20-r1-001", "status": "criteria_draft_artifact_gate_and_cross_embodiment_pending", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-20114" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "FastWAM backbone/residual adapter", "future bottleneck distillation", "base-arm disentanglement", "base-velocity-conditioned video expert", "14D whole-body action interface", "independent WBC and safety plane" ], "input_contract": { "observations": [ "mobile RGB-D", "language", "whole-body proprioception/IMU", "base and arm state" ], "action_space": "48-step 14D action block with arm, gripper and base velocity channels; low-level controller consumes bounded references; no direct torque/WBC bypass", "data_requirements": "freeze ARMDOG HDF5 revision and split, camera/state/action timestamps, base-velocity normalization, future-frame targets, FastWAM and adapter revisions, task IDs and license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map 14D base/arm/gripper semantics to G1 and freeze camera/proprioception calibration", "replay mobile-viewpoint and contact cases with WBC feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "define biped base-velocity and upper-body action interface", "test viewpoint/latency and fall safety" ] }, "M20": { "status": "wheel-arm_contract_pending", "required_before_smoke": [ "separate wheel-base and arm channels and braking limits", "define degraded local inference and recovery" ] }, "R1": { "status": "wheel-foot_contract_pending", "required_before_smoke": [ "map wheel-foot/base action and contact constraints", "test WBC projection and stop behavior" ] } }, "output_contract": { "candidate_output": "bounded whole-body action/video prediction proposal with base/arm factorization; not a production VLA/WBC or safety certification", "safety_gate": "privileged leakage, stale calibration, future-target leakage, NaN, action infeasibility, latency, contact instability or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; author compute/setup is not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "arXiv paper terms do not license ARMDOG data, code, weights or upstream FastWAM; planned data release and all artifact licenses require independent verification", "risk_and_rollback": "single ARMDOG platform, 79 trials/method, no independent reproduction, no verified download/license closure and no cross-body proof; disable DECOWAM adapter and restore frozen WAM/VLA baseline plus independent WBC/safety plane", "verdicts": { "long_term_attention": "yes", "test_soon": "artifact-gated replay and closed-loop simulation only", "migratable": "base/arm factorization, ego-motion conditioning, future bottleneck and synchronized whole-body dataset contract", "replaceable": "no_evidence", "reject_or_prune": "treating 58.2% author-only ARMDOG success as cross-body deployment proof or replacing production VLA/WBC" }, "frozen_experiment": { "criteria": [ "freeze baseline/candidate revisions, ARMDOG split, action units, camera/state calibration and 14D channel semantics", "same-batch FastWAM/DECOWAM/no-factorization ablations with three seeds", "report future-video/action error, base-arm leakage, contact stability, latency, recovery, action feasibility and WBC rejection separately", "G1 then H2/M20/R1 closed-loop simulation before any manual on-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_cc_by_4", "repository": "not_verified", "weights": "not_verified", "data": "ARMDOG_release_planned_not_verified" } }, "confidence": "primary arXiv full text with explicit 1,487-episode dataset contract and 79-trial ARMDOG comparison; artifact, independent and cross-embodiment gates remain open" }, { "contract_id": "crosstracer-cross-embodiment-nav-g1-h2-m20-r1-001", "status": "criteria_draft_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-06688" ], "target_projects": [ "G1", "H2", "M20", "R1", "导航", "VLA", "Sim2Real", "WBC" ], "affected_modules": [ "VL-Tracer semantic waypoint proposer", "embodiment-conditioned CE-Adapter", "CE-RRT* traversability supervision", "pixel-space trace to local waypoint adapter", "remote/onboard inference boundary", "independent safety plane" ], "input_contract": { "observations": [ "egocentric RGB", "language or pixel goal", "robot identity/embodiment", "target-specific state permitted by adapter" ], "action_space": "8 normalized image-plane waypoints plus embodiment-conditioned residual; local controller consumes waypoints; no direct torque/WBC bypass", "data_requirements": "freeze OmniVLA/Llama and LoRA revisions, VAMOS/NaviTrace splits, Mask2Former segmentation, CE-RRT* parameters, 64x64 cost maps, robot embedding and camera/latency calibration" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_target_pending_model_identity", "required_before_smoke": [ "identify and freeze legged platform/action controller", "replay obstacle/goal trace with G1 camera and WBC feasibility" ] }, "H2": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map biped body and camera to trace/cost contract", "test tracker and fall safety" ] }, "M20": { "status": "author wheeled_evidence_adapter_pending", "required_before_smoke": [ "separate wheel-base navigation from arm and obstacle semantics", "freeze remote inference and degraded-local fallback" ] }, "R1": { "status": "wheel-foot_contract_pending", "required_before_smoke": [ "map wheel-foot action and braking constraints", "test latency, recovery and WBC projection" ] } }, "output_contract": { "candidate_output": "bounded pixel-space navigation trace and embodiment adapter; not a production VLA/WBC or safety certification", "safety_gate": "segmentation failure, stale robot identity, trace outside traversability, remote-link timeout, collision, NaN, latency violation or controller rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; reported 8xA100/4090/Orin plus Wi-Fi is author setup, not dispatch guarantee; 242 unavailable, 244/245 shared", "license_policy": "arXiv manuscript CC BY 4.0 does not license absent method code, NaviTrace/CE-RRT* labels, weights, segmentation assets or website; project page has video/results but no method repository", "risk_and_rollback": "real robot evidence is 4 tasks x 5 trials per platform, depends on Mask2Former and remote RTX 4090/Wi-Fi, no artifact or independent reproduction; disable CE-Adapter and restore frozen navigation/VLA/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "artifact-free contract replay and closed-loop simulation only", "migratable": "embodiment-conditioned waypoint interface, auto-generated traversability supervision, remote/local degradation and cross-body metrics", "replaceable": "no_evidence", "reject_or_prune": "treating +25pp small-sample real result as universal navigation safety or replacing production VLA/WBC" }, "frozen_experiment": { "criteria": [ "freeze baseline/candidate revisions, robot identity, camera calibration, waypoint normalization and CE-RRT* split", "same-batch OmniVLA, VL-Tracer-only, CE-Adapter and cost-map ablations with three seeds", "report trace error, traversability violation, SR/SPL/STT, remote latency, collision, recovery and WBC rejection separately", "G1/H2/M20/R1 closed-loop simulation before any manual on-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_cc_by_4", "repository": "project_page_only", "weights": "not_released", "data": "NaviTrace_and_CE_RRT_labels_not_released" } }, "confidence": "primary full-text/anatomy and official project results page with wheeled/legged trials; small denominators, no artifacts, license closure or independent reproduction" }, { "contract_id": "dreammimic-g1-h2-vision-world-model-distillation-001", "status": "criteria_draft_artifact_gate_no_real_robot", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-22278" ], "target_projects": [ "G1", "H2", "WAM", "WBC", "Sim2Real" ], "affected_modules": [ "vision/proprioception encoder", "RSSM predictive representation", "privileged teacher to visual student distillation", "contact/object/reward auxiliary heads", "independent WBC and safety plane" ], "input_contract": { "observations": [ "depth", "segmentation", "proprioception", "previous action", "compact object-pose/trajectory goal" ], "action_space": "target humanoid action schema behind student policy and WBC feasibility; world-model latent is not torque", "data_requirements": "freeze OMOMO/BEHAVE split, retargeting/contact annotations, simulator revision, visual modality semantics and morphology/action mapping" }, "embodiment_contract": { "G1": { "status": "qualitative_sim_only", "required_before_smoke": [ "freeze 42-DoF action/state adapter and depth/segmentation source", "test contact/WBC feasibility and occlusion recovery" ] }, "H2": { "status": "asset_contract_pending", "required_before_smoke": [ "resolve H2 observation/action dimensions and camera calibration", "test morphology and latency shift" ] } }, "output_contract": { "candidate_output": "vision-conditioned whole-body action proposal with predictive interaction features; not a production controller or safety certification", "safety_gate": "privileged-state leakage, ground-truth perception assumption, NaN, action infeasibility, contact/OOD failure or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "Hub ledger and live observation only; 242 unavailable, 244/245 shared; reported simulator settings are not dispatch guarantees", "license_policy": "arXiv CC BY-SA 4.0 paper; official repository MIT license covers repository surface, not yet-released method code/checkpoints; OMOMO/BEHAVE and simulator terms separate", "risk_and_rollback": "simulation-only evidence, ground-truth depth/segmentation, no real robot, upper-body contact precision failure on G1 and code coming soon; disable DreamMimic student/world-model branch and restore frozen vision/WBC baseline", "verdicts": { "long_term_attention": "yes", "test_soon": "G1/H2 closed-loop simulation and perception-noise replay only", "migratable": "predictive latent supervision, contact/object auxiliary labels, failure-buffer curriculum and PCG evaluation", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or treating qualitative G1/Isaac results as real-machine benefit" }, "frozen_experiment": { "criteria": [ "freeze teacher/student revisions, OMOMO/BEHAVE IDs, simulator/morphology and depth/segmentation provenance", "same-batch direct vision, Dreamer baseline and DreamMimic-style RSSM/PCG comparison with three seeds", "report tracking success/duration, robot/object error, contact retention, occlusion/OOD, action feasibility and WBC rejection", "G1 then H2 closed-loop simulation before any manual on-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_cc_by_sa_4", "repository": "mit_readme_only", "weights": "not_released", "data": "upstream_terms_separate" } }, "confidence": "primary full-text/project/repository review with explicit no-real-robot boundary and simulation counter-evidence; no independent reproduction or runnable artifact closure" }, { "contract_id": "golem-h1-2-modular-autonomy-ev-disassembly-001", "status": "criteria_draft_real_evidence_artifact_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-21550" ], "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "WAM", "Sim2Real", "导航" ], "affected_modules": [ "LiDAR-inertial localization/navigation", "lower-body controller/WBC", "upper-body IK and motion planning", "visual servoing/grasping", "spatiotemporal memory", "independent safety plane" ], "input_contract": { "observations": [ "proprioception", "LiDAR/IMU", "RGB-D", "wrist RGB-D", "object point clouds", "language spatial query" ], "action_space": "base twist, end-effector SE(3) goals and module-specific commands behind target WBC; GOLEM interfaces are not direct production torque semantics", "data_requirements": "freeze H1-2 sensor clocks/calibration, navigation placement distribution, grasp trial IDs, map/scene revisions, controller revisions and dependency license manifest" }, "embodiment_contract": { "H1-2": { "status": "author_reported_real_robot", "required_before_smoke": [ "freeze ROS2/DDS topic and control-frequency contract", "replay navigation placement distribution and real base sway", "verify safety controller, emergency stop and actuator limits" ] }, "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map lower/upper-body interfaces and LiDAR/RGB-D timing", "revalidate WBC, calibration and support-polygon limits" ] }, "H2": { "status": "asset_contract_pending", "required_before_smoke": [ "resolve 29-DOF simulator versus target runtime action contract", "freeze camera/IMU and navigation latency" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel/base ego-motion from manipulation and navigation fallback" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm action semantics and delayed execution contract" ] } }, "output_contract": { "candidate_output": "modular interface and capability-ladder experiment contract; component challenger proposals only", "safety_gate": "map/calibration mismatch, action infeasibility, latency violation, NaN, resource conflict, emergency-stop failure or license gap => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 台账和实时观测；242 不可用，244/245 共享；论文/仓库自报机器不构成派发许可。", "license_policy": "GOLEM/CL_isaaclab_sim README 与固定 revision 已核验，但本轮未找到顶层 LICENSE；SAM3 是外部 gated 依赖，所有代码、权重、数据和上游资产必须逐层闭合后才可迁移。", "risk_and_rollback": "真机成功来自单团队受控 H1-2，导航诱发基座位姿方差显著降低抓取率，仿真低估基座摆动和感知误差；关闭 GOLEM challenger，回滚到冻结导航/WBC/视觉抓取基线与独立安全平面。", "verdicts": { "long_term_attention": "yes", "test_soon": "H1-2 replay and G1/H2 closed-loop simulation after artifact/calibration gate", "migratable": "module interface contracts, capability ladder, failure attribution and independent safety-plane pattern", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or extrapolating H1-2 battery results to other bodies" }, "frozen_experiment": { "criteria": [ "freeze baseline/challenger revisions, ROS2 topics, sensor calibration and map/scene IDs", "same-batch navigation/MJPC/ALMI and grasp-controller comparison with fixed trial denominators", "inject measured navigation placement variance and real-like base sway into simulation", "report navigation error, CoM recovery, grasp success, latency, WBC rejection, emergency-stop and recovery separately", "G1/H2/M20/R1 simulation before any manual on-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv_fulltext", "repository": "readme_fixed_head_license_not_found", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary arXiv full-text plus fixed-head official repository review with author-reported H1-2 denominators and explicit sim-to-real counter-evidence; no independent reproduction or complete artifact/license closure" }, { "contract_id": "m3vla-modality-masking-robustness-g1-h2-m20-r1-001", "status": "criteria_draft_artifact_gate_no_humanoid", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-22419" ], "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "multi-view vision encoder/fusion", "query-based VLA action head", "modality dropout/masking curriculum", "contact-rich robustness regression", "independent WBC and safety plane" ], "input_contract": { "observations": [ "ego camera", "left/right wrist cameras", "language", "proprioception where target policy exposes it" ], "action_space": "target project action-chunk schema behind adapter and WBC; M3 masks inputs at training time and does not change production output semantics", "data_requirements": "freeze task/demonstration IDs, camera extrinsics, clock sync, masking probabilities, action horizon, clean/OOD splits, model revisions and license manifest" }, "embodiment_contract": { "G1": { "status": "cross_embodiment_pending", "required_before_smoke": [ "map ego/wrist camera geometry and action chunk to G1", "test occlusion/dropout and WBC feasibility" ] }, "H2": { "status": "asset_contract_pending", "required_before_smoke": [ "resolve 29-DOF action/state contract and camera timing", "test morphology and latency shift" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base ego-motion from arm views and navigation fallback" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm camera/action semantics and delayed execution" ] } }, "output_contract": { "candidate_output": "training-only structured masking curriculum and robustness evaluation protocol; not a new VLA architecture or controller", "safety_gate": "mask schedule mismatch, action infeasibility, NaN, latency/OOD failure, sensor clock mismatch or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 台账和实时观测；242 不可用，244/245 共享；论文 RTX 4090 footprint 不构成训练资源承诺。", "license_policy": "论文证据与项目页已核验；官方仓库 m3 README 仅写 Code coming soon，本轮未闭合代码、权重、数据和许可证；不得将 RoboTwin 或平台依赖许可合并推断。", "risk_and_rollback": "真实平台非人形，Clean2Rand 仍显著低于 Clean，代码/数据未开放；关闭 M3 challenger，恢复冻结 VLA/VLA-Adapter 与独立 WBC/安全平面。", "verdicts": { "long_term_attention": "yes", "test_soon": "G1/H2/M20/R1 closed-loop simulation with sensor dropout and same-batch baseline", "migratable": "structured ego/wrist masking, query dropout curriculum and attention-misalignment regression", "replaceable": "no_evidence", "reject_or_prune": "direct production VLA/WBC replacement or treating bimanual gains as humanoid evidence" }, "frozen_experiment": { "criteria": [ "freeze baseline/candidate revisions, camera/action contracts and clean/OOD split", "same-batch no-mask, generic dropout and M3 comparisons with three seeds", "evaluate Clean, Clean2Rand, sensor dropout, occlusion, long-horizon contact, action feasibility, latency and WBC rejection", "G1/H2/M20/R1 simulation before any manual on-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv", "repository": "code_coming_soon_license_unverified", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary arXiv full-text/project/repository review with author-reported simulation and real dual-arm denominators; no humanoid evidence, independent reproduction or artifact closure" }, { "contract_id": "musashi-w-biomimetic-skin-proprioception-g1-h2-001", "status": "criteria_draft_sensor_contract_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-23304" ], "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "视觉触觉" ], "affected_modules": [ "proprioceptive sensor interface", "skin/muscle multimodal fusion", "contact-disturbance detector", "state estimator", "independent WBC/safety plane" ], "input_contract": { "observations": [ "joint/actuator proprioception", "skin pressure/strain/stretch channels", "optional contact/force channels" ], "action_space": "existing target-body state/action contract; skin signals are auxiliary state estimates and cannot replace encoder/WBC semantics", "data_requirements": "freeze sensor channel map, sampling rate, clock sync, mechanical calibration, contact perturbation protocol, failed-channel behavior and dataset license" }, "embodiment_contract": { "G1": { "status": "hardware_contract_pending", "required_before_smoke": [ "determine feasible joint-covering placement and collision/thermal constraints", "calibrate skin-to-joint mapping and contact disturbance false alarms" ] }, "H2": { "status": "hardware_contract_pending", "required_before_smoke": [ "map skin/encoder observations to 29-DOF state and WBC timing", "test actuator/covering interference" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate wheel/base contact from arm joint skin signals" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze wheel-arm joint and body-covering sensor contract" ] } }, "output_contract": { "candidate_output": "sensor-fusion feature or contact-disturbance confidence, not a direct controller command", "safety_gate": "channel dropout, calibration drift, disturbance false-positive, NaN or WBC state mismatch => fail closed to existing estimator", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 台账和实时观测；242 不可用，244/245 共享；论文 20-seed MLP 计算配置不构成训练资源承诺。", "license_policy": "论文全文与 Musashi-W 既有来源已核验；本论文无代码、权重或数据发布入口，材料和传感器采购许可需另行审计。", "risk_and_rollback": "单关节/单本体；皮肤在外部刺激下误差增至 40.81–53.63°；关闭皮肤 estimator，回滚到既有 encoder/肌肉/本体感受基线与独立安全平面。", "verdicts": { "long_term_attention": "yes", "test_soon": "offline sensor replay and closed-loop state-estimation simulation only", "migratable": "multi-sensor calibration, modality disagreement contact detector and encoder-fusion evaluation", "replaceable": "no_evidence", "reject_or_prune": "direct replacement of G1/H2 joint encoders or WBC state without durability, timing and perturbation validation" }, "frozen_experiment": { "criteria": [ "freeze target sensor channel map, calibration, clock and dropout policy", "same-batch encoder-only, skin-only and fused estimator with three seeds", "inject contact/press disturbances and sensor drift; report angle RMSE, false contact, latency, dropout recovery and WBC rejection", "G1/H2 simulation before manual on-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv", "repository": "not_available", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary arXiv full-text review with real Musashi-W sensor counts, 20-seed statistical evaluation and explicit external-disturbance counter-evidence; no cross-body validation or artifact closure" }, { "contract_id": "tonav-quadruped-navigation-action-velocity-g1-h2-m20-r1-001", "status": "criteria_draft_navigation_manipulation_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-22296" ], "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "WAM", "Sim2Real", "导航" ], "affected_modules": [ "task-oriented navigation", "adaptive last-mile approach", "position/velocity action interface", "mobile-manipulation policy", "WBC/impedance feasibility gate", "independent safety plane" ], "input_contract": { "observations": [ "language instruction", "RGB/depth camera observations", "target/landmark/free-space representation", "base odometry", "joint positions and velocities", "camera timestamps and intrinsics" ], "action_space": "base navigation subgoals plus arm joint-position and joint-velocity chunks; q/qdot units, limits, timestamps and WBC/impedance boundary must be frozen per embodiment", "data_requirements": "same task/object split, manipulation-ready base-pose definition, 220/30 Hz or target-platform clock contract, teleoperation calibration, success/failure/recovery labels and dataset license" }, "embodiment_contract": { "G1": { "status": "adapter_and_humanoid_contract_pending", "required_before_smoke": [ "map quadruped base/arm action contract to humanoid locomotion and whole-body controller", "freeze humanoid camera/proprioception timing and manipulation-ready pose feasibility" ] }, "H2": { "status": "adapter_and_humanoid_contract_pending", "required_before_smoke": [ "separate humanoid base pose, arm reachability and WBC contact constraints", "validate action chunk units and delay against H2 controller" ] }, "M20": { "status": "wheel_arm_high_relevance_contract_pending", "required_before_smoke": [ "freeze wheel/base and arm q/qdot interfaces, stand-off geometry and contact safety" ] }, "R1": { "status": "wheel_arm_high_relevance_contract_pending", "required_before_smoke": [ "freeze wheel-arm navigation-to-manipulation handoff and collision/WBC gate" ] } }, "output_contract": { "candidate_output": "manipulation-ready base pose/subgoals and bounded q/qdot action chunks, not direct torque or production VLA/WBC replacement", "safety_gate": "perception timeout, stale timestamp, velocity-limit breach, NaN, unreachable base pose, contact loss, WBC rejection or resource conflict => fail closed to frozen baseline", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 台账和实时观测；242 不可用，244/245 共享；论文两张 RTX 3090 的配置不构成训练资源承诺，自动调度需资源锁、环境/数据/代码 revision 和许可证闭合。", "license_policy": "arXiv 论文和项目页已核验；官方代码学习版仍 Coming Soon，权重/数据/代码许可证未闭合，禁止以论文许可替代制品许可。", "risk_and_rollback": "单 Go2-W+双 Piper、每项5次、无独立复现；Qwen3.7-Max/Doubao 外部推理和 AAM 延迟依赖；回滚为关闭 action-velocity challenger/AAM，恢复 position-only navigation/manipulation baseline 与独立 WBC/安全平面。", "verdicts": { "long_term_attention": "yes", "test_soon": "offline trajectory replay and closed-loop simulation with frozen criteria", "migratable": "manipulation-ready base-pose contract, q/qdot demonstration fields, delayed-vision compensation and velocity-aware action-head evaluation", "replaceable": "no_evidence", "reject_or_prune": "direct replacement of production VLA/WBC or humanoid deployment without cross-embodiment contract and independent evidence" }, "frozen_experiment": { "criteria": [ "freeze baseline/candidate revisions, object/task split, base-pose tolerance, q/qdot units, camera/odometry clocks and WBC feasibility limits", "same-batch position-only vs position+velocity action chunks and AAM/no-AAM navigation with three seeds", "report navigation SR, conditional manipulation SR, base-pose error, contact-loss/oscillation, action feasibility, latency, velocity clipping, WBC rejection and safe-stop recovery", "run G1/H2/M20/R1 simulation and cross-scene regression before manual on-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv", "repository": "code_coming_soon_license_unverified", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary arXiv full-text and official project-page review with explicit Go2-W/Piper platform, control frequencies, loss weights and real-task denominators; no cross-embodiment validation, independent reproduction or artifact closure" }, { "contract_id": "vitar-visuotactile-residual-vla-g1-h2-m20-r1-001", "status": "criteria_draft_bounded_tactile_adapter_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-15816" ], "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WAM", "WBC", "视觉触觉", "Sim2Real" ], "affected_modules": [ "tactile encoder/marker descriptor", "frozen VLA adapter", "bounded residual selector", "gain/scaling head", "contact safety monitor", "independent WBC/safety plane" ], "input_contract": { "observations": [ "frozen VLA visual/proprioception/language", "bilateral tactile images/marker descriptor", "tactile history and execution history", "base action chunk" ], "action_space": "frozen VLA action plus bounded 7D residual direction/gain; no direct torque and no authority to bypass WBC", "data_requirements": "freeze sensor geometry/calibration, camera/tactile clocks, action units, residual dictionary, intervention horizon, branch provenance and failure labels" }, "embodiment_contract": { "G1": { "status": "tactile_adapter_contract_pending", "required_before_smoke": [ "map tactile sensor placement and 7D residual to humanoid end-effector/WBC contract", "inject contact slip, dropout and calibration drift" ] }, "H2": { "status": "tactile_adapter_contract_pending", "required_before_smoke": [ "freeze hand/arm tactile geometry, q/action timing and safety limits" ] }, "M20": { "status": "wheel_arm_adapter_contract_pending", "required_before_smoke": [ "separate wheel/base motion from arm residual and contact safety" ] }, "R1": { "status": "wheel_arm_adapter_contract_pending", "required_before_smoke": [ "validate gripper/arm tactile interface and WBC feasibility" ] } }, "output_contract": { "candidate_output": "bounded residual correction or no-op around frozen VLA action", "safety_gate": "sensor dropout, stale frame, residual out-of-bounds, Unsafe trigger, NaN, WBC rejection or resource conflict => disable residual and fall back to frozen VLA", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 台账与实时观测；242 不可用，244/245 共享；论文 8×RTX4090 配置不构成训练资源承诺。", "license_policy": "论文、项目页和第三方 UniVTAC 基准分别核验；ViTaR 代码标为 Coming soon，权重/训练数据/方法许可证未闭合。", "risk_and_rollback": "单 RealMan RM65-B/双 9DTact gripper，额外 branch supervision，基线比较非完全等数据；回滚为关闭 EGM/RAM residual，恢复冻结 VLA 与独立安全平面。", "verdicts": { "long_term_attention": "yes", "test_soon": "offline tactile replay and closed-loop simulation only", "migratable": "bounded adapter/action-head, local preference evidence, tactile-conditioned gain and fail-safe fallback contract", "replaceable": "no_evidence", "reject_or_prune": "direct insertion into or replacement of production VLA/WBC, unbounded tactile authority, or cross-body claims without evidence" }, "frozen_experiment": { "criteria": [ "freeze baseline/candidate revisions, sensor map/calibration, 30/10 Hz clocks, action/residual bounds and task split", "same-batch frozen VLA, residual-only, ViTaR and no-tactile controls with three seeds", "report success, recovery, preservation, Unsafe, false intervention, latency, dropout/drift robustness and WBC rejection", "G1/H2/M20/R1 closed-loop simulation and cross-scene regression before manual gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv", "repository": "code_coming_soon_license_unverified", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary arXiv full-text/project review with explicit seven-task simulation, three physical tasks, 20-trial protocol, branch accounting and baseline caveats; no independent reproduction or target-body validation" }, { "contract_id": "tau0-wm-vam-acvs-g1-h2-m20-r1-001", "status": "criteria_draft_wam_world_model_artifact_and_cross_body_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2606-01027" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "VAM action head", "ACVS future/reward evaluator", "RCS/LAR test-time computation", "heterogeneous data supervision masks", "independent WBC/safety plane" ], "input_contract": { "observations": [ "multi-view RGB", "language", "robot state/proprioception", "memory observations", "candidate action chunks" ], "action_space": "receding-horizon action chunk proposal; ACVS evaluates but does not own control authority; no direct torque/WBC output", "data_requirements": "separate robot action labels, UMI weak action-like signals and human-video-only visual dynamics; preserve failure/recovery provenance and modality masks" }, "embodiment_contract": { "G1": { "status": "wam_world_model_contract_pending", "required_before_smoke": [ "freeze camera/state/action chunk mapping and WBC feasibility", "validate ACVS progress calibration under G1 scenes" ] }, "H2": { "status": "wam_world_model_contract_pending", "required_before_smoke": [ "freeze multi-view/time/action contracts and latency budget" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base/arm actions and verify candidate feasibility" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze gripper/arm action schema and safety fallback" ] } }, "output_contract": { "candidate_output": "VAM action chunk plus optional predicted future latent; ACVS ranking/progress is advisory", "safety_gate": "stale input, NaN, reward disagreement, action infeasibility, WBC rejection, latency or resource conflict => disable challenger and fall back to frozen VLA/WAM", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；论文 RTX 5090 部署不构成训练资源承诺。", "license_policy": "论文与项目页已核验；官方代码仓库未发现根 LICENSE；Hugging Face 权重元数据标注 Apache-2.0，依赖与训练数据条款仍需单独闭合。", "risk_and_rollback": "异构数据质量/监督强度不等、ACVS预测奖励可能脱离物理可行性、无独立复现和G1/H2证据；回滚为关闭 ACVS/RCS/LAR，恢复冻结 VLA/WAM 与独立安全平面。", "verdicts": { "long_term_attention": "yes", "test_soon": "fixed replay and closed-loop simulation only", "migratable": "supervision masks, failure/recovery data, candidate ranking and bounded future-evaluation interface", "replaceable": "no_evidence", "reject_or_prune": "direct replacement of production VLA/WBC, treating predicted reward as safety proof, or claiming G1/H2 benefit 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], "action_space": "60-step 7-DoF single-arm or 14-DoF dual-arm action chunk; no direct torque/WBC authority", "data_requirements": "ordered-stage labels, full-task termination definitions, fixed scene reset and future-state target provenance" }, "embodiment_contract": { "G1": { "status": "future_state_wam_contract_pending", "required_before_smoke": [ "map three-view/state/action contract to G1 and WBC", "freeze future-state horizon and success calibration" ] }, "H2": { "status": "future_state_wam_contract_pending", "required_before_smoke": [ "freeze bimanual action schema, cameras, timing and safety limits" ] }, "M20": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "separate base and arm action heads before evaluation" ] }, "R1": { "status": "wheel_arm_contract_pending", "required_before_smoke": [ "freeze gripper/arm interface and recovery fallback" ] } }, "output_contract": { "candidate_output": "future-state-conditioned action chunk; stage prediction is advisory", "safety_gate": "future-state NaN/uncalibrated progress, action infeasibility, stale sensor, latency, WBC rejection or resource conflict => disable challenger and restore frozen baseline", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；单机 Astribot 结果不构成训练资源承诺。", "license_policy": "论文和 DeepLeap 项目页已核验；未发现公开代码、权重、数据下载或制品许可证闭合。", "risk_and_rollback": "未来 latent 是否物理因果、固定场景/单一本体外推、无制品与独立复现均未闭合；回滚为关闭 future-state head，恢复冻结 VLA/WAM 与独立安全平面。", "verdicts": { "long_term_attention": "yes", "test_soon": "fixed replay and closed-loop simulation only", "migratable": "future-state/action interface, ordered-stage progress and failure-stage taxonomy", "replaceable": "no_evidence", "reject_or_prune": "direct replacement of production VLA/WBC or treating stage progress as physical safety proof" }, "frozen_experiment": { "criteria": [ "freeze encoder/version, three-view geometry, action units/chunk length, future horizon, lambda and stage definitions", "same-batch frozen VLA, video-WAM and future-state-WAM three-seed replay", "report full success, ordered-stage progress, stage drop-off, latency, infeasible action and WBC rejection", "held-out scenes/objects, sensor delay and cross-body adapter before manual gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv", "repository": "not_found", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary arXiv full-text and author project page with 480-trial protocol; no independent reproduction, open artifacts or target-body validation" }, { "contract_id": "morfic-cross-morphology-g1-h2-m20-r1-001", "status": "criteria_draft_quadruped_transfer_artifact_and_humanoid_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2603-14554" ], "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "足式" ], "affected_modules": [ "morphology encoder", "FiLM critic/value path", "simulator randomization", "state/action scaling adapter", "independent WBC/safety plane" ], "input_contract": { "observations": [ "velocity, projected gravity, command, q/dq, previous action", "height grid", "history buffer", "morphology/control parameters" ], "action_space": "quadruped locomotion action under target-body scaling; no direct production WBC authority", "data_requirements": "versioned URDF/mass/inertia/joint/torque limits, 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challenger and restore frozen controller", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；论文 RTX4090 训练描述不构成资源承诺。", "license_policy": "论文全文已核验；未发现 MorFiC 官方代码、权重、数据或许可证闭合。", "risk_and_rollback": "真实收益依赖 morphology 参数、URDF、state estimator、动作缩放与接触标定；Go1/Go2 不构成人形证据；回滚为关闭 morphology challenger，恢复冻结 locomotion/WBC 与安全平面。", "verdicts": { "long_term_attention": "yes", "test_soon": "fixed cross-morphology replay and target-body simulation", "migratable": "critic-side morphology conditioning, value calibration metrics, morphology-distance regression and failure taxonomy", "replaceable": "no_evidence", "reject_or_prune": "直接把四足策略迁移为人形 WBC、忽略 morphology/action calibration 或用仿真零样本替代真机验收" }, "frozen_experiment": { "criteria": [ "freeze target URDF/mass/inertia/joint/torque/action-scale/state-estimator revisions", "same-batch PPO/concat/FiLM critic with three seeds", "report value EV, advantage variance, speed, fall-free duration, 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"contract_id": "cotograsp-contact-topology-g1-h2-m20-r1-001", "status": "criteria_draft_dexterous_contact_artifact_and_humanoid_gate_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-19776" ], "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "contact-topology adapter", "canonical hand workspace", "grasp/contact planner", "tactile/contact estimator boundary", "independent WBC/safety plane" ], "input_contract": { "observations": [ "object point-cloud/local features", "hand geometry and joint state", "topology label" ], "action_space": "hand grasp pose/joint configuration proposal; no direct torque or production WBC authority", "data_requirements": "versioned hand URDF, topology mapping, object split, collision/force-closure labels and sensor calibration" }, "embodiment_contract": { "G1": { "status": "humanoid-hand-transfer-pending", "required_before_smoke": [ "map target hand kinematics and topology vocabulary" ] }, "H2": { "status": "humanoid-hand-transfer-pending", "required_before_smoke": [ "freeze hand/contact/WBC interface" ] }, "M20": { "status": "wheel-arm-hand-transfer-pending", "required_before_smoke": [ "separate arm/base and hand action contracts" ] }, "R1": { "status": "wheel-arm-hand-transfer-pending", "required_before_smoke": [ "freeze end-effector and safety contract" ] } }, "output_contract": { "candidate_output": "topology-conditioned grasp/contact proposal and feasibility score; not tactile state or torque safety authority", "safety_gate": "unknown hand geometry, collision/force-closure failure, stale calibration, sensor mismatch, NaN, WBC rejection or resource conflict => reject challenger", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；论文环境描述不构成资源承诺。", "license_policy": "公开仓库未确认 SPDX 许可证；HF 模型卡标 CC-BY-4.0，数据及第三方 DexGraspNet/MultiDex 条款必须分开核验。", "risk_and_rollback": "真实收益仅证明 Allegro/UR10 抓取可行性，不证明触觉或人形收益；回滚为关闭 topology adapter，恢复冻结抓取/VLA/WBC 与独立安全平面。", "verdicts": { "long_term_attention": "yes", "test_soon": "fixed topology replay and closed-loop dexterous simulation", "migratable": "canonical workspace, topology labels, force-closure rejection and contact-contract checks", "replaceable": "no_evidence", "reject_or_prune": "把无触觉输入的抓取生成器宣称为视觉触觉模型，或直接替换生产 VLA/WBC" }, "frozen_experiment": { "criteria": [ "freeze target hand URDF/joint/action units and topology mapping", "same-batch no-topology baseline versus CoToGrasp with three seeds", "report topology compliance, collision, force closure, grasp stability, latency and WBC rejection", "unseen object/hand geometry closed-loop simulation before manual gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": 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"affected_modules": [ "typed spatial readout", "PICK/PLACE action interface", "camera calibration", "CuRobo collision gate", "independent WBC/safety plane" ], "input_contract": { "observations": [ "RGB and language through frozen multimodal backbone", "PICK/PLACE phase", "camera calibration" ], "action_space": "point/affordance/trajectory spatial target consumed by planner or action policy; no direct torque authority", "data_requirements": "versioned backbone, typed-head revision, coordinate normalization, camera intrinsics/extrinsics and planner contract" }, "embodiment_contract": { "G1": { "status": "humanoid-transfer-pending", "required_before_smoke": [ "freeze multi-camera and whole-body spatial/action schema" ] }, "H2": { "status": "humanoid-transfer-pending", "required_before_smoke": [ "validate spatial target to hand/WBC contract" ] }, "M20": { "status": "wheel-arm-transfer-pending", "required_before_smoke": [ "separate base/arm camera and planner contracts" ] }, "R1": { "status": "wheel-arm-transfer-pending", "required_before_smoke": [ "freeze target geometry and safety gate" ] } }, "output_contract": { "candidate_output": "typed point, object-functional heatmap or visual trajectory; not action-policy or WBC safety authority", "safety_gate": "invalid geometry, camera drift, phase mismatch, planner rejection, stale model, NaN or resource conflict => reject challenger", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；论文 A100/A6000 描述不构成资源承诺。", "license_policy": "未发现官方代码、权重、新增数据或 artifact license；arXiv 论文许可不等于方法制品许可。", "risk_and_rollback": "真实增益依赖 π0.5/Embodied-R1、双相机、CuRobo 和 wrapper；回滚为关闭 typed spatial adapter，恢复冻结 VLA/动作策略与独立安全平面。", "verdicts": { "long_term_attention": "yes", "test_soon": "fixed spatial-interface replay and closed-loop simulation", "migratable": "typed point/OFG/VTG heads, phase-aligned PICK/PLACE schema and planner rejection metrics", "replaceable": "no_evidence", "reject_or_prune": "把机械臂接口增益外推为人形全身控制，或直接替换生产 VLA/WBC" }, "frozen_experiment": { "criteria": [ "freeze backbone/head/camera/planner revisions", "same-batch text-coordinate, Attention and OFG/Pointing with three seeds", "report geometry PIM/PIB, full task success, source selection, latency, planner rejection and phase failures", "camera/occlusion/delay/cross-embodiment closed-loop simulation before manual gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_arxiv", "repository": "not_verified", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary full-text with quantified Bridge/WidowX and PiPER protocols; no public artifacts or target-body validation" }, { "contract_id": "wam-capability-separation-causal-boundary-g1-h2-m20-r1-001", "status": "criteria_draft_wam_counterevidence_and_intervention_gate", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-22197" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "world-action model objective", "action-conditioned future predictor", "intervention data collector", "causal/generalization evaluator", "independent safety plane" ], "input_contract": { "observations": [ "history h", "observational demonstrations", "specified candidate action a", "future outcome y when available" ], "action_space": "candidate action consequence query for evaluation; no direct production control authority", "data_requirements": "versioned behavior-cloning baseline, world-action factorization, action-conditioned interventions, support/hidden-confounding audit" }, "embodiment_contract": { "G1": { "status": "not_measured", "required_before_smoke": [ "freeze humanoid action schema and intervention-safe simulator" ] }, "H2": { "status": "not_measured", "required_before_smoke": [ "freeze action-consequence and safety contract" ] }, "M20": { "status": "not_measured", "required_before_smoke": [ "separate wheel/arm interventions" ] }, "R1": { "status": "not_measured", "required_before_smoke": [ "freeze wheel-arm action and rollback" ] } }, "output_contract": { "candidate_output": "causal/interventional evaluation report and action-conditioned prediction signal; not a policy replacement", "safety_gate": "insufficient action support, hidden confounding, uncalibrated counterfactual, NaN or resource conflict => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；理论论文不构成训练资源承诺。", "license_policy": "仅有 CC BY 4.0 论文许可；无代码、权重、数据制品。", "risk_and_rollback": "理论等价条件不保证有限样本/受限模型成立；回滚为关闭 WAM challenger，恢复冻结 VLA/WBC 与独立安全平面。", "verdicts": { "long_term_attention": "yes", "test_soon": "causal/intervention smoke and BC-vs-imitation-WAM fixed regression", "migratable": "action-conditioned evaluation, intervention coverage audit and counterfactual failure taxonomy", "replaceable": "no_evidence", "reject_or_prune": "仅凭 future latent/world-action factorization 宣称控制能力提升或替换生产 VLA/WBC" }, "frozen_experiment": { "criteria": [ "freeze BC, imitation-WAM and action-conditioned-WM revisions", "same observational batch plus explicit intervention holdout", "report action-specific prediction error, trajectory distribution distance, worst-case regret, support/hidden-confounding failures", "closed-loop simulation before any manual gate" ], "stages": [ "criteria_freeze", 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tracker", "ball trajectory and impact model", "retarget/action projection", "independent WBC and safety plane" ], "input_contract": { "observations": [ "broadcast tennis video and professional motion capture", "retargeted human motion and ball trajectory", "robot q/qdot/state/speed" ], "action_space": "style-conditioned kinematic reference plus bounded residual behind WBC; no direct torque authority", "data_requirements": "freeze player-style labels, ball/camera timing, retarget calibration, speed randomization and success/fall denominators" }, "embodiment_contract": { "G1": { "status": "author_real_evidence", "required_before_smoke": [ "pin G1 calibration, camera/ball timing, action units and WBC limits" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze H2 arm/torso reachability, ball perception and safe residual bounds" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheeled-base dynamics and stop/recovery path" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-arm geometry, latency and rollback contract" ] } }, "output_contract": { "candidate_output": "style-conditioned whole-body reference and bounded residual tracking command", "safety_gate": "stale/noisy ball state, infeasible reach, speed/latency violation, NaN, fall/contact anomaly or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；论文/作者机器配置不构成训练资源承诺。", "license_policy": "official AdaPT repository reports Apache-2.0 code; motion-capture, broadcast video, ball assets, weights and upstream dependencies require separate license and artifact verification.", "risk_and_rollback": "tennis is task-specific; author-only G1/Atom evidence has small denominators, undisclosed seeds and no standard cross-body benchmark; rollback disables style adapter/planner branch and restores frozen controller plus independent WBC/safety plane.", "verdicts": { "long_term_attention": "yes", "test_soon": "frozen replay and closed-loop simulation only", "migratable": "speed-aware planning, randomized-speed tracking, style-vs-stability evaluation and residual interface", "replaceable": "no_evidence", "reject_or_prune": "把90% serve或职业风格结果外推成通用人形部署，或绕过WBC直接替换生产VLA" }, "frozen_experiment": { "criteria": [ "pin AdaPT commit, ball model, G1/H2/M20/R1 calibration, style IDs and dataset revision", "same-batch fixed-speed versus adaptive planner/tracker and with/without domain randomization, three seeds", "report serve/rally success, falls, contact timing, tracking error, latency and WBC rejection separately", "simulation first; manual real-machine gate required" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 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BC/WAM actor", "off-policy Q critic", "failure-rollout replay", "candidate action-chunk selection", "champion/challenger checkpointing", "independent WBC and safety plane" ], "input_contract": { "observations": [ "RGB and language instruction", "frozen actor candidate action chunks", "success and failure rollout outcomes" ], "action_space": "actor action chunks scored and averaged by Q; actor interface remains unchanged and Q has no direct torque/WBC authority", "data_requirements": "freeze FastWAM/BC revision, candidate count, chunk horizon, terminal label protocol, rollout deduplication and failure taxonomy" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze G1 VLA/WAM action schema, contact events, success detector and WBC projection" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze H2 sensor/action contract, human label and recovery path" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheel-base/arm terminal criteria and stop/recovery path" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-arm action chunks, latency and rollback contract" ] } }, "output_contract": { "candidate_output": "Q score/challenger checkpoint and bounded action selection around immutable actor", "safety_gate": "proposal-support gap, label conflict, Q overestimation, action infeasibility, NaN, stale checkpoint, latency or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；作者 4×H200/RTX5090 配置不构成派发承诺。", "license_policy": "official project page is verified, but Q code, weights, rollout files and license are not verified; FastWAM upstream terms must remain separate.", "risk_and_rollback": "YAM-arm evidence is narrow and terminal human labels do not establish autonomous success detection; Q cannot exceed actor proposal support and may overfit observed failures; rollback keeps actor immutable and reverts Q checkpoint.", "verdicts": { "long_term_attention": "yes", "test_soon": "frozen G1/H2 simulation with synthetic failures and champion/challenger rollback only", "migratable": "failure replay schema, Q critic, bounded candidate selection, checkpoint and regression contract", "replaceable": "no_evidence", "reject_or_prune": "proposal coverage、label reliability、Q calibration、回滚或资源锁任一不闭合即剪枝；不得自动替换生产 VLA/WBC" }, "frozen_experiment": { "criteria": [ "pin actor/Q revisions, candidate count, chunk horizon, success detector and data revision", "same-batch frozen actor, Q-only, filtered-SFT and challenger controls with three seeds", "report success, failure recall, unsafe-pass, false-reject, Q calibration, latency, action feasibility, regression and rollback separately", "simulation first; human real-machine gate required" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", 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"research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2606-29940" ], "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "human pose capture", "c-SEW whole-body retargeting", "lazy mobile-base control", "action/data quality scoring", "policy learner input adapter", "independent WBC and safety plane" ], "input_contract": { "observations": [ "60Hz Meta Quest whole-body/hand pose", "human clips and hand/torso/base structural intent", "target robot kinematics and base state" ], "action_space": "robot joint/base trajectories and replayable whole-body action records; no direct torque or safety-plane authority", "data_requirements": "freeze Quest calibration, GR1/RB-Y1 body models, c-SEW solver, base/torso limits, action timestamps and processed data revision" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze G1 URDF/hand interface, pose-to-action adapter, delay and WBC projection" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze H2 body/hand mapping, camera/pose timing and safety limits" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheeled-base/arm action semantics and stop/recovery path" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-arm geometry, base trajectory limits and rollback contract" ] } }, "output_contract": { "candidate_output": "precise whole-body offline action dataset and policy-training adapter", "safety_gate": "pose dropout, calibration drift, unreachable joint/base command, stale timestamp, NaN, latency or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；作者平台/论文算力不构成训练资源承诺。", "license_policy": "official paper and project page verified; released WARP code, weights, processed data and license not verified; BONES/DexMimicGen and upstream human-pose terms remain separate.", "risk_and_rollback": "GR1 source plus RB-Y1 target is useful cross-body evidence but only four real tasks/10 trials and no broad visual closed-loop policy; rollback disables WARP adapter and restores frozen data/action pipeline with independent WBC/safety plane.", "verdicts": { "long_term_attention": "yes", "test_soon": "offline replay and closed-loop simulation only", "migratable": "c-SEW geometric solver, action consistency metrics, whole-body data quality and embodiment adapter", "replaceable": "no_evidence", "reject_or_prune": "不得把 RB-Y1 open-loop replay 或离线误差外推为通用人形部署，也不得绕过 WBC 直接替换 VLA" }, "frozen_experiment": { "criteria": [ "pin WARP paper/project revision, Quest calibration, GR1/H2/M20/R1 body models and data revision", "same-batch MINK/SEW/WARP retargeting and policy controls with three seeds", "report palm error, structural consistency, feasibility, replay success, contact/latency, OOD and WBC rejection separately", "simulation first; manual 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"status": "criteria_draft_real_rm65b_author_evidence_artifact_blocked", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-15816" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "灵巧手", "Sim2Real" ], "affected_modules": [ "frozen foundation VLA", "effect-guided modeling", "visual-tactile residual action modulation", "tactile calibration/synchronization", "bounded adapter and abstain gate", "independent WBC and safety plane" ], "input_contract": { "observations": [ "language instruction", "RGB", "tactile gripper observation", "frozen VLA action chunk and execution history" ], "action_space": "bounded residual and gain on the existing VLA action interface; no direct torque/WBC authority", "data_requirements": "freeze OpenVLA-OFT revision, UniVTAC split, RM65-B tactile geometry, calibration/clocks, residual bounds, dropout and abstain semantics" }, "embodiment_contract": { "G1": { "status": "transfer_pending", 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"license_policy": "ViTaR method code/weights/training data/license are not verified; UniVTAC Apache-2.0 is a third-party benchmark only and cannot be inherited by ViTaR artifacts.", "risk_and_rollback": "single RM65-B plus tactile gripper, no trial denominators, no complete loss/hyperparameters or calibration, and README-only repository; rollback disables residual branch and restores frozen VLA/WAM plus independent WBC/safety plane.", "verdicts": { "long_term_attention": "yes", "test_soon": "replay and controlled closed-loop simulation only", "migratable": "bounded adapter interface, tactile dropout/OOD regression, abstain policy and residual diagnostics", "replaceable": "no_evidence", "reject_or_prune": "不得把作者 48.3% 真机均值或 UniVTAC 61.3% 外推为跨本体收益；制品/协议/安全边界不闭合即剪枝" }, "frozen_experiment": { "criteria": [ "pin foundation VLA, UniVTAC split, tactile calibration, residual/gain bounds and data revision", "same-batch RGB-only, frozen VLA, tactile residual, dropout and abstain controls with 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paper/project page and README-only official repository review; author RM65-B evidence, no independent reproduction or cross-embodiment artifact closure" }, { "contract_id": "acid-action-consistency-wam-g1-h2-m20-r1-001", "status": "criteria_draft_sim_wam_evidence_real_robot_pending", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2607-02403" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "导航", "Sim2Real" ], "affected_modules": [ "action-conditioned world model", "inverse dynamics verifier", "adaptive MPC/CEM cost", "trajectory realizability diagnostics", "failure-data routing", "independent WBC and safety plane" ], "input_contract": { "observations": [ "encoded observation/latent state", "candidate action sequence", "goal state or navigation target" ], "action_space": "candidate action chunks scored by forward world model plus inverse-action consistency; simulation challenger only and no direct torque/WBC authority", "data_requirements": "freeze world-model/IDM revisions, action normalization, latent horizon, CEM budget, task split and predicted-versus-executed logs" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze G1 observation/action schema, contact events, latency and WBC projection" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze H2 sensor/action contract and recovery path" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheel-arm/navigation terminal criteria and stop path" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-arm action limits, latency and rollback" ] } }, "output_contract": { "candidate_output": "realizability residual and adaptive planning cost for reranking candidate trajectories", "safety_gate": "inverse-model mismatch, partial observability, exogenous contact, latency budget overrun, NaN or WBC rejection => fail closed and 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"same-batch original goal-cost versus ACID residual with three seeds and equal rollout budget", "report success, inverse residual, action feasibility, false-reject, unsafe-pass, planning latency and predicted-executed drift", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_primary_v1_fulltext", "repository": "code_coming_soon", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary full text and official project page; quantified simulation evidence, no real-robot experiment or open artifact closure" }, { "contract_id": "orthoskillvla-continual-skill-g1-h2-m20-r1-001", "status": "criteria_draft_open_artifacts_xarm_real_evidence_cross_body_pending", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-19589" ], "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WAM", "Sim2Real", "持续学习" ], "affected_modules": [ "VLM subspace adapter", "ActionHead subspace adapter", "feature-aware MoE decoder/router", "skill-order regression", "checkpoint/champion-challenger", "independent WBC and safety plane" ], "input_contract": { "observations": [ "RGB image and task language", "pretrained X-VLA representation", "skill sequence and action head state" ], "action_space": "existing VLA action interface with module-specific parameter updates and compact skill experts; no direct torque/WBC authority", "data_requirements": "freeze X-VLA revision, LeRobot task IDs, skill order, subspace construction, router thresholds, camera/action calibration and regression set" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze humanoid observation/action schema, skill IDs, latency and WBC projection" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze H2 sensor/action contract, skill router and recovery path" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheel-arm skill semantics and stop/recovery path" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-arm action head, latency and rollback contract" ] } }, "output_contract": { "candidate_output": "continual-learning adapter/subspaces and feature-routed skill expert", "safety_gate": "skill collision, router ambiguity, forgetting regression, NaN, action infeasibility, stale checkpoint, latency or WBC rejection => fail closed and retain champion", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；官方 README 的 RTX4090 单卡/单进程配置不构成派发承诺。", "license_policy": "official GitHub Apache-2.0; HF weights/dataset references are recorded, but exact revision, model/data terms and upstream X-VLA/LeRobot licenses require separate closure.", "risk_and_rollback": "xArm/6-DoF Inspire/Orbbec evidence is single-arm, four skills and author-only; no humanoid/legged evidence; router/expert count can increase maintenance cost; rollback restores frozen X-VLA and prior skill checkpoint.", "verdicts": { "long_term_attention": "yes", "test_soon": "reproduce single-GPU simulation and replay with frozen champion/challenger only", "migratable": "module-specific subspace constraints, action-head protection, skill router and forgetting/forward-transfer regression", "replaceable": "no_evidence", "reject_or_prune": "若跨技能遗忘、router ambiguity、动作范围或回滚门禁不通过则剪枝；不得直接替换生产 VLA/WBC" }, "frozen_experiment": { "criteria": [ "pin X-VLA/repository/weights/dataset revisions, skill order and camera/action calibration", "same-batch KeepLoRA, unified subspace and OrthoSkillVLA controls with three seeds and fixed skill sequence permutations", "report forward transfer, backward transfer, final success, router accuracy, latency, action feasibility, forgetting and rollback separately", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "paper": "verified_primary", "repository": "Apache-2.0_verified", "weights": "HF_reference_verified_revision_pending", "data": "HF_reference_verified_revision_and_terms_pending" } }, "confidence": "primary paper, official repository, weights/data references and author xArm results; no independent reproduction or target-body evidence" }, { "contract_id": "light-loco-parkour-perceptive-wbc-g1-h2-m20-r1-001", "status": "criteria_draft_no_artifacts_qualitative_real_cross_body_pending", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-02653" ], "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "导航", "全身控制" ], "affected_modules": [ "depth student policy", "multi-skill reference/distillation", "learned skill transition", "terrain/contact encoder", "independent WBC and safety plane" ], "input_contract": { "observations": [ "D435 depth", "IMU", "joint encoders", "velocity command" ], "action_space": "whole-body locomotion action interface projected through existing WBC; no direct production torque authority", "data_requirements": "freeze depth calibration, proprioception timing, terrain/skill split, teacher privileged-state boundary, policy rate and WBC projection" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze G1 depth/IMU/joint schema, terrain labels, latency and WBC projection" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze H2 sensor/action contract, recovery and stop path" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheel-arm terrain semantics and navigation stop criteria" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-foot action limits, latency and rollback contract" ] } }, "output_contract": { "candidate_output": "perceptive multi-skill whole-body locomotion action proposal with learned transition state", "safety_gate": "depth dropout, skill ambiguity, terrain OOD, action infeasibility, latency overrun, NaN or WBC rejection => fail closed and retain champion", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；论文 Jetson Orin Nano 7–25W 结果不构成派发承诺。", "license_policy": "arXiv paper and official project media verified; code, weights, training assets and method license not disclosed.", "risk_and_rollback": "Lightbot 0/D435 evidence is custom-body and author qualitative; no trial denominator or independent reproduction; rollback disables candidate transition/student branch and restores frozen baseline WBC/policy.", "verdicts": { "long_term_attention": "yes", "test_soon": "frozen closed-loop simulation and replay only after artifact/contract closure", "migratable": "transition-state representation, terrain-paired reference coverage, depth student distillation and failure taxonomy", "replaceable": "no_evidence", "reject_or_prune": "若重叠障碍、未见几何、延迟/遮挡或 WBC 可实现性回归不达标则剪枝；不得直接替换生产 VLA/WBC" }, "frozen_experiment": { "criteria": [ "pin student/teacher revisions, depth calibration, terrain geometry and skill split", "same-batch baseline WBC/policy versus candidate with three seeds and identical terrain rollouts", "report per-skill and transition success, failure denominator, unseen geometry, latency/power, action feasibility and recovery", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_primary", "repository": "not_disclosed", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary full paper and official project media; quantified simulation and qualitative Lightbot 0 evidence only, no artifacts, independent reproduction or target-body evidence" }, { "contract_id": "g1-standup-deformable-contact-g1-h2-m20-r1-001", "status": "criteria_draft_sim_only_no_artifacts_cross_body_pending", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-20852" ], "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "安全恢复" ], "affected_modules": [ "reference-guided residual joint-position policy", "soft-contact curriculum", "pelvis/torso recovery objectives", "contact-aware WBC safety gate", "failure recovery regression" ], "input_contract": { "observations": [ "joint/pose/contact state", "hard-ground stand-up reference", "simulated support/contact state" ], "action_space": "residual joint-position targets projected through existing WBC; no direct production torque authority", "data_requirements": "freeze G1/H2 contact schema, reference trajectory revision, solref/solimp mapping, penetration limit, actuator delay and recovery termination" }, "embodiment_contract": { "G1": { "status": "simulation_only_pending", "required_before_smoke": [ "freeze G1 29-DoF joint/contact schema, soft-ground material calibration and WBC projection" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze H2 contact/actuator contract and recovery stop path" ] }, "M20": { "status": "not_matched", "required_before_smoke": [ "separate wheel-arm support semantics; no humanoid contact assumption" ] }, "R1": { "status": "not_matched", "required_before_smoke": [ "freeze wheel-foot contact and rollback contract before any transfer" ] } }, "output_contract": { "candidate_output": "reference-guided residual recovery action proposal for fallen-to-standing", "safety_gate": "penetration limit, support-force mismatch, actuator delay, posture infeasibility, NaN or WBC rejection => fail closed and retain baseline", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；论文 MuJoCo 配置与单 G1 仿真不构成派发承诺。", "license_policy": "primary paper/PDF verified; no code, weights, demonstration file, contact configuration or data license verified.", "risk_and_rollback": "all evidence is one simulated G1 body; solref/solimp is not a validated physical material map; rollback disables soft-contact residual branch and restores rigid-ground baseline/recovery policy.", "verdicts": { "long_term_attention": "yes", "test_soon": "frozen three-seed G1/H2 closed-loop simulation only after contact contract closure", "migratable": "explicit recovery objectives, staged soft-contact curriculum, penetration/failure logging and residual adapter", "replaceable": "no_evidence", "reject_or_prune": "若不同软接触参数、延迟、初始姿态或 penetration safety regression不达标则剪枝；不得直接替换生产 WBC/VLA" }, "frozen_experiment": { "criteria": [ "pin simulator, G1/H2 contact/material calibration, reference trajectory and penetration limit", "same-batch reference-only versus explicit-recovery candidate with three seeds and identical initial states", "report stand-up success, penetration distribution, support-force mismatch, posture error, delay sensitivity, failure denominator and rollback", "G1/H2 closed-loop simulation before any human gate; no M20/R1 extrapolation" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_primary", "repository": "not_verified", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary abstract/PDF and anatomy; simulation-only G1 evidence with undisclosed reward weights/seeds and no artifacts, real robot or independent reproduction" }, { "contract_id": "delta-deformable-terrain-attention-g1-h2-m20-r1-001", "status": "criteria_draft_real_raibo2_no_artifacts_cross_body_pending", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-22033" ], "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "导航", "足式运动" ], "affected_modules": [ "deformable terrain attention encoder", "depth/elevation preprocessing", "terrain OOD regression", "desired-joint action head", "independent WBC and contact safety plane" ], "input_contract": { "observations": [ "front/rear D430 depth elevation map", "projected gravity and base velocity", "joint state", "previous desired joint target", "velocity command" ], "action_space": "desired joint-position targets through existing PD/WBC; no direct production torque authority", "data_requirements": "freeze map coordinate/calibration, sensor spike/NaN policy, terrain/friction split, control rate, action scaling and WBC projection" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze G1 depth/proprioception map schema, contact events, latency and WBC projection" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze H2 terrain sensor/action contract and stop/recovery path" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheel-arm terrain/navigation semantics and terminal criteria" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-foot map/action limits, latency and rollback" ] } }, "output_contract": { "candidate_output": "fixed-cost terrain representation and perceptive locomotion action proposal", "safety_gate": "map calibration drift, sensor dropout, terrain OOD, action infeasibility, delay, NaN or WBC rejection => fail closed and retain champion", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；论文 RTX4060/Jetson AGX Orin 仅为证据，不构成派发承诺。", "license_policy": "arXiv primary paper verified; no official code, weights, terrain data or method license verified.", "risk_and_rollback": "RAIBO2 21/21 author-only trials and high-resolution DELTA-only real deployment prevent fair real baseline comparison; rollback disables encoder/terrain branch and restores frozen AME or baseline terrain policy plus WBC.", "verdicts": { "long_term_attention": "yes", "test_soon": "matched five-seed G1/H2 simulation and replay with sensor/OOD gates", "migratable": "fixed-cost deformable sampling, center-context gating, terrain attention diagnostics and resolution-aware encoder adapter", "replaceable": "no_evidence", "reject_or_prune": "若同协议多 seed、地图/摩擦/传感器 OOD、延迟或 WBC 回归不保持增益则剪枝；不得直接替换生产 WBC/VLA" }, "frozen_experiment": { "criteria": [ "pin sensor calibration, map grid/extent, terrain split, policy revision and WBC projection", "same-batch MLP/AME/DELTA-style controls with five seeds and identical 1,000-episode evaluations", "report standard/fine-grained/unseen mixed courses, encoder FLOPs, training time, sensor dropout, action feasibility and failure denominator", "G1/H2/M20/R1 closed-loop simulation before human gate; real test requires >=30 trials/course and manual approval" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_primary", "repository": "not_verified", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary full paper with five-seed simulation and author-reported RAIBO2 21/21 evidence; no artifacts, independent reproduction or target-body evidence" }, { "contract_id": "roboedit-human-video-experience-g1-h2-m20-r1-001", "status": "criteria_draft_data_adapter_artifact_license_and_humanoid_transfer_pending", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-18948" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "灵巧手", "Sim2Real" ], "affected_modules": [ "human-video data curation", "cross-embodiment retargeting", "3D robot-state decoder", "WAM/VLA data adapter", "trajectory-conditioned residual control", "independent WBC and safety plane" ], "input_contract": { "observations": [ "RGB human manipulation video", "depth/camera reconstruction", "target embodiment geometry", "sparse robot keyframes" ], "action_space": "robot-conditioned edited video plus explicit 3D hand-state trajectory; downstream residual PPO action proposal, not direct torque/WBC", "data_requirements": "freeze paired-data revision, source split/dedup, target morphology/URDF, camera/action timing, hand-state units and contact labels" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze full-body/hand morphology, RGB/proprioception timing, action units and WBC projection" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze H2 hand/arm contract, calibration and recovery path" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheel-arm manipulation semantics and stop/recovery path" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-arm action limits, latency and rollback" ] } }, "output_contract": { "candidate_output": "paired robot-video/3D-state supervision and bounded trajectory-conditioned adapter", "safety_gate": "data leakage, contact inconsistency, morphology mismatch, stale revision, NaN, latency, action infeasibility or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；论文八张 H100 NVL 仅为证据，不构成派发承诺。", "license_policy": "arXiv full text verified; RoboEdit-14M/code/weights/license not verified; source datasets and upstream model terms remain separate.", "risk_and_rollback": "seven hand/gripper embodiments and qualitative Franka deployment do not establish humanoid/legged transfer; synthetic/real pairs may encode contact or identity artifacts; rollback disables the paired-data/state adapter and restores frozen WAM/VLA data pipeline plus independent WBC/safety plane.", "verdicts": { "long_term_attention": "yes", "test_soon": "offline data-contract audit and three-seed closed-loop simulation only", "migratable": "paired-data schema, retargeting quality gates, explicit state decoder, dedup/failure taxonomy and reversible adapter", "replaceable": "no_evidence", "reject_or_prune": "artifact/license closure, target-body contract, cross-scene/OOD, action feasibility or rollback gate failure => prune; never directly replace production VLA/WBC" }, "frozen_experiment": { "criteria": [ "pin RoboEdit paper/data revision, source split, target morphology, camera/action calibration and adapter revision", "same-batch raw human-video, retargeted-state and RoboEdit-style paired-data controls with three seeds", "report state/trajectory error, contact consistency, leakage/dedup, action feasibility, latency, WBC rejection, failure denominator and rollback", "G1/H2/M20/R1 closed-loop simulation before manual real-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_primary_fulltext", "repository": "not_verified", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary full text with explicit losses, data counts, random seeds and simulation/real boundary; artifact/license and humanoid transfer gates remain blocked" }, { "contract_id": "real2sim2real-torque-calibration-g1-h2-m20-r1-001", "status": "criteria_draft_single_panda_evidence_cross_body_pending", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2608-22629" ], "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "系统辨识" ], "affected_modules": [ "real trajectory capture", "friction/inertia/gravity identification", "simulator calibration", "torque RL challenger", "independent WBC and safety plane" ], "input_contract": { "observations": [ "real joint trajectories", "torque/position curves", "robot description and actuator parameters" ], "action_space": "bounded torque policy proposal behind WBC/safety plane; no production direct torque authority", "data_requirements": "freeze body/actuator revision, calibration trajectory split, torque units, latency and contact protocol" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze G1 actuator/friction/contact model and torque safety limits" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze H2 actuator and whole-body torque projection" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheel-arm actuator/contact semantics" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-arm torque/action and rollback contract" ] } }, "output_contract": { "candidate_output": "calibrated simulator parameter set and torque-RL challenger", "safety_gate": "calibration drift, parameter bounds, NaN, torque limit, latency, contact mismatch or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；论文 Panda/Gazebo/MuJoCo 配置不构成派发承诺。", "license_policy": "primary paper verified; code, weights, calibration data and license not verified.", "risk_and_rollback": "single Panda arm and incomplete real protocol cannot establish humanoid/legged transfer; rollback restores frozen simulator and non-candidate controller while retaining calibration logs.", "verdicts": { "long_term_attention": "yes", "test_soon": "frozen body-specific system-identification and closed-loop simulation only", "migratable": "trajectory-matching objective, actuator/friction audit, calibrated parameter envelope and fail-closed Sim2Real regression", "replaceable": "no_evidence", "reject_or_prune": "if same-protocol multi-seed, contact, delay, torque-limit or WBC regressions fail, prune; never directly replace production WBC/VLA" }, "frozen_experiment": { "criteria": [ "pin real/sim trajectory revisions, body/actuator model, calibration split and parameter bounds", "same-batch uncalibrated, domain-randomized and Real2Sim-calibrated controls with three seeds", "report trajectory error, target success, torque margin, delay/contact sensitivity, unsafe-pass and rollback", "G1/H2/M20/R1 simulation before manual real-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_primary_fulltext", "repository": "not_verified", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary full text with explicit reward/parameter objective and Panda sim2real boundary; no artifact, independent or cross-body closure" }, { "contract_id": "at-vla-adaptive-tactile-g1-h2-m20-r1-001", "status": "criteria_draft_single_genie1_evidence_cross_body_pending", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2605-07308" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real", "灵巧手" ], "affected_modules": [ "tactile encoder and calibration", "contact gate", "adaptive cross attention", "fast tactile reaction stream", "action-head adapter", "independent WBC and safety plane" ], "input_contract": { "observations": [ "three RGB camera views", "language instruction", "6D tactile/force feedback", "proprioceptive state" ], "action_space": "14-DoF dual-arm end-effector action chunks; tactile adapter has no direct torque/WBC authority", "data_requirements": "freeze tactile sensor geometry/calibration, RGB-tactile clocks, contact labels, action units and Genie1-to-target morphology adapter" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze G1 tactile/force interface, camera timing, arm action projection and WBC limits" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze H2 hand/arm tactile interface, calibration and recovery path" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheel-arm contact semantics and sensor/action latency" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-arm tactile/action contract and rollback" ] } }, "output_contract": { "candidate_output": "bounded tactile adapter with contact-gated fast reaction stream", "safety_gate": "gate false-positive/negative, sensor dropout, latency, action infeasibility, NaN or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；论文 Genie1/单一触觉夹爪算力配置不构成派发承诺。", "license_policy": "paper primary verified; implementation repository public with MIT claim, but fixed commit, weights, tactile data and calibration license not fully verified.", "risk_and_rollback": "single Genie1 and Xense gripper do not establish cross-body safety; rollback disables tactile adapter and restores frozen VLA/WBC while retaining contact-failure logs.", "verdicts": { "long_term_attention": "yes", "test_soon": "frozen tactile adapter and closed-loop simulation only", "migratable": "contact gate, asynchronous stream, sensor contract and modality-dropout regression", "replaceable": "no_evidence", "reject_or_prune": "if same-protocol multi-seed, sensor-dropout, latency or WBC regressions fail, prune; never directly replace production VLA/WBC" }, "frozen_experiment": { "criteria": [ "pin target tactile/RGB/proprioception revisions and calibration", "same-batch vanilla VLA, naive tactile append, gate-only and AT-VLA adapter with three seeds", "report contact precision/recall, task success, modality dropout, latency, unsafe-pass, WBC rejection and failure denominator", "G1/H2/M20/R1 closed-loop simulation before manual real-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "partial", "paper": "verified_primary_fulltext", "repository": "public_mit_claim_pending_fixed_commit", "weights": "not_verified", "data": "not_verified" } }, "confidence": "primary full text with explicit interface/loss/15-trial protocol and public repository; single embodiment, artifact closure and independent reproduction pending" }, { "contract_id": "wam-evaluation-taxonomy-to-g1-h2-m20-r1-001", "status": "criteria_draft_reference_only_pending_body_contract", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "arxiv-2606-20781", "arxiv-2607-00836", "milestone-dreamerv3" ], "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real", "导航" ], "affected_modules": [ "WAM taxonomy fields", "predictive substrate/action coupling registry", "closed-loop evaluation protocol", "lineage and comparison UI" ], "input_contract": { "observations": [ "method paper and fixed artifact evidence", "task/embodiment/action-space metadata", "prediction and closed-loop metrics" ], "action_space": "metadata-only reference; no executable action authority", "data_requirements": "freeze task, split, embodiment, sensor, action units, rollout horizon, latency and artifact revision before comparing methods" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze G1 sensor/action/WBC contract" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze H2 sensor/action/WBC contract" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheel-arm contact and action semantics" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-arm latency and rollback contract" ] } }, "output_contract": { "candidate_output": "comparable WAM evaluation record and frozen baseline/challenger matrix", "safety_gate": "metric scope mismatch, missing artifact/license, NaN, latency or WBC rejection => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；综述/自动驾驶资源不构成训练机派发承诺。", "license_policy": "surveys and DreamerV3 primary sources verified; downstream code, weights, data and licenses remain per-project gates.", "risk_and_rollback": "taxonomy is reference metadata, not a deployable controller; rollback removes the candidate comparison row and restores the frozen baseline registry.", "verdicts": { "long_term_attention": "yes", "test_soon": "freeze protocol and metadata-only comparison", "migratable": "evaluation schema, action-coupling fields and failure taxonomy", "replaceable": "no_evidence", "reject_or_prune": "prune any comparison mixing task, embodiment, action space or evidence class; never replace production VLA/WBC from taxonomy scores" }, "frozen_experiment": { "criteria": [ "pin paper/artifact revisions and evidence class", "same-batch baseline/challenger with three seeds where an implementation exists", "report prediction, closed-loop, latency, action-feasibility and WBC rejection separately", "G1/H2/M20/R1 simulation before manual real-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_primary", "repository": "per_downstream_method", "weights": "per_downstream_method", "data": "per_downstream_method" } }, "confidence": "primary surveys and historical baseline are verified; no unified executable implementation or cross-body evidence" }, { "contract_id": "gelstereo-visuotactile-encoder-to-g1-h2-m20-r1-001", "status": "reference_only_pending_sensor_adapter", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "oa-w3173438814" ], "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手", "视觉触觉" ], "affected_modules": [ "视觉触觉编码", "触觉标定与时延", "WAM/VLA输入适配" ], "input_contract": { "observations": [ "stereo tactile image", "contact point cloud", "external RGB if available" ], "action_space": "无动作输出；仅提供定位/接触状态特征", "data_requirements": "固定传感器几何、标定版本、采样率、延迟和接触失败样本" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze hand/foot tactile mounting and time sync" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze sensor placement and calibration" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheel-arm contact semantics" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-arm sensor latency contract" ] } }, "output_contract": { "candidate_output": "offline tactile point-cloud localization features", "safety_gate": "calibration drift, missing timestamps, contact ambiguity or NaN => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；本契约不授权训练机派发。", "license_policy": "IEEE paper evidence only; sensor design, code, data and downstream licenses remain unverified.", "risk_and_rollback": "sensor adapter is optional and reversible; remove feature branch and restore baseline encoder if calibration or latency gates fail.", "verdicts": { "long_term_attention": "yes", "test_soon": "offline replay and calibration smoke only", "migratable": "sensor calibration schema and point-cloud quality checks", "replaceable": "no_evidence", "reject_or_prune": "prune any claim of WAM/VLA/WBC gain without same-protocol closed-loop evidence" }, "frozen_experiment": { "criteria": [ "pin sensor geometry/calibration and timestamp revision", "same-batch replay with three seeds where learned encoder exists", "report localization error, latency and dropout separately", "simulation before manual real-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_primary", "repository": "not_verified", "weights": "not_verified", "data": "not_verified" } }, "confidence": "publisher DOI evidence verifies sensor/localization contribution only; no control or deployment evidence" }, { "contract_id": "event-vt-snn-encoder-to-g1-h2-m20-r1-001", "status": "reference_only_pending_event_sensor_adapter", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "oa-w3040099822" ], "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手", "视觉触觉" ], "affected_modules": [ "事件视觉触觉编码", "时序同步与延迟", "WAM/VLA输入适配" ], "input_contract": { "observations": [ "NeuTouch event tactile", "Prophesee event camera", "optional RGB-D/proprioception" ], "action_space": "无动作输出；仅提供异步感知特征", "data_requirements": "固定 taxel/事件阈值、时钟、标定、dropout、接触失败与功耗记录" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze hand/foot event sensor mounting and time sync" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze event camera/tactile calibration" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheel-arm contact semantics" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-arm event latency contract" ] } }, "output_contract": { "candidate_output": "offline event-stream contact/slip features", "safety_gate": "timestamp gap, threshold drift, missing events or NaN => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；本契约不授权训练机派发。", "license_policy": "arXiv/作者项目页与官方仓库入口已核验；固定 commit、数据快照和许可证仍未闭合。", "risk_and_rollback": "事件适配器可选且可逆；门禁失败时禁用分支并恢复基线视觉触觉编码器。", "verdicts": { "long_term_attention": "yes", "test_soon": "offline replay and calibration smoke only", "migratable": "event timestamp/threshold schema and slip features", "replaceable": "no_evidence", "reject_or_prune": "prune any WAM/VLA/WBC gain claim without same-protocol closed-loop evidence" }, "frozen_experiment": { "criteria": [ "pin event sensor geometry/threshold/calibration/timestamp revision", "same-batch replay with three seeds where learned adapter exists", "report slip accuracy, latency, dropout and power separately", "simulation before manual real-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_primary", "repository": "entry_verified_commit_unpinned", "weights": "not_applicable", "data": "entry_verified_snapshot_unpinned" } }, "confidence": "arXiv、作者项目页和下载页支持感知与数据入口；无控制、跨本体或独立复现证据。" }, { "contract_id": "lifelong-vt-material-perception-to-g1-h2-m20-r1-001", "status": "reference_only_pending_replay_adapter", "decision_scope": "research_evidence_to_project_contract", "evidence_papers": [ "oa-w3015417033" ], "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手", "视觉触觉", "持续学习" ], "affected_modules": [ "视觉触觉融合", "材料标签与回放", "持续学习数据筛选" ], "input_contract": { "observations": [ "visual observations", "dynamic tactile sequences", "material labels" ], "action_space": "无动作输出；仅提供材料感知特征", "data_requirements": "固定数据集快照、传感器标定、标签版本、历史/失败样本与跨本体分层" }, "embodiment_contract": { "G1": { "status": "transfer_pending", "required_before_smoke": [ "freeze tactile mounting and timestamp contract" ] }, "H2": { "status": "transfer_pending", "required_before_smoke": [ "freeze sensor calibration and material-label mapping" ] }, "M20": { "status": "transfer_pending", "required_before_smoke": [ "separate wheel-arm contact/material semantics" ] }, "R1": { "status": "transfer_pending", "required_before_smoke": [ "freeze wheel-arm sensor latency" ] } }, "output_contract": { "candidate_output": "offline material/texture representation and replay metrics", "safety_gate": "label drift, missing timestamps, sensor dropout or NaN => fail closed", "production_effect": "none_until_human_onmachine_acceptance" }, "resource_policy": "仅使用 Hub 实时台账；242 不可用，244/245 共享；本契约不授权训练机派发。", "license_policy": "PubMed/作者出版页/DOI identity verified; code, weights, dataset snapshots and licenses unverified.", "risk_and_rollback": "仅作为可选感知/回放分支；门禁失败时删除 adapter 并恢复基线编码器和数据筛选策略。", "verdicts": { "long_term_attention": "yes", "test_soon": "offline replay and label-shift smoke only", "migratable": "material-label schema and continual-learning replay checks", "replaceable": "no_evidence", "reject_or_prune": "prune any control or real-robot gain claim without same-protocol closed-loop evidence" }, "frozen_experiment": { "criteria": [ "pin dataset snapshot, labels and sensor calibration", "same-batch three-seed baseline/candidate replay", "report material accuracy, OOD shift, forgetting and latency separately", "simulation before manual real-machine gate" ], "stages": [ "criteria_freeze", "simulation_smoke", "same_batch_baseline_candidate", "fixed_regression", "verdict", "merge", "human_onmachine", "result_feedback" ], "automation_boundary": "simulation_only_and_reversible", "manual_gate": "人工真机验收必需；cron 不得改 reward、替换生产模型或发真机动作", "status": "not_run" }, "execution": { "baseline_revision": null, "candidate_revision": null, "hub_resource_snapshot": { "path": "data/tech/training-evolution/resource-snapshots/2026-08-22-g1-h2.json", "status": "unavailable_for_dispatch", "dispatch_lease_confirmed": false }, "license_manifest": { "status": "blocked", "paper": "verified_primary", "repository": "not_verified", "weights": "not_verified", "data": "public_datasets_claimed_snapshot_unpinned" } }, "confidence": "primary metadata/abstract evidence supports perception and lifelong-learning scope only; no control/deployment evidence." } ], "project_mappings": [ { "mapping_id": "lift-force-vla-to-g1-h2-force-memory-adapter-001", "evidence_id": "arxiv-2607-14236", "source_project": "LIFT reactive force injection / π0.5 post-training", "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "6D force/torque encoder", "causal force-memory cross-attention adapter", "online DAgger/error-correction loop", "contact recovery action head", "independent WBC and safety plane" ], "source_contract": { "embodiment": "Flexiv Rizon 4S 7-DoF with Robotiq 2F-85 and built-in 6D F/T; bilateral TDK/iPhone teleoperation", "inputs": [ "vision", "language/task instruction", "6D force/torque history", "action history", "human correction" ], "action_output": "VLA action chunks with reactive force-injection adapter; not torque/WBC", "evidence_boundary": "three single-arm contact tasks; each checkpoint 10 autonomous rollouts; phase peak metrics are not a unified success-rate denominator" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2/M20/R1 force units, sensor geometry, clock, delay and action projection", "same-batch current VLA, vision-only DAgger and force-memory adapter with three seeds", "report correction budget, contact recovery, force saturation, latency, WBC rejection and human takeover separately", "closed-loop simulation before any online or human on-machine adaptation" ], "data_match": "causal force memory and bounded correction are reversible candidates; Flexiv/Robotiq data does not prove humanoid transfer", "license_and_compute": "code/weights/data only promised after acceptance and not currently released; Hub ledger required, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Flexiv Rizon 4S author trials", "unseen_or_ood": "contact distribution drift addressed by online DAgger; no frozen OOD split", "cross_task": "towel, book insertion and Hanoi tasks", "perturbation_or_dynamics_shift": "contact distribution shift through human correction; no independent dynamics campaign", "cross_embodiment": "single arm only; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "built-in Flexiv F/T plus Robotiq; target sensor geometry pending", "independent_reproduction": "not_reported", "reproducible_artifacts": "no released code, weights, data or calibration package" }, "verdict": "test_soon_reversible_force_memory_adapter_sim_only", "confidence": "primary full-text/hardware review; artifact and cross-embodiment gates remain open", "rollback": "disable force-memory adapter and restore frozen VLA/WBC baseline with independent safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_reviewed_force_adapter_candidate_open_artifact_and_wbc_gates_pending", "artifact_gate": "release and pin code/weights/data, force calibration and correction-budget contract", "next_gate": "three-seed closed-loop simulation with force saturation, recovery and takeover metrics", "independent_reproduction": "not_reported", "production_replacement": "blocked_by project contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "omg-to-g1-h2-omnimodal-motion-wbc-001", "evidence_id": "arxiv-2606-10340", "source_project": "OMG / Tsinghua MARS Lab omni-modal humanoid motion generation", "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "125D motion representation and action generator", "language/audio/reference-motion conditioning", "generator-to-tracker interface", "TensorRT/Orin runtime bridge", "whole-body feasibility and safety gate" ], "source_contract": { "embodiment": "Unitree G1; OMG-Data 121M frames/798k episodes; HoloMotion executes the generated motion", "inputs": [ "language", "audio", "human reference motion", "optional Pico/interaction condition" ], "action_output": "125D unified humanoid motion representation consumed by HoloMotion tracker; not direct torque/WBC", "evidence_boundary": "official G1 media/system description without trial-level success statistics; simulation navigation results are not physical evidence" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2/M20/R1 125D-to-body action mapping, tracker revision, joint order and latency", "same-batch current motion generator/tracker versus OMG generator with three seeds and fixed motion clips", "report motion tracking error, action feasibility, contact/fall/recovery, generator-tracker latency and WBC rejection", "closed-loop simulation on each target embodiment before any human on-machine gate" ], "data_match": "unified motion representation and modality conditioning are reversible generator candidates; G1 data and HoloMotion do not prove H2/M20/R1 transfer", "license_and_compute": "OMG MIT code/checkpoints; HoloMotion and source motion terms remain separate, 8×A800 training and off-board RTX4090 runtime are not dispatch guarantees; Hub ledger required, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "G1 author demonstrations across language/audio/reference motion; no trial denominator", "unseen_or_ood": "paper benchmark and modality combinations; no independent physical OOD campaign", "cross_task": "language, audio and human-motion-conditioned generalist motion generation", "perturbation_or_dynamics_shift": "not reported with frozen dynamics perturbation protocol", "cross_embodiment": "G1 only; H2/M20/R1 pending", "cross_sensor_or_hand": "camera/audio/Pico condition differences pending", "independent_reproduction": "not_reported", "reproducible_artifacts": "OMG code, four checkpoints and data entry public; HoloMotion weights and unified source licenses absent" }, "verdict": "test_soon_reversible_motion_generator_sim_only", "confidence": "primary and official artifacts reviewed; tracker, latency, licensing and real-robot statistics gates remain open", "rollback": "disable OMG generator and restore current motion generator/tracker plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_reviewed_open_generator_humanoid_tracker_contract_pending", "artifact_gate": "pin OMG/HoloMotion revisions, 125D mapping, source licenses and runtime calibration", "next_gate": "three-seed replay/closed-loop simulation with tracker and WBC rejection metrics", "independent_reproduction": "not_reported", "production_replacement": "blocked_by project contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "mind-your-steps-to-g1-h2-foothold-wbc-001", "evidence_id": "arxiv-2606-08253", "source_project": "Mind Your Steps / LocoMuJoCo humanoid foothold placement", "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "navigation", "Sim2Real" ], "affected_modules": [ "foothold target sampler", "stance-foot frame transformation", "visual/depth foothold perception", "low-level locomotion policy", "WBC feasibility and fall-stop gate" ], "source_contract": { "embodiment": "Booster T1 physical evaluation; Unitree G1 simulation configuration", "inputs": [ "foothold target in stance-foot frame", "RGB-D/RealSense D455", "proprioception", "high-level planner targets" ], "action_output": "low-level humanoid foothold/locomotion commands consumed by a controller; not an exposed torque contract", "evidence_boundary": "20 author traversals and 93.08% step-level hit rate; no episode success denominator, trial logs or paper checkpoint" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2/M20/R1 stance-foot frame, joint order, depth calibration, clock and target latency", "same-batch current foothold/WBC baseline versus stance-foot adapter with three seeds", "report step hit, episode completion, fall/stop, target miss, recovery and WBC rejection separately", "closed-loop stair/bridge/ramp/obstacle simulation before any human on-machine gate" ], "data_match": "stance-foot coordinate and target sampling are reversible interface candidates; Booster T1/marker protocol does not establish G1/H2/M20/R1 transfer", "license_and_compute": "LocoMuJoCo code MIT; robot models, AMASS/LAFAN1, dependencies and author data retain separate terms; Hub ledger required, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Booster T1, 20 author traversals", "unseen_or_ood": "stairs, ramps, bridges and obstacles in simulation; no open-world localization proof", "cross_task": "foothold tracking, narrow bridge, obstacle, straight/spiral stairs and ramps", "perturbation_or_dynamics_shift": "not reported beyond simulated scene variation", "cross_embodiment": "Unitree G1 simulation and Booster T1 physical; G1/H2/M20/R1 matched contract pending", "cross_sensor_or_hand": "RealSense depth path only; camera/ground/material changes pending", "independent_reproduction": "not_reported", "reproducible_artifacts": "paper-specific experiment directory and configs; checkpoint and trial logs absent" }, "verdict": "test_soon_reversible_foothold_adapter_sim_only", "confidence": "primary paper, official project page and fixed experiment directory; step metric and deployment artifact gates remain open", "rollback": "disable stance-foot candidate and restore current foothold/WBC champion plus fall-stop safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_reviewed_humanoid_foothold_candidate_wbc_contract_pending", "artifact_gate": "pin experiment revision, remove absolute paths, provide checkpoint/log contract and depth calibration", "next_gate": "three-seed stair/bridge simulation with episode/fall/recovery denominators", "independent_reproduction": "not_reported", "production_replacement": "blocked_by project contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "pressmimic-to-g1-h2-pressure-wbc-adapter-001", "evidence_id": "arxiv-2606-26741", "source_project": "PressMimic / MotionPRO pressure-grounded humanoid imitation", "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real" ], "affected_modules": [ "plantar-pressure encoder and calibration", "human-motion reference generation", "contact-aware motion retargeting", "whole-body controller reference/feasibility gate", "failure and recovery regression set" ], "source_contract": { "embodiment": "Unitree G1 author evaluation; MotionPRO RGB/pressure/optical-mocap capture", "inputs": [ "RGB video", "plantar pressure", "optical motion capture labels", "body pose/reference motion" ], "action_output": "retargeted humanoid motion/reference for PSP; not an exposed torque/WBC contract", "evidence_boundary": "author-reported G1 motion trials; MotionPRO manifest lists 70 participants, 400 actions and roughly 12.4M frames, but the full PSP stack/checkpoints are not released" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2/M20/R1 pressure sensor geometry, units, clock, latency and foot-contact labels", "same-batch RGB-only, pressure adapter and current WBC reference with three seeds/replay splits", "report reference error, contact false positives/negatives, action feasibility, latency and WBC rejection", "closed-loop simulation and sim-to-sim retargeting before any human on-machine gate" ], "data_match": "pressure/contact labels and reference preprocessing are reversible candidates; MotionPRO academic non-commercial/no-redistribution terms block production data reuse until authorization", "license_and_compute": "MotionPRO component has no disclosed repository license; dataset portal is academic/non-commercial and gated; Hub ledger required, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Unitree G1 author evaluation; exact total action sequence denominator remains undisclosed", "unseen_or_ood": "not reported with a frozen cross-floor/shoe/body split", "cross_task": "400 captured human action categories reported; control evaluation protocol remains incomplete", "perturbation_or_dynamics_shift": "not reported", "cross_embodiment": "G1 only; H2/M20/R1 pending", "cross_sensor_or_hand": "RGB plus plantar pressure; sensor and shoe geometry transfer pending", "independent_reproduction": "not_reported", "reproducible_artifacts": "MotionPRO component and gated file manifest; PSP code, checkpoints and calibration closure unavailable" }, "verdict": "test_soon_reversible_pressure_adapter_sim_only", "confidence": "primary paper/project and component/data manifest reviewed; control artifact, denominator and licensing gates remain open", "rollback": "disable pressure adapter and restore RGB/reference-motion champion plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_reviewed_g1_pressure_candidate_control_and_license_gates_pending", "artifact_gate": "pin MotionPRO revision, dataset permission, pressure calibration and PSP replacement boundary", "next_gate": "three-seed replay/simulation with foot-contact and WBC rejection metrics", "independent_reproduction": "not_reported", "production_replacement": "blocked_by project contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "pi05-to-g1-h2-m20-r1-openworld-vla-adapter-001", "evidence_id": "arxiv-2504-16054", "source_project": "Physical Intelligence π0.5 / openpi", "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WAM", "Sim2Real" ], "affected_modules": [ "VLA policy adapter/action head", "long-horizon subtask interface", "mobile-base and arm action projection", "cross-embodiment data/normalization", "independent WBC and safety plane" ], "source_contract": { "embodiment": "multi-embodiment mobile manipulation and public LIBERO/DROID checkpoints", "inputs": [ "RGB observations", "language/task instruction", "action history", "proprioception where available" ], "action_output": "50Hz action chunks / high-level subtask predictions; not torque or WBC", "evidence_boundary": "author long-horizon novel-home evaluation plus independent 2,000-episode LIBERO reproduction; full 10K+ hour mixture and novel-home rollouts are not released" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2/M20/R1 observation normalization, action ordering, latency and safety bounds", "same-batch frozen current VLA versus pi0.5 adapter with three seeds and fixed OOD splits", "report action feasibility, recovery, latency, cross-task and cross-body performance separately", "closed-loop simulation on each target embodiment before any human on-machine gate" ], "data_match": "public checkpoints and openpi serving are migration candidates; mobile-manipulator and LIBERO/DROID data do not prove humanoid or legged transfer", "license_and_compute": "Apache-2.0 source with Gemma/checkpoint terms and incomplete data licensing; Hub ledger required, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "author-reported mobile-manipulator and novel-home tasks", "unseen_or_ood": "new-home/open-world tasks; independent LIBERO benchmark reproduction is separate evidence", "cross_task": "long-horizon household manipulation and public LIBERO/DROID tasks", "perturbation_or_dynamics_shift": "Bridge/SimplerEnv negative transfer reports; no target-body dynamics campaign", "cross_embodiment": "multiple upstream embodiments; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "sensor/body-specific differences remain unresolved", "independent_reproduction": "AllenAI 2,000-episode LIBERO reproduction; not novel-home reproduction", "reproducible_artifacts": "openpi code and selected checkpoints; complete training mixture and new-home data unavailable" }, "verdict": "test_soon_reversible_adapter_sim_only", "confidence": "primary paper, official openpi artifacts and independent benchmark evidence; target-body and long-horizon safety gates remain open", "rollback": "disable pi0.5 adapter and restore frozen project VLA/WAM baseline plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_and_independent_benchmark_reviewed_target_body_contract_pending", "artifact_gate": "pin openpi/checkpoint revisions, Gemma terms, observation/action adapters and compute lease", "next_gate": "three-seed closed-loop simulation with fixed OOD and action-feasibility metrics", "independent_reproduction": "benchmark-only; novel-home not reproduced", "production_replacement": "blocked_by project contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "at-vla-to-g1-h2-m20-r1-visuotactile-adapter-001", "evidence_id": "arxiv-2605-07308", "source_project": "AT-VLA adaptive tactile injection", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real", "灵巧手" ], "affected_modules": [ "tactile encoder/calibration", "contact gating", "action-head adapter", "async fast/slow inference", "independent WBC and safety gate" ], "source_contract": { "embodiment": "AgiBot Genie1 dual 7-DoF arms with Xense tactile gripper", "inputs": [ "three RGB views", "language", "6D tactile force", "proprioception" ], "action_output": "14-DoF end-effector action chunks; no direct torque/WBC", "evidence_boundary": "15 author-reported trials/task, 30-50 demonstrations/task, contact-rich and non-contact tasks; no independent reproduction or target-body evidence" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2/M20/R1 tactile geometry, clocks, force units, action projection and WBC limits", "same-batch vanilla VLA, naive tactile append and gated AT-VLA adapters with three seeds", "report gate precision/recall, success, sensor dropout, latency, unsafe-pass and WBC rejection", "closed-loop simulation on each target embodiment before human gate" ], "data_match": "contact gate and bounded fast stream are reversible adapter candidates; Genie1/Xense data does not prove wheel-arm or legged transfer", "license_and_compute": "paper primary; repository public but fixed commit/weights/data/calibration closure pending; Hub ledger required, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Genie1 author tests, 15 trials/task", "unseen_or_ood": "modality-agnostic no-tactile inference reported; no cross-body OOD", "cross_task": "unzip bag, stamp, wipe vase, unscrew lid, pick-place and open drawer", "perturbation_or_dynamics_shift": "tactile dropout and contact/non-contact phases; no independent dynamics shift", "cross_embodiment": "Genie1 only; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "Xense tactile gripper only", "independent_reproduction": "not_reported", "reproducible_artifacts": "public repository, fixed revision and weights/data not verified" }, "verdict": "test_soon_reversible_visuotactile_adapter_sim_only", "confidence": "primary full text and public implementation; author-only single-body evidence with safety/artifact gates blocked", "rollback": "disable AT-VLA tactile adapter and restore frozen VLA/WBC baseline", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_real_genie1_artifact_and_cross_body_gate_blocked", "artifact_gate": "fixed_commit_weights_data_calibration_and_target_body_contract_pending", "next_gate": "pin sensor/action revisions and run three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "imitator-game-to-g1-h2-m20-r1-wam-generalization-001", "evidence_id": "arxiv-2608-22301", "source_project": "The Imitator Game / IG-10K", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "灵巧手", "Sim2Real" ], "affected_modules": [ "human-video task encoder", "L0-L3 generalization evaluator", "paired data split/quality gate", "few-shot adapter", "contact/failure taxonomy", "independent WBC and safety gate" ], "source_contract": { "embodiment": "dual-arm Franka simulation and dual-arm Realman real platform", "inputs": [ "ZED2i RGB human demonstration", "robot proprioception", "paired task/scene metadata" ], "action_output": "dual-arm 7-DoF plus gripper action chunks from VLA/skill/video-VA families; no torque/WBC authority", "evidence_boundary": "20,000+ paired episodes, 50+ tasks, 6 domains, four mismatch levels; 5 real trials per task-level pair; artifact/license and independent reproduction not verified" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2/M20/R1 body/action/sensor contracts and map current task to L0-L3 mismatch levels", "same-batch baseline versus candidate with three seeds, seen/ZS/Scr/P+FT and fixed failure taxonomy", "report SR/Sub-SR, contact timing, unsafe-pass, false-reject, L3 affordance substitution and WBC rejection separately", "closed-loop simulation before human real-machine gate" ], "data_match": "L0-L3 hierarchy, paired-data schema and failure labels are reversible evaluation/data candidates; dual-arm evidence does not establish humanoid/legged transfer", "license_and_compute": "paper primary evidence; IG-10K/code/weights/license not verified; Hub live ledger required, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "dual-arm Realman, author-reported", "unseen_or_ood": "five unseen tasks and L1-L3 layout/appearance/geometry/affordance shifts", "cross_task": "50+ tasks across household, supermarket, restaurant, logistics, hospital and laboratory", "perturbation_or_dynamics_shift": "scene mismatch and contact-timing failures; no independent dynamics shift study", "cross_embodiment": "Franka simulation and Realman real only; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "ZED2i RGB standardized with retained depth/multi-view; target tactile/proprioception pending", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_verified" }, "verdict": "test_soon_reversible-generalization-evaluator-sim-first", "confidence": "primary full text with explicit protocol, quantified baselines and failure modes; artifact/license and target-body gates blocked", "rollback": "disable candidate task encoder/evaluation adapter and restore frozen WAM/VLA training/evaluation split plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_benchmark_artifact_gate_blocked", "artifact_gate": "dataset/code/weights/license_and_target_body_contract", "next_gate": "pin task split and execute three-seed cross-body simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "ld4wam-to-g1-h2-m20-r1-motion-aligned-latent-001", "evidence_id": "arxiv-2608-22403", "source_project": "LD4WAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA" ], "affected_modules": [ "motion-aligned latent dynamics", "WAM video/action bridge", "data filtering and calibration", "independent safety/WBC gate" ], "source_contract": { "embodiment": "human video plus AgileX PiPER dual-arm grippers and Tianji dual-arm Wuji hands", "inputs": [ "RGB video", "language/task context", "proprioception", "camera-frame EE deltas where labeled" ], "action_output": "future video and action expert outputs conditioned on learned latent dynamics; not torque/WBC", "evidence_boundary": "author reports 93.4% RoboTwin average, 70.5% seven-task real average and object/background tests; no independent reproduction or open model/data closure" }, "target_contract_delta": { "required_checks": [ "freeze target observation/action/calibration and LeRobot data split", "same-batch pixel-only, latent bridge and frozen VLA/WAM baselines with three seeds", "report action feasibility, latency, object/background OOD and WBC rejection", "closed-loop simulation on G1/H2/M20/R1 before human gate" ], "data_match": "human/robot video pretraining and motion-aligned latent interface are migration candidates; dual-arm evidence does not establish humanoid/legged transfer", "license_and_compute": "paper CC BY 4.0 only; corpus/model licenses and dispatch resources require separate verification; 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "two dual-arm platforms, author reported", "unseen_or_ood": "unseen objects and backgrounds reported; background shift remains weaker than pi0.5", "cross_task": "five gripper and two dexterous-hand tasks", "perturbation_or_dynamics_shift": "not independently reported", "cross_embodiment": "human/robot representation retrieval and two robot platform classes; no humanoid/legged", "cross_sensor_or_hand": "Pika grippers and Wuji hands only", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_verified" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary full-text review with quantified author evidence and explicit background counter-evidence; artifact gate blocked", "rollback": "disable LD4WAM latent bridge and restore frozen WAM/VLA baseline plus independent WBC/safety plane; no production replacement", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_and_cross_embodiment_gate_blocked", "artifact_gate": "blocked_model_data_license_and_target_body_contract", "next_gate": "fixed data/model revision then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "dreammimic-to-g1-h2-vision-world-model-001", "evidence_id": "arxiv-2608-22278", "source_project": "DreamMimic", "target_projects": [ "G1", "H2", "WAM", "WBC", "Sim2Real" ], "affected_modules": [ "RSSM predictive representation", "visual policy distillation", "contact/object/reward auxiliary heads", "PCG teacher schedule", "independent WBC/safety gate" ], "source_contract": { "embodiment": "SMPL-X/OMOMO/BEHAVE simulation with qualitative Unitree G1 42-DoF and Isaac Gym→Isaac Lab transfer", "inputs": [ "depth", "segmentation", "proprioception", "previous action", "object-pose/trajectory goal" ], "action_output": "student whole-body action policy conditioned on predictive RSSM features; not torque/WBC", "evidence_boundary": "author simulation results only; paper explicitly reports no real-robot experiment and upper-body contact precision failures" }, "target_contract_delta": { "required_checks": [ "freeze target camera/perception source, action dimensions, retargeting and simulator revision", "same-batch direct-vision, Dreamer and DreamMimic-style baseline/candidate with three seeds", "report contact retention, occlusion, OOD, tracking error, latency and WBC rejection", "G1/H2 closed-loop simulation before human gate" ], "data_match": "predictive latent supervision and failure-buffer/PCG evaluation are migration candidates; privileged teacher states must remain training-only", "license_and_compute": "MIT repository surface and CC BY-SA paper do not close method/checkpoint/data terms; use Hub live ledger" }, "generalization_evidence": { "same_embodiment_real_robot": "none", "unseen_or_ood": "qualitative simulator morphology and cross-simulator tests; severe occlusion remains a failure", "cross_task": "OMOMO and BEHAVE contact-rich tasks", "perturbation_or_dynamics_shift": "Isaac Gym→Isaac Lab qualitative only", "cross_embodiment": "SMPL-X to Unitree G1 simulation only", "cross_sensor_or_hand": "depth/segmentation source specific", "independent_reproduction": "not_reported", "reproducible_artifacts": "repository README/LICENSE only" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary full-text review with explicit no-real-robot boundary and failure analysis; artifact gate blocked", "rollback": "disable DreamMimic world-model/student branch and restore frozen visual policy plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_no_real_robot_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_perception_and_target_body_contract", "next_gate": "fixed perception/action contract then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "ovtf-afm-to-g1-h2-m20-r1-visuotactile-interface-001", "evidence_id": "arxiv-2608-00547", "source_project": "OVTF/AFM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC", "灵巧手" ], "affected_modules": [ "visual-tactile future interface", "WAM action-consumer adapter", "controlled generalization evaluation", "independent safety/WBC gate" ], "source_contract": { "embodiment": "UniVTAC simulated visuo-tactile manipulator; seven tasks, 50 rollouts/task", "inputs": [ "head/wrist RGB", "left/right tactile RGB", "8D joint position", "action history", "successful HDF future only for oracle" ], "action_output": "future features consumed by an action expert; not torque, policy or WBC", "evidence_boundary": "AFM Oracle 112/350=32.0%, IFM 23.7%, UniVTAC-ACT* 14.9% under the paper's fixed protocol; oracle future is privileged and not a learned predictor" }, "target_contract_delta": { "required_checks": [ "freeze HDF IDs, task/reset mapping, modality clocks and tactile calibration", "same-batch AFM Oracle, IFM, RGB-only and tactile-only comparisons with three seeds", "report contact stability, latency, OOD, unsafe-pass and WBC rejection separately", "require G1/H2/M20/R1 closed-loop simulation before any human on-machine gate" ], "data_match": "interface schema and ablation protocol are migration candidates; UniVTAC success rates cannot be counted as humanoid or real-robot transfer", "license_and_compute": "no public code/weights/HDF split/license verified; use Hub live ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "not_reported", "unseen_or_ood": "not_reported beyond fixed UniVTAC tasks", "cross_task": "seven simulated tasks in author protocol", "perturbation_or_dynamics_shift": "not_reported", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary paper/HTML review with quantified author-only simulation evidence and no artifact closure", "rollback": "remove the future-interface adapter and restore the frozen WAM/VLA action expert plus independent WBC/safety plane; no production replacement", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_oracle_and_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_hdf_split_and_cross_embodiment_contract", "next_gate": "fixed modality/task contract then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "vitar-to-g1-h2-m20-r1-bounded-tactile-residual-001", "evidence_id": "arxiv-2608-15816", "source_project": "ViTaR", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC", "灵巧手" ], "affected_modules": [ "frozen VLA action interface", "bounded visual-tactile residual adapter", "contact-rich manipulation evaluation", "independent safety/WBC gate" ], "source_contract": { "embodiment": "RealMan RM65-B with DH PGIA, dual 9DTact and dual D455; UniVTAC seven-task simulation", "inputs": [ "RGB", "proprioception", "language/task context", "execution history", "dual tactile summaries" ], "action_output": "7D structured residual around frozen OpenVLA-OFT; EGM selects whether/where to correct and RAM scales the residual", "evidence_boundary": "author reports 61.3% UniVTAC average and 48.3% physical average (20 trials/method/task; 40/40/65% across three tasks); no independent reproduction or open method artifacts" }, "target_contract_delta": { "required_checks": [ "freeze VLA revision, residual bound, tactile calibration and EGM/RAM labels", "same-batch frozen VLA, residual, RGB-only and tactile-only baselines with three seeds", "report success, contact stability, residual magnitude, latency, OOD, unsafe-pass and WBC rejection separately", "G1/H2/M20/R1 closed-loop simulation before any human on-machine gate" ], "data_match": "bounded adapter and evaluation protocol are migration candidates; RM65-B/UniVTAC results do not establish humanoid or wheel-arm transfer", "license_and_compute": "ViTaR code/weights/data/license not released; UniVTAC Apache-2.0 is benchmark provenance only; dispatch from Hub live ledger, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "author-only RM65-B with three tasks", "unseen_or_ood": "not reported as independent cross-embodiment evidence", "cross_task": "three physical tasks and seven UniVTAC tasks", "perturbation_or_dynamics_shift": "not independently reported", "cross_embodiment": "not reported", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary full-text/project/repository review with quantified author-only arm evidence and artifact gate blocked", "rollback": "disable ViTaR residual/EGM/RAM adapter and restore frozen VLA plus independent WBC/safety plane; no production replacement", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_and_cross_embodiment_gate_blocked", "artifact_gate": "blocked_method_code_weights_data_license_and_calibration", "next_gate": "fixed VLA/tactile/residual contract then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "hitacwam-to-g1-h2-m20-r1-hierarchical-tactile-forecast-001", "evidence_id": "arxiv-2608-19574", "source_project": "HiTac-WAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC", "灵巧手" ], "affected_modules": [ "hierarchical tactile world-action predictor", "candidate action selector", "online deviation monitor and retreat", "independent safety/WBC gate" ], "source_contract": { "embodiment": "IMETA-Y1 arm with bilateral DM-Tac W2 and three synchronized RGB views", "inputs": [ "RGB", "tactile contact/deformation", "robot state", "candidate action chunks", "task progress" ], "action_output": "contact→3D deformation→slip forecasts used for candidate ranking and execution-time retreat/replanning", "evidence_boundary": "three tasks, 160/20/20 episode split, 30 trials/method/task; Full 72.2%, Selection 61.1%, DreamZero 31.1% are author results; slip AUPRC is not calibrated" }, "target_contract_delta": { "required_checks": [ "freeze 30Hz clocks, tactile calibration, labels, K candidates and threshold revision", "same-batch frozen WAM, hierarchical predictor, visual-only and tactile-only baselines with three seeds", "measure candidate quality, calibration, retreat precision/recall, latency, unsafe-pass and WBC rejection separately", "G1/H2/M20/R1 closed-loop simulation before any human on-machine gate" ], "data_match": "hierarchical prediction and retreat interface are migration candidates; IMETA-Y1 does not establish humanoid, quadruped or wheel-arm transfer", "license_and_compute": "no method code/weights/data/license verified; use Hub live ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "author-only IMETA-Y1 single arm", "unseen_or_ood": "not reported", "cross_task": "three contact-rich tasks", "perturbation_or_dynamics_shift": "not independently reported", "cross_embodiment": "not reported", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary full-text review with quantified author-only single-arm evidence and unclosed artifact/calibration gates", "rollback": "disable HiTac predictor/selector and restore frozen WAM candidate path plus independent retreat/WBC safety plane; no production replacement", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_calibration_and_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_calibration_and_candidate-quality", "next_gate": "fixed tactile/action-chunk contract then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "fasterwam-to-g1-h2-m20-r1-low-latency-action-head-001", "evidence_id": "arxiv-2608-02365", "source_project": "Faster-WAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "video-DiT representation", "lightweight action head", "KV-Fusion/RoPE alignment", "latency/feasibility regression" ], "source_contract": { "embodiment": "LIBERO simulated Franka and RoboTwin 2.0 simulated bimanual embodiments; no real robot", "inputs": [ "video context", "task instruction", "action context" ], "action_output": "32-step action chunk after 10 denoising steps; not torque/WBC", "evidence_boundary": "66.5ms action chunk on a reported 24GB consumer GPU, 3.2x over Fast-WAM 211.7ms; 5.05B trainable parameters; LIBERO 98.5%, RoboTwin 89.17%, LIBERO-Plus 75.0% are author simulation results" }, "target_contract_delta": { "required_checks": [ "freeze GPU class, context/batch, horizon, denoising steps and benchmark manifests", "same-batch deep/shallow/action-head ablations with three seeds", "report latency, peak memory, success, feasibility, OOD, cross-scene regression and WBC rejection separately", "G1/H2/M20/R1 closed-loop simulation before any human on-machine gate" ], "data_match": "latency protocol and action-head interface are migration candidates; LIBERO/RoboTwin results cannot establish real-robot transfer", "license_and_compute": "no code/weights/training manifest/license verified; 24GB report is not a dispatch guarantee, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "not_reported", "unseen_or_ood": "LIBERO-Plus reported but no independent OOD closure", "cross_task": "LIBERO/RoboTwin/Plus benchmark suites", "perturbation_or_dynamics_shift": "not_reported", "cross_embodiment": "simulated Franka/bimanual only", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary paper review with author-only simulation latency and benchmark evidence; no artifact or real-robot closure", "rollback": "remove Faster-WAM action-head candidate and restore frozen WAM/VLA action module; no production replacement", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_compute_and_realrobot_gate_blocked", "artifact_gate": "blocked_code_weights_manifest_license_and_target-embodiment", "next_gate": "fixed GPU/benchmark/action contract then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "vid2wam-to-g1-h2-m20-r1-video-teacher-distillation-001", "evidence_id": "arxiv-2608-08558", "source_project": "Vid2WAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "offline video teacher/IDM", "source-aware residual adapter", "5B WAM student", "benchmark and bimanual-to-humanoid transfer gate" ], "source_contract": { "embodiment": "RoboTwin/LIBERO simulation plus two AgileX Piper arms; no humanoid or mobile platform", "inputs": [ "video context", "task instruction", "student history", "real/pseudo action provenance" ], "action_output": "5B student action chunks; teacher/IDM are offline distillation components", "evidence_boundary": "15 unseen RoboTwin tasks 54.7/55.3%, LIBERO low-data 89.7%, nine Piper tasks 20 trials/task; evaluation code fixed Apache-2.0 and four benchmark checkpoints public, but teacher/IDM/pseudo-data/training stack and weight license remain open" }, "target_contract_delta": { "required_checks": [ "freeze commit 4fc0a437, checkpoint revision, weight license and benchmark manifests", "same-batch checkpoint, Fast-WAM and frozen WAM baselines with fixed trials and three seeds", "separate latency, success, novel-image provenance, feasibility, OOD, cross-scene and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before any physical test; no direct humanoid transfer" ], "data_match": "offline distillation and evaluation harness are migration candidates; Piper tabletop results cannot establish humanoid or wheel-arm transfer", "license_and_compute": "source Apache-2.0 fixed commit, checkpoint license undeclared, real/pseudo data absent; use Hub live ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "author-only Piper dual-arm, 20 trials/task", "unseen_or_ood": "15 RoboTwin novel tasks and synthetic initial-image caveat", "cross_task": "LIBERO/RoboTwin and nine physical tasks", "perturbation_or_dynamics_shift": "partially_reported", "cross_embodiment": "simulation-to-Piper only", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "evaluation code/checkpoints only" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary paper plus fixed official code/checkpoint review and author-only Piper evidence", "rollback": "remove Vid2WAM checkpoint/adapter and restore frozen WAM/VLA champion; no teacher runtime or production replacement", "engineering_review": { "schema_version": "1.0", "status": "partial_artifact_verified_training_data_and_license_gate_blocked", "artifact_gate": "evaluation_code_and_bench_checkpoints_only", "next_gate": "fixed checkpoint/license/benchmark contract then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "sgwam-to-g1-h2-m20-r1-semantic-spatial-guidance-001", "evidence_id": "arxiv-2608-08839", "source_project": "SG-WAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "text-grounded semantic guidance", "spatial/depth future alignment", "gated video/action experts", "camera/action calibration gate" ], "source_contract": { "embodiment": "AgileX Cobot dual-arm desktop platform; LIBERO/LIBERO-Plus/DROID benchmarks", "inputs": [ "RGB", "language/task instruction", "depth/spatial cues", "action history" ], "action_output": "semantic/spatial guidance to 36-step action chunk; not torque/WBC", "evidence_boundary": "four Cobot tasks, unseen height/lighting tests and benchmark averages reported in figure; project URL returned 404, no code/weights/data/license, 8xH100 training reported" }, "target_contract_delta": { "required_checks": [ "freeze model revisions, camera/depth calibration, four-task split and machine-readable metrics", "same-batch semantic-only, spatial-only, fused, Fast-WAM and frozen WAM baselines with three seeds", "report success, OOD, depth/semantic failure, latency, feasibility and WBC rejection separately", "G1/H2/M20/R1 closed-loop simulation before any human on-machine gate" ], "data_match": "semantic/spatial feature alignment is migration candidate; Cobot desktop results do not establish humanoid or mobile transfer", "license_and_compute": "no artifacts or license verified; 8xH100 training is not dispatch guarantee, use Hub live ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "author-only Cobot dual-arm", "unseen_or_ood": "unseen container height and lighting reported", "cross_task": "four tabletop tasks", "perturbation_or_dynamics_shift": "not independently reported", "cross_embodiment": "not reported", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary paper/HTML review with controlled Cobot evidence and no artifact/metric-table closure", "rollback": "disable semantic/spatial guidance and restore frozen WAM/VLA action path; no production replacement", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_compute_and_cross_embodiment_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_machine_readable_metrics", "next_gate": "fixed semantic/depth/camera/action contract then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "mobilewam-to-g1-h2-m20-r1-mobile-manipulation-001", "evidence_id": "arxiv-2608-04657", "source_project": "MobileWAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "video-diffusion world expert", "lightweight action expert", "Chain-of-Foresight", "mobile MoE/localization recovery" ], "source_contract": { "embodiment": "ARX Lift2 with D405 and ManiSkill-HAB simulation; remote dual A800 inference", "inputs": [ "RGB-only", "language/task instruction", "action history", "base/arm state" ], "action_output": "mobile manipulation action chunks; not torque/WBC", "evidence_boundary": "ManiSkill-HAB seven-task mean 73.0%; five ARX physical percentages beat pi0.5 but omit denominators; 938ms action cycle and ~40% localization failures reported; no official artifact" }, "target_contract_delta": { "required_checks": [ "freeze ManiSkill-HAB split, ARX/D405 calibration, action horizon, remote/local latency and physical trial denominator", "same-batch MobileWAM/pi0.5/AnchorVLA/frozen WAM baselines with three seeds", "report localization failure, recovery, latency, feasibility, OOD and WBC rejection separately", "M20/R1 mobile simulation before human gate" ], "data_match": "mobile WAM and localization recovery protocol are migration candidates; ARX Lift2 does not establish G1/H2 or quadruped transfer", "license_and_compute": "no official code/weights/data/license verified; dual A800 report is not dispatch guarantee, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "author-only ARX Lift2 percentages without denominators", "unseen_or_ood": "ManiSkill-HAB benchmark only", "cross_task": "seven simulation tasks and five physical task claims", "perturbation_or_dynamics_shift": "not independently reported", "cross_embodiment": "ARX Lift2 only", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary paper review with mobile-manipulation evidence but missing artifact and denominator closure", "rollback": "disable MobileWAM candidate and restore frozen mobile/WAM action path; no production replacement", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_trialdenominator_recovery_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_and_trial_protocol", "next_gate": "fixed mobile/localization/action contract then three-seed simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "dreamwam-to-g1-h2-m20-r1-multitarget-foresight-001", "evidence_id": "arxiv-2608-04996", "source_project": "DreamWAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "RGB/flow/depth/semantic future supervision", "multi-target video predictor", "RGB-only deployment adapter", "visual robustness gate" ], "source_contract": { "embodiment": "dual-arm tabletop platform; LIBERO/LIBERO-Plus and 400 real demonstrations", "inputs": [ "RGB", "task instruction", "action history" ], "action_output": "RGB-only action chunks with auxiliary future targets during training", "evidence_boundary": "LIBERO-Plus 75.47% and visual perturbation 74.4% author results; public code and two weights exist, code license missing, weights model card MIT, 8xH20 training and single platform" }, "target_contract_delta": { "required_checks": [ "freeze code/weights/data split/400 demonstrations/perturbation protocol", "same-batch DreamWAM/Fast-WAM/RGB-only and auxiliary-target ablations with three seeds", "report standard/perturbed success, latency, memory, failure type, OOD and WBC rejection", "G1/H2/M20/R1 simulation before any human gate" ], "data_match": "multi-target supervision and RGB-only interface are migration candidates; dual-arm results do not establish humanoid/mobile transfer", "license_and_compute": "code license missing, weights model card MIT, data/upstream terms separate; 8xH20 not dispatch guarantee, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "author-only dual-arm tabletop", "unseen_or_ood": "visual perturbation suite", "cross_task": "LIBERO/LIBERO-Plus", "perturbation_or_dynamics_shift": "visual perturbations only", "cross_embodiment": "not reported", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "code and weights public, training stack partial" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary paper/project/repository/weights review with author-only single-platform evidence", "rollback": "disable DreamWAM auxiliary-target candidate and restore frozen WAM/VLA path; no production replacement", "engineering_review": { "schema_version": "1.0", "status": "partial_artifact_verified_license_and_cross_embodiment_gate_blocked", "artifact_gate": "code_license_training_data_and_independent_reproduction", "next_gate": "fixed code/weight/data contract then three-seed visual-perturbation simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "generativempc-to-m20-r1-g1-h2-vlm-rag-mpc-001", "evidence_id": "arxiv-2604-19522", "source_project": "GenerativeMPC", "target_projects": [ "M20", "R1", "G1", "H2", "WBC", "导航" ], "affected_modules": [ "VLM-RAG semantic parameterization", "whole-body MPC", "impedance/admittance control", "human-aware navigation safety" ], "source_contract": { "embodiment": "22kg differential base, two SO-101 arms, VLP-16, D435, Jetson Orin NX", "inputs": [ "lidar/RGB-D", "base/arm state", "task language", "five retrieved demos" ], "action_output": "bounded velocity/distance/impedance parameters at 10Hz MPC and 50Hz impedance; not direct torque", "evidence_boundary": "real navigation n=5/condition; arm manipulation n=10/arm in Isaac Sim only; VLM async ~3.5s and Modbus 30–60ms" }, "target_contract_delta": { "required_checks": [ "freeze ROS2/Jetson/sensors, demo snapshot, MPC/impedance rates and delay", "compare retrieval ablation, fixed MPC and candidate in matched scenes with three seeds", "separate navigation errors, human-distance violations, latency, recovery, simulated arm success and WBC rejection", "M20/R1 then G1/H2 simulation before human gate" ], "data_match": "bounded semantic-to-MPC interface and human-aware navigation protocol migrate; simulated arms cannot count as real manipulation", "license_and_compute": "no code/weights/demo bundle/license verified; Jetson hardware not dispatch guarantee, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "differential-drive navigation only", "unseen_or_ood": "not independently reported", "cross_task": "navigation and simulated arm pickup", "perturbation_or_dynamics_shift": "not reported", "cross_embodiment": "not reported", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary paper review with real navigation and simulated manipulation evidence; artifact and independent validation blocked", "rollback": "disable VLM-RAG parameter proposal and restore fixed MPC/impedance/navigation controller; no production replacement", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_real_sim_split_and_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_demo_logs_license_and_real-arm-validation", "next_gate": "fixed navigation/MPC/latency contract then three-seed simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "graphopwm-to-g1-h2-m20-r1-morphology-adapter-001", "evidence_id": "arxiv-2608-20936", "source_project": "GraphOp-WM", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "morphology graph/action-dimension adapter", "world model transition/value interface", "TD-MPC evaluation and sim2real contract" ], "source_contract": { "embodiment": "MuJoCo Hopper/Walker2d/HalfCheetah morphology families; no humanoid, wheel-arm or real actuator evidence", "inputs": [ "state/action history", "attributed body-joint graph", "link geometry/mass/damping/inertia/actuator attributes" ], "action_output": "structured transition/reward/value prediction for model-predictive rollouts; not a policy, WBC or torque interface", "evidence_boundary": "primary full-text anatomy reviewed; code, weights, data manifest, license, result table and independent reproduction not verified" }, "target_contract_delta": { "required_checks": [ "freeze one G1/H2/M20/R1 morphology graph, actuator/action dimension and contact semantics", "same-batch baseline world model versus GraphOp operator under interpolation, extrapolation and held-out composition", "separate prediction calibration, planning success, contact failure, delay and resource cost", "three-seed closed-loop simulation before any human on-machine gate" ], "data_match": "morphology graph and evaluation protocol are migration candidates; MuJoCo morphology results cannot be counted as humanoid/legged transfer", "license_and_compute": "all code/data/weights/simulator/robot-asset terms require fixed-revision audit; dispatch only from Hub live ledger, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "not_reported", "unseen_or_ood": "designed_interpolation_extrapolation_and_composition_splits", "cross_task": "partially_reported", "perturbation_or_dynamics_shift": "partially_reported", "cross_embodiment": "simulation_topology_family_only", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary_source_mechanism_reviewed_with_no_quantitative_or_artifact_closure", "rollback": "remove GraphOp morphology operator and restore the frozen baseline world model; no production VLA/WAM/WBC replacement or robot action", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_contact_and_actuator_contract", "next_gate": "fixed G1/H2/M20/R1 graph-action-contact contract then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "softvtbench-to-g1-h2-visual-tactile-eval-001", "evidence_id": "arxiv-2608-18701", "source_project": "SoftVTBench", "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手" ], "affected_modules": [ "视觉-触觉评测协议", "接触安全/形变阈值回归", "sim-to-real 数据缺口与仿真课程" ], "source_contract": { "embodiment": "Isaac Sim/Franka/GelSight 仿真；无真机和跨本体证据", "inputs": [ "RGB/触觉输入", "隐藏 FEM 物理真值", "对象形变阈值", "任务/接触状态" ], "action_output": "评测轨迹、TSR/DSR 指标和失败标签；不定义生产控制器接口", "evidence_boundary": "论文、Apache-2.0 代码和 Hugging Face 数据入口已核验；论文 4000 示范/40 任务与当前仓库 1628 episodes/33 assets 口径不同，完整下载与逐资产许可未闭合" }, "target_contract_delta": { "required_checks": [ "冻结数据 revision、episode/asset 口径、Isaac Sim/Isaac Lab 环境和 GPU 资源", "同批比较视觉-only、视觉-触觉和安全阈值分支，分别记录任务完成与接触安全", "把 G1/H2/M20/R1 传感器标定、动作 schema、延迟/dropout 和失败恢复映射为独立 adapter", "下载哈希、数据/资产许可证和三 seed 仿真通过后才进入人工真机候选" ], "data_match": "可迁移的是评测协议和数据缺口结构；仿真指标不得冒充真机收益或跨本体泛化", "license_and_compute": "代码、数据、Isaac、Franka/GelSight 资产和 OpenPI checkpoint 分层核验；调度只取 Hub 实时台账，242 不可用、244/245 共享" }, "generalization_evidence": { "same_embodiment_real_robot": "not_reported", "unseen_or_ood": "reported_benchmark_split", "cross_task": "reported_40_tasks_paper_scope", "perturbation_or_dynamics_shift": "partially_reported", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "partially_reported" }, "verdict": "test_soon_evaluation_infrastructure_sim_only", "confidence": "primary_source_reviewed_open_code_and_data_entry_with_version_and_license_gaps", "rollback": "移除 SoftVTBench adapter/课程，仅保留冻结的视觉-触觉回归集和独立 WBC/安全平面；不替换生产 VLA/WAM/WBC", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_full_download_hash_asset_license_and_independent_reproduction", "next_gate": "fixed revision/terms then three-seed same-batch closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "contact-to-g1-h2-visual-tactile-contact-adapter-001", "evidence_id": "arxiv-2603-08560", "source_project": "CONTACT", "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "visual-tactile contact encoder", "bounded diffusion action adapter", "contact-rich manipulation regression", "independent WBC and safety plane" ], "source_contract": { "embodiment": "author visual-tactile disassembly setup and IsaacGym/TacSL simulation; no humanoid or wheel-foot evidence", "sensors": [ "RGB", "tactile RGB", "tactile force field", "proprioception/action history" ], "action_output": "diffusion-policy action proposal; not a direct torque or safety-plane interface", "evidence_boundary": "arXiv, project page and fixed MIT repository reviewed; checkpoint, complete dataset/license, hardware protocol and independent reproduction are not closed" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2 sensor timing, calibration, observation and action schema", "same-batch visual-only versus visual-tactile versus contact-force ablation", "held-out objects, contact perturbations, delay/dropout and failure recovery", "multi-seed closed-loop simulation before any human on-machine review" ], "data_match": "five-task disassembly and author-reported robot results are a contact-adapter lead only; they do not establish humanoid transfer, success denominator or production benefit", "license_and_compute": "CONTACT MIT code does not grant TacSL, IsaacGym, assets, data or hardware terms; dispatch only from Hub live ledger, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "author_reported_partial", "unseen_or_ood": "partially_reported", "cross_task": "reported_five_tasks", "perturbation_or_dynamics_shift": "partially_reported", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "partially_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary_source_reviewed_fixed_code_with_real_protocol_and_artifact_gaps", "rollback": "disable CONTACT adapter and restore the frozen visual-only/contact baseline plus independent WBC/safety plane; no production VLA/WAM/WBC replacement or robot action", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_checkpoint_data_license_hardware_protocol_and_independent_reproduction", "next_gate": "fixed artifacts and sensor/action contract, then same-batch multiseed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "contactmimic-to-g1-contact-wbc-001", "evidence_id": "arxiv-2607-08742", "source_project": "ContactMimic", "target_projects": [ "G1" ], "affected_modules": [ "contact-conditioned WBC", "whole-body contact command adapter" ], "source_contract": { "embodiment": "Unitree G1", "sensors": [ "proprioception", "contact state" ], "action_output": "contact-conditioned whole-body motion", "evidence_boundary": "作者 70 次实体试验中报告 67 次成功；代码固定提交，权重、HUMOTO 标注、部署栈和日志未开放" }, "target_contract_delta": { "required_checks": [ "G1 关节/接触命名映射", "50 Hz 策略与低层时序", "独立 WBC 限幅与恢复状态机" ], "data_match": "目标本体匹配，但训练数据与接触标注不可直接复用", "license_and_compute": "代码许可与数据/上游资产分层复核；不得把代码许可扩展为数据许可" }, "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "partially_reported", "cross_task": "partially_reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "partially_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "author_real_robot_evidence_no_independent_reproduction", "rollback": "回退到冻结 G1 WBC 基线；不替换生产 VLA/WBC", "engineering_review": { "schema_version": "1.0", "status": "contract_only_no_frontier_profile", "artifact_gate": "not_scored_by_frontier_practice_profile", "next_gate": "primary_source_practice_review_before_any_migration", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "taco-to-g1-h2-tactile-posttrain-001", "evidence_id": "arxiv-2607-02840", "source_project": "TACO", "target_projects": [ "G1", "H2" ], "affected_modules": [ "视觉-触觉后训练 adapter", "失败识别与 imagined-correction 数据管线" ], "source_contract": { "embodiment": "Franka FR3 + 双 Xense + D455", "sensors": [ "RGB", "12D force/tactile" ], "action_output": "VLA 后训练动作候选，经触觉世界模型与安全执行层消费", "evidence_boundary": "六任务作者真机结果与 Apache 代码骨架已核验；TACO 权重、示范、失败 rollout、完整闭环和硬件驱动未发布" }, "target_contract_delta": { "required_checks": [ "G1/H2 触觉采样率与坐标标定", "失败/恢复样本格式对齐", "动作输出经独立 WBC 与限幅" ], "data_match": "源平台为机械臂，不能直接推断人形/足式迁移", "license_and_compute": "代码、外部基础模型、权重和数据分别核验；未闭合即阻断" }, "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "partially_reported", "cross_task": "reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_disclosed", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "partially_reported" }, "verdict": "long_term_attention_adapter_only", "confidence": "primary_source_and_fixed_code_reviewed_transfer_unverified", "rollback": "仅撤销离线 adapter/后训练分支；保留生产 VLA/WBC 与数据版本", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_missing_checkpoint_data_and_full_loop", "next_gate": "fixed_commit_checkpoint_demo_failure_rollout_and_hardware_license_closure", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "vitar-to-g1-h2-visual-tactile-adapter-001", "evidence_id": "arxiv-2608-15816", "source_project": "ViTaR", "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "视觉-触觉残差 adapter", "接触任务 OOD 回归" ], "source_contract": { "embodiment": "RealMan RM65-B + 9DTact + D455", "sensors": [ "RGB", "触觉" ], "action_output": "冻结 VLA 上的有界触觉残差", "evidence_boundary": "作者单机械臂三任务真机结果；官方仓仅 README，代码、权重、数据和许可证未核验" }, "target_contract_delta": { "required_checks": [ "本体/手部动作空间 adapter", "触觉延迟与标定", "ID/OOD 分层和失败恢复回归" ], "data_match": "单机械臂证据，不能直接代表人形或轮足", "license_and_compute": "第三方 UniVTAC 许可不得扩展到 ViTaR 制品；缺制品闭包即不进入生产" }, "verdict": "long_term_attention_controlled_sim_only", "confidence": "author_real_robot_evidence_no_open_artifact_no_independent_reproduction", "rollback": "删除候选残差分支并恢复冻结 VLA/WBC；不改生产模型", "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "partially_reported", "cross_task": "reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_no_code_weights_data_license_closure", "next_gate": "fixed_artifact_release_then_cross_embodiment_simulation_and_manual_real_robot_review", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "decowam-to-m20-r1-wheel-arm-adapter-001", "evidence_id": "arxiv-2608-20114", "source_project": "DECOWAM", "target_projects": [ "M20", "R1" ], "affected_modules": [ "移动基地-机械臂动作 adapter", "未来状态与基地速度条件接口", "轮足移动操作回归集" ], "source_contract": { "embodiment": "单轮足移动操作平台 + 6DoF 机械臂/夹爪", "sensors": [ "RGB", "本体感受", "基地速度/动作历史" ], "action_output": "基地速度条件的 action-only WAM 输出，经低层控制执行", "evidence_boundary": "作者报告 79 次闭环试验与 ARMDOG 训练数据；官方代码、权重、数据许可证、跨本体复现均未核验，不能外推到 M20/R1" }, "target_contract_delta": { "required_checks": [ "M20/R1 基地与机械臂动作维度映射", "基地速度与相机运动同步", "动作延迟、限幅、WBC/安全平面可执行性", "ID/OOD 与失败恢复分层回归" ], "data_match": "源平台为单一轮足本体；目标本体、传感器、标定和动作空间不同，必须保留 adapter，不复用未经核验的训练数据", "license_and_compute": "代码、权重、ARMDOG 数据与上游基础模型逐层核验；资源只从 Hub 台账和实时观测选择" }, "verdict": "long_term_attention_controlled_sim_only", "confidence": "primary_source_author_real_robot_evidence_transfer_and_artifact_status_unverified", "rollback": "删除离线 DECOWAM adapter 与回归分支，恢复 M20/R1 冻结基线；不得替换生产 VLA/WBC", "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "not_disclosed", "cross_task": "partially_reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_no_code_weights_data_license_closure", "next_gate": "fixed_artifact_release_then_M20_R1_contract_and_cross_embodiment_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "gigabrain-wbc-to-g1-h2-behavior-safety-001", "evidence_id": "arxiv-2608-18234", "source_project": "GigaBrain-WBC-0.5", "target_projects": [ "G1", "H2" ], "affected_modules": [ "行为世界模型/命令安全过滤", "terrain/contact-aware WBC", "跌倒恢复与失败回归" ], "source_contract": { "embodiment": "Unitree G1（另有 Maker L01 简单微调迁移声明）", "sensors": [ "proprioception", "实时运动指令", "环境/接触状态" ], "action_output": "50Hz whole-body tracking action with behavior-distribution safety filter", "evidence_boundary": "仿真四种标准协议有量化结果；G1 真机为交互/扰动/恢复展示，未给完整试次分母；代码、权重和训练数据未核验" }, "target_contract_delta": { "required_checks": [ "G1/H2 观测与关节动作 schema 对齐", "terrain/contact annotation 与目标仿真资产一致", "行为分布过滤器的阈值、延迟、fallback 与独立 WBC 安全平面冻结", "同批 baseline/candidate、多 seed、OOD 命令、缺失支撑、跌倒恢复回归" ], "data_match": "源论文依赖外部 MotionDecode/BONES-SEED 等运动数据；不得把外部数据或 G1 checkpoint 直接视为 H2 可用制品", "license_and_compute": "代码、权重、外部数据、仿真资产和算力逐层核验；训练资源只依据 Hub 台账与实时快照，不假定 242 可用，244/245 按共享资源" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary_source_reviewed_humanoid_evidence_no_independent_reproduction", "rollback": "删除离线 behavior-filter/adapter 分支并恢复冻结 G1/H2 WBC 基线；不得替换生产 VLA/WBC", "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "reported", "cross_task": "reported", "perturbation_or_dynamics_shift": "reported", "cross_embodiment": "partially_reported", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "engineering_review": { "schema_version": "1.0", "status": "contract_only_no_frontier_profile", "artifact_gate": "not_scored_by_frontier_practice_profile", "next_gate": "primary_source_practice_review_before_any_migration", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "jepa-wam-to-g1-h2-visual-action-adapter-001", "evidence_id": "arxiv-2608-09381", "source_project": "JEPA-WAM", "target_projects": [ "G1", "H2" ], "affected_modules": [ "视觉未来表示 adapter", "动作条件 readout", "ID/OOD 操作回归" ], "source_contract": { "embodiment": "AgileX Cobot Magic 双臂；LIBERO / RoboTwin 2.0 仿真", "sensors": [ "多视角 RGB", "语言指令", "本体感受" ], "action_output": "共享预测器输出的动作条件表示，经 DiT flow-matching 动作专家生成动作块", "evidence_boundary": "官方 MIT 代码与固定公开权重已核验；Cobot Magic 真机 5 任务、ID/OOD 各 10 rollouts；训练数据、seed、跨本体迁移和独立复现未闭合" }, "target_contract_delta": { "required_checks": [ "G1/H2 观测与动作 schema 及相机顺序映射", "未来观测训练目标必须部署时不可用", "动作 readout 限幅、控制频率、端到端延迟与独立 WBC 可实现性", "固定 ID/OOD 场景、同批 baseline/candidate、多 seed 与失败恢复回归" ], "data_match": "源平台为双臂操作；不能把 Cobot Magic 或 LIBERO/RoboTwin 数据直接当作 G1/H2 训练数据，必须先做本体/传感器/动作契约对齐", "license_and_compute": "代码与模型卡声明分层记录；V-JEPA、Qwen、π0.5、OpenPI、LIBERO、RoboTwin 及其数据/资产条款逐层复核；训练资源只依据 Hub 台账和实时快照，不假定 242 可用，244/245 按共享资源" }, "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "reported", "cross_task": "reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "partially_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary_source_and_fixed_code_weights_reviewed_transfer_and_independent_reproduction_unverified", "rollback": "删除离线 JEPA-WAM adapter/readout 分支并恢复冻结 G1/H2 VLA/WBC 基线；不得替换生产 VLA/WBC", "engineering_review": { "schema_version": "1.0", "status": "primary_source_and_fixed_artifact_reviewed", "artifact_gate": "partial_open_code_weights_but_training_data_and_cross_embodiment_unclosed", "next_gate": "same_protocol_multiseed_cross_embodiment_and_latency_regression", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "maniguard-to-g1-h2-safety-regression-gate-001", "evidence_id": "arxiv-2608-17386", "source_project": "MANIGUARD", "target_projects": [ "G1", "H2", "R1", "M20" ], "affected_modules": [ "VLA/WAM 动作安全规格监测", "WBC 独立安全平面与接触约束", "失败轨迹标注、回归集与人工接管记录" ], "source_contract": { "embodiment": "Franka manipulation benchmark; not humanoid or legged evidence", "sensors": [ "RGB/robot observations as specified by each task", "physics-grounded contact predicates", "trajectory provenance" ], "action_output": "policy action evaluated by task-success and independent safety-specification monitors", "evidence_boundary": "arXiv paper reports 200 locked base tasks, 1000 scenarios, simulation and physical Franka checks; code/data download, calibration and independent reproduction were not verified" }, "target_contract_delta": { "required_checks": [ "translate each safety predicate to G1/H2/R1/M20 sensor and contact schemas", "freeze task/constraint criteria before any candidate run", "same-batch baseline/candidate with ID and single-axis OOD perturbations", "record task_success, safe_success, engaged_and_safe, violation trace, recovery and manual takeover separately", "block merge on NaN, contract mismatch, unsafe-pass or resource conflict" ], "data_match": "Franka trajectories and contact predicates cannot be copied into humanoid/legged training; use the protocol as a safety regression template and collect target-embodiment data separately", "license_and_compute": "paper-reported demonstrations remain unverified-open; all code/data/assets and compute must be checked per artifact; use Hub ledger, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_safety_gate_sim_only", "confidence": "primary_source_protocol_and_failure_boundary_verified_no_artifact_or_independent_reproduction", "rollback": "remove the offline safety-gate adapter and restore the frozen G1/H2/R1/M20 baseline; no production VLA/WAM/WBC replacement and no robot action before human onmachine acceptance", "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "reported", "cross_task": "reported", "perturbation_or_dynamics_shift": "partially_reported", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "engineering_review": { "schema_version": "1.0", "status": "contract_only_no_frontier_profile", "artifact_gate": "not_scored_by_frontier_practice_profile", "next_gate": "primary_source_practice_review_before_any_migration", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "geniworld-to-g1-h2-spatial-wam-001", "evidence_id": "arxiv-2608-06332", "source_project": "GeniWorld", "target_projects": [ "G1", "H2", "R1", "M20" ], "affected_modules": [ "interactive world model", "spatial conditioning", "synthetic trajectory ranking", "dual-arm OOD regression" ], "source_contract": { "embodiment": "single dual-arm platform; author-reported physical trials, platform protocol incomplete", "sensors": [ "RGB/RGB-D and spatial condition; exact calibration and timestamp contract pending" ], "action_output": "world-model-conditioned trajectory/policy candidate", "evidence_boundary": "four tasks, five settings, 1200 author trials and about 8Hz generation reported; code, weights, generated data and independent reproduction unavailable" }, "target_contract_delta": { "required_checks": [ "G1/H2 observation/action schema and camera order", "fixed ID/OOD scenes and same trajectory budget", "latency/action limits/recovery/WBC feasibility", "record baseline/candidate failure and resource cost" ], "data_match": "source dual-arm data and synthetic trajectories cannot be copied into humanoid/legged training without embodiment, sensor and license alignment", "license_and_compute": "paper, code, weights, generated data and upstream assets checked separately; dispatch only from Hub ledger, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary_source_author_trials_no_open_artifacts_or_independent_reproduction", "rollback": "remove GeniWorld adapter and synthetic-data branch, restore frozen WAM/VLA baseline; no production replacement or robot action before human onmachine acceptance", "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "reported", "cross_task": "reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "engineering_review": { "schema_version": "1.0", "status": "contract_only_no_frontier_profile", "artifact_gate": "not_scored_by_frontier_practice_profile", "next_gate": "primary_source_practice_review_before_any_migration", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "g05-to-r1-g1-h2-actioncodec-001", "evidence_id": "arxiv-2608-11739", "source_project": "G0.5", "target_projects": [ "R1", "G1", "H2", "M20" ], "affected_modules": [ "ActionCodec", "CoT/visual-memory latency", "ROS2 adapter and safety limits" ], "source_contract": { "embodiment": "R1 Lite/Pro author platform; not cross-vendor humanoid or legged evidence", "sensors": [ "RGB and proprioception as documented; exact calibration and timing pending" ], "action_output": "autoregressive action tokens/chunks via ROS2 deployment path", "evidence_boundary": "author same-platform episodes and public deployment entry; code license, gated model terms, data closure and independent reproduction incomplete" }, "target_contract_delta": { "required_checks": [ "target action schema and joint semantics", "token/chunk latency and network jitter", "limit/estop/WBC feasibility", "same-batch ID/OOD and failure/recovery regression" ], "data_match": "R1 data and checkpoints cannot be reused for G1/H2/M20 without embodiment, sensor and license alignment", "license_and_compute": "code, gated weights, data and upstream dependencies reviewed separately; resources from Hub ledger only, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sim_and_replay", "confidence": "primary_source_author_real_robot_results_no_independent_cross_embodiment_reproduction", "rollback": "remove G0.5 adapter and restore frozen VLA/WBC baseline; no production replacement or robot action before human onmachine acceptance", "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "not_disclosed", "cross_task": "reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "partially_reported" }, "engineering_review": { "schema_version": "1.0", "status": "contract_only_no_frontier_profile", "artifact_gate": "not_scored_by_frontier_practice_profile", "next_gate": "primary_source_practice_review_before_any_migration", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "tac4loco-to-g1-h2-plantar-tactile-001", "evidence_id": "arxiv-2608-15766", "source_project": "Tac4Loco", "target_projects": [ "G1", "H2" ], "affected_modules": [ "plantar tactile encoder", "contact-conditioned locomotion WBC", "soft-ground regression" ], "source_contract": { "embodiment": "Unitree G1 with bilateral 60-element plantar FSR", "sensors": [ "plantar pressure", "proprioception" ], "action_output": "terrain/contact-conditioned locomotion policy", "evidence_boundary": "author six-configuration trials and soft-ground tests; code/configuration promised, no independent reproduction" }, "target_contract_delta": { "required_checks": [ "sensor geometry/unit and calibration mapping", "dropout/delay robustness", "WBC limits and fallback without tactile", "same terrain ID/OOD and failure/recovery denominator" ], "data_match": "G1 evidence does not establish H2 sensor or actuator compatibility; no direct data reuse before contract alignment", "license_and_compute": "paper, code/configuration, sensor assets and any weights/data reviewed separately; resources from Hub ledger only" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary_source_author_g1_trials_no_open_artifact_or_independent_reproduction", "rollback": "remove plantar-tactile adapter and restore frozen G1/H2 WBC baseline; no production replacement or robot action before human onmachine acceptance", "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "partially_reported", "cross_task": "reported", "perturbation_or_dynamics_shift": "partially_reported", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "engineering_review": { "schema_version": "1.0", "status": "contract_only_no_frontier_profile", "artifact_gate": "not_scored_by_frontier_practice_profile", "next_gate": "primary_source_practice_review_before_any_migration", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "verdiwm-to-g1-h2-r1-m20-control-plane-001", "evidence_id": "arxiv-2608-09537", "source_project": "VerdiWM", "target_projects": [ "G1", "H2", "R1", "M20" ], "affected_modules": [ "experiment scheduler gate", "migration certificate store", "negative-result rollback" ], "source_contract": { "embodiment": "control-plane method; author Franka media is not independent deployment evidence", "sensors": [ "experiment metadata and validation outputs" ], "action_output": "certificate/rejection decision, no robot action", "evidence_boundary": "Apache repository and independent CPU checks verified; GPU training, cross-backbone effects and real-robot claims unverified" }, "target_contract_delta": { "required_checks": [ "bind certificate to exact code/data/model/simulator revisions", "check license and resource lease", "reject stale or incomplete evidence", "preserve rollback and negative-result records" ], "data_match": "control-plane records are not training data and cannot be used to infer robot performance", "license_and_compute": "repository and upstream checkpoints/data remain separately licensed; resources from Hub ledger only" }, "verdict": "test_soon_control_plane_only", "confidence": "independent_cpu_control_plane_reproduction_without_gpu_or_real_robot_reproduction", "rollback": "revoke VerdiWM certificate and restore frozen scheduler and project baseline; no automatic model/reward replacement or robot action", "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "reported", "cross_task": "partially_reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_applicable", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "partially_reported" }, "engineering_review": { "schema_version": "1.0", "status": "contract_only_no_frontier_profile", "artifact_gate": "not_scored_by_frontier_practice_profile", "next_gate": "primary_source_practice_review_before_any_migration", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "hitacwam-to-g1-h2-dexterous-replanning-001", "evidence_id": "arxiv-2608-19574", "source_project": "HiTac-WAM", "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "hierarchical tactile predictor", "candidate action ranker", "contact-triggered replanning", "independent WBC/safety plane" ], "source_contract": { "embodiment": "IMETA-Y1 with DM-Tac W2 and RGB cameras; not humanoid or cross-embodiment evidence", "sensors": [ "RGB", "tactile/deformation/slip signals" ], "action_output": "ranked action candidates with replanning trigger", "evidence_boundary": "author reports 90 trials and 18 replanning events; code, weights, data, calibration and independent reproduction not verified" }, "target_contract_delta": { "required_checks": [ "G1/H2/hand tactile geometry, units and timestamps", "separate predictor/ranker/replanner/executor metrics", "fixed ID/OOD contact tasks and multi-seed baseline/candidate", "latency, WBC feasibility, dropout and recovery regression" ], "data_match": "single manipulation platform cannot establish humanoid or legged transfer; no direct data reuse before sensor/action contract alignment", "license_and_compute": "paper, tactile hardware, code, weights, data and upstream models reviewed separately; resources from Hub ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "partially_reported", "cross_task": "partially_reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary_source_author_trials_without_open_artifacts_or_independent_cross_embodiment_reproduction", "rollback": "remove HiTac-WAM adapter/ranker and restore frozen G1/H2/hand VLA/WBC baseline; no production replacement or robot action before human onmachine acceptance", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_no_code_weights_data_license_closure", "next_gate": "slip_calibration_candidate_prediction_benchmark_then_cross_hand_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "embodmocap-to-g1-h2-capture-adapter-001", "evidence_id": "legacy-0bc5b8baaba0", "source_project": "EmbodMocap", "target_projects": [ "G1", "H2" ], "affected_modules": [ "human-scene capture", "calibration/retargeting adapter", "sim-to-real data regression" ], "source_contract": { "embodiment": "dual mobile RGB-D capture with qualitative human-to-humanoid downstream demo", "sensors": [ "dual RGB-D", "camera trajectories", "human pose/shape and scene geometry" ], "action_output": "versioned motion/scene data bundle, not a controller", "evidence_boundary": "Apache-2.0 code and public data endpoints reviewed; full download, requirements runtime, privacy/upstream SMPL terms and independent robot reproduction incomplete" }, "target_contract_delta": { "required_checks": [ "G1/H2 joint and coordinate-frame mapping", "scene scale and camera-to-robot calibration", "fixed ID/OOD capture split and retargeting error", "privacy/license/provenance audit before training use" ], "data_match": "source data are human-scene capture, not verified G1/H2 control trajectories; no direct controller or production VLA/WBC replacement", "license_and_compute": "code, data, upstream human models and robot assets reviewed separately; resources from Hub ledger only, 242 unavailable and 244/245 shared" }, "verdict": "long_term_attention_data_adapter_only", "confidence": "primary_source_capture_evidence_no_full_download_or_independent_downstream_reproduction", "rollback": "remove capture/retargeting adapter and restore frozen dataset baseline; no production model or robot action", "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "not_disclosed", "cross_task": "partially_reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "partially_reported", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "partially_reported" }, "engineering_review": { "schema_version": "1.0", "status": "contract_only_no_frontier_profile", "artifact_gate": "not_scored_by_frontier_practice_profile", "next_gate": "primary_source_practice_review_before_any_migration", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "agile-to-g1-t1-h2-workflow-adapter-001", "evidence_id": "arxiv-2603-20147", "source_project": "AGILE / WBC-AGILE", "target_projects": [ "G1", "T1", "H2" ], "affected_modules": [ "MDP/reward diagnostics", "I/O descriptor export", "sim2sim gate", "training artifact provenance" ], "source_contract": { "embodiment": "Unitree G1 and Booster T1 author evidence; H2 not evaluated", "sensors": [ "proprioception and task state; optional VLA upper-body interface" ], "action_output": "versioned policy plus descriptor for observation/action assembly, not a production replacement", "evidence_boundary": "fixed official repository/checkpoint and community issue reports reviewed; real-robot evidence is author-reported and partly qualitative, independent reproduction absent" }, "target_contract_delta": { "required_checks": [ "joint/observation/action mapping per embodiment", "descriptor and limit validation", "deterministic/random sim2sim with fixed seeds", "record seed sensitivity, timeout and failure causes", "verify CC BY-SA, LFS and upstream asset terms" ], "data_match": "workflow and diagnostics are reusable infrastructure, not proof that G1/T1 policy data transfers to H2", "license_and_compute": "official repository/checkpoint and Isaac/RSL-RL/robot assets remain separately licensed; resources from Hub ledger only" }, "verdict": "test_soon_workflow_and_sim2sim_only", "confidence": "primary and community evidence with reported author hardware trials; no independent H2 reproduction", "rollback": "remove AGILE workflow adapter and restore frozen training/export pipeline; no automatic reward/model replacement or robot action", "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "partially_reported", "cross_task": "reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "reported", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "partially_reported" }, "engineering_review": { "schema_version": "1.0", "status": "contract_only_no_frontier_profile", "artifact_gate": "not_scored_by_frontier_practice_profile", "next_gate": "primary_source_practice_review_before_any_migration", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "worldsimprobe-to-g1-h2-r1-m20-fidelity-gate-001", "evidence_id": "arxiv-2608-09298", "source_project": "WorldSimProbe", "target_projects": [ "G1", "H2", "R1", "M20" ], "affected_modules": [ "world-model regression gate", "simulator fidelity certificate", "candidate/baseline comparison" ], "source_contract": { "embodiment": "RoboTwin, ManiSkill and LIBERO simulator suites; no real-robot evidence", "sensors": [ "action-conditioned video", "state/context and simulator metadata" ], "action_output": "probe scores and evidence certificate, never robot commands", "evidence_boundary": "MIT repository and public ungated evaluation inputs verified; external trackers/checkpoints and complete suite coverage require separate verification" }, "target_contract_delta": { "required_checks": [ "bind every score to exact simulator/model/data revisions", "run identical probes for baseline and candidate", "preserve local/global/interaction/dynamics failure records", "reject stale or partial suites" ], "data_match": "evaluation inputs test simulator/world-model fidelity and are not G1/H2/R1/M20 training or real-robot benefit evidence", "license_and_compute": "MIT code, evaluation inputs, simulator assets, trackers and tested model checkpoints remain separately licensed; resources from Hub ledger only" }, "verdict": "test_soon_evaluation_gate_only", "confidence": "deep-reviewed primary evidence without real-robot measurement or independent reproduction", "rollback": "revoke WorldSimProbe certificate and restore the prior regression gate; no model/reward replacement or robot action", "generalization_evidence": { "same_embodiment_real_robot": "not_applicable", "unseen_or_ood": "reported", "cross_task": "reported", "perturbation_or_dynamics_shift": "partially_reported", "cross_embodiment": "not_applicable", "cross_sensor_or_hand": "not_disclosed", "independent_reproduction": "not_reported", "reproducible_artifacts": "partially_reported" }, "engineering_review": { "schema_version": "1.0", "status": "contract_only_no_frontier_profile", "artifact_gate": "not_scored_by_frontier_practice_profile", "next_gate": "primary_source_practice_review_before_any_migration", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "ghosttac-to-g1-h2-tactile-trust-gate-001", "evidence_id": "arxiv-2608-20817", "source_project": "GhostTac", "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手" ], "affected_modules": [ "触觉输入可信度监测", "视觉/本体感受一致性检查", "独立WBC与安全回退", "触觉部署回归矩阵" ], "source_contract": { "embodiment": "Franka Panda + Inspire FTP及15个商用触觉传感器案例；无G1/H2/M20/R1真机证据", "sensors": [ "触觉阵列电气测量", "RGB/本体感受作为交叉验证输入" ], "action_output": "安全告警、触觉信任状态和回退触发，不产生机器人动作", "evidence_boundary": "论文全文与作者仓库README已核验；仓库固定提交、许可证、数据包和独立防御效果尚未闭合" }, "target_contract_delta": { "required_checks": [ "逐本体核对传感器BOM、扫描时序、标定、EMC与控制延迟", "固定视觉/触觉/本体感受一致性指标与异常分母", "异常触觉必须fail-closed回退到独立WBC/安全平面", "同版本多场景、丢帧、漂移、非接触干扰与恢复回归" ], "data_match": "安全反证可迁移为测试门禁，但攻击实验不能冒充正常任务成功率或训练收益，也不能直接复用为人形训练数据", "license_and_compute": "论文、仓库代码、传感器固件与任何数据分别核验；调度只使用Hub实时台账，242不可用、244/245共享" }, "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "partially_reported", "cross_task": "partially_reported", "perturbation_or_dynamics_shift": "partially_reported", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "partially_reported" }, "verdict": "test_soon_control_plane_only", "confidence": "primary_security_evidence_across_15_sensors_without_humanoid_or_independent_defense_reproduction", "rollback": "撤销GhostTac门禁适配并恢复原触觉输入路径，但保留独立WBC/急停；不得替换生产VLA/WAM/WBC或自动发送真机动作", "engineering_review": { "schema_version": "1.0", "status": "contract_only_no_frontier_profile", "artifact_gate": "not_scored_by_frontier_practice_profile", "next_gate": "primary_source_practice_review_before_any_migration", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "vitacphys-to-g1-h2-hand-property-adapter-001", "evidence_id": "arxiv-2608-21355", "source_project": "ViTacPhys", "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手" ], "affected_modules": [ "视觉-触觉时序编码", "物理属性 token / 自适应抓取 adapter", "人到机器人动作筛选", "OOD 接触回归" ], "source_contract": { "embodiment": "7DoF机械臂 + 6DoF灵巧手；不是人形全身或轮足证据", "sensors": [ "腕部RGB 160x90x3", "三指触觉图180x40", "本体感受与触觉手套遥操作" ], "action_output": "物理属性 token 注入 ACT-style policy；不直接输出关节力矩或WBC命令", "evidence_boundary": "论文全文与作者项目页协议、表格和失败案例已核验；Code/Dataset仍Coming Soon，权重、原始数据和许可证未闭合" }, "target_contract_delta": { "required_checks": [ "冻结60对象本体/材料标签、30Hz窗口、五次属性测量和固定ID/OOD划分", "同批比较视觉-only、现有触觉、ACT、ViTacFormer与属性条件adapter", "分别报告属性预测、正常成功、OOD成功、过力失败和力型距离", "三种仿真seed、跨手型/传感器标定、制品与许可证闭合后才允许人工真机候选" ], "data_match": "人体视觉-触觉示范与单机械臂证据只能作为灵巧手adapter线索，不能直接外推人形全身、WAM或轮足收益", "license_and_compute": "代码、数据、权重和上游触觉/手部条款分别核验；资源只取Hub实时台账，242不可用、244/245共享" }, "generalization_evidence": { "same_embodiment_real_robot": "reported", "unseen_or_ood": "reported", "cross_task": "not_disclosed", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary_full_text_author_page_without_released_artifacts_or_independent_reproduction", "rollback": "移除物理属性token与人到机器人筛选adapter，恢复冻结视觉/触觉策略及独立WBC安全平面；不替换生产VLA/WAM", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_code_dataset_weights_license_coming_soon", "next_gate": "released_artifacts_then_fixed_ID_OOD_multiseed_cross_hand_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "himemwam-to-g1-h2-memory-adapter-001", "evidence_id": "arxiv-2606-10363", "source_project": "HiMem-WAM", "target_projects": [ "G1", "H2" ], "affected_modules": [ "WAM hierarchical memory adapter", "long-horizon cache/reset state", "old-skill regression and independent WBC safety plane" ], "source_contract": { "embodiment": "LIBERO/RMBench and author-reported AgileX Piper dual-arm trials; no G1/H2 evidence", "inputs": [ "RGB/RGB-D observations", "proprioception/action history", "task/language context" ], "action_output": "memory-conditioned latent or action-head proposal; not a production torque/WBC interface", "evidence_boundary": "primary paper and official MIT repository reviewed; checkpoint, dataset provenance, simulator asset and independent reproduction are not closed" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2 observation/action history and cache reset semantics", "resolve H2 official 29-DoF versus any 31-DoF runtime interface before smoke", "same-batch champion versus adapter across long-horizon, interruption, recovery and old-skill forgetting", "multi-seed closed-loop simulation with delay, NaN, OOD and resource fail-closed gates" ], "data_match": "memory mechanism is a reversible adapter hypothesis; Piper/benchmark results cannot be treated as humanoid transfer or real-machine benefit", "license_and_compute": "code MIT claim and all weights/data/simulator/robot-asset terms require separate fixed-revision verification; dispatch only from Hub live ledger, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "reported_author_trials_only", "unseen_or_ood": "reported_benchmark_split", "cross_task": "reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "partially_reported" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary_source_reviewed_with_artifact_and_cross_embodiment_gaps", "rollback": "disable HiMem memory adapter and restore the frozen G1/H2 champion plus independent WBC/safety plane; no production VLA/WAM/WBC replacement or robot action", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_checkpoint_data_simulator_and_independent_reproduction", "next_gate": "fixed artifacts and interface contract, then same-batch multiseed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "robotacdex-to-g1-h2-visual-tactile-data-001", "evidence_id": "arxiv-2606-31836", "source_project": "RoboTacDex", "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "视觉-触觉数据 adapter", "时间同步/标定检查", "接触任务 ID/OOD 回归集" ], "source_contract": { "embodiment": "Unitree G1 humanoid with dual-arm dexterous hands", "sensors": [ "multi-view RGB", "depth", "tactile", "proprioception/action and semantic labels" ], "action_output": "synchronized visual-tactile-action trajectories; dataset does not define a production WAM/VLA action interface", "evidence_boundary": "paper reports 6k trajectories, 19 tasks, 23 skills and 22 objects; data download, sync code, baseline weights and dataset licence were not verified as released" }, "target_contract_delta": { "required_checks": [ "fixed dataset revision and per-file hashes", "sensor timestamps, coordinate frames and tactile calibration", "G1/H2/hand observation/action schema mapping", "same ID/OOD split with success/failure/recovery labels", "multi-seed baseline/candidate and dropout/delay regression" ], "data_match": "G1 collection is directly relevant to humanoid visual-tactile experiments, but no direct H2 or cross-hand transfer is established; do not copy data into training until download and licence closure", "license_and_compute": "paper, data, synchronisation code and baseline weights are separate artefacts; dispatch only after licence manifest and Hub resource snapshot are closed; 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary_source_humanoid_dataset_evidence_without_released_download_or_independent_reproduction", "rollback": "remove RoboTacDex data adapter and restore the frozen G1/H2 visual-tactile baseline; no production VLA/WAM/WBC replacement or robot action before human onmachine acceptance", "generalization_evidence": { "same_embodiment_real_robot": "reported_dataset_capture", "unseen_or_ood": "not_disclosed", "cross_task": "reported_19_tasks", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_released" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_dataset_code_weights_license_coming_soon", "next_gate": "fixed_download_hash_and_license_audit_then_sensor_action_contract_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "cg-world-to-g1-h2-m20-r1-world-state-adapter-001", "evidence_id": "arxiv-2607-26452", "source_project": "CG-World", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "world-state data adapter", "generalization benchmark", "counterfactual/leakage audit", "WAM/VLA evaluation boundary" ], "source_contract": { "embodiment": "ManiSkill3 desktop container manipulation; no physical robot", "sensors": [ "synthetic multimodal render/state/relationship/contact/camera/light/physics-cache fields" ], "action_output": "structured supervision and evaluation protocol; not a policy/WBC/torque output", "evidence_boundary": "85万段 and reported ID/OOD metrics are paper evidence; data/code/weights/license/download endpoint not verified" }, "target_contract_delta": { "required_checks": [ "fixed revision and license audit", "state/action/sensor schema mapping per target robot", "branch-lineage and train/eval leakage audit", "same-batch three-seed ID/OOD/counterfactual closed-loop simulation", "separate real-robot evidence and safety acceptance" ], "data_match": "use only as schema/evaluation challenger; synthetic desktop states cannot be copied as real-world benefit", "license_and_compute": "dispatch only after artifact closure and Hub resource snapshot; 242 unavailable and 244/245 shared" }, "verdict": "long_term_attention_and_controlled_sim_only", "confidence": "primary_source_dataset_protocol_without_released_artifacts_or_independent_reproduction", "rollback": "remove CG-World adapter/evaluator and restore frozen project baseline; no production VLA/WAM/WBC replacement or robot action before human onmachine acceptance", "generalization_evidence": { "same_embodiment_real_robot": "not_reported", "unseen_or_ood": "reported_single_sim_protocol", "cross_task": "partially_reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_released" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_dataset_snapshot_code_license_schema_and_cross_embodiment_contract", "next_gate": "freeze_target_schema_then_same_benchmark_three_seed_closed_loop_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "ultrasound-wam-reward-to-g1-h2-m20-r1-adapter-001", "evidence_id": "arxiv-2607-21918", "source_project": "Action-Conditioned World Model for Goal Plane Probe Guidance", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "frozen WAM reward challenger", "generalization/latency evaluation", "independent safety plane" ], "source_contract": { "embodiment": "RealMan RM65-B + SonoScape S80 + PhotonR75; medical ultrasound only", "sensors": [ "ultrasound image", "6-DoF probe action", "force/torque used by low-level control" ], "action_output": "single-axis correction policy with z/rz under separate force control; not humanoid/legged WBC output", "evidence_boundary": "20-person data and 20+20 real trials reported; no code, weights, data download, license or same-protocol real baseline" }, "target_contract_delta": { "required_checks": [ "freeze target robot schema and remove ultrasound-specific goal-plane assumptions", "same-batch baseline/challenger in closed-loop simulation", "measure calibration, action realizability, delay, recovery and safety separately", "three seed and held-out scene/task regression before any on-machine review" ], "data_match": "only experiment/evaluation structure is potentially migratable; model and action head are domain-bound", "license_and_compute": "artifact closure and Hub resource snapshot required; 242 unavailable and 244/245 shared" }, "verdict": "long_term_attention_test_soon_domain_limited_sim_only", "confidence": "primary_source_narrow_real_robot_evidence_without_artifact_or_independent_reproduction", "rollback": "remove frozen WAM reward challenger and restore baseline planner/controller plus independent WBC/force/safety plane; no robot action before human acceptance", "generalization_evidence": { "same_embodiment_real_robot": "reported_20_trials_per_task", "unseen_or_ood": "partially_reported_nearby_off_target_views", "cross_task": "reported_carotid_and_thyroid", "perturbation_or_dynamics_shift": "random_sweep_degradation_reported", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_released" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_domain_action_and_cross_embodiment_contract", "next_gate": "freeze_target_schema_then_three_seed_same_batch_closed_loop_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "world-models-2018-to-g1-h2-wam-lineage-001", "evidence_id": "milestone-world-models-ha-schmidhuber", "source_project": "World Models", "target_projects": [ "G1", "H2" ], "affected_modules": [ "latent dynamics lineage", "dream-rollout evaluation", "WAM adapter boundary" ], "source_contract": { "embodiment": "CarRacing/Maze game environments; no robot", "sensors": [ "image observations" ], "action_output": "compact game policy action; not robot WAM/WBC output", "evidence_boundary": "primary paper and official interactive page verified; no robot artifacts or modern license closure" }, "target_contract_delta": { "required_checks": [ "map latent state and prediction target without copying game action semantics", "same-batch target-robot replay ablation", "report OOD/recovery/latency and safety separately" ], "data_match": "historical lineage only; game data cannot be treated as robot training data", "license_and_compute": "separate code/data/license audit and Hub resource snapshot required" }, "verdict": "lineage_reference_only", "confidence": "primary_paper_history_without_robot_or_independent_cross_embodiment_evidence", "rollback": "remove historical ablation and restore target baseline; no production model or robot action", "generalization_evidence": { "same_embodiment_real_robot": "not_applicable", "unseen_or_ood": "reported_game_scope_only", "cross_task": "reported_game_tasks", "perturbation_or_dynamics_shift": "not_reported_for_robot", "cross_embodiment": "not_applicable", "cross_sensor_or_hand": "not_applicable", "independent_reproduction": "not_reported", "reproducible_artifacts": "partial_third_party_only" }, "engineering_review": { "schema_version": "1.0", "status": "lineage_reference_only", "artifact_gate": "blocked_robot_contract_and_author_artifacts", "next_gate": "none_without_new_target_robot_evidence", "independent_reproduction": "not_reported", "production_replacement": "not_applicable_historical_baseline", "last_checked_at": "2026-08-25" } }, { "mapping_id": "vt-muse-to-g1-h2-dexterous-hand-visuotactile-001", "evidence_id": "arxiv-2608-21290", "source_project": "VT-MUSE", "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "sequential visuotactile representation", "timestamp/calibration adapter", "contact-rich regression" ], "source_contract": { "embodiment": "platform not identified in verified abstract", "sensors": [ "visual sequence", "tactile history", "action/proprioception claimed at abstract level" ], "action_output": "representation feeding gated cross-attention Transformer policy; not WBC/torque output", "evidence_boundary": "paper reports simulation and real-world improvement at abstract level; platform, denominator, code, weights, data and license not verified" }, "target_contract_delta": { "required_checks": [ "fixed sensor rates, calibration and time offset", "visual-only versus multimodal same-batch baseline", "ID/OOD object/scene/hand and dropout/delay regression", "three seeds before human on-machine review" ], "data_match": "representation/time-alignment ideas are candidates; no data transfer until artifacts and tactile license close", "license_and_compute": "dispatch only after fixed artifact and Hub resource audit; 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sim_only", "confidence": "abstract-level primary review without platform or independent reproduction", "rollback": "remove VT-MUSE adapter and restore frozen visual/tactile baseline; no production VLA/WBC replacement", "generalization_evidence": { "same_embodiment_real_robot": "abstract_claim_only", "unseen_or_ood": "not_disclosed", "cross_task": "not_disclosed", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_released" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_platform_code_weights_data_license_sensor_calibration_and_cross_hand_contract", "next_gate": "full_text_and_artifact_review_then_three_seed_sensor_contract_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "vitacphys-to-g1-h2-dexterous-hand-property-001", "evidence_id": "arxiv-2608-21355", "source_project": "ViTacPhys", "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "物性条件视觉触觉 adapter", "示范筛选/标签校验", "跨手型 ID/OOD 回归" ], "source_contract": { "embodiment": "single-arm dexterous manipulation platform; exact target hardware and cross-hand protocol require artifact review", "sensors": [ "visual sequence", "tactile history", "physical-property labels" ], "action_output": "ACT-style adaptive grasping policy; not WBC/torque output", "evidence_boundary": "60 objects and 1800 demonstrations are author claims; code/dataset Coming Soon, no fixed license or independent reproduction" }, "target_contract_delta": { "required_checks": [ "fixed data revision and object/material split", "visual-only baseline versus property-conditioned adapter", "sensor calibration/dropout/delay and cross-hand regression", "three seeds and held-out object/scene/hand before on-machine review" ], "data_match": "property token and data-filtering protocol may transfer; raw demonstrations cannot be used until release and license audit", "license_and_compute": "artifact closure and Hub resource snapshot required; 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary full-text/project review without released artifacts or independent reproduction", "rollback": "remove ViTacPhys adapter and restore frozen visual/tactile baseline; no production VLA/WBC replacement", "generalization_evidence": { "same_embodiment_real_robot": "reported_author_single_platform", "unseen_or_ood": "reported_ID_OOD_property_scope", "cross_task": "partially_reported", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_released" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_code_dataset_weights_license_cross_hand_calibration_and_label_leakage_contract", "next_gate": "released_artifacts_then_fixed_ID_OOD_multiseed_cross_hand_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "pilot-wam-to-g1-h2-representation-supervision-001", "evidence_id": "arxiv-2608-06994", "source_project": "PILOT", "target_projects": [ "G1", "H2" ], "affected_modules": [ "future representation supervision", "flow-matching action head", "multi-view humanoid data/evaluation" ], "source_contract": { "embodiment": "AgiBot-G1 dual-arm humanoid", "sensors": [ "two wrist RealSense D405 plus head camera", "multi-view RGB" ], "action_output": "flow-matching action proposal with separate understanding and action timing; not WBC output", "evidence_boundary": "author reports 20 episodes/task, 8 tasks and 3 generalization settings; code/weights/data/license unavailable and no independent logs" }, "target_contract_delta": { "required_checks": [ "freeze target observation/action/calibration contract", "same-batch champion versus representation-supervised challenger", "separate 111.60ms understanding, 6.9ms action step, end-to-end latency and WBC rejection", "three seeds and cross-embodiment adapter regression before human review" ], "data_match": "protocol and latency decomposition are migration candidates; G1 data cannot be treated as H2 evidence", "license_and_compute": "artifact closure and Hub resource snapshot required; 32×H20 is author setup only, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_G1_replay_and_simulation_only", "confidence": "primary_full_text_and_author_project_with_quantified_G1_evidence_without_open_artifacts", "rollback": "remove PILOT challenger and restore frozen champion plus independent WBC/safety plane; no production replacement", "generalization_evidence": { "same_embodiment_real_robot": "reported_author_20_episodes_per_task", "unseen_or_ood": "reported_three_generalization_settings", "cross_task": "reported_8_tasks", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_released" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_cross_embodiment_and_end_to_end_latency_contract", "next_gate": "fixed_G1_replay_then_three_seed_H2_adapter_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "vitar-to-g1-h2-dexterous-hand-bounded-residual-001", "evidence_id": "arxiv-2608-15816", "source_project": "ViTaR", "target_projects": [ "G1", "H2", "灵巧手" ], "affected_modules": [ "frozen VLA visuotactile residual adapter", "tactile calibration/synchronization", "contact recovery and OOD regression" ], "source_contract": { "embodiment": "RealMan RM65-B with dual 9DTact; fixed-base arm, not humanoid/legged", "sensors": [ "RGB", "proprioception", "tactile history" ], "action_output": "bounded 7D residual and gain over frozen OpenVLA-OFT action chunk; not WBC/torque output", "evidence_boundary": "UniVTAC seven-task simulation and three real tasks with 20 trials/task reported by authors; ViTaR method code, weights, branches, real logs, tactile calibration and license not released" }, "target_contract_delta": { "required_checks": [ "freeze target sensor/action/calibration and residual bounds", "same-state visual-only versus candidate comparison", "separate contact retention, recovery, unsafe-pass/false-reject, latency and dropout", "three seeds plus ID/OOD object/scene/hand regression before human review" ], "data_match": "bounded adapter and evaluation protocol may transfer; RM65-B results cannot be treated as G1/H2 evidence", "license_and_compute": "UniVTAC benchmark terms and ViTaR method terms audited separately; Hub resource snapshot required, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sensor_replay_and_simulation_only", "confidence": "primary_full_text_and_official_source_review_with_small_fixed_base_real_evidence_without_independent_reproduction", "rollback": "remove ViTaR residual adapter and restore frozen VLA/WBC baseline plus independent safety plane; no production replacement", "generalization_evidence": { "same_embodiment_real_robot": "reported_RM65_B_20_trials_per_task", "unseen_or_ood": "reported_UniVTAC_ID_OOD_scope", "cross_task": "seven_sim_tasks_and_three_real_tasks", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_released" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_method_code_weights_data_license_tactile_calibration_and_cross_embodiment_contract", "next_gate": "released_artifacts_then_three_seed_same_batch_sensor_contract_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "w2-vla-to-g1-h2-m20-r1-future-wrist-adapter-001", "evidence_id": "arxiv-2608-05369", "source_project": "World-to-Wrist / W2-VLA", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "future wrist latent representation", "VLA action-head adapter", "cross-embodiment OOD evaluation" ], "source_contract": { "embodiment": "CoBoT Magic / Mobile ALOHA bimanual platforms; LIBERO and RoboTwin simulation", "sensors": [ "multi-view RGB", "language/task context", "proprioception/action history" ], "action_output": "future wrist latent and bimanual action proposal; not humanoid WBC or torque output", "evidence_boundary": "paper reports LIBERO/RoboTwin and three bimanual tasks with 180 W2-VLA trials; fixed code, 10.55GB weights and downloadable datasets verified, but dataset licenses and independent reproduction absent" }, "target_contract_delta": { "required_checks": [ "freeze target observation/action/calibration and wrist-coordinate transform", "same-batch champion/challenger with matched tasks and held-out objects/scenes", "separate latent quality, action realizability, latency, recovery and WBC rejection", "three seeds and G1/H2/M20/R1 cross-embodiment adapter regression" ], "data_match": "future-wrist representation and evaluation protocol are candidates; CoBoT/Mobile ALOHA data cannot be treated as target-robot evidence", "license_and_compute": "repository/model/data licenses audited separately; 4×A100/8×B200 author configurations are not dispatch guarantees; 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_replay_and_simulation_only", "confidence": "primary_full_text_and_fixed_artifact_review_without_independent_or_cross_embodiment_reproduction", "rollback": "remove W2-VLA adapter and restore frozen target champion plus independent WBC/safety plane; no production replacement", "generalization_evidence": { "same_embodiment_real_robot": "reported_bimanual_three_tasks_180_trials", "unseen_or_ood": "reported_standard_and_OOD_bimanual_split", "cross_task": "reported_LIBERO_RoboTwin_and_three_real_tasks", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "code_weights_data_downloadable_but_dataset_license_missing" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_license_gate_blocked", "artifact_gate": "blocked_dataset_license_cross_embodiment_calibration_and_independent_reproduction", "next_gate": "resolve_data_terms_then_three_seed_target_schema_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "dypes-vla-to-g1-h2-m20-r1-shared-dynamics-prior-001", "evidence_id": "arxiv-2608-06374", "source_project": "DyPES-VLA", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "shared dynamics prior", "embodiment-specific native-head router", "cross-embodiment evaluation" ], "source_contract": { "embodiment": "Franka Research 3, AgileX COBOT Magic and Unitree G1/Inspire RH56DFQ", "sensors": [ "RGB/proprioception and task condition as described in paper" ], "action_output": "embodiment-specific native action head selected by static MoE router; not a WBC/torque safety interface", "evidence_boundary": "author reports 3 embodiments × 3 tasks × 25 trials = 225 trials/method and 75.6% vs GR00T 59.6%; 1,800 demonstrations, 16×H100, no code/weights/data/license or independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze per-robot observation/action/calibration schemas and leakage-safe embodiment routing", "same-batch native-head champion versus shared-prior challenger", "report per-embodiment/task denominators, recovery, latency, action feasibility and WBC rejection", "three seeds and held-out H2/M20/R1 embodiment/task/scenario regression" ], "data_match": "shared dynamics and metadata protocol are candidates; author G1/FR3/COBOT results cannot be treated as H2/M20/R1 evidence", "license_and_compute": "artifact closure and Hub resource snapshot required; 16×H100 is author configuration, not dispatch guarantee; 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_G1_replay_and_cross_embodiment_simulation_only", "confidence": "primary_full_text_and_project_page_review_without_open_artifacts_or_independent_reproduction", "rollback": "remove DyPES shared-prior challenger and restore frozen per-embodiment champion plus independent WBC/safety plane; no production replacement", "generalization_evidence": { "same_embodiment_real_robot": "reported_FR3_COBOT_G1_225_trials_per_method", "unseen_or_ood": "task and embodiment matrix reported but details require fixed replay", "cross_task": "reported_three_tasks_per_embodiment", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "author_claimed_joint_checkpoint_only", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_released" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_routing_leakage_and_independent_reproduction", "next_gate": "release artifacts then three_seed_per_embodiment_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "contactguard-to-g1-h2-m20-r1-precontact-veto-001", "evidence_id": "arxiv-2608-13438", "source_project": "ContactGuard", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "pre-contact monitor", "risk/veto interface", "failure taxonomy and audit logging" ], "source_contract": { "embodiment": "AgileX Piper dual-arm author platform; exact runtime/model and sensor layout not fully disclosed", "sensors": [ "paper-described visual/proprioceptive/action context; exact deployment contract unverified" ], "action_output": "policy-agnostic pre-contact veto/abort decision; not controller or torque output", "evidence_boundary": "author reports four physical tasks and counterfactual pre-contact evidence; no official code, environment, weights, data, license, detailed denominators, runtime or independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze target robot action/sensor/emergency-stop interface", "same-state policy replay with monitor-on/off and counterfactual failure labels", "report unsafe-pass, false-reject, probe accuracy, veto latency and recovery separately", "three seeds and held-out contact/scene/embodiment regression before human review" ], "data_match": "monitoring/veto contract may transfer; Piper evidence cannot certify G1/H2/M20/R1 safety", "license_and_compute": "artifact closure and Hub resource snapshot required; 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_replay_and_simulation_only", "confidence": "primary_full_text_review_with_author_physical_evidence_without_platform_runtime_artifacts_or_independent_reproduction", "rollback": "disable ContactGuard monitor and restore existing independent WBC/emergency-stop baseline; no production safety claim", "generalization_evidence": { "same_embodiment_real_robot": "reported_Piper_four_tasks", "unseen_or_ood": "counterfactual_scope_only", "cross_task": "reported_four_physical_tasks", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_released" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_platform_runtime_code_weights_data_license_denominator_and_independent_reproduction", "next_gate": "freeze_target_safety_interface_then_three_seed_replay_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "roboreact-to-g1-h2-egovideo-skill-distillation-001", "evidence_id": "arxiv-2608-03387", "source_project": "RoboReact", "target_projects": [ "G1", "H2" ], "affected_modules": [ "ego-video generation/filtering", "3D keyframe re-grounding", "whole-body skill distillation" ], "source_contract": { "embodiment": "Unitree G1 with Revo2 Touch hands and RealSense D435i", "sensors": [ "single RGB-D observation", "language/task instruction" ], "action_output": "VLM-edited first-person video plus 3D keyframe/skill trajectory proposal; not WBC/torque output", "evidence_boundary": "four G1 tasks ×20 trials, average author success 81.25%; no code, weights, data, generator/editor license or independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze camera/action/calibration and generated-video provenance", "same-state baseline versus generated-video challenger with keyframe alignment audit", "report rejection, hallucinated geometry/contact, success, recovery and latency separately", "three seeds, held-out objects/scenes and H2 adapter regression" ], "data_match": "provenance and re-grounding protocol may transfer; generated video cannot be counted as real demonstrations without source/license audit", "license_and_compute": "generator/editor and method artifacts unavailable; Hub resource snapshot required, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_G1_replay_and_simulation_only", "confidence": "primary_full_text_and_project_review_with_quantified_G1_evidence_without_reproducible_artifacts", "rollback": "remove RoboReact generated-video branch and restore frozen skill baseline plus independent WBC/safety plane; no production replacement", "generalization_evidence": { "same_embodiment_real_robot": "reported_G1_four_tasks_80_trials", "unseen_or_ood": "not_reported", "cross_task": "reported_handover_open_box_pour_drawer", "perturbation_or_dynamics_shift": "not_disclosed", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_released" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_generator_code_weights_data_license_provenance_and_cross_embodiment_contract", "next_gate": "freeze_video_provenance_then_three_seed_G1_simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "robodojo-to-g1-h2-m20-r1-generalization-eval-001", "evidence_id": "arxiv-2607-04434", "source_project": "RoboDojo", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "sim-real benchmark adapter", "policy evaluation/failure taxonomy", "cross-embodiment regression matrix" ], "source_contract": { "embodiment": "42 simulation + 18 physical tasks across three benchmark embodiments; author-operated physical station", "sensors": [ "benchmark-defined camera/proprioception and reset/task metadata" ], "action_output": "standardized policy evaluation trace; not a controller, WBC or torque interface", "evidence_boundary": "30 policies and quantified task coverage reported; official fixed code/data and sampled HDF5 verified, but full 2.91TB download and independent physical replication not performed" }, "target_contract_delta": { "required_checks": [ "freeze target sensor/action adapters and reset-state semantics", "same policy set, task seeds and anti-cheating checks across baseline/challenger", "report per-task denominator, variance, failure taxonomy, runtime/resource cost and sim-real gap", "three seeds, held-out scene/embodiment and asset/license audit" ], "data_match": "evaluation schema and provenance checks may transfer; benchmark score cannot be treated as target-robot deployment evidence", "license_and_compute": "repository README/LICENSE conflict blocks commercial use; dataset and XPolicyLab terms remain separate from upstream assets; 242 unavailable and 244/245 shared" }, "verdict": "test_soon_standardized_sim_and_replay_evaluation_only", "confidence": "primary_full_text_and_official_fixed_code_data_review_without_independent_physical_reproduction", "rollback": "disable RoboDojo gate and restore existing evaluation protocol; no production model replacement or robot action", "generalization_evidence": { "same_embodiment_real_robot": "reported_18_physical_tasks_three_embodiments", "unseen_or_ood": "task/scenario matrix reported; external replication absent", "cross_task": "42_sim_and_18_real_tasks", "perturbation_or_dynamics_shift": "sim_real_gap_reported_at_benchmark_scope", "cross_embodiment": "three_benchmark_embodiments", "cross_sensor_or_hand": "not_reported_for_targets", "independent_reproduction": "not_reported", "reproducible_artifacts": "fixed_code_and_public_data_sampled" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_license_gate_blocked", "artifact_gate": "blocked_repository_license_conflict_asset_provenance_and_independent_real_eval", "next_gate": "resolve_license_then_three_seed_target_adapter_evaluation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "starvla-to-g1-h2-m20-r1-modular-vla-adapter-001", "evidence_id": "arxiv-2604-05014", "source_project": "StarVLA / StarVLA-alpha", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "VLA backbone/action-head adapter", "cross-benchmark evaluator", "action normalization and calibration ledger" ], "source_contract": { "embodiment": "LIBERO, SimplerEnv, RoboTwin 2.0, RoboCasa-GR1 and ARX5/other author platforms; target humanoid and wheel-arm deployment not established", "inputs": [ "RGB or multi-view RGB", "language/task instruction", "optional benchmark-specific state" ], "action_output": "action chunks from FAST/OFT/flow/GR00T-style heads; not torque, WBC or safety output", "evidence_boundary": "primary full text, official docs and repositories verified; main code license and exact paper checkpoint closure remain incomplete" }, "target_contract_delta": { "required_checks": [ "freeze target sensor/action/calibration and temporal contract", "same-batch champion versus challenger on matched and held-out tasks/scenes", "report action feasibility, latency, recovery and unsafe-pass separately", "three-seed closed-loop simulation before human on-machine gate" ], "data_match": "modular interface and evaluation protocol may transfer; benchmark data and author-reported results cannot be counted as target-robot evidence", "license_and_compute": "alpha code MIT, main repository license unresolved, checkpoint/data terms separate; dispatch only from Hub live ledger with 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary source and official artifact review without independent target-embodiment reproduction", "rollback": "remove StarVLA adapter and restore frozen champion; no production VLA/WBC replacement or robot action", "generalization_evidence": { "same_embodiment_real_robot": "author_reported_ARX5_for_alpha; no independent replication", "unseen_or_ood": "benchmark-specific and paper-reported only", "cross_task": "multi-benchmark interface reported", "perturbation_or_dynamics_shift": "partially reported, target contract absent", "cross_embodiment": "benchmark embodiments only, target G1/H2/M20/R1 not reported", "cross_sensor_or_hand": "not_reported_for_targets", "independent_reproduction": "not_reported", "reproducible_artifacts": "alpha_code_and_checkpoint_available_with_paper_checkpoint_caveat" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked", "artifact_gate": "blocked_target_action_contract_main_license_and_independent_cross_embodiment_evidence", "next_gate": "freeze target adapter then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "egohumanoid-to-g1-h2-m20-r1-egocentric-retargeting-001", "evidence_id": "legacy-0ef13ba22caf", "source_project": "EgoHumanoid", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "egocentric video preprocessing", "human/robot action alignment", "whole-body policy and WBC adapter" ], "source_contract": { "embodiment": "official Unitree G1 + dex3-1 path with ZED/PICO capture; no independent end-to-end reproduction", "inputs": [ "robot-free egocentric human video", "task language", "calibration and alignment metadata" ], "action_output": "LeRobot-compatible demonstrations and bounded whole-body action conditioning; not torque/WBC/safety output", "evidence_boundary": "official code and Apache-2.0 sample dataset reviewed; sample is not the complete paper corpus, checkpoint and full-data terms incomplete" }, "target_contract_delta": { "required_checks": [ "freeze sample/full-corpus boundary, schema, calibration and target action contract", "same-batch baseline versus adapter on matched/held-out tasks and contact/occlusion perturbations", "report alignment error, success, contact stability, latency, recovery and unsafe-pass separately", "three-seed closed-loop simulation before human gate" ], "data_match": "capture/retargeting schema may transfer; G1 author results and sample data cannot count as H2/M20/R1 proof", "license_and_compute": "repository/sample Apache-2.0; upstream GR00T/OpenPI/SDK and full corpus terms remain separate; dispatch only Hub ledger with 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_g1_replay_and_simulation_only", "confidence": "primary source review with official code/sample and no independent target-embodiment reproduction", "rollback": "disable EgoHumanoid adapter and restore frozen champion; no production VLA/WBC replacement", "generalization_evidence": { "same_embodiment_real_robot": "author-reported Unitree G1 path and 50Hz control documentation", "unseen_or_ood": "paper/project claims open-world demonstrations; full denominator not independently verified", "cross_task": "loco-manipulation task family reported", "perturbation_or_dynamics_shift": "not independently quantified", "cross_embodiment": "H2/M20/R1 unverified", "cross_sensor_or_hand": "dex3-1/ZED/PICO path only", "independent_reproduction": "not_reported", "reproducible_artifacts": "official code and public sample; full corpus/checkpoint unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_data_scope_cross_embodiment_gate_blocked", "artifact_gate": "blocked_full_corpus_checkpoint_target_calibration_and_independent_cross_embodiment_validation", "next_gate": "freeze G1 sample replay and target adapter then three-seed simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "wholebodyvla-to-g1-h2-m20-r1-latent-locomotion-planner-001", "evidence_id": "legacy-5cb68ca18e0f", "source_project": "WholeBodyVLA", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "latent action model", "loco-manipulation policy interface", "whole-body action normalization and safety regression" ], "source_contract": { "embodiment": "official project reports humanoid loco-manipulation; exact reproducible target platform protocol not fully published", "inputs": [ "egocentric visual observations", "language/task instruction" ], "action_output": "latent action tokens decoded to bounded dual-arm and locomotion commands; not WBC/torque/safety output", "evidence_boundary": "official paper/project/resource repository reviewed; repository is MIT but README says no concrete code release timeline, no verified weights/data/independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze latent token and locomotion/action adapters", "same-batch baseline versus challenger on matched/held-out loco-manipulation tasks", "report stability, manipulation success, action feasibility, latency, recovery and unsafe-pass separately", "three-seed closed-loop simulation before human gate" ], "data_match": "latent interface and evaluation schema may transfer; project media and resource list cannot count as target-robot quantitative proof", "license_and_compute": "MIT applies to current repository materials only; method artifacts unavailable; dispatch only Hub ledger with 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sim_and_replay_only", "confidence": "official source review without executable artifact or independent target-embodiment reproduction", "rollback": "disable WholeBodyVLA adapter and restore frozen champion; no production VLA/WBC replacement", "generalization_evidence": { "same_embodiment_real_robot": "official project media/descriptions only, no independent denominator", "unseen_or_ood": "not independently reported", "cross_task": "loco-manipulation scope described; reproducible task matrix unavailable", "perturbation_or_dynamics_shift": "not independently reported", "cross_embodiment": "target G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "not_reported_for_targets", "independent_reproduction": "not_reported", "reproducible_artifacts": "resource repository only; no method code/weights/data verified" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_license_gate_blocked", "artifact_gate": "blocked_method_code_weights_data_deployment_contract_and_independent_evidence", "next_gate": "freeze latent/action adapter then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "jepa-wam-to-g1-h2-m20-r1-stage-future-planner-001", "evidence_id": "arxiv-2608-10780", "source_project": "JEPA-WAM (stage-level joint-embedding prediction)", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "stage future latent", "local video-action WAM", "action normalization and recovery regression" ], "source_contract": { "embodiment": "RoboTwin 2.0 simulation and in-house ARX R5/LIFT2 dual-arm; author-reported only", "inputs": [ "causal video frames", "language/task context", "stage/action history" ], "action_output": "stage latent and bounded action chunks; not WBC/torque/safety output", "evidence_boundary": "arXiv full-text method and quantified results reviewed; no author code, weights, data package, license or independent reproduction verified" }, "target_contract_delta": { "required_checks": [ "freeze V-JEPA2/Motus revisions, stage schema and target sensor/action/latency contract", "same-batch baseline versus JEPA-WAM on matched/held-out tasks and visual/contact perturbations", "report stage accuracy, progress, success, recovery, latency and unsafe-pass separately", "three-seed closed-loop simulation before human gate" ], "data_match": "stage-level future evaluation and adapter protocol may transfer; LIFT2 progress and RoboTwin results cannot count as G1/H2/M20/R1 proof", "license_and_compute": "artifact terms unresolved; dispatch only Hub ledger with 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sim_and_replay_only", "confidence": "primary source review without independent target-embodiment reproduction or artifact/license closure", "rollback": "disable JEPA-WAM adapter and restore frozen champion; no production VLA/WBC replacement", "generalization_evidence": { "same_embodiment_real_robot": "author-reported LIFT2 two-task trials, 20 evaluations per task, no independent replication", "unseen_or_ood": "clean and randomized RoboTwin settings reported", "cross_task": "50 RoboTwin tasks plus two real tasks, each real task separately trained", "perturbation_or_dynamics_shift": "randomized simulation and visual settings; target dynamics unverified", "cross_embodiment": "dual-arm benchmark only, target G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "not_reported_for_targets", "independent_reproduction": "not_reported", "reproducible_artifacts": "paper protocol described; code/weights/data/license unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_license_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_stage_contract_and_cross_embodiment_validation", "next_gate": "freeze stage/action adapter then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "abot-n1-to-g1-h2-m20-r1-navigation-planner-001", "evidence_id": "arxiv-2607-10383", "source_project": "ABot-N1", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "slow-fast navigation planner", "SE(2) waypoint adapter", "collision and localization regression" ], "source_contract": { "embodiment": "author-reported AMap TuTu quadruped with camera/RTK-GNSS/LiDAR and Jetson AGX Orin; no independent reproduction", "inputs": [ "vision observations", "language/POI task context", "optional localization/state per target adapter" ], "action_output": "semantic target/pixel plus bounded SE(2) waypoints; not WBC, torque or safety output", "evidence_boundary": "primary full text, official project and fixed benchmark evaluator reviewed; model, weights and training corpus unavailable, repository root license unresolved" }, "target_contract_delta": { "required_checks": [ "freeze coordinate convention and target sensor/action/latency contract", "same-batch baseline versus ABot on matched/held-out scenes and perturbations", "report success, SPL, waypoint error, collision, recovery, latency and unsafe-pass separately", "three-seed closed-loop simulation before human gate" ], "data_match": "navigation evaluator and slow-fast interface may transfer; author benchmark numbers and TuTu qualitative trials cannot count as target proof", "license_and_compute": "public evaluator/renderer terms are separate; model/weights/data unavailable; dispatch only Hub ledger with 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sim_and_replay_only", "confidence": "primary source review without independent target-embodiment reproduction or model artifact closure", "rollback": "disable ABot planner/adapter and restore frozen navigation champion; no production VLA/WBC replacement", "generalization_evidence": { "same_embodiment_real_robot": "author_reported TuTu qualitative trials without denominators", "unseen_or_ood": "PointBench/POIBench and distribution-specific benchmark reports", "cross_task": "point, object, POI, instruction following and following tasks", "perturbation_or_dynamics_shift": "input perturbations and collision checks reported; target dynamics unverified", "cross_embodiment": "target G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "not_reported_for_targets", "independent_reproduction": "not_reported", "reproducible_artifacts": "benchmark evaluator/public data interfaces available; model/training/weights incomplete" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_license_gate_blocked", "artifact_gate": "blocked_model_weights_training_data_repository_license_and_independent_physical_evidence", "next_gate": "freeze coordinate adapter then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "tau0-vla-to-g1-h2-m20-r1-hierarchical-planner-001", "evidence_id": "arxiv-2608-16885", "source_project": "τ0-VLA", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "long-horizon subtask planner", "world-model/value/beam search", "40D state/action adapter" ], "source_contract": { "embodiment": "AGIBOT G1, ARX AC One, bimanual Franka; multi-embodiment author-reported real robot; no independent reproduction", "inputs": [ "vision observations + task context", "subtask/action history" ], "action_output": "world-model forecasts, value/beam-ranked subtask branches and bounded action chunks; not WBC/torque", "evidence_boundary": "primary full text and official project/HF reviewed; GitHub 404, HF license/data terms incomplete" }, "target_contract_delta": { "required_checks": [ "freeze 40D mapping and target sensor/action/latency contract", "same-batch baseline vs tau0 on matched/held-out long-horizon tasks", "report next-subtask accuracy, progress, recovery, latency and unsafe-pass separately", "three-seed closed-loop simulation before human gate" ], "data_match": "test-time planning protocol and subtask metrics may transfer; author data and cross-embodiment scores cannot be counted as target proof", "license_and_compute": "HF license unresolved, GitHub 404, mixed unreleased data; dispatch only Hub ledger, 242 unavailable/244/245 shared" }, "verdict": "test_soon_controlled_sim_and_replay_only", "confidence": "primary source review without independent replication or artifact/license closure", "rollback": "disable tau0 planner/adapter and restore frozen champion; no production VLA/WBC replacement", "generalization_evidence": { "same_embodiment_real_robot": "author_reported G1/AC One/Franka, no independent replication", "unseen_or_ood": "paper reports in-domain and distribution-shift evaluation", "cross_task": "long-horizon mobile manipulation and multi-task", "perturbation_or_dynamics_shift": "partially reported via distribution shift", "cross_embodiment": "three named platform families, target H2/M20/R1 unverified", "cross_sensor_or_hand": "not_reported_for_targets", "independent_reproduction": "not_reported", "reproducible_artifacts": "HF weights available; code/data/license incomplete" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_license_gate_blocked", "artifact_gate": "blocked_code_404_weights_license_data_contract_and_cross_embodiment_validation", "next_gate": "freeze 40D target adapter then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "agibot-world-to-g1-h2-m20-r1-real-data-adapter-001", "evidence_id": "dataset-agibot-world-beta", "source_project": "AgiBot World Beta", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "real-data ingestion and quality filter", "LeRobot/action normalization", "cross-embodiment VLA/WAM adapter", "WBC and safety regression" ], "source_contract": { "embodiment": "official card describes 100 robots and multi-configuration real-world collection; exact target calibration and full corpus remain gated", "inputs": [ "RGB/video", "depth", "state/proprioception", "language/task context", "visual-tactile/contact channels where available" ], "action_output": "demonstration/action targets for bounded adapter training; not torque/WBC/safety output", "evidence_boundary": "official dataset card and repository reviewed; public sample and full-corpus contact gate separated; no independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze dataset revision, sample/full boundary, schema, calibration and license terms", "same-batch champion versus adapter on matched/held-out tasks and contact/occlusion perturbations", "report coverage, action feasibility, success, recovery, latency and unsafe-pass separately", "three-seed closed-loop simulation before human gate" ], "data_match": "schema/filter/normalization/evaluation protocol may transfer; source scale claims and sample data cannot count as target-robot proof", "license_and_compute": "CC BY-NC-SA 4.0 and contact gate apply; model/assets separate; dispatch only Hub ledger with 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sample_replay_and_simulation_only", "confidence": "primary source review without independent cross-embodiment training or real-machine acceptance", "rollback": "disable AgiBot data adapter/filter and restore frozen champion data pipeline and WBC safety plane", "generalization_evidence": { "same_embodiment_real_robot": "official real-robot collection description; target-calibrated independent reproduction not reported", "unseen_or_ood": "official card lists diverse scenarios/tasks; denominator and split audit pending", "cross_task": "200+ tasks and 87 atomic skills stated by current card", "perturbation_or_dynamics_shift": "failure/contact coverage and target dynamics transfer not independently quantified", "cross_embodiment": "source claims 100 robots; G1/H2/M20/R1 action calibration unverified", "cross_sensor_or_hand": "multi-modal channels listed; per-channel calibration and hand mapping pending", "independent_reproduction": "not_reported", "reproducible_artifacts": "official repository and conversion tooling; full data contact-gated" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_data_scope_license_gate_blocked", "artifact_gate": "blocked_full_corpus_access_target_calibration_license_manifest_and_independent_validation", "next_gate": "freeze public-sample replay and target adapter then three-seed simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "vtam-to-g1-h2-m20-r1-visuotactile-wam-001", "evidence_id": "arxiv-2603-23481", "source_project": "VTAM", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "visual-tactile fusion", "world-action prediction", "virtual-force/contact residual adapter", "WBC safety regression" ], "source_contract": { "embodiment": "author-reported real arm platform; complete arm identity and calibration not independently verified", "inputs": [ "multi-view visual streams", "tactile streams", "task context" ], "action_output": "world-action prediction and contact residual signals; not WBC/torque/safety output", "evidence_boundary": "primary paper/project reviewed; linked repository not anonymously readable, artifacts/license/independent reproduction unavailable" }, "target_contract_delta": { "required_checks": [ "freeze tactile geometry, clock alignment and target sensor/action contract", "same-batch visual-only, tactile-only, fused and VTAM-adapter baselines on matched/held-out contact tasks", "report per-modality ablation, contact stability, success, latency, recovery and unsafe-pass", "three-seed closed-loop simulation before human gate" ], "data_match": "fusion and evaluation protocol may transfer; author arm results cannot count as G1/H2/M20/R1 proof", "license_and_compute": "artifact/license terms unresolved; dispatch only Hub ledger with 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sim_and_replay_only", "confidence": "primary source review without independently readable artifacts or target-embodiment reproduction", "rollback": "disable VTAM adapter and restore frozen champion/WBC safety plane", "generalization_evidence": { "same_embodiment_real_robot": "author-reported four 20-trial real-arm tasks, no independent replication", "unseen_or_ood": "not independently verified", "cross_task": "four contact tasks reported", "perturbation_or_dynamics_shift": "tactile/visual modality experiments reported; target dynamics unverified", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "sensor geometry/calibration incomplete", "independent_reproduction": "not_reported", "reproducible_artifacts": "repository linked but not anonymously readable; code/weights/data/license unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_license_gate_blocked", "artifact_gate": "blocked_artifacts_tactile_calibration_license_and_cross_embodiment_validation", "next_gate": "freeze modality/calibration adapter then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "tacforesight-to-g1-h2-m20-r1-visuotactile-prediction-001", "evidence_id": "arxiv-2606-11184", "source_project": "TacForeSight", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "visual-tactile fusion", "Zarr stream/time alignment", "contact/failure prediction", "WBC safety regression" ], "source_contract": { "embodiment": "paper/repository describe a real-robot tactile prediction setup; target identity and cross-embodiment transfer are not independently verified", "inputs": [ "30Hz image/tactile/action streams", "120Hz force/state streams", "task context" ], "action_output": "prediction/risk features for a bounded adapter; not torque/WBC/safety output", "evidence_boundary": "official fixed-commit code is readable; README says training data and checkpoints are not released; root license is not declared" }, "target_contract_delta": { "required_checks": [ "freeze Zarr schema, stream clocks, tactile geometry, calibration and license terms", "same-batch visual-only, tactile-only, fused and TacForeSight adapter baselines on contact, occlusion and delay cases", "report prediction quality, contact stability, recovery, latency and unsafe-pass separately", "three-seed closed-loop simulation before human gate" ], "data_match": "stream schema and evaluation protocol may transfer; source data and arm results cannot count as G1/H2/M20/R1 proof", "license_and_compute": "code license unresolved, data/checkpoints unavailable; dispatch only Hub ledger with 242 unavailable and 244/245 shared" }, "verdict": "long_term_attention_and_controlled_simulation_only", "confidence": "official README/repository review without data, checkpoints, declared license or independent target-embodiment reproduction", "rollback": "disable TacForeSight adapter/predictor and restore frozen champion/WBC safety plane", "generalization_evidence": { "same_embodiment_real_robot": "source platform described by paper; target calibration not independently verified", "unseen_or_ood": "not reported", "cross_task": "task-conditioned stream interface; denominator not independently verified", "perturbation_or_dynamics_shift": "delay/clock checks required, quantitative target evidence absent", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "tactile geometry and mapping pending", "independent_reproduction": "not_reported", "reproducible_artifacts": "fixed-commit code/config readable; data/checkpoints/license incomplete" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_license_data_gate_blocked", "artifact_gate": "blocked_data_checkpoint_license_calibration_and_cross_embodiment_validation", "next_gate": "freeze public code schema adapter then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "contactguard-to-g1-h2-m20-r1-precontact-monitor-001", "evidence_id": "arxiv-2608-13438", "source_project": "ContactGuard", "target_projects": [ "G1", "H2", "M20", "R1" ], "affected_modules": [ "pre-contact latent monitor", "policy-chunk veto/hold", "threshold and failure calibration", "independent stop/WBC safety regression" ], "source_contract": { "embodiment": "AgileX Piper 14-DoF dual arm with three synchronized RGB cameras and ACT chunks; no humanoid, wheel-arm or legged evidence", "inputs": [ "multi-view RGB", "planned action chunks", "contact/closure event timing" ], "action_output": "risk score and bounded hold/abort request; not torque/WBC/safety output", "evidence_boundary": "full paper protocol reviewed; no official code, weights, data or artifact license verified" }, "target_contract_delta": { "required_checks": [ "freeze target policy chunk, event trigger, camera clock, K=30 horizon and validation threshold", "same-batch baseline versus monitor on matched/held-out contact, occlusion and delay cases", "report AUC, precision/recall, false-abort, unsafe-pass, hold latency, recovery and human handover separately", "three-seed closed-loop simulation before human gate" ], "data_match": "monitor interface and metrics may transfer; Piper author evidence cannot count as G1/H2/M20/R1 safety proof", "license_and_compute": "manuscript CC BY 4.0 only; code/data/weights unavailable, RTX 5090 report is not dispatch guarantee; use Hub ledger with 242 unavailable and 244/245 shared" }, "verdict": "long_term_attention_and_isolated_simulation_only", "confidence": "primary full-text protocol without implementation, independent reproduction or target-embodiment validation", "rollback": "disable ContactGuard monitor and restore frozen policy plus independent stop/WBC plane", "generalization_evidence": { "same_embodiment_real_robot": "author-reported Piper dual-arm experiments", "unseen_or_ood": "four task settings on one platform; broader OOD unverified", "cross_task": "cup/box, pencil/notebook and towel-fold settings reported", "perturbation_or_dynamics_shift": "corrupted-action/partial-contact protocol described; target dynamics unverified", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "RGB-only monitor; target sensors pending", "independent_reproduction": "not_reported", "reproducible_artifacts": "paper available; implementation/data/weights/license unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_license_cross_embodiment_gate_blocked", "artifact_gate": "blocked_implementation_data_threshold_stop-path_and_cross-embodiment-validation", "next_gate": "freeze monitor-only adapter and run three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "motionwam-g1-h2-m20-r1-matched-eval-adapter-001", "evidence_id": "arxiv-2606-09215", "source_project": "MotionWAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "Video-DiT to Motion-DiT latent adapter", "whole-body action chunks", "camera grounding and failure recovery", "SONIC/WBC feasibility regression" ], "source_contract": { "embodiment": "author-reported Unitree G1 with dual ALOHA2 grippers, head D435i and SONIC; no H2/M20/R1 transfer", "inputs": [ "egocentric RGB", "language instruction", "robot state/action history", "camera and embodiment metadata" ], "action_output": "unified whole-body motion latent/action chunks consumed by independent WBC; not direct torque", "evidence_boundary": "primary full-text and project-page review; MotionWAM code, 2.5B weights and Stage-3 data not released; related DiT4DiT MIT code is not MotionWAM" }, "target_contract_delta": { "required_checks": [ "freeze G1 task/reset, camera/hand configuration, SONIC interface and exact baseline/candidate revisions", "same Stage-3-like batch and nine-task split with 20 trials per task", "report success, intervention, camera grounding loss, action-limit violation, latency and WBC rejection separately", "stratify ID/OOD objects, viewpoint shift, chunk length and H2/M20/R1 adapters; three-seed closed-loop simulation first" ], "data_match": "matched evaluation protocol, camera/action adapter and failure taxonomy may transfer; author G1 result cannot count as cross-embodiment proof", "license_and_compute": "MotionWAM artifacts/data permission unresolved; related DiT4DiT MIT and reported A100/4090 hardware are not dispatch guarantees; use Hub ledger with 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_G1_replay_and_simulation_only", "confidence": "primary full-text matched G1 evidence with related-code boundary; no independent reproduction or cross-embodiment transfer", "rollback": "disable MotionWAM challenger/adapter and restore frozen VLA/WAM/SONIC/WBC baseline", "generalization_evidence": { "same_embodiment_real_robot": "author reports nine Unitree G1 whole-body tasks, 20 trials/task", "unseen_or_ood": "training/test objects visually similar; strict OOD not reported", "cross_task": "nine loco-manipulation tasks and ablations", "perturbation_or_dynamics_shift": "camera grounding failure and action limits reported; target dynamics transfer unverified", "cross_embodiment": "H2/M20/R1 and other humanoids unverified", "cross_sensor_or_hand": "dual ALOHA2/D435i setup only", "independent_reproduction": "not_reported", "reproducible_artifacts": "related DiT4DiT code available; MotionWAM implementation/weights/data unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_motionwam_artifact_license_cross_embodiment_gate_blocked", "artifact_gate": "blocked_motionwam_code_weights_stage3_data_calibration_and_cross-embodiment-validation", "next_gate": "freeze matched G1 adapter and run three-seed simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "harnesswam-to-g1-h2-m20-r1-task-orchestration-001", "evidence_id": "arxiv-2608-09516", "source_project": "HarnessWAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM" ], "affected_modules": [ "WAM task orchestration", "scene belief and task graph", "capability projection", "failure recovery and regression" ], "source_contract": { "embodiment": "RoboMemArena and RoboCerebra Ideal simulated manipulation agents; no humanoid, legged, wheeled-arm or real-robot evidence", "inputs": [ "dual-view RGB", "robot state", "language task", "subtask/action history" ], "action_output": "task graph, progress/recovery decision and bounded skill sequence; not torque/WBC", "evidence_boundary": "v1 paper reports 26-task/20-rollout matched simulation and ablations; code, weights, data, environment lock and license not released" }, "target_contract_delta": { "required_checks": [ "freeze skill vocabulary, capability limits, camera/state timing and simulator revision", "same-batch baseline versus task manager/projection/recovery ablations", "report full-task and subtask success, projection reject, recovery, timeout, latency and unsafe-pass separately", "three-seed closed-loop simulation before human gate" ], "data_match": "task-graph, progress and recovery protocol may transfer; benchmark scores cannot count as target-robot or cross-embodiment proof", "license_and_compute": "LingBot-VA/Qwen3-VL/SigLIP2, benchmark and any future HarnessWAM artifacts require separate license/compute audit; Hub ledger only, 242 unavailable and 244/245 shared" }, "verdict": "long_term_attention_and_controlled_simulation_only", "confidence": "primary v1 protocol reviewed without artifacts, independent reproduction or target embodiment", "rollback": "disable HarnessWAM task manager/projection and restore frozen WAM/VLA runtime plus independent WBC safety plane", "generalization_evidence": { "same_embodiment_real_robot": "simulation only", "unseen_or_ood": "benchmark family and memory/occlusion/counting splits reported", "cross_task": "26 long-horizon tasks", "perturbation_or_dynamics_shift": "not physical dynamics validation", "cross_embodiment": "not reported beyond simulated benchmark agents", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "paper only; no code/weights/data/environment lock/license" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_simulation_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_environment_license_and_cross-embodiment-validation", "next_gate": "freeze skill/capability adapter and run three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "cowam-to-g1-h2-m20-r1-selective-intervention-001", "evidence_id": "arxiv-2608-02578", "source_project": "CoWAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "WBC" ], "affected_modules": [ "WAM candidate selector", "coordination contract checker", "abstain and rollback", "WBC feasibility regression" ], "source_contract": { "embodiment": "RoboTwin 2.0 simulated bimanual manipulation; no humanoid, legged, wheel-arm or real-robot evidence", "inputs": [ "multi-view RGB-D future candidates", "predicted proprioception", "action/history and event labels" ], "action_output": "keep/replace/abstain over frozen WAM candidate actions; not torque/WBC", "evidence_boundary": "paper reports eight simulated tasks, 140/150 valid selections, 151/240 natural closed-loop success and 1/180 harmful matched negative intervention; code, weights, data and fixed environment not released" }, "target_contract_delta": { "required_checks": [ "freeze candidate pool, synchronization/role/collision obligations and thresholds", "same-batch baseline selector versus CoWAM on matched ID/OOD tasks", "report valid selection, natural success, harmful intervention, abstain, latency and WBC rejection", "three-seed closed-loop simulation before human gate" ], "data_match": "coordination contract and abstain protocol may transfer; selector results cannot count as WAM-generator or target-robot proof", "license_and_compute": "paper CC BY 4.0 is not code/weights/data/RoboTwin permission; Hub ledger only, 242 unavailable and 244/245 shared" }, "verdict": "long_term_attention_and_controlled_simulation_only", "confidence": "primary paper protocol reviewed without artifacts, independent reproduction or target embodiment", "rollback": "preserve original WAM candidate or abstain; disable CoWAM selector and restore frozen WBC/safety plane", "generalization_evidence": { "same_embodiment_real_robot": "simulation only", "unseen_or_ood": "matched negative interventions and task variants reported", "cross_task": "eight RoboTwin tasks", "perturbation_or_dynamics_shift": "not physical dynamics validation", "cross_embodiment": "not reported", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "paper only" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_simulation_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_environment_license_and_cross-embodiment-validation", "next_gate": "freeze candidate/contract adapter and run three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "xeworld-to-g1-h2-m20-r1-cross-embodiment-generalization-001", "evidence_id": "arxiv-2608-05799", "source_project": "XEWorld", "target_projects": [ "G1", "H2", "M20", "R1", "WAM" ], "affected_modules": [ "cross-embodiment world-model representation", "pixel/action adapter", "generalization and forgetting benchmark", "sim2real evidence gate" ], "source_contract": { "embodiment": "simulation assets Aloha, ARX, UR5 as seen and Franka/Piper as unseen; no real robot", "inputs": [ "action-conditioned video", "task/scene metadata", "embodiment/rendering metadata" ], "action_output": "future visual prediction/evaluation signal; not policy, torque or WBC output", "evidence_boundary": "paper describes 2500 core episodes and 25-task protocol; test data, code, checkpoints and dataset license unavailable" }, "target_contract_delta": { "required_checks": [ "freeze seen/unseen embodiment split, 25 tasks, renderer/action alignment and simulator revision", "compare abstract joint-action, pixel-action and privileged variants on identical episodes", "report LPIPS with task success, action feasibility, dynamics error, forgetting after adaptation and cross-scene shift", "three-seed closed-loop simulation before human gate" ], "data_match": "split/forgetting protocol may transfer; pixel metric and privileged renderer alignment cannot count as target-robot control proof", "license_and_compute": "paper-only evidence; no code/data/checkpoint/license; dispatch only Hub ledger with 242 unavailable and 244/245 shared" }, "verdict": "long_term_attention_and_simulation_benchmark_only", "confidence": "primary paper review with explicit seen/unseen protocol; no artifacts, independent reproduction or real-robot validation", "rollback": "remove XEWorld adapter/benchmark claim and restore frozen cross-embodiment evaluation contract", "generalization_evidence": { "same_embodiment_real_robot": "simulation only", "unseen_or_ood": "Franka/Piper unseen in the paper protocol", "cross_task": "25-task shared protocol", "perturbation_or_dynamics_shift": "render/action alignment and embodiment shift studied; physical dynamics unverified", "cross_embodiment": "five simulated robot assets, no target humanoid/wheel-arm proof", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "paper only; code/data/checkpoint/license unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_cross_embodiment_artifact_gate_blocked", "artifact_gate": "blocked_code_data_checkpoint_license_privileged-leakage_and_real-validation", "next_gate": "freeze split and reproduce benchmark in isolated simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "vitacworld-to-g1-h2-m20-r1-visuotactile-dream-rollout-001", "evidence_id": "arxiv-2607-22530", "source_project": "ViTacWorld", "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手" ], "affected_modules": [ "visuotactile world-model adapter", "dream-data quality gate", "tactile policy evaluation", "WBC/safety regression" ], "source_contract": { "embodiment": "Franka Panda with Xense tactile sensors; four contact-rich tasks, author-reported ten trials per task", "inputs": [ "main/wrist RGB", "tactile stream", "proprioception", "language/task context", "action chunks" ], "action_output": "future visuotactile rollout and policy-evaluation signal; not torque, WBC or safety output", "evidence_boundary": "primary paper/project reviewed; GitHub is website source only, method code/weights/data/license unavailable" }, "target_contract_delta": { "required_checks": [ "freeze sensor geometry, clocks, calibration and action schema", "same-batch visual-only, tactile-only, fused and ViTacWorld-augmented baselines", "report success, contact stability, dream-rollout precision, latency, recovery and unsafe-pass separately", "three-seed G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "dream-rollout filtering and dual success/contact metrics may transfer; Panda/Xense results are not humanoid evidence", "license_and_compute": "32xH20 reported training is not dispatch authorization; artifact/data/license gate unresolved, Hub ledger only with 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_replay_and_simulation_only", "confidence": "primary full-text and project-page review without released artifacts or independent cross-embodiment reproduction", "rollback": "disable ViTacWorld rollout adapter and restore frozen policy/VLA/WBC baseline", "generalization_evidence": { "same_embodiment_real_robot": "author-reported Panda/Xense trials only", "unseen_or_ood": "simulation task/interaction variation; target-body OOD unverified", "cross_task": "four contact-rich tasks", "perturbation_or_dynamics_shift": "sensor/layout alignment claimed but no independent gap decomposition", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "Xense-specific calibration", "independent_reproduction": "not_reported", "reproducible_artifacts": "method code, weights, data and license unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_compute_cross_embodiment_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_calibration_and_cross-embodiment-validation", "next_gate": "freeze stream adapter and reproduce same-batch policy/dream-rollout evaluation in isolated simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "dcwam-to-g1-h2-m20-r1-dynamic-ood-supervision-001", "evidence_id": "arxiv-2607-25918", "source_project": "DC-WAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM" ], "affected_modules": [ "dynamic-centric WAM supervision", "DynaRoute adapter", "OOD regression", "WBC safety gate" ], "source_contract": { "embodiment": "Agilex Piper dual-arm real robot plus LIBERO/LIBERO-Plus simulation", "inputs": [ "RGB", "action/history", "language", "offline tracker graph" ], "action_output": "future-token supervision and WAM action chunk; not torque/WBC", "evidence_boundary": "same-protocol OOD and author-reported real trials; code, weights, data and license unavailable" }, "target_contract_delta": { "required_checks": [ "freeze backbone, demo split, tracker/DynaRoute revisions and OOD dimensions", "same-batch visual-only/FastWAM-AC/DC-WAM comparison", "report clean/OOD success, clean-to-OOD drop, latency, failure and WBC rejection", "three-seed G1/H2/M20/R1 simulation before human gate" ], "data_match": "dynamic supervision and OOD protocol may transfer; Piper results cannot count as humanoid or wheel-arm proof", "license_and_compute": "paper-only artifacts; use Hub ledger, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_fixed_replay_and_ood_simulation_only", "confidence": "primary full-text review with explicit OOD and real-robot baselines; no independent reproduction", "rollback": "disable DC-WAM/DynaRoute adapter and restore frozen WAM/VLA/WBC baseline", "generalization_evidence": { "same_embodiment_real_robot": "author-reported Piper tasks", "unseen_or_ood": "LIBERO-Plus seven perturbation dimensions and light/background real tests", "cross_task": "three real tasks plus LIBERO family", "perturbation_or_dynamics_shift": "appearance/OOD shifts; physical dynamics unverified", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "code/weights/data/license unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_cross_embodiment_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_and_target-body-validation", "next_gate": "reproduce clean/OOD protocol in isolated simulation with fixed baseline", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "vist3d-to-g1-h2-m20-r1-visuotactile-benchmark-001", "evidence_id": "arxiv-2608-20740", "source_project": "VisTa3D", "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手" ], "affected_modules": [ "vision-tactile calibration", "3D reconstruction benchmark", "sensor-layout adapter", "contact/WBC regression" ], "source_contract": { "embodiment": "robotic vision/tactile acquisition platform; exact robot body not established", "inputs": [ "RGB", "depth", "tactile", "IMU", "camera poses", "registered point cloud" ], "action_output": "reconstruction and calibration benchmark output; not policy/WBC", "evidence_boundary": "official HF dataset card verified, approximately 111GB, MIT; separate code and model artifacts not verified" }, "target_contract_delta": { "required_checks": [ "freeze revision/file hashes/frame graph/depth scale/tactile geometry", "same-batch RGB/depth/tactile/fused baselines", "report reconstruction error, sync failure, dropout, contact quality and WBC rejection", "three-seed target-body simulation before human gate" ], "data_match": "sensor/frame and contact-quality protocol may transfer; benchmark is not humanoid performance evidence", "license_and_compute": "download/replay through NAS only; verify dataset terms and Hub resource ledger, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_dataset_and_calibration_smoke_only", "confidence": "official dataset card and arXiv record verified; exact embodiment and cross-body evaluation unverified", "rollback": "remove VisTa3D adapter and restore frozen sensor/calibration regression baseline", "generalization_evidence": { "same_embodiment_real_robot": "acquisition platform identity not established", "unseen_or_ood": "387 scenes, 70 thin objects and 17 environments reported", "cross_task": "thin-object reconstruction benchmark", "perturbation_or_dynamics_shift": "sensor/calibration shifts pending", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "schema is reusable only after geometry mapping", "independent_reproduction": "not_reported", "reproducible_artifacts": "dataset card verified; separate code/model artifacts not verified" }, "engineering_review": { "schema_version": "1.0", "status": "dataset_card_verified_calibration_cross_embodiment_gate_blocked", "artifact_gate": "blocked_revision_hash_frame_graph_calibration_and_target-body-validation", "next_gate": "verify fixed files and run isolated multimodal calibration replay", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "foretime-vla-to-g1-h2-m20-r1-causal-future-token-001", "evidence_id": "arxiv-2608-20735", "source_project": "ForeTime-VLA", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA" ], "affected_modules": [ "causal future-token adapter", "phase/time-to-transition head", "action expert interface", "latency/WBC regression" ], "source_contract": { "embodiment": "conveyor-belt manipulation arm", "inputs": [ "8-frame visual history", "language", "action context" ], "action_output": "four future tokens plus phase/time-to-transition into pi0.5 action expert; not torque/WBC", "evidence_boundary": "90-grasp author-reported arm result; no code, weights, data, license or independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze teacher/student, 64-D target, history/action schema and speed splits", "same-batch current-only/future-token/oracle baselines", "report anticipation error, success, latency, leakage, recovery and WBC rejection", "three-seed target-body simulation before human gate" ], "data_match": "future-token interface may transfer; arm result is not humanoid or wheel-arm evidence", "license_and_compute": "paper-only; use Hub ledger, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_causal_replay_and_simulation_only", "confidence": "primary paper review with quantified arm result; no independent reproduction", "rollback": "disable ForeTime future-token adapter and restore frozen VLA/WBC baseline", "generalization_evidence": { "same_embodiment_real_robot": "author conveyor-belt arm trials", "unseen_or_ood": "belt-speed conditions", "cross_task": "moving-object grasping", "perturbation_or_dynamics_shift": "speed shift only", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_cross_embodiment_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_and_target-body-validation", "next_gate": "reproduce causal leakage-safe replay in isolated simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "tactile-pose-pf-to-g1-h2-m20-r1-object-state-001", "evidence_id": "arxiv-2608-17601", "source_project": "Physics-Informed Sliding-Window Particle Filter", "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手" ], "affected_modules": [ "tactile object-state estimator", "hand calibration", "belief adapter", "contact/WBC regression" ], "source_contract": { "embodiment": "Allegro Hand V5 with 16 PaXini tactile modules, known meshes and AprilTag truth", "inputs": [ "tactile streams", "hand kinematics", "mesh/marker truth" ], "action_output": "6-DoF object pose belief; not policy/torque/WBC", "evidence_boundary": "five objects, 1000 episodes, low-speed quasi-static; code/data/license unavailable" }, "target_contract_delta": { "required_checks": [ "freeze tactile geometry, mesh/calibration, timestamps and particle/window settings", "same-batch baseline versus particle filter under nominal/perturbed initialization", "report ADD-S, relocalization, latency, dropout, dynamic-contact failures and WBC rejection", "three-seed target-body simulation before human gate" ], "data_match": "belief schema and timing checks may transfer; Allegro pose results are not autonomous humanoid manipulation evidence", "license_and_compute": "paper-only, Hub ledger, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_calibration_and_replay_smoke_only", "confidence": "primary full-text protocol with physical Allegro evaluation; no independent reproduction", "rollback": "disable tactile-pose adapter and restore frozen state/contact baseline", "generalization_evidence": { "same_embodiment_real_robot": "Allegro tactile sequences", "unseen_or_ood": "nominal/perturbed initialization and five objects", "cross_task": "object pose refinement", "perturbation_or_dynamics_shift": "low-speed quasi-static only", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "PaXini/Allegro-specific", "independent_reproduction": "not_reported", "reproducible_artifacts": "not released" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_calibration_dynamics_artifact_gate_blocked", "artifact_gate": "blocked_mesh_calibration_data_code_license_and_target-body-validation", "next_gate": "replay fixed tactile pose protocol in isolated simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "4dwam-to-g1-h2-m20-r1-trajectory-alignment-001", "evidence_id": "arxiv-2608-08023", "source_project": "4D-WAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM" ], "affected_modules": [ "trajectory-field supervision", "WAM adapter/action head", "OOD regression", "WBC safety gate" ], "source_contract": { "embodiment": "ARX LIFT2 dual-arm plus LIBERO/RoboTwin simulation", "inputs": [ "video history", "WAM intermediate representation", "task language", "train-only Trace Anything 4D features" ], "action_output": "bounded future video/action latent; not torque/WBC", "evidence_boundary": "author-reported 5.5% mean real success, 8xH100, no code/weights/data or independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze teacher/features/layer/lambda/temperature and file hashes", "same-batch base/4D/oracle comparisons with three seeds", "report OOD gain, leakage, latency, real success, recovery and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "train-only future representation and OOD protocol may transfer; ARX/LIBERO results are not humanoid or wheel-arm evidence", "license_and_compute": "paper-only; use Hub live ledger, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_replay_and_simulation_only", "confidence": "primary full-text review; artifact, cross-body and independent evidence unavailable", "rollback": "disable 4D alignment adapter and restore frozen WAM/WBC baseline", "generalization_evidence": { "same_embodiment_real_robot": "ARX LIFT2 reported", "unseen_or_ood": "LIBERO-Plus and RoboTwin Clean2Rand", "cross_task": "multiple benchmark tasks", "perturbation_or_dynamics_shift": "visual/camera and environment perturbations", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not reported", "reproducible_artifacts": "unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_cross_embodiment_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_and_target-body-validation", "next_gate": "replay leakage-safe trajectory alignment in isolated simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "lilawam-to-g1-h2-m20-r1-lightweight-001", "evidence_id": "arxiv-2608-03701", "source_project": "LiLa-WAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA" ], "affected_modules": [ "future-latent WAM adapter", "DINOv3 visual encoder", "VTT task contract", "Sim2Real/WBC regression" ], "source_contract": { "embodiment": "RoboTwin/LIBERO plus Agilex Piper+D435", "inputs": [ "RGB", "16-D proprioception", "VTT task token", "future DINOv3 latent target" ], "action_output": "32-step flow-matching action chunk; not torque/WBC", "evidence_boundary": "0.5B model, RTX 5090 recipe, Piper 4-task 200-rollout report; no LICENSE, weights or independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze commit, encoder/query/action schema, VTT mapping and data hashes", "same-batch base/foresight/no-foresight comparisons with three seeds", "report success, latency, failure class, action feasibility, license and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "future-latent auxiliary supervision and low-cost recipe may transfer; Piper results are not cross-body evidence", "license_and_compute": "official code is visible but has no LICENSE; use Hub live ledger, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_artifact_license_audit_and_simulation_only", "confidence": "primary full-text and official repository review with author-only physical evidence", "rollback": "disable LiLa adapter and restore frozen VLA/WBC baseline", "generalization_evidence": { "same_embodiment_real_robot": "Agilex Piper", "unseen_or_ood": "RoboTwin randomized scenes", "cross_task": "four physical tasks plus RoboTwin/LIBERO", "perturbation_or_dynamics_shift": "randomized scenes and object positions", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "Piper/D435-specific", "independent_reproduction": "not_reported", "reproducible_artifacts": "code visible; license/weights/data closure missing" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_license_cross_embodiment_gate_blocked", "artifact_gate": "blocked_license_weights_data_and_target-body-validation", "next_gate": "verify fixed repository/data hashes and run isolated latent-replay simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "forewam-to-g1-h2-m20-r1-latent-future-001", "evidence_id": "arxiv-2608-11605", "source_project": "ForeWAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA" ], "affected_modules": [ "Future-KV latent-future interface", "action DiT adapter", "OOD regression", "latency/WBC gate" ], "source_contract": { "embodiment": "LIBERO/LIBERO-Plus simulation only", "inputs": [ "visual latent", "language", "proprioception", "train-only future latent/LA teacher" ], "action_output": "latent-future-conditioned action chunk; not torque/WBC", "evidence_boundary": "LIBERO-Plus 61.6 vs Fast-WAM 51.5 and 220ms Flash path; no real robot, code/weights or independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze Future-KV/mask/LA schedule and data hashes", "same-batch base/Future-KV/LA/both comparisons with three seeds", "report OOD gain, leakage, latency, failure class and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "train-only latent-future supervision may transfer; LIBERO-Plus is not sim2real evidence", "license_and_compute": "project/paper only; use Hub live ledger, 242 unavailable and 244/245 shared" }, "verdict": "long_term_attention_and_simulation_only", "confidence": "primary full-text/project-page review; no real robot, open artifacts or independent reproduction", "rollback": "disable Future-KV/LA adapter and restore frozen WAM/VLA baseline", "generalization_evidence": { "same_embodiment_real_robot": "not reported", "unseen_or_ood": "LIBERO-Plus seven perturbation dimensions", "cross_task": "LIBERO four suites", "perturbation_or_dynamics_shift": "camera/robot-init/language/lighting/background/noise/layout", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_cross_embodiment_gate_blocked", "artifact_gate": "blocked_code_weights_license_and_target-body-validation", "next_gate": "leakage-safe LIBERO replay then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "panovla-to-m20-r1-g1-h2-panoramic-001", "evidence_id": "arxiv-2608-02257", "source_project": "PanoVLA", "target_projects": [ "M20", "R1", "G1", "H2", "VLA" ], "affected_modules": [ "panoramic visual encoder", "KV-cache fusion adapter", "mobile base+arm action interface", "whole-body regression" ], "source_contract": { "embodiment": "RANGER MINI 3 base plus dual AgileX Piper arms", "inputs": [ "local views", "dual-fisheye panorama", "language", "base/arm state" ], "action_output": "continuous mobile-base and dual-arm action chunk; not torque/WBC", "evidence_boundary": "5.5h teleoperation data, four real tasks, SCR 91.3/SR 73.4 author result; code/weights/data unavailable" }, "target_contract_delta": { "required_checks": [ "freeze projection/calibration/task frames and data hashes", "same-batch local-only/raw-panorama/panorama-expert comparisons with three seeds", "report spatial drift, dropout, latency, recovery and WBC rejection", "M20/R1 then G1/H2 closed-loop simulation before human gate" ], "data_match": "panoramic context and KV fusion may transfer to wheel-arm; platform result is not humanoid evidence", "license_and_compute": "paper-only; use Hub live ledger, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_m20_r1_panorama_replay_and_simulation_only", "confidence": "primary full-text review with author-reported real-robot evidence; no independent reproduction or open artifacts", "rollback": "disable panorama encoder/fusion and restore frozen local-view VLA baseline", "generalization_evidence": { "same_embodiment_real_robot": "RANGER MINI 3 plus dual Piper", "unseen_or_ood": "multi-stage spatial tasks; explicit OOD not reported", "cross_task": "four mobile-manipulation tasks", "perturbation_or_dynamics_shift": "panorama/local-view ablations", "cross_embodiment": "M20/R1/G1/H2 unverified", "cross_sensor_or_hand": "dual-fisheye/Piper-specific", "independent_reproduction": "not_reported", "reproducible_artifacts": "unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_cross_embodiment_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_calibration_and_target-body-validation", "next_gate": "fixed panoramic replay and three-seed wheel-arm simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "openvla-cdpr-to-g1-h2-m20-r1-adapter-001", "evidence_id": "arxiv-2608-01013", "source_project": "OpenVLA-OFT CDPR RL bootstrapping", "target_projects": [ "G1", "H2", "M20", "R1", "VLA" ], "affected_modules": [ "embodiment adapter/action head", "privileged-geometry RL alignment", "sim2real regression", "safety/WBC gate" ], "source_contract": { "embodiment": "cable-driven parallel robot plus gripper simulation", "inputs": [ "visual", "language", "CDPR geometry/state", "privileged simulator signals" ], "action_output": "CDPR interface action; not humanoid torque/WBC", "evidence_boundary": "PPO 34.25% to PPO+GRPO 53.50%, simulation only; no real trials or open method artifacts" }, "target_contract_delta": { "required_checks": [ "freeze target-body adapter and privileged-state exclusion", "same-batch imitation/PPO/GRPO comparisons with three seeds", "report strict success, instability, leakage, action feasibility and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "adapter criteria may transfer; CDPR geometry and simulation results do not establish humanoid transfer", "license_and_compute": "paper-only; use Hub live ledger, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_adapter_simulation_only", "confidence": "primary full-text review with simulation-only evidence; no real robot or independent reproduction", "rollback": "disable CDPR-derived adapter and restore frozen VLA baseline", "generalization_evidence": { "same_embodiment_real_robot": "not reported", "unseen_or_ood": "eight target objects in simulation", "cross_task": "object-conditioned CDPR control", "perturbation_or_dynamics_shift": "not reported", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "CDPR-specific", "independent_reproduction": "not_reported", "reproducible_artifacts": "unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_privileged_sim_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_and_target-body-validation", "next_gate": "privileged-leakage audit and three-seed target-body simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "vlk-to-g1-h2-m20-r1-synthetic-contact-001", "evidence_id": "oa-w7166900964", "source_project": "VLK", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA" ], "affected_modules": [ "synthetic interaction data", "contact-label trajectory adapter", "SceneBot tracker", "WBC regression" ], "source_contract": { "embodiment": "Unitree G1 with ZED 2i; synthetic reconstructed scenes", "inputs": [ "egocentric RGB", "language", "G1 kinematics", "contact labels" ], "action_output": "H=30 kinematic trajectory plus contact-conditioned PD targets; not direct torque/WBC", "evidence_boundary": "240 G1 trials, 48K/96K synthetic trajectory claim, 3DGS/SceneBot; code/data/weights coming soon or unavailable" }, "target_contract_delta": { "required_checks": [ "freeze reconstruction/retarget/render revisions and synthetic hashes", "same-batch no-DR/camera-DR/lighting-DR/full-DR and contact-label ablations with three seeds", "report surface success, contact-label leakage, sim2real gap, latency and WBC rejection", "G1 replay then H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "synthetic data and contact-label interface may transfer; 3DGS is not approved as a physical training main route", "license_and_compute": "paper-only; verify derived-data terms and Hub live ledger, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_g1_replay_and_simulation_only", "confidence": "primary full-text review with 240 author-reported G1 trials; no open artifacts, seeds or independent reproduction", "rollback": "disable VLK/SceneBot adapter and restore frozen VLA/WBC baseline", "generalization_evidence": { "same_embodiment_real_robot": "Unitree G1", "unseen_or_ood": "layout/light changes and domain-randomization ablations", "cross_task": "walking and floor/surface transport tasks", "perturbation_or_dynamics_shift": "camera/lighting/full DR", "cross_embodiment": "H2/M20/R1 unverified", "cross_sensor_or_hand": "G1/ZED-specific", "independent_reproduction": "not_reported", "reproducible_artifacts": "unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_data_coverage_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_surface-coverage_and_cross-body-validation", "next_gate": "fixed G1 replay and three-seed regression with surface-coverage expansion", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "sigloma-go2-openworld-loco-manipulation-001", "evidence_id": "arxiv-2605-03846", "source_project": "SigLoMa", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "导航" ], "affected_modules": [ "semantic perception", "failure-replay curriculum", "loco-manipulation adapter", "independent WBC/safety gate" ], "source_contract": { "embodiment": "Unitree Go2 + RealSense D435i + low-cost gripper + Jetson Orin NX", "inputs": [ "egocentric RGB", "proprioception", "semantic goal" ], "action_output": "quadruped locomotion and gripper command proposal", "evidence_boundary": "three real tasks, 10 trials/task; MIT code available, weights/data and cross-body evidence unavailable" }, "target_contract_delta": { "required_checks": [ "freeze object/task split, camera/action calibration and ASC replay IDs", "same-batch baseline/adapter/RGB-only three-seed comparison", "report seen/unseen objects, recovery, latency and WBC rejection", "closed-loop simulation on G1/H2/M20/R1 before human gate" ], "data_match": "failure replay and semantic-goal schema are migration candidates; Go2 success is not humanoid evidence", "license_and_compute": "MIT code verified; data/weights and dependency terms require separate verification; use Hub live ledger" }, "verdict": "test_soon_simulation_only", "confidence": "primary paper/project/repository review; real evidence is 30 total trials per task and no independent reproduction", "rollback": "disable SigLoMa adapter and restore frozen VLA/WBC baseline", "generalization_evidence": { "same_embodiment_real_robot": "Unitree Go2", "unseen_or_ood": "27 YCB objects and randomized 6-DoF simulation starts; real object split not independently verified", "cross_task": "ball-to-bin, toy-to-hamper, water-bottle-to-box", "perturbation_or_dynamics_shift": "camera/extrinsic and perception-delay randomization in simulation", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "D435i and low-cost gripper specific", "independent_reproduction": "not_reported", "reproducible_artifacts": "code only; weights/data unavailable" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_data_coverage_gate_blocked", "artifact_gate": "blocked_weights-data-cross-body-license-and-independent-reproduction", "next_gate": "fixed Go2 replay plus target-body closed-loop simulation and three-seed regression", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "golem-to-h1-2-g1-h2-module-contract-001", "evidence_id": "arxiv-2608-21550", "source_project": "GOLEM", "target_projects": [ "H1-2", "G1", "H2", "M20", "R1", "WBC", "WAM", "Sim2Real" ], "affected_modules": [ "navigation/localization", "lower-body WBC", "upper-body manipulation", "visual servoing", "spatiotemporal memory", "independent safety plane" ], "source_contract": { "embodiment": "Unitree H1-2 with Livox MID-360, RealSense D435i/D405 and ROS2/DDS", "inputs": [ "proprioception", "LiDAR/IMU", "RGB-D point clouds", "end-effector goals", "language spatial queries" ], "action_output": "base twists, SE(3) end-effector goals and module-specific commands behind safety/WBC", "evidence_boundary": "author reports 19/20 navigation success, ALMI recovery 14/15, real screw grasp 96.7/86.7/36.7% across autonomy tiers; no independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze target sensor/action/calibration/latency contracts", "replay measured H1-2 navigation placement variance and base sway", "same-protocol three-seed simulation against frozen baseline", "report module-level error attribution, action feasibility, safety and recovery before manual gate" ], "data_match": "capability ladder and failure attribution are migration candidates; H1-2 metrics do not establish G1/H2/M20/R1 transfer", "license_and_compute": "GOLEM/CL_isaaclab_sim top-level license not verified; SAM3 gated dependency and all assets require separate closure; 242 unavailable, 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Unitree H1-2 author-reported", "unseen_or_ood": "navigation-induced placement variance and real perception uncertainty reported", "cross_task": "navigation, force-adaptive standing, grasping and spatial memory", "perturbation_or_dynamics_shift": "manual pelvis pushes and navigation pose variance", "cross_embodiment": "interface proposal only; not reported", "cross_sensor_or_hand": "H1-2 sensor/hand specific", "independent_reproduction": "not_reported", "reproducible_artifacts": "code/repo reachable; weights/data/license closure not verified" }, "verdict": "test_soon_simulation_only", "confidence": "primary full-text review with real trial denominators and explicit counter-evidence; artifact and cross-body gates remain blocked", "rollback": "disable GOLEM challenger modules and restore frozen navigation/WBC/visual-grasp baseline plus independent safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_real_h1_2_artifact_license_cross_body_gate_blocked", "artifact_gate": "blocked_weights-data-license-independent-reproduction-and-target-body-contract", "next_gate": "fixed H1-2 replay plus G1/H2 closed-loop simulation and three-seed regression", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "m3vla-to-g1-h2-m20-r1-modality-masking-001", "evidence_id": "arxiv-2608-22419", "source_project": "M3VLA", "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "multi-view sensor fusion", "query-based VLA action head", "masking curriculum", "contact-rich robustness evaluation", "independent safety/WBC gate" ], "source_contract": { "embodiment": "bimanual real-world platforms plus RoboTwin 2.0 simulation", "inputs": [ "ego view", "left/right wrist views", "language", "action queries", "proprioception where available" ], "action_output": "H-step continuous action chunk under L1 regression; not torque/WBC", "evidence_boundary": "author reports Clean/Clean2Rand and three real task cohorts; no humanoid/legged result, code coming soon" }, "target_contract_delta": { "required_checks": [ "freeze target camera layout, clock sync, action horizon and mask probabilities", "same-batch no-mask/generic dropout/M3 comparison with three seeds", "report sensor dropout, occlusion, long-horizon contact, action feasibility, latency and WBC rejection", "closed-loop simulation on G1/H2/M20/R1 before human gate" ], "data_match": "structured ego/wrist masking and query dropout are migration candidates; bimanual platform success is not humanoid evidence", "license_and_compute": "paper/project verified; code/weights/data/license not closed; use Hub live ledger, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "three bimanual task platforms, author reported", "unseen_or_ood": "Clean2Rand and real OOD clutter reported", "cross_task": "ten RoboTwin tasks plus three real long-horizon tasks", "perturbation_or_dynamics_shift": "camera masking, occlusion, clutter and lighting/randomized scenes", "cross_embodiment": "VLA backbone transfer only; no humanoid/legged", "cross_sensor_or_hand": "ego/wrist camera layout specific", "independent_reproduction": "not_reported", "reproducible_artifacts": "repository code coming soon" }, "verdict": "test_soon_simulation_only", "confidence": "primary full-text review with explicit real trial denominators and OOD counter-evidence; no humanoid evidence or artifact closure", "rollback": "disable M3 masking curriculum/challenger and restore frozen VLA/VLA-Adapter baseline plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_bimanual_only_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_and_cross-body-validation", "next_gate": "fixed camera/action contract then three-seed G1/H2/M20/R1 simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "musashi-skin-to-g1-h2-proprioception-contract-001", "evidence_id": "arxiv-2608-23304", "source_project": "Musashi-W biomimetic joint-covering skin", "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "视觉触觉" ], "affected_modules": [ "proprioceptive state estimator", "skin/muscle fusion", "contact disturbance detector", "independent WBC/safety gate" ], "source_contract": { "embodiment": "tendon-driven Musashi-W right upper limb", "inputs": [ "10 muscle length", "10 muscle tension", "32 strain gauges", "12 stretch sensors", "OptiTrack ground truth" ], "action_output": "3-DoF elbow angle estimate; not torque or WBC", "evidence_boundary": "615 normal samples + 157 disturbance samples, 20 random seeds; M+T encoder 1.62° RMSE, skin-only disturbance 40.81–53.63°; no independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2 channel map, calibration, timing and dropout behavior", "same-batch encoder-only/skin-only/fused estimator with three seeds", "inject external contact, sensor drift and missing channels", "report angle error, contact false positives, latency, recovery and WBC rejection before human gate" ], "data_match": "sensor-fusion and modality-disagreement concepts are migration candidates; Musashi-W tendon/skin mechanics do not establish G1/H2 transfer", "license_and_compute": "no official code/weights/data verified; materials and sensor dependencies require separate license audit; use Hub live ledger" }, "generalization_evidence": { "same_embodiment_real_robot": "Musashi-W right upper limb", "unseen_or_ood": "external press/rod stimulation only", "cross_task": "proprioceptive estimation and disturbance interpretation", "perturbation_or_dynamics_shift": "157-sample external stimulation set", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "specific skin/muscle channels", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_available" }, "verdict": "test_soon_offline_and_simulation_only", "confidence": "primary full-text evidence with explicit sample counts and negative disturbance result; hardware and cross-body gates blocked", "rollback": "disable skin estimator and restore frozen encoder/muscle state estimator plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_sensor_contract_and_artifact_gate_blocked", "artifact_gate": "blocked_code-data-license-durability-and-cross-body-validation", "next_gate": "fixed channel replay plus G1/H2 closed-loop state-estimation simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "tonav-to-go2-m20-r1-g1-h2-navigation-manipulation-001", "evidence_id": "arxiv-2608-22296", "source_project": "TONAV quadrupedal mobile manipulation", "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "WAM", "Sim2Real", "导航" ], "affected_modules": [ "task-oriented navigation", "adaptive approach", "q/qdot action chunk", "teleoperation data contract", "WBC/safety feasibility gate" ], "source_contract": { "embodiment": "Unitree Go2-W quadruped with two Piper arms", "inputs": [ "language", "RGB/depth and open-vocabulary target perception", "odometry", "joint q and qdot", "teleoperation timestamps" ], "action_output": "PP-CoT navigation subgoals, AAM base alignment/stand-off control, and ACT-style q/qdot chunks; no torque/WBC output", "evidence_boundary": "navigation 3 tasks x 5 trials, 60% overall; complete manipulation 4/5 each task, 80% with P-V demonstrations; no independent reproduction or open artifacts" }, "target_contract_delta": { "required_checks": [ "freeze target embodiment camera/proprioception/action units, clock and manipulation-ready pose tolerance", "same-batch position-only vs q/qdot candidate, AAM/no-AAM and three seeds", "report navigation/conditional manipulation SR, base pose error, contact loss, latency, limits and WBC rejection", "closed-loop simulation on G1/H2/M20/R1 before human gate" ], "data_match": "teleoperation q/qdot fields, delayed-vision compensation and navigation-to-manipulation pose handoff are migration candidates; Go2-W/Piper mechanics and small trial counts do not establish humanoid transfer", "license_and_compute": "official code/weights/data not verified; use Hub live ledger, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Unitree Go2-W plus two Piper arms, author reported", "unseen_or_ood": "three articulated-object tasks and LLM ablations; cross-scene generalization not independently established", "cross_task": "drawer, lamp and toilet-lid interaction", "perturbation_or_dynamics_shift": "delayed visual observations handled by Kalman/odometry compensation; no independent dynamics-shift benchmark", "cross_embodiment": "not reported", "cross_sensor_or_hand": "RGB/depth, proprioception and Piper arm setup specific", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_available" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary full-text evidence with explicit real trial denominators and platform details; artifact, cross-body and independent-reproduction gates blocked", "rollback": "disable AAM/action-velocity challenger and restore frozen position-only navigation/manipulation baseline plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_quadruped_mobile_manipulation_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_and_cross-embodiment-validation", "next_gate": "freeze q/qdot/base-pose contract then three-seed G1/H2/M20/R1 simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "vitar-to-g1-h2-m20-r1-bounded-tactile-adapter-001", "evidence_id": "arxiv-2608-15816", "source_project": "ViTaR visuo-tactile residual adaptation", "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WAM", "WBC", "视觉触觉", "Sim2Real" ], "affected_modules": [ "tactile marker encoder", "frozen VLA adapter", "bounded residual selector/gain", "contact safety monitor", "WBC fallback" ], "source_contract": { "embodiment": "RealMan RM65-B with DH Robotics gripper, dual 9DTact and D455 cameras; UniVTAC simulated suite", "inputs": [ "RGB/proprioception/language", "bilateral tactile images and marker descriptor", "execution history", "frozen VLA action chunk" ], "action_output": "one bounded 7D correction applied across an action chunk or no-op; frozen VLA remains semantic reference", "evidence_boundary": "UniVTAC 61.3% vs 30.7% frozen base; Rec=.79/Pres=.92/Unsafe=.04; physical 3 tasks x 20 trials; no independent reproduction or humanoid evidence" }, "target_contract_delta": { "required_checks": [ "freeze tactile geometry, calibration, clocks, action/residual bounds and WBC interface", "same-batch frozen VLA/no-tactile/residual/ViTaR with three seeds", "inject sensor dropout, drift, latency and contact slip; report success, recovery, preservation, Unsafe and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "bounded adapter, local preference evidence and tactile-conditioned gain are migration candidates; RM65-B/9DTact geometry and branch supervision do not establish cross-body transfer", "license_and_compute": "ViTaR code/weights/data not verified; UniVTAC openness is third-party benchmark only; use Hub live ledger" }, "generalization_evidence": { "same_embodiment_real_robot": "RealMan RM65-B plus gripper, author reported", "unseen_or_ood": "seven UniVTAC contact-rich tasks and physical insertion/lift/wiping; no cross-body test", "cross_task": "grasping, insertion, pulling, placement, tactile classification and sustained wiping", "perturbation_or_dynamics_shift": "real sensor noise/dynamics and early-stop safety protocol reported", "cross_embodiment": "not_reported", "cross_sensor_or_hand": "dual 9DTact on one gripper geometry", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_available" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary full-text evidence with explicit branch accounting, 20-trial physical protocol and comparison caveats; artifact and target-body gates blocked", "rollback": "disable EGM/RAM residual and restore frozen VLA plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_bounded_tactile_adapter_artifact_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_and_cross-body-validation", "next_gate": "fixed sensor/action contract then three-seed target-body simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "tau0-wm-to-g1-h2-m20-r1-wam-safety-001", "evidence_id": "arxiv-2606-01027", "source_project": "τ₀-WM VAM/ACVS", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC" ], "affected_modules": [ "video-action backbone", "action-conditioned future evaluator", "test-time candidate selection", "data/failure curriculum", "WBC safety gate" ], "source_contract": { "embodiment": "AGIBOT-G01, ARX manipulators and dual-arm Franka; author-reported multi-view language-conditioned tasks", "inputs": [ "multi-view RGB", "language", "proprioception", "memory", "candidate action chunk" ], "action_output": "30-step action chunks; ACVS future/reward ranking and LAR re-query; not torque/WBC", "evidence_boundary": "27.3K hours heterogeneous data, 220ms RTX5090 query, author-reported results; code present, root license and data/independent reproduction unresolved" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2/M20/R1 observation/action/time/WBC contracts", "same-batch action-only/RCS/LAR three-seed replay", "calibrate predicted progress against simulator/held-out outcomes", "report unsafe-pass, infeasible action, latency, recovery and WBC rejection" ], "data_match": "failure/recovery supervision and candidate evaluation are migration candidates; AGIBOT/ARX/Franka results do not establish target-body transfer", "license_and_compute": "HF weights metadata Apache-2.0; official repo root license and training-data terms unresolved; Hub ledger only, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary full-text and official artifact metadata; no independent reproduction or humanoid/legged cross-body evidence", "rollback": "disable τ₀-WM challenger, ACVS/RCS/LAR and restore frozen VLA/WAM plus independent WBC/safety plane", "generalization_evidence": { "same_embodiment_real_robot": "AGIBOT-G01/ARX/dual-arm Franka author reported", "unseen_or_ood": "held-out long-horizon tasks and clutter variants reported", "cross_task": "packing, assembly, toolbox/school-bag/faucet/badminton task families", "perturbation_or_dynamics_shift": "visual clutter and action-failure/recovery data; physical dynamics shift not independently isolated", "cross_embodiment": "three source embodiments; G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "multi-view RGB/proprioception only; tactile absent", "independent_reproduction": "not_reported", "reproducible_artifacts": "weights public; code/license/data closure incomplete" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_wam_world_model_artifact_and_cross_body_gate_blocked", "artifact_gate": "blocked_license_data_independent-reproduction_and_target-body-validation", "next_gate": "fixed target-body replay with calibrated ACVS progress and three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "dele-w05-to-g1-h2-m20-r1-future-state-wam-001", "evidence_id": "arxiv-2608-22067", "source_project": "DELE-w0.5 / HeTu-1.0", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC" ], "affected_modules": [ "future-state latent interface", "action flow-matching head", "stage-wise failure monitor", "long-horizon adapter", "WBC safety gate" ], "source_contract": { "embodiment": "Astribot S1 dual-arm robot in fixed real-world scenes", "inputs": [ "head RGB", "left/right wrist RGB", "language", "proprioception" ], "action_output": "60-step 7-DoF or 14-DoF action chunk; future state is training bridge and omitted at inference; not torque/WBC", "evidence_boundary": "480 author-reported trials, 20 per method-task; no public code/weights/data/license or independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze target view/state/action and future-state horizon", "same-batch frozen VLA/video-WAM/future-state-WAM replay with three seeds", "calibrate stage progress against simulator/held-out outcomes", "report contact failure, transition preservation, latency, action feasibility and WBC rejection" ], "data_match": "future-state target and ordered-stage failure taxonomy are migration candidates; Astribot fixed-scene results are not G1/H2 evidence", "license_and_compute": "no public artifacts verified; Hub ledger only, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_sim_only", "confidence": "primary full-text protocol with explicit denominators and baseline table; artifact and cross-body gates blocked", "rollback": "disable DELE future-state challenger and restore frozen VLA/WAM plus independent WBC/safety plane", "generalization_evidence": { "same_embodiment_real_robot": "Astribot S1, author reported", "unseen_or_ood": "fixed-scene task variants; target-body OOD unverified", "cross_task": "four long-horizon tasks", "perturbation_or_dynamics_shift": "contact-rich and bimanual transitions within fixed scenes", "cross_embodiment": "G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "three RGB views and Astribot-specific kinematics", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_available" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_video_free_wam_artifact_cross_body_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_and_target-body-validation", "next_gate": "fixed target-body replay with calibrated future-state progress and three-seed simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "morfic-to-go1-go2-g1-h2-m20-r1-morphology-critic-001", "evidence_id": "arxiv-2603-14554", "source_project": "MorFiC morphology-aware FiLM critic", "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "足式" ], "affected_modules": [ "morphology parameter adapter", "critic/value calibration", "sim2real randomization", "contact/WBC regression" ], "source_contract": { "embodiment": "single Unitree Go2 simulation template; Go1/Go2/A1/B1/Cheetah/AlienGo/ANYmal target morphologies; Unitree Go1/Go2 author-reported real deployment", "inputs": [ "proprioception/history/height grid", "command velocity", "11D morphology/control descriptor" ], "action_output": "PPO locomotion action through LCM/state estimator; not torque contract or humanoid WBC", "evidence_boundary": "400M simulated steps, 4000 envs, 10 real Go1 trials and Go2 deployment; no independent reproduction or open artifacts" }, "target_contract_delta": { "required_checks": [ "freeze target morphology/URDF/action-scale/state-estimator and contact interfaces", "same-batch PPO/concat/FiLM critic three-seed evaluation", "report EV, advantage variance, speed, fall-free time, slip, estimator drift and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "value-path conditioning and calibrated morphology-distance report are migration candidates; quadruped dynamics and action spaces are not humanoid evidence", "license_and_compute": "no official code/weights/data verified; Hub ledger only, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_cross_morphology_sim_only", "confidence": "primary full-text protocol and author-reported Go1/Go2 deployment; no independent reproduction or target-body validation", "rollback": "disable MorFiC adapter and restore frozen locomotion/WBC baseline plus independent safety plane", "generalization_evidence": { "same_embodiment_real_robot": "Unitree Go1/Go2 author reported", "unseen_or_ood": "held-out morphology robots including Cheetah/AlienGo/ANYmal", "cross_task": "command-velocity locomotion", "perturbation_or_dynamics_shift": "mass/limits/torque/friction/delay/noise/contact randomization", "cross_embodiment": "multiple quadrupeds only; G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "state estimator and quadruped sensors specific", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_available" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_quadruped_cross_morphology_artifact_humanoid_gate_blocked", "artifact_gate": "blocked_code_weights_data_license_and_target-body-validation", "next_gate": "fixed morphology/action adapter and three-seed target-body simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "cotograsp-to-g1-h2-m20-r1-dexterous-contact-001", "evidence_id": "arxiv-2608-19776", "source_project": "CoToGrasp contact-topology canonical workspace", "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "canonical hand workspace", "topology/contact planner", "force-closure filter", "tactile/contact estimator boundary" ], "source_contract": { "embodiment": "UR10+Allegro Right Hand; YCB tabletop qualitative demonstration", "inputs": [ "object local features", "hand geometry/joint state", "contact topology" ], "action_output": "grasp pose/joint proposal, not torque or tactile state", "evidence_boundary": "210,000 synthetic training points, DexGraspNet/MultiDex metrics and qualitative real demo; no humanoid, tactile or independent evidence" }, "target_contract_delta": { "required_checks": [ "freeze target hand URDF/topology/action units", "same-batch three-seed topology baseline/candidate", "unseen object/hand closed-loop simulation", "report force closure, collision, stability, latency and WBC rejection" ], "data_match": "topology labels and feasibility filters are migration candidates; Allegro kinematics and object datasets are not target-body evidence", "license_and_compute": "public code/HF artifacts but repository SPDX and third-party data terms remain unresolved; Hub ledger only, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_dexterous_sim_only", "confidence": "primary full-text and official artifacts; no tactile, humanoid or independent reproduction", "rollback": "disable CoToGrasp adapter and restore frozen grasp/VLA/WBC baseline plus independent safety plane", "generalization_evidence": { "same_embodiment_real_robot": "UR10+Allegro author qualitative", "unseen_or_ood": "unseen object generalization claimed/evaluated in DexGraspNet", "cross_task": "topology-conditioned grasp synthesis", "perturbation_or_dynamics_shift": "collision/force-closure and kinematic filtering", "cross_embodiment": "other hand geometries unverified", "cross_sensor_or_hand": "no tactile sensor input", "independent_reproduction": "not_reported", "reproducible_artifacts": "code/checkpoints/data archive public; license closure partial" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_dexterous_contact_artifact_humanoid_gate_blocked", "artifact_gate": "blocked_by_tactile_boundary_target-hand-validation_and_license-terms", "next_gate": "fixed hand adapter and three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "pointing-vla-to-g1-h2-m20-r1-typed-spatial-interface-001", "evidence_id": "arxiv-2608-23138", "source_project": "Pointing-VLA typed spatial grounding interface", "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "typed spatial readout", "PICK/PLACE contract", "camera calibration", "planner collision gate" ], "source_contract": { "embodiment": "AgileX PiPER real deployment and WidowX/Bridge benchmark", "inputs": [ "multimodal hidden states", "language", "RGB", "phase contract" ], "action_output": "point/OFG/trajectory target consumed by CuRobo or π0.5; not torque/WBC", "evidence_boundary": "Bridge/WidowX 70/96 and PiPER 121/150 vs 79/150 baseline; no humanoid or independent evidence" }, "target_contract_delta": { "required_checks": [ "freeze backbone/head/camera/coordinate/planner revisions", "same-batch three-seed interface comparison", "report geometry, full-task, source-selection, latency and planner rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "typed spatial contracts are migration candidates; arm-camera and PiPER action assumptions are not humanoid evidence", "license_and_compute": "no public artifacts/license verified; Hub ledger only, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_controlled_spatial_interface_sim_only", "confidence": "primary full-text with author-reported quantified real deployment; no target-body validation", "rollback": "disable typed spatial adapter and restore frozen VLA/action policy plus independent safety plane", "generalization_evidence": { "same_embodiment_real_robot": "AgileX PiPER author reported 150 trials", "unseen_or_ood": "three visual contexts and Bridge/WidowX task variants", "cross_task": "four pick-place structures", "perturbation_or_dynamics_shift": "distractors, source selection and collision-enabled planning", "cross_embodiment": "WidowX/PiPER only; G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "dual-camera arm stack; no tactile", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_available" }, "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_typed_spatial_vla_artifact_humanoid_gate_blocked", "artifact_gate": "blocked_by_public-artifact_and_target-body-validation", "next_gate": "fixed camera/action adapter and three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "wam-capability-separation-to-g1-h2-m20-r1-causal-gate-001", "evidence_id": "arxiv-2608-22197", "source_project": "WAM capability separation and causal boundary", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "WAM objective", "action-conditioned model", "intervention data contract", "causal regression gate" ], "source_contract": { "embodiment": "theoretical sequential environment; no robot platform", "inputs": [ "observational histories/actions", "specified-action outcomes for intervention learner" ], "action_output": "evaluation criterion, not policy or torque", "evidence_boundary": "theorem-level equivalence/separation; no finite-sample robot evidence" }, "target_contract_delta": { "required_checks": [ "freeze BC/imitation-WAM/action-conditioned-WM baselines", "same-batch intervention holdout", "report action-specific error, trajectory distance and regret", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "causal/intervention audit migrates as a gate; theory does not provide target-body model", "license_and_compute": "CC BY 4.0 paper only; no artifacts; Hub ledger only, 242 unavailable and 244/245 shared" }, "verdict": "test_soon_causal_gate_sim_only", "confidence": "primary theorem/proof review; no implementation or robot validation", "rollback": "disable WAM challenger and restore frozen VLA/WBC plus safety plane", "generalization_evidence": { "same_embodiment_real_robot": "not_applicable", "unseen_or_ood": "constructed worst-case regret environment", "cross_task": "not_applicable", "perturbation_or_dynamics_shift": "support failure and hidden confounding analysis", "cross_embodiment": "not_applicable", "cross_sensor_or_hand": "not_applicable", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_available" }, "engineering_review": { "schema_version": "1.0", "status": "primary_theory_reviewed_wam_causal_gate_artifact_not_applicable", "artifact_gate": "theory_only_no_implementation", "next_gate": "frozen intervention simulator and multi-seed BC/WAM comparison", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "physical-agentic-ai-to-g1-h2-m20-r1-skill-gate-001", "evidence_id": "arxiv-2608-22657", "source_project": "Physical Agentic AI typed skill orchestration", "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WBC", "导航", "部署安全" ], "affected_modules": [ "typed skill registry", "workflow contract", "mission planner", "deterministic Robot Orchestrator", "cross-robot handoff", "independent safety plane" ], "source_contract": { "embodiment": "Unitree G1 and Go2 demonstrations", "inputs": [ "goal", "skill capabilities", "robot state", "named locations", "workflow/runtime constraints" ], "action_output": "validated skill dispatch; no direct torque or motor action", "evidence_boundary": "eight injected faults refused before motion; two author-reported physical demonstrations; no repeated hardware statistics" }, "target_contract_delta": { "required_checks": [ "freeze skill registry, workflow and runtime revisions", "same-batch planner/enforcement factorial with held-plan ablation", "eight-fault matrix and refusal-before-motion metrics", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "typed skills and deterministic pre-dispatch checks are migration candidates; G1/Go2 demos do not establish target-body transfer", "license_and_compute": "official repository MIT; no verified policy weights or training data; Hub ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "two author-reported demonstrations on G1/Go2", "unseen_or_ood": "eight injected capability/argument/state/workflow/runtime faults", "cross_task": "multi-robot transport and handoff workflow", "perturbation_or_dynamics_shift": "fault injection and Gazebo replay", "cross_embodiment": "G1 plus Go2 only; H2/M20/R1 unverified", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "MIT repository verified; weights/data not verified" }, "verdict": "test_soon_controlled_orchestration_sim_only", "confidence": "primary fulltext, official MIT repository and two hardware demonstrations; no repeated hardware statistics", "rollback": "disable agent orchestration and restore frozen/manual skills with independent safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_skill_gate_hardware_repetition_pending", "artifact_gate": "partial_no_weights_or_training_data", "next_gate": "fixed skill/runtime revisions and repeated three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "orpa-to-g1-h2-m20-r1-human-feedback-residual-001", "evidence_id": "arxiv-2608-17323", "source_project": "ORPA online residual policy adaptation", "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WBC", "Sim2Real", "人工接管" ], "affected_modules": [ "frozen base policy", "feedback/event schema", "bounded residual adapter", "failure-data replay", "independent WBC/safety plane" ], "source_contract": { "embodiment": "ALOHA dual-arm, 14D joint-space action at 50Hz", "inputs": [ "four RGB views", "joint state", "frozen ACT action chunk", "human feedback token" ], "action_output": "joint-space residual added to ACT chunk; not torque or WBC", "evidence_boundary": "MuJoCo perturbation results and ALOHA real tasks, author-only; no official artifacts or cross-embodiment evidence" }, "target_contract_delta": { "required_checks": [ "freeze target base/candidate/action units/residual bounds and feedback vocabulary", "same-batch frozen policy, ORPA-style adapter, RGB-only and rule-based correction with three seeds", "inject spatial, timing, dropout, stale-feedback and contact-failure cases; report recovery, unsafe-pass, false-reject, latency and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "feedback/event schema, bounded residual and failure-data return are migration candidates; ALOHA action/camera assumptions are not humanoid evidence", "license_and_compute": "paper CC BY 4.0; no official code/weights/data verified; Hub live ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "ALOHA three tasks, 30 trials/task, author reported", "unseen_or_ood": "object/pose perturbation and feedback variants; timing/contact coverage incomplete", "cross_task": "transfer, bottle opening and sorting", "perturbation_or_dynamics_shift": "MuJoCo action/observation perturbations and real execution errors", "cross_embodiment": "ALOHA only; G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "RGB/proprioception only; no tactile", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_verified" }, "verdict": "test_soon_reversible_residual_sim_only", "confidence": "primary fulltext with explicit hyperparameters and author-reported ALOHA results; no independent or artifact closure", "rollback": "disable ORPA adapter and restore frozen base policy/WBC plus independent safety plane; preserve human takeover", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_reversible_adapter_cross_embodiment_gate_blocked", "artifact_gate": "blocked_by_code_weights_data_and_target_body_contract", "next_gate": "fixed adapter/event revisions and three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "sg-wam-to-g1-h2-m20-r1-geometry-aware-policy-state-001", "evidence_id": "arxiv-2608-01397", "source_project": "SG-WAM geometry-aware policy-space world modeling", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "policy-derived dynamics tokens", "EMA future target", "geometry alignment", "action-conditioned predictor", "flow-matching action expert", "independent WBC/safety plane" ], "source_contract": { "embodiment": "UR5e with Azure Kinect and RealSense D405; LIBERO/Franka simulation", "inputs": [ "multi-view RGB", "language", "intervening actions", "future observation during training" ], "action_output": "flow-matching action chunk; auxiliary predictor/teacher removed at inference; not torque/WBC", "evidence_boundary": "LIBERO 98.5%, LIBERO-Plus 73.0%, UR5e three tasks with 20/10 trials per method; no independent reproduction or artifact closure" }, "target_contract_delta": { "required_checks": [ "freeze backbone, dynamics-token count, EMA/teacher revisions, action chunk and calibration", "same-batch frozen VLA, latent WAM, SG-WAM and no-geometry controls with three seeds", "report ID/OOD by camera/robot/language/light/background/noise/layout, future prediction error, action feasibility, latency and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "policy-derived future target, geometry/OOD protocol and inference-time auxiliary removal are migration candidates; UR5e/camera evidence is not humanoid or wheel-arm evidence", "license_and_compute": "arXiv/project terms verified; repository is README-only with no code/weights/data/license closure; Hub live ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "UR5e three tasks, 20/10 trials per method, author reported", "unseen_or_ood": "LIBERO-Plus camera, robot, language, light, background, noise and layout shifts; UR5e background/light/novel object", "cross_task": "pick-place, towel folding, toolbox organization plus four LIBERO suites", "perturbation_or_dynamics_shift": "visual/environmental shifts; no formal dynamics shift", "cross_embodiment": "UR5e only; G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "Azure Kinect + D405 only", "independent_reproduction": "not_reported", "reproducible_artifacts": "README-only repository; not_verified" }, "verdict": "test_soon_geometry_wam_sim_only", "confidence": "primary fulltext, official project page and README-only official repository; author-only UR5e results", "rollback": "disable SG-WAM branch and restore frozen WAM/VLA baseline plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_wam_geometry_gate_cross_embodiment_blocked", "artifact_gate": "blocked_by_code_weights_data_license_and_target_body_contract", "next_gate": "fixed representation/calibration revisions and three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-25" } }, { "mapping_id": "dswam-to-g1-h2-m20-r1-dual-system-wam-001", "evidence_id": "arxiv-2607-04927", "source_project": "DSWAM dual-system WAM executor/planner", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "System 1 WAM executor", "optional System 2 subtask planner", "RTC/asynchronous runtime", "subtask-boundary evaluation", "independent WBC/safety plane" ], "source_contract": { "embodiment": "ALOHA-style dual-arm platform under matched DeMaVLA folding protocol", "inputs": [ "three RGB views", "language or subtask", "proprioception", "five-frame visual history for planner" ], "action_output": "continuous dual-arm action chunks; System 2 subtask sequence conditions System 1; not torque/WBC", "evidence_boundary": "RoboTwin clean/randomized 92.38%/91.90%; matched real folding 92.5%→96.3% and 2:18→1:44 with System 2 disabled; author-only evidence" }, "target_contract_delta": { "required_checks": [ "freeze target observation/action/calibration, planner invocation policy and WBC projection", "same-batch WAM-only and planner-on controls with three seeds", "report planner errors, action feasibility, latency, dropout, OOD and WBC rejection", "closed-loop G1/H2/M20/R1 simulation before human gate" ], "data_match": "planner/executor separation, RTC metrics and subtask-boundary protocol are migration candidates; ALOHA/DeMaVLA evidence is not humanoid or wheel-arm evidence", "license_and_compute": "official project page and paper verified; no released code/weights/data/license closure; Hub resources only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "ALOHA-style dual-arm folding, four garment tasks and 80 reported trials", "unseen_or_ood": "RoboTwin clean/randomized; no verified humanoid OOD", "cross_task": "shirt, skirt, pants and towel folding; sorting planner study", "perturbation_or_dynamics_shift": "simulation randomization and task variation; no independent dynamics-shift study", "cross_embodiment": "ALOHA only; G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "RGB/proprioception only in reported contract", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_verified" }, "verdict": "test_soon_reversible_dual_system_sim_only", "confidence": "primary fulltext and official project page with matched author-reported comparison; no independent reproduction or artifact closure", "rollback": "disable DSWAM planner/executor branch and restore frozen WAM/VLA baseline plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_dual_system_cross_embodiment_gate_blocked", "artifact_gate": "blocked_by_code_weights_data_license_and_target_body_contract", "next_gate": "freeze planner/executor revisions and run three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "fetchman-to-g1-h2-m20-r1-sim-scale-loco-manipulation-001", "evidence_id": "arxiv-2608-17027", "source_project": "FetchMan visual humanoid loco-manipulation", "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WBC", "Sim2Real", "导航" ], "affected_modules": [ "procedural scene/object data generation", "DINOv3 visual encoding", "flow-matching action generation", "Flow-GRPO refinement", "SONIC lower-body interface", "independent WBC/safety plane" ], "source_contract": { "embodiment": "Unitree G1 with Dex1-1 grippers; head fisheye and wrist RGB plus proprioception", "inputs": [ "head RGB 224x384", "wrist RGB 224x384", "base height/roll/pitch", "upper-body joints", "gripper aperture", "object name for multi-object variant" ], "action_output": "15D 10Hz base velocity/height, waist, right-arm and gripper targets; SONIC 50Hz lower-body tracking and PD upper-body tracking; not torque/WBC", "evidence_boundary": "150k single-object demonstrations across approximately 150k scenes; 100 held-out simulation initializations; real G1 22 manipulation and 30 loco-manipulation trials, BC+RL 73.3% loco-manipulation; author-only" }, "target_contract_delta": { "required_checks": [ "freeze MolmoSpaces/asset revisions, camera calibration, 15D action units, SONIC revision and WBC projection", "same-batch scripted/BC/BC+RL and DINOv3-vs-SigLIP/absolute-vs-delta controls with three seeds", "report phase-boundary leakage, manipulation/loco success, action feasibility, latency, OOD/dropout and WBC rejection", "G1 then H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "scene/object coverage, delta-action interface, hidden-phase diagnosis and sparse-reward Flow-GRPO are migration candidates; G1/SONIC evidence is not cross-body proof", "license_and_compute": "paper CC BY 4.0; benchmark/code/data/checkpoint and MolmoSpaces/DINOv3/SONIC terms require separate verification; L40S profile is not Hub dispatch; 242 unavailable, 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Unitree G1 zero-shot, 22 manipulation and 30 loco-manipulation reference trials", "unseen_or_ood": "held-out simulation scenes, randomized textures/lighting/cameras/surface/object pose and unseen real scenes", "cross_task": "single-object fetch/pick and multi-object text-conditioned extension", "perturbation_or_dynamics_shift": "action noise and visual randomization; fixed SONIC lower body, no heavy-object brace or broad disturbance study", "cross_embodiment": "G1 only; H2/M20/R1 unverified", "cross_sensor_or_hand": "head/wrist RGB and Dex1-1 only", "independent_reproduction": "not_reported", "reproducible_artifacts": "FetchMan-Bench/Data & Code claimed by project surface but current code/version/license/checkpoint closure not independently verified" }, "verdict": "test_soon_reversible_sim2real_pipeline_only", "confidence": "primary arXiv full text with explicit setup, ablations and real denominators; no independent reproduction, artifact closure or cross-embodiment validation", "rollback": "disable FetchMan adapter/Flow-GRPO branch and restore frozen VLA/WAM baseline plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_g1_zero_shot_cross_embodiment_gate_blocked", "artifact_gate": "benchmark_and_data_code_license_checkpoint_pending", "next_gate": "verify official artifacts then run three-seed closed-loop simulation with fixed SONIC/action contract", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "humanoidvln-to-g1-h2-m20-r1-physics-grounded-navigation-001", "evidence_id": "arxiv-2608-12860", "source_project": "HumanoidVLN physics-grounded VLN benchmark", "target_projects": [ "G1", "H2", "M20", "R1", "导航", "Sim2Real", "VLA", "WBC" ], "affected_modules": [ "navigability-curated scenes", "3DGS/TSDF collision map", "multi-agent instruction verification", "VLN model adapter", "PD/MPC tracker", "per-body RL locomotion and safety plane" ], "source_contract": { "embodiment": "Unitree G1/H1 plus Internal-A/B; 10–12 lower-body DoF and 1.17–1.80m", "inputs": [ "egocentric RGB/depth/IMU", "language instruction", "body-specific navigation state" ], "action_output": "discrete or continuous navigation reference into PD/MPC tracker and RL gait policy; no direct torque/WBC replacement", "evidence_boundary": "87 scenes, 933 episodes, four VLN models/four simulated embodiments; JanusVLN mean SR 43.55/nDTW 48.38; G1 DualVLN sim-real pilot N=20 with r=.935, nDTW .782±.188; author-only" }, "target_contract_delta": { "required_checks": [ "freeze Isaac/PhysX, scene/instruction IDs, body URDF/USD, gait/tracker and stop/fall definitions", "same-batch fixed checkpoints with identical action interface and tracker; report SR/NE/SPL/nDTW/OS/fall/intervention separately", "validate camera shake, navigability threshold, collision mesh and sensor timing under G1/H2/M20/R1", "closed-loop simulation before any manual real-machine gate" ], "data_match": "physical navigation benchmark protocol, cross-body factorization, scene admission and instruction verification are migration candidates; anonymous assets and G1 pilot are not reusable proof", "license_and_compute": "paper CC BY 4.0; project code/data/scene assets marked soon with no license; Jetson AGX Orin/RTX A6000 Pro is author setup, not Hub dispatch; 242 unavailable, 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Unitree G1, DualVLN, 20 paired episodes across two scenes", "unseen_or_ood": "four simulated embodiments, 87 navigability-curated scenes, artist and 3DGS sources", "cross_task": "language-conditioned navigation with fine/coarse instruction styles", "perturbation_or_dynamics_shift": "gait/tracker/body variation and camera shake; no long-horizon safety or disturbance campaign", "cross_embodiment": "G1/H1/Internal-A/B in simulation; internal assets undisclosed", "cross_sensor_or_hand": "RGB/depth/IMU; no tactile or manipulation", "independent_reproduction": "not_reported", "reproducible_artifacts": "official page currently marks code and dataset soon; no fixed release verified" }, "verdict": "test_soon_benchmark_protocol_only", "confidence": "primary full text and current official project page; protocol is strong but artifact, license, independent and broad real evidence are absent", "rollback": "disable HumanoidVLN adapter and restore existing navigation benchmark/controller contract plus independent safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_navigation_benchmark_release_gate_blocked", "artifact_gate": "code_scene_data_controller_and_license_pending", "next_gate": "official fixed release then one-body G1 replay and cross-body simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "golem-to-g1-h2-m20-r1-modular-experiment-contract-001", "evidence_id": "arxiv-2608-21550", "source_project": "GOLEM modular humanoid autonomy", "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "导航", "灵巧手" ], "affected_modules": [ "ROS2/DDS interfaces", "lower-body controller", "upper-body IK/OMPL", "FAST-LIO/Nav2", "object localization/grasping", "spatiotemporal memory", "independent safety/e-stop" ], "source_contract": { "embodiment": "Unitree H1-2, 27 joints, 12 lower-body + 15 upper-body commands; LiDAR/RGB-D/MAGPIE hands", "inputs": [ "q/qdot/IMU/foot contacts", "Livox MID-360", "D435i/D405 RGB-D", "language/object query", "base twist" ], "action_output": "joint-position references under 500Hz PD/gravity compensation, bounded by independent safety controller", "evidence_boundary": "navigation 19/20 at 13.0cm mean error; ALMI recovery 14/15; C-VS screw 96.7% tethered, 86.7% standing, 36.7% after pose variance; author-only" }, "target_contract_delta": { "required_checks": [ "freeze GOLEM commit e0a33dfe, containers/dependencies, body/sensor/action calibration and safety limits", "same-batch controller/grasp/memory backends with identical interface and capability ladder", "report endpoint error, CoM margin/recovery, grasp drop by autonomy tier, latency, e-stop and failure attribution", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "module contracts, digital-twin interface equivalence and error-budget protocol are migration candidates; H1-2 torque/sensor/body and EV contact evidence are not target proof", "license_and_compute": "official GOLEM source fixed commit verified, top-level/dependency/SAM3/data terms incomplete; author setup is not Hub dispatch; 242 unavailable, 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Unitree H1-2 at EV battery cell, RoboCasa and memory episodes", "unseen_or_ood": "navigation initialization and six pose samples; no broad cross-body/OOD campaign", "cross_task": "navigation, standing recovery, fridge/screw grasping, spatial/temporal memory", "perturbation_or_dynamics_shift": "pelvis pushes, navigation-induced placement variance, contact-rich screw extraction", "cross_embodiment": "none beyond H1-2; digital twin is same-body interface", "cross_sensor_or_hand": "LiDAR/RGB-D/force-controlled MAGPIE; no tactile foundation model", "independent_reproduction": "not_reported", "reproducible_artifacts": "GOLEM and IsaacLab sim repos pinned; weights/data and complete licenses not closed" }, "verdict": "test_soon_reversible_modular_harness_sim_and_manual_gate", "confidence": "primary full text and fixed official source with explicit safety and real denominators; no independent reproduction or cross-body validation", "rollback": "disable candidate module and restore prior controller/skill backend plus independent safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_h1_2_real_robot_modular_artifact_license_gate_blocked", "artifact_gate": "license_weights_data_and_target_body_contract_pending", "next_gate": "reproduce pinned module smoke in twin then manual H1-2/G1 gate", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "ld4wam-to-g1-h2-m20-r1-motion-aligned-dynamics-001", "evidence_id": "arxiv-2608-22403", "source_project": "LD4WAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "semantic DINOv3 encoder", "SoftVQ motion latent", "Wan2.2 video expert", "learnable query bridge", "embodiment action projections", "independent WBC/safety plane" ], "source_contract": { "embodiment": "human video plus AgileX PiPER/Pika grippers and Tianji/Wuji dexterous hands", "inputs": [ "15 FPS head/wrist video", "language", "proprioception/state", "Delta EE action labels on subset" ], "action_output": "future video and target-body action proposals via shared backbone with input/output projections; not torque/WBC", "evidence_boundary": "274.66M frames/5,086h (76.4% human, 23.6% robot), RoboTwin 50 tasks and 7 real tasks, 70.5% author average; no independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze source manifests/filters, DINOv3/Wan2.2/LDM revisions, camera/action frames and target-body heads", "same-batch video-action WAM, no-motion-alignment and LD4WAM controls with three seeds", "report latent retrieval/action error, object/background OOD, contact/latency, feasibility and WBC rejection", "G1 then H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "motion-aligned semantic latent, cross-source cleaning and input/output projection are migration candidates; two-arm evidence and source-data licenses are not target proof", "license_and_compute": "paper CC BY 4.0; source datasets, Wan2.2/DINOv3, code/checkpoints/new corpus terms unverified; 64xH20 author setup is not Hub dispatch; 242 unavailable, 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "PiPER and Tianji author experiments, 5 gripper + 2 dexterous tasks, 30 rollouts/setting", "unseen_or_ood": "unseen objects retain 88.6% in-distribution; background shift 44.4% vs pi0.5 54.5% (counter-evidence)", "cross_task": "sorting, insertion, tidying, cloth, handover, Rubik placement and spray trigger", "perturbation_or_dynamics_shift": "object/background changes; no systematic contact or dynamics campaign", "cross_embodiment": "parallel grippers and dexterous hands only; no humanoid/wheel-arm proof", "cross_sensor_or_hand": "head/wrist RGB plus proprioception; no tactile", "independent_reproduction": "not_reported", "reproducible_artifacts": "no fixed code/checkpoint/new corpus download/license verified" }, "verdict": "test_soon_reversible_motion_latent_sim_only", "confidence": "primary full text and appendix with explicit corpus, losses, ablations and real denominators; artifact/license/independent/target-body gates blocked", "rollback": "disable LD4WAM adapter/query bridge and restore frozen VLA/WAM baseline plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_wam_two_arm_artifact_and_cross_embodiment_gate_blocked", "artifact_gate": "code_weights_data_license_and_target_body_contract_pending", "next_gate": "verify official artifacts then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "decowam-to-g1-h2-m20-r1-legged-mobile-wam-001", "evidence_id": "arxiv-2608-20114", "source_project": "DECOWAM / ARMDOG", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "FastWAM residual adapter", "future bottleneck", "base-arm disentanglement", "base-velocity video conditioning", "whole-body action adapter", "independent WBC/safety plane" ], "source_contract": { "embodiment": "ARMDOG quadruped mobile manipulator, 16 leg joints + 6-DoF arm + gripper", "inputs": [ "mobile RGB-D", "language", "whole-body state/IMU", "base and arm state" ], "action_output": "48-step 14D arm/gripper/base-velocity references plus future RGB; not torque/WBC", "evidence_boundary": "1,487 episodes/343,550 frames; 79 closed-loop trials per method; DECOWAM 58.2% vs FastWAM 57.0%, author-only" }, "target_contract_delta": { "required_checks": [ "freeze target-body action/state/camera calibration and ARMDOG/data split revisions", "same-batch FastWAM, DECOWAM and no-factorization controls with three seeds", "report video/action error, base-arm factor leakage, contact/recovery, latency, feasibility and WBC rejection", "G1 then H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "synchronized video/state/action/language, ego-motion conditioning and factorized base/arm interfaces are migration candidates; ARMDOG single-body evidence is not target proof", "license_and_compute": "paper CC BY 4.0; data/code/weights and upstream FastWAM terms unverified; author compute is not Hub dispatch; 242 unavailable, 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "ARMDOG author trials, 79 per method", "unseen_or_ood": "base displacement and recovery variants reported; broad unseen-scene protocol not verified", "cross_task": "legged mobile manipulation tasks with arm/gripper/base coordination", "perturbation_or_dynamics_shift": "moving viewpoint/base displacement; systematic sim2real gap not reported", "cross_embodiment": "none beyond ARMDOG", "cross_sensor_or_hand": "RGB-D, proprioception/IMU and gripper; no tactile", "independent_reproduction": "not_reported", "reproducible_artifacts": "planned ARMDOG release but no fixed downloadable artifact/license verified" }, "verdict": "test_soon_reversible_wam_factorization_sim_only", "confidence": "primary full text with explicit data and real-trial denominators; no independent reproduction, artifact closure or cross-body validation", "rollback": "disable DECOWAM adapter and restore frozen WAM/VLA baseline plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_legged_wam_real_trials_artifact_gate_blocked", "artifact_gate": "data_code_weights_license_and_target_body_contract_pending", "next_gate": "verify official artifacts then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "crosstracer-to-g1-h2-m20-r1-cross-embodiment-trace-001", "evidence_id": "arxiv-2608-06688", "source_project": "CrossTracer cross-embodiment navigation", "target_projects": [ "G1", "H2", "M20", "R1", "导航", "VLA", "Sim2Real", "WBC" ], "affected_modules": [ "semantic trace proposal", "embodiment residual adapter", "CE-RRT* cost supervision", "pixel trace/local waypoint interface", "remote inference fallback", "independent safety plane" ], "source_contract": { "embodiment": "author wheeled and legged platforms; Jetson Orin plus remote RTX 4090", "inputs": [ "egocentric RGB", "language/pixel goal", "robot identity" ], "action_output": "8 normalized pixel waypoints plus embodiment residual, consumed by local controller; not torque/WBC", "evidence_boundary": "NaviTrace score 45.68 vs Gemini-2.5-Pro 35.67; real 4 tasks x 5 trials x 2 platforms, wheeled SR .40→.65 and legged .45→.70; author-only" }, "target_contract_delta": { "required_checks": [ "freeze robot identity, camera/action calibration, trace normalization, segmentation and CE-RRT* revisions", "same-batch base VLA, VL-Tracer-only, CE-Adapter and cost-map controls with three seeds", "report trace feasibility, obstacle violation, SR/SPL/STT, remote latency, collision, recovery and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "bounded trace interface and auto-generated traversability supervision are migration candidates; exact platform, NaviTrace and small real trials are not target proof", "license_and_compute": "paper CC BY 4.0; code/weights/NaviTrace/labels not released; 4090 remote/Wi-Fi is not Hub dispatch; 242 unavailable, 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "wheeled and legged author platforms, 4 tasks x 5 trials per method/platform", "unseen_or_ood": "NaviTrace embodiment categories and language/pixel goals; cross-scene extent not independently verified", "cross_task": "navigation tasks across accessibility, social norms, stationary obstacles and goal-pose variants", "perturbation_or_dynamics_shift": "embodiment-conditioned traversability; remote inference latency and segmentation failure not fully stressed", "cross_embodiment": "wheeled/legged categories; exact models not disclosed", "cross_sensor_or_hand": "RGB and robot identity; no tactile", "independent_reproduction": "not_reported", "reproducible_artifacts": "project page/video only; method repository and benchmark data absent" }, "verdict": "test_soon_reversible_trace_adapter_sim_only", "confidence": "primary fulltext and official project results with cross-platform trials; artifact/license/independent evidence blocked", "rollback": "disable CE-Adapter/remote branch and restore frozen navigation/VLA/WBC baseline plus local safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_cross_embodiment_real_trials_artifact_gate_blocked", "artifact_gate": "code_weights_data_license_and_exact_robot_identity_pending", "next_gate": "official artifact release then three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "omnivta-to-g1-h2-m20-r1-predictive-tactile-reflex-001", "evidence_id": "arxiv-2603-19201", "source_project": "OmniVTA / OmniViTac", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real", "灵巧手" ], "affected_modules": [ "tactile representation and calibration", "visuo-tactile future prediction", "adaptive modality gating", "60Hz reflex residual", "independent WBC/safety plane" ], "source_contract": { "embodiment": "UFACTORY xArm-7 plus TacUMI; Xense/GelSight Mini/Tac3D/Daimon fingertip sensors", "inputs": [ "RGB-D", "25–60Hz tactile images/displacement", "proprioception/gripper aperture", "timestamped relative actions" ], "action_output": "15FPS relative action chunks interpolated to 60Hz plus reflexive tactile correction; not torque/WBC", "evidence_boundary": "OmniViTac 21,879 trajectories/86 tasks/100+ objects; six contact patterns; xArm author results, object-diversity rates 0.80/0.55/0.85/0.60/0.90/0.90 and separate unseen-height/tool/perturbation protocols" }, "target_contract_delta": { "required_checks": [ "freeze target tactile geometry, sensor calibration, clocks, action units and WBC projection", "same-batch RGB-only/tactile-only/open-loop/predictive-reflex controls with three seeds", "report tactile L2/cosine, contact stability, recovery, residual, latency, dropout, unsafe-pass and WBC rejection", "closed-loop G1/H2/M20/R1 simulation before human gate" ], "data_match": "multimodal synchronization, contact-pattern taxonomy, predictive tactile metrics and bounded reflex interface are migration candidates; xArm/TacUMI evidence is not humanoid or wheel-arm proof", "license_and_compute": "OmniViTac HF split is CC-BY-NC-4.0 and public but whole archive/schema/consent unverified; GitHub method repo is MIT LICENSE-only placeholder; Hub resources only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "xArm-7 author tests with 2–4 objects/task and 10 trials/object", "unseen_or_ood": "unseen object heights, unseen knife and vertical contact perturbations", "cross_task": "wiping, peeling, cutting, assembly, grasping and adjustment", "perturbation_or_dynamics_shift": "controlled object displacement after contact; no independent dynamics shift", "cross_embodiment": "xArm-7/TacUMI collection embodiments; no target-body deployment", "cross_sensor_or_hand": "four tactile sensor families in collection/representation evaluation; real policy uses Xense", "independent_reproduction": "not_reported", "reproducible_artifacts": "data split public but whole archive and method artifacts not fully verified" }, "verdict": "test_soon_reversible_predictive_tactile_sim_only", "confidence": "primary arXiv v3/HTML, project page, fixed GitHub and dataset-card review; author-only xArm evidence with artifact and cross-embodiment gates blocked", "rollback": "disable OmniVTA predictive/reflex adapter and restore frozen VLA/WAM path plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_visuotactile_artifact_and_target_body_gate_blocked", "artifact_gate": "blocked_method_code_weights_calibration_whole_dataset_integrity_and_target_body_contract", "next_gate": "fixed sensor/action revisions, NAS archive/schema audit and three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "dream-tac-to-g1-h2-m20-r1-unified-tactile-wam-001", "evidence_id": "arxiv-2606-08737", "source_project": "Dream-Tac unified tactile WAM", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real", "灵巧手" ], "affected_modules": [ "Cosmos Policy WAM backbone", "contact-gated tactile fusion", "contact-aware attention bias", "future visual/tactile/action prediction", "diffusion-step cache", "independent WBC/safety plane" ], "source_contract": { "embodiment": "Franka Emika Panda with two RealSense D435i and two Xense Photon fingertips", "inputs": [ "third-person and wrist RGB", "left/right tactile RGB", "proprioception", "language instruction" ], "action_output": "20-step action chunk with future visual/tactile latent prediction; no torque/WBC", "evidence_boundary": "six real tasks, 20 trials per method/task; Dream-Tac 83.3% vs Cosmos 51.7%; author-only" }, "target_contract_delta": { "required_checks": [ "pin repo/Cosmos revisions, sensor calibration, action units and WBC projection", "same-batch visual WAM, tactile WAM, tactile+bias, cache on/off with three seeds", "report success, gate calibration, prediction, cache error, latency, OOD/dropout and WBC rejection", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "contact-gated fusion, low-rank attention bias, reproducible ablations/cache protocol are migration candidates; Franka/Xense is not humanoid/legged proof", "license_and_compute": "official code Apache-2.0 README/attributions; upstream Cosmos/sensors/data/weights separate; 8xH100 is author profile, not Hub dispatch; 242 unavailable, 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Franka, six tasks, 20 trials/method/task", "unseen_or_ood": "table height, spatial placement, object appearance, background; 4 settings", "cross_task": "six contact-rich tasks", "perturbation_or_dynamics_shift": "environment variations; no independent dynamics-shift study", "cross_embodiment": "Franka only; G1/H2/M20/R1 unverified", "cross_sensor_or_hand": "Xense fingertip tactile only for policy", "independent_reproduction": "not_reported", "reproducible_artifacts": "code/configs/entrypoints public; checkpoint/data package not verified" }, "verdict": "test_soon_reproducible_tactile_wam_sim_only", "confidence": "primary fulltext, official repo README/entrypoints and author-only Franka results; no independent reproduction or target-body evidence", "rollback": "disable Dream-Tac tactile/cache branch and restore frozen VLA/WAM plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_repo_available_cross_embodiment_gate_blocked", "artifact_gate": "partial_code_entrypoints_only_weights_data_calibration_and_upstream_terms_pending", "next_gate": "pin repository/Cosmos revisions and three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "adapt-to-g1-h2-m20-r1-style-conditioned-tracking-001", "evidence_id": "arxiv-2608-20087", "source_project": "AdaPT adaptive tennis planning/tracking", "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "导航" ], "affected_modules": [ "style prior and speed adapter", "motion planner/tracker", "ball perception and retargeting", "WBC projection and safety plane" ], "source_contract": { "embodiment": "Unitree G1 and full-size Dobot Atom; tennis serve/rally", "inputs": [ "broadcast video/MoCap style cues", "ball trajectory", "robot state and execution speed" ], "action_output": "style-conditioned kinematic motion plus residual tracking reference; no direct torque/WBC", "evidence_boundary": "author reports G1 real serving/rally and Dobot Atom in-the-wild serving; no independent reproduction or broad unseen-body benchmark" }, "target_contract_delta": { "required_checks": [ "freeze target-body reachability, ball timing, retargeting, action units and WBC limits", "same-batch fixed-speed/adaptive and domain-randomization ablations with three seeds", "report success/falls/contact timing/tracking error/latency/WBC rejection", "closed-loop simulation before manual real gate" ], "data_match": "speed randomization and planner/tracker separation are reversible candidates; tennis-specific ball/style data is not a general humanoid dataset", "license_and_compute": "Apache-2.0 code only; assets/weights/data terms pending; Hub ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "G1 and Dobot Atom author trials", "unseen_or_ood": "in-the-wild Atom serving without motion capture; exact denominator and seed protocol not independently verified", "cross_task": "serve and rally within tennis", "perturbation_or_dynamics_shift": "execution-speed randomization and sim-to-real gap adaptation", "cross_embodiment": "G1 to full-size Dobot Atom; no H2/M20/R1 evidence", "cross_sensor_or_hand": "not applicable", "independent_reproduction": "not_reported", "reproducible_artifacts": "official code repository available; weights/data/package closure pending" }, "verdict": "test_soon_reversible_adaptive_tracking_sim_only", "confidence": "primary arXiv abstract/fulltext, official project page and GitHub; author-only task-specific real results", "rollback": "disable AdaPT style/speed adapter and restore frozen planner/tracker plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_real_g1_atom_cross_body_gate_blocked", "artifact_gate": "code_open_apache2_weights_data_assets_and_target_body_contract_pending", "next_gate": "pin official commit and run three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "q-planning-to-g1-h2-m20-r1-failure-feedback-001", "evidence_id": "arxiv-2608-21204", "source_project": "Q-Planning / off-policy failure feedback", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "Sim2Real" ], "affected_modules": [ "actor/challenger separation", "failure replay and value learning", "online evaluation", "rollback and safety gate" ], "source_contract": { "embodiment": "FastWAM simulation and two 6-DoF YAM arms", "inputs": [ "RGB/language", "frozen BC action chunks", "terminal success/failure labels" ], "action_output": "Q-weighted action chunk selection; actor remains frozen and no torque/WBC output", "evidence_boundary": "FastWAM/LIBERO/RoboTwin simulation plus two YAM contact-rich tasks; author-reported, no humanoid evidence" }, "target_contract_delta": { "required_checks": [ "freeze actor/action schema, candidate count, chunk horizon, labels and checkpoint rollback", "same-batch Q-only versus frozen actor/filtered-SFT/challenger controls with three seeds", "report success, failure recall, calibration, unsafe-pass, false-reject, latency and regression", "G1/H2/M20/R1 closed-loop simulation before any human gate" ], "data_match": "failure-aware value updates and immutable actor/challenger bookkeeping are migration candidates; YAM bimanual action/terminal semantics do not prove humanoid transfer", "license_and_compute": "code/weights/data/license not verified; Hub ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "two YAM-arm tasks across five Q-only iterations", "unseen_or_ood": "not independently verified beyond reported task protocols", "cross_task": "LIBERO, RoboTwin and two YAM tasks", "perturbation_or_dynamics_shift": "success/failure rollout feedback and candidate sampling", "cross_embodiment": "FastWAM/YAM only; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "RGB and language; no tactile evidence", "independent_reproduction": "not_reported", "reproducible_artifacts": "official project page; implementation/weights/data not verified" }, "verdict": "test_soon_reversible_failure_feedback_sim_only", "confidence": "primary paper/appendix and official project page; narrow author-only real-arm evidence", "rollback": "keep actor immutable and restore prior Q checkpoint or disable challenger branch", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_failure_feedback_artifact_and_humanoid_gate_blocked", "artifact_gate": "code_weights_data_license_and_target_body_contract_pending", "next_gate": "freeze failure schema and run three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "warp-to-g1-h2-m20-r1-whole-body-retargeting-001", "evidence_id": "arxiv-2606-29940", "source_project": "WARP whole-body retargeting", "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "pose-to-action adapter", "c-SEW solver", "mobile-base/torso coordination", "offline data quality and replay", "WBC feasibility gate" ], "source_contract": { "embodiment": "GR1 source pose and RB-Y1 holonomic mobile manipulator with torso, dual 7-DoF arms and XHands", "inputs": [ "60Hz Meta Quest whole-body/hand pose", "target kinematics and base state" ], "action_output": "whole-body joint/base trajectories for replay and policy learning; no direct torque/WBC", "evidence_boundary": "four real tasks, 10 trials each reported on RB-Y1; GR1→RB-Y1 transfer; no broad visual closed-loop or independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze target body/hand models, Quest calibration, c-SEW revision, timestamps and WBC projection", "same-batch MINK/SEW/WARP retargeting and replay/policy controls with three seeds", "report palm error, structural consistency, feasibility, replay success, latency/OOD and WBC rejection", "closed-loop G1/H2/M20/R1 simulation before manual gate" ], "data_match": "consistent whole-body action and c-SEW geometry are migration candidates; RB-Y1 mobile-manipulation evidence is not target-body or visual policy proof", "license_and_compute": "code/weights/processed data/license not verified; upstream BONES/DexMimicGen terms separate; Hub ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "RB-Y1 four tasks, 10 trials/task reported", "unseen_or_ood": "real tasks and retargeting baselines; broad OOD protocol not reported", "cross_task": "four mobile-manipulation tasks including rotate-box and fridge/contact tasks", "perturbation_or_dynamics_shift": "human-to-robot embodiment gap and base/torso coordination", "cross_embodiment": "GR1 source to RB-Y1 target; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "Quest pose and XHands only", "independent_reproduction": "not_reported", "reproducible_artifacts": "official project page; implementation/weights/data not verified" }, "verdict": "test_soon_reversible_retargeting_sim_only", "confidence": "primary arXiv v2 and official project page; author-only GR1/RB-Y1 evidence with artifact gate blocked", "rollback": "disable WARP adapter and restore frozen action/data pipeline plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_real_rby1_cross_body_gate_blocked", "artifact_gate": "code_weights_data_license_and_target_body_contract_pending", "next_gate": "pin body/calibration/data revisions and run three-seed simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "vitar-to-g1-h2-m20-r1-visuotactile-residual-001", "evidence_id": "arxiv-2608-15816", "source_project": "ViTaR visuo-tactile residual adaptation", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "灵巧手", "Sim2Real" ], "affected_modules": [ "frozen VLA action interface", "effect-guided residual", "tactile calibration and dropout handling", "bounded adapter/abstain", "WBC safety gate" ], "source_contract": { "embodiment": "RealMan RM65-B arm with tactile parallel gripper", "inputs": [ "RGB/language", "tactile observation", "frozen VLA action chunk/history" ], "action_output": "bounded residual/gain on VLA actions, not torque/WBC", "evidence_boundary": "UniVTAC seven-task benchmark and three RM65-B tasks; author-only, no cross-body evidence; official repo README-only" }, "target_contract_delta": { "required_checks": [ "freeze target tactile geometry, clocks, action units, residual bounds and WBC projection", "same-batch RGB-only/tactile residual/dropout/abstain controls with three seeds", "report success, recovery, false correction, unsafe-pass, abstain, residual, latency and WBC rejection", "closed-loop G1/H2/M20/R1 simulation before human gate" ], "data_match": "bounded adapter and tactile failure taxonomy are migration candidates; RM65-B/UniVTAC does not prove humanoid or wheel-arm transfer", "license_and_compute": "ViTaR method artifacts/license not verified; UniVTAC Apache-2.0 benchmark only; Hub ledger, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "RM65-B three tasks, aggregate 48.3% reported", "unseen_or_ood": "contact-rich benchmark tasks but no quantified cross-body or sensor-OOD protocol", "cross_task": "UniVTAC seven tasks and three RM65-B tasks", "perturbation_or_dynamics_shift": "tactile residual correction; calibration/dropout gap unreported", "cross_embodiment": "single RM65-B; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "single tactile parallel gripper", "independent_reproduction": "not_reported", "reproducible_artifacts": "benchmark public; ViTaR code/weights/data not verified" }, "verdict": "test_soon_reversible_visuotactile_sim_only", "confidence": "primary paper/project/README review; author-only RM65-B evidence and blocked artifact gate", "rollback": "disable ViTaR residual/gain branch and restore frozen VLA/WAM plus independent WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_visuotactile_artifact_and_target_body_gate_blocked", "artifact_gate": "ViTaR_code_weights_data_license_calibration_and_target_body_pending", "next_gate": "official artifact release plus fixed sensor/action revisions and three-seed simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "acid-to-g1-h2-m20-r1-action-consistency-wam-001", "evidence_id": "arxiv-2607-02403", "source_project": "ACID action consistency planning", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "导航", "Sim2Real" ], "affected_modules": [ "action-conditioned world model", "inverse dynamics verifier", "adaptive CEM/MPC cost", "trajectory realizability and failure routing" ], "source_contract": { "embodiment": "simulated OGBench-Cube, XArm rope/granular tasks and RECON navigation", "inputs": [ "encoded observation/latent", "candidate action sequence", "goal/navigation target" ], "action_output": "inverse-action residual used to rerank planner candidates; no real robot or WBC output", "evidence_boundary": "four world models and six simulated tasks; author reports no physical experiment; official page code coming soon" }, "target_contract_delta": { "required_checks": [ "freeze WM/IDM revisions, action normalization, latent horizon, CEM budget and task split", "same-batch original goal cost versus ACID residual with three seeds and equal rollout budget", "report success, residual, action feasibility, OOD/contact, false-reject, latency and predicted-executed drift", "G1/H2/M20/R1 closed-loop simulation before any human gate" ], "data_match": "action-consistency residual and predicted-vs-executed regression are migration candidates; simulated arm/navigation evidence does not prove humanoid transfer", "license_and_compute": "code/weights/exact pretrained revisions/license not verified; Hub ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "none", "unseen_or_ood": "rigid/deformable/articulated/navigation simulation tasks and model variants", "cross_task": "six tasks across manipulation, articulated control and navigation", "perturbation_or_dynamics_shift": "partial observability/exogenous perturbation limitations analyzed; no physical shift", "cross_embodiment": "simulated arm/navigation only; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "visual latent observations; no tactile", "independent_reproduction": "not_reported", "reproducible_artifacts": "official project page; code coming soon" }, "verdict": "test_soon_reversible_action-consistency-sim-only", "confidence": "primary full text and official project page with quantified simulation and negative results; no real-robot/artifact closure", "rollback": "remove ACID residual from planner cost and restore baseline CEM/MPC cost", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_wam_sim_only_artifact_gate_blocked", "artifact_gate": "code_weights_license_and_target_body_contract_pending", "next_gate": "pin WM/IDM and run equal-budget three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "orthoskillvla-to-g1-h2-m20-r1-continual-skill-001", "evidence_id": "arxiv-2608-19589", "source_project": "OrthoSkillVLA continual skill learning", "target_projects": [ "G1", "H2", "M20", "R1", "VLA", "WAM", "Sim2Real", "持续学习" ], "affected_modules": [ "VLM/ActionHead subspace adapters", "feature-aware MoE skill router", "continual evaluation", "checkpoint rollback" ], "source_contract": { "embodiment": "7-DoF xArm with 6-DoF Inspire hand and Orbbec 336; LIBERO simulation", "inputs": [ "RGB/task language", "X-VLA model", "skill sequence" ], "action_output": "VLA action head outputs with skill-specific subspaces/experts; no WBC/torque", "evidence_boundary": "four xArm skills, 20 trials/skill/phase and author-reported 86.25% versus KeepLoRA 71.25%; no target-body evidence" }, "target_contract_delta": { "required_checks": [ "freeze X-VLA/repo/weights/data revisions, skill IDs/order and action/camera calibration", "same-batch KeepLoRA/unified subspace/OrthoSkillVLA with three seeds and permutations", "report forward/backward transfer, forgetting, router accuracy, latency, feasibility and rollback", "G1/H2/M20/R1 simulation before human gate" ], "data_match": "module-specific subspace and router are reversible continual-learning candidates; xArm/hand results do not prove humanoid transfer", "license_and_compute": "GitHub Apache-2.0; HF weights/data and upstream terms require fixed revision/terms; Hub ledger only, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "xArm/hand four skills, 20 trials per skill/phase", "unseen_or_ood": "LIBERO-Plus/RoboTwin perturbations; no unseen physical body", "cross_task": "Flip/Pick/Push/Press and simulated skill orders", "perturbation_or_dynamics_shift": "skill order and continual interference", "cross_embodiment": "single xArm/hand; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "Orbbec 336 and Inspire hand only", "independent_reproduction": "not_reported", "reproducible_artifacts": "official repo with scripts, HF references; exact fixed revisions pending" }, "verdict": "test_soon_reversible_continual-learning_sim_only", "confidence": "primary paper/repo/weights/data references and author xArm evidence; no independent or target-body reproduction", "rollback": "restore frozen X-VLA and prior skill checkpoint; disable new expert/router branch", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_open_artifacts_real_xarm_cross_body_gate_blocked", "artifact_gate": "fixed_revision_license_and_target_body_contract_pending", "next_gate": "pin revisions and execute three-seed continual regression", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "light-loco-parkour-to-g1-h2-m20-r1-perceptive-wbc-001", "evidence_id": "arxiv-2608-02653", "source_project": "Light-Loco-Parkour multi-skill perceptive whole-body locomotion", "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "导航", "全身控制" ], "affected_modules": [ "depth-conditioned locomotion policy", "skill transition state", "terrain/reference data selection", "WBC feasibility gate", "failure recovery" ], "source_contract": { "embodiment": "90 cm Lightbot 0 with D435, IMU, joint encoders and Jetson Orin Nano", "inputs": [ "depth", "IMU", "joint state", "velocity command", "privileged teacher state in simulation" ], "action_output": "whole-body locomotion actions selected across traversal skills; not direct torque authority", "evidence_boundary": "simulation transition success reported up to 98% and 0.83H climb-and-step; real evidence is qualitative indoor/outdoor video without trial denominator" }, "target_contract_delta": { "required_checks": [ "freeze target depth/proprioception calibration, action limits, contact events and WBC projection", "same-batch baseline versus candidate across stairs, stepping stones, beam, overlapping and unseen geometries with three seeds", "report per-skill/transition success, failure denominator, latency/power, action feasibility, recovery and false-safe/unsafe-pass", "G1/H2/M20/R1 closed-loop simulation before human gate" ], "data_match": "terrain-paired references and transition learning are reversible candidates; custom Lightbot sensor/body and qualitative real evidence do not prove target-body transfer", "license_and_compute": "project page has no verified code/weights/data/license; Jetson Orin Nano result is evidence only, Hub ledger required and 242 unavailable/244-245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Lightbot 0 qualitative traversal only; no denominator", "unseen_or_ood": "unseen trapezoidal pommel-horse and overlapping obstacles in simulation; degradation reported for overlapping obstacles", "cross_task": "speed tracking, stepping stones, balance beam, stairs, climb-and-step, reverse/speed vault", "perturbation_or_dynamics_shift": "teacher privileged state versus depth student and sparse reference coverage", "cross_embodiment": "single custom Lightbot 0; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "D435/IMU/encoders only; target sensors pending", "independent_reproduction": "not_reported", "reproducible_artifacts": "no code, weights, training assets or license verified" }, "verdict": "test_soon_reversible_perceptive-wbc-sim-only", "confidence": "primary full paper/project media, author simulation and qualitative real evidence; no independent or target-body reproduction", "rollback": "disable candidate student/transition branch and restore frozen baseline policy/WBC; retain failure logs", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_qualitative_real_no_artifacts_cross_body_gate_blocked", "artifact_gate": "code_weights_data_license_and_target_body_contract_pending", "next_gate": "close artifacts, pin sensor/action contract and execute three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "g1-standup-deformable-contact-to-g1-h2-m20-r1-001", "evidence_id": "arxiv-2608-20852", "source_project": "Demonstration-Guided Humanoid Stand-Up on an Emulated Deformable Surface", "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "安全恢复" ], "affected_modules": [ "residual recovery policy", "soft-contact curriculum", "contact/material calibration", "WBC feasibility and safety gate" ], "source_contract": { "embodiment": "Unitree G1 29-DoF simulation in MuJoCo", "inputs": [ "joint/pose/contact state", "hard-ground human stand-up reference", "solref/solimp compliance stage" ], "action_output": "residual joint-position targets for fallen-to-standing; not direct torque/WBC", "evidence_boundary": "two simulated stand-up sequences and about 40 mm penetration; no real robot, code, weights, seeds or independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2 contact/material mapping, reference revision, actuator delay and penetration limit", "same-batch reference-only versus explicit-recovery rewards with three seeds and identical initial states", "report success, penetration, support-force mismatch, posture error, delay sensitivity and failure denominator", "G1/H2 closed-loop simulation before human gate; no M20/R1 extrapolation" ], "data_match": "explicit recovery objectives and staged contact adaptation are reversible candidates; single simulated G1 cannot establish cross-body transfer", "license_and_compute": "paper/PDF primary evidence only; no verified code/weights/data/license; Hub ledger required, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "none; G1 simulation only", "unseen_or_ood": "hard versus emulated soft contact; no unseen embodiment", "cross_task": "two stand-up sequences", "perturbation_or_dynamics_shift": "solref stiffness and solimp penetration curriculum", "cross_embodiment": "G1 simulation only; H2/M20/R1 pending", "cross_sensor_or_hand": "joint/contact state only; target sensors pending", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_verified" }, "verdict": "test_soon_reversible_soft-contact-sim-only", "confidence": "primary abstract/PDF and anatomy; simulation-only evidence with undisclosed reward weights/seeds and no artifact or real-robot closure", "rollback": "disable soft-contact residual branch and restore rigid-ground baseline recovery policy; retain failure logs", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_sim_only_no_artifact_cross_body_gate_blocked", "artifact_gate": "code_weights_data_license_material_mapping_and_target_body_contract", "next_gate": "pin contact mapping and execute three-seed closed-loop simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "delta-deformable-terrain-attention-to-g1-h2-m20-r1-001", "evidence_id": "arxiv-2608-22033", "source_project": "DELTA deformable terrain attention", "target_projects": [ "G1", "H2", "M20", "R1", "WBC", "Sim2Real", "导航", "足式运动" ], "affected_modules": [ "terrain encoder", "depth/elevation calibration", "terrain OOD regression", "WBC feasibility gate" ], "source_contract": { "embodiment": "RAIBO2 quadruped; D430 depth; Jetson AGX Orin; RaiSim training", "inputs": [ "41x25 or 26x16 local elevation map", "proprioception", "velocity command" ], "action_output": "desired joint-position action through PD; no foothold planner, online optimization or direct WBC authority", "evidence_boundary": "five-seed simulation; four unseen mixed courses; RAIBO2 seven courses, 21/21 trials, 3 per course; no artifacts or independent replication" }, "target_contract_delta": { "required_checks": [ "freeze target map calibration, sensor timing, action scaling and WBC projection", "same-batch MLP/AME/DELTA candidates with five seeds, standard/fine/unseen terrain and sensor OOD", "report SR, progress, encoder FLOPs/training time, dropout/noise, latency, action feasibility and failure denominator", "G1/H2/M20/R1 closed-loop simulation before human gate; >=30 real trials/course only after approval" ], "data_match": "fixed-cost terrain evidence and center-context gating are reversible adapters; RAIBO2 sensor/body and 21 author trials do not prove humanoid/wheel-foot transfer", "license_and_compute": "paper primary only; code/weights/data/license not verified; Jetson/RTX4060 evidence only, Hub ledger required and 242 unavailable/244-245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "RAIBO2 seven courses, 21/21 author-reported trials", "unseen_or_ood": "four unseen mixed simulation courses average SR 96.6% versus AME 26.0%; fine-grained maps tested", "cross_task": "continuous hills/slope/stairs/steps/rough ground plus gaps/stepping/grid stones", "perturbation_or_dynamics_shift": "friction/slip randomization and sensor NaN/spike filtering; physical material shift not closed", "cross_embodiment": "single RAIBO2; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "D430 depth and proprioception only", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_verified" }, "verdict": "test_soon_reversible-terrain-encoder-sim-first", "confidence": "primary full paper with quantified five-seed simulation and author RAIBO2 evidence; no artifact or independent target-body reproduction", "rollback": "disable DELTA terrain encoder and restore frozen AME/baseline terrain policy plus WBC/safety plane", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_real_raibo2_artifact_gate_blocked", "artifact_gate": "code_weights_data_license_and_target_body_contract", "next_gate": "pin sensor/map contract and execute five-seed cross-body simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "roboedit-to-g1-h2-m20-r1-wam-data-001", "evidence_id": "arxiv-2608-18948", "source_project": "RoboEdit-14M human-video-to-robot experience", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "灵巧手", "Sim2Real" ], "affected_modules": [ "human-video data curation", "cross-embodiment retargeting", "3D robot-state decoder", "WAM/VLA data adapter", "trajectory-conditioned residual control", "independent WBC and safety gate" ], "source_contract": { "embodiment": "seven robot hands/grippers (Ability, Allegro, Unitree Dex3, Inspire, Panda, SCHUNK SVH, XHand)", "inputs": [ "RGB human manipulation video", "depth/camera reconstruction", "target embodiment geometry", "sparse robot keyframes" ], "action_output": "robot-conditioned edited video plus explicit 3D hand-state trajectory; downstream residual PPO action proposal, not direct torque/WBC", "evidence_boundary": "174547 aligned pairs/14.138M frames, 512 simulation environments, Panda 71% and XHand 62% trajectory reproduction; Franka real deployment is qualitative with no denominator; code/weights/data/license not verified" }, "target_contract_delta": { "required_checks": [ "freeze G1/H2/M20/R1 morphology, sensor/action units, hand/arm timing and WAM/VLA data revision", "same-batch raw human-video, retargeted-state and RoboEdit-style paired-data adapters with three seeds", "report state/trajectory error, contact consistency, data leakage/dedup, action feasibility, latency, WBC rejection and failure denominator", "closed-loop simulation on each target embodiment before any human real-machine gate" ], "data_match": "human-video-to-robot paired supervision and explicit state interface are reversible migration candidates; seven hand/gripper bodies do not establish full humanoid or wheel-arm transfer", "license_and_compute": "paper primary evidence; RoboEdit-14M/code/weights/license unavailable; paper H100-NVL setup is evidence only, Hub live resource ledger required and 242 unavailable/244-245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Franka Panda qualitative YCB deployment; denominator absent", "unseen_or_ood": "multiple source domains/cameras/objects and seven hand embodiments; no quantified humanoid OOD", "cross_task": "YCB-object manipulation and source datasets DexYCB/GigaHands/H2O/HOT3D/TACO", "perturbation_or_dynamics_shift": "physics-guided retargeting and depth regularization; real sim2real gap not measured", "cross_embodiment": "seven hands/grippers only; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "RGB/depth reconstruction and hand geometry; target tactile/proprioception not verified", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_verified" }, "verdict": "test_soon_reversible-data-adapter-sim-only", "confidence": "primary full text with explicit losses, data counts, seeds and simulation/real boundary; artifact/license and humanoid transfer gates blocked", "rollback": "disable RoboEdit data/state adapter and restore frozen WAM/VLA dataset pipeline plus independent WBC/safety plane; retain failure logs", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_data_and_real_boundary_artifact_gate_blocked", "artifact_gate": "dataset/code/weights/license_and_target_body_contract", "next_gate": "close artifact terms, pin paired-data revision and run three-seed cross-body simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "wam-taxonomy-to-g1-h2-m20-r1-evaluation-contract-001", "evidence_id": "arxiv-2606-20781", "source_project": "World Action Models survey taxonomy", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real", "导航" ], "affected_modules": [ "WAM comparison schema", "predictive substrate/action coupling fields", "closed-loop evaluation matrix", "lineage UI" ], "source_contract": { "embodiment": "survey covering multiple embodied-AI families; no new evaluated platform", "inputs": [ "paper/artifact evidence", "task, embodiment, sensor and action metadata", "prediction and closed-loop metrics" ], "action_output": "metadata-only evaluation record; no executable action authority", "evidence_boundary": "survey taxonomy and reporting guidance; no author model, weights, dataset, robot trial or independent reproduction" }, "target_contract_delta": { "required_checks": [ "freeze task, split, embodiment, action space, sensor, rollout horizon and latency before comparison", "separate visual fidelity, physical plausibility, action feasibility and closed-loop success", "same-batch three-seed baseline/challenger only when downstream artifacts are available", "G1/H2/M20/R1 simulation and manual real-machine gate before any migration" ], "data_match": "taxonomy fields are reversible metadata infrastructure; survey and linked projects do not prove target-body transfer", "license_and_compute": "survey primary source verified; downstream artifact/license and Hub resource ledger required, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "none; survey only", "unseen_or_ood": "evaluation dimensions recommended, not executed by survey", "cross_task": "taxonomy spans cited methods but no new controlled comparison", "perturbation_or_dynamics_shift": "not measured by survey", "cross_embodiment": "reference across humanoid/legged/manipulation; no new transfer evidence", "cross_sensor_or_hand": "not applicable", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_applicable" }, "verdict": "long_term_attention_reference_only", "confidence": "primary survey and official index verified; no executable or cross-body evidence", "rollback": "remove comparison row and restore frozen evaluation registry; no production model mutation", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_reference_only", "artifact_gate": "paper_only_no_artifacts_or_robot_protocol", "next_gate": "freeze downstream method-specific contract before simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "gelstereo-to-g1-h2-m20-r1-visuotactile-encoder-001", "evidence_id": "oa-w3173438814", "source_project": "GelStereo visuotactile sensor", "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手", "视觉触觉" ], "affected_modules": [ "触觉编码", "标定/时延检查", "WAM/VLA输入适配" ], "source_contract": { "embodiment": "在手物体定位实验，非人形/足式", "inputs": [ "stereo tactile images", "contact point cloud" ], "action_output": "物体定位特征；无动作/力矩输出", "evidence_boundary": "IEEE DOI/出版页与摘要可复查；无开放制品或独立跨本体闭环证据" }, "target_contract_delta": { "required_checks": [ "freeze sensor geometry, calibration, timestamp and dropout contract", "offline replay before any learned adapter", "report localization error, latency and false-contact separately", "simulation then manual real-machine gate" ], "data_match": "sensor-layer reference only; no evidence of WAM/VLA/WBC gain", "license_and_compute": "paper evidence only; downstream artifact/license and Hub ledger required" }, "generalization_evidence": { "same_embodiment_real_robot": "in-hand localization setup", "unseen_or_ood": "not reported", "cross_task": "object localization/manipulation setup", "perturbation_or_dynamics_shift": "not reported", "cross_embodiment": "none", "cross_sensor_or_hand": "GelStereo only", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_verified" }, "verdict": "long_term_attention_sensor_reference_only", "confidence": "publisher DOI evidence supports device/localization claim only", "rollback": "disable optional sensor adapter and restore baseline encoder", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_sensor_reference_only", "artifact_gate": "paper_only_no_robot_protocol_or_artifact_closure", "next_gate": "freeze tactile calibration and latency contract", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "event-vt-snn-to-g1-h2-m20-r1-event-encoder-001", "evidence_id": "oa-w3040099822", "source_project": "Event-Driven Visual-Tactile Sensing and Learning / VT-SNN", "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手", "视觉触觉" ], "affected_modules": [ "事件视觉触觉编码", "时序同步/延迟", "WAM/VLA输入适配" ], "source_contract": { "embodiment": "Franka/Robotiq 传感器试验，非人形/足式", "inputs": [ "NeuTouch event tactile", "Prophesee event camera" ], "action_output": "分类/滑移特征；无动作或力矩输出", "evidence_boundary": "arXiv、作者项目页、下载页和官方仓库入口可复查；固定制品与跨本体闭环未闭合" }, "target_contract_delta": { "required_checks": [ "freeze event threshold, calibration, timestamp and dropout contract", "offline replay before adapter", "report slip accuracy, latency, dropout and power separately", "simulation then manual real-machine gate" ], "data_match": "event visual-tactile encoder reference only; no WAM/VLA/WBC gain evidence", "license_and_compute": "code/data entry verified, fixed commit/license and Hub resource ledger required" }, "generalization_evidence": { "same_embodiment_real_robot": "Franka/Robotiq setup", "unseen_or_ood": "not reported", "cross_task": "container/weight classification and rotational slip", "perturbation_or_dynamics_shift": "not reported", "cross_embodiment": "none", "cross_sensor_or_hand": "NeuTouch plus Prophesee only", "independent_reproduction": "not_reported", "reproducible_artifacts": "entry_verified_snapshot_unpinned" }, "verdict": "long_term_attention_event_sensor_reference_only", "confidence": "primary sources support perception/data claims only", "rollback": "disable optional event adapter and restore baseline encoder", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_reversible_simulation_candidate", "artifact_gate": "dataset_snapshot_code_license_world_state_schema_and_cross_embodiment_contract_pending", "next_gate": "freeze event stream calibration/latency before three-seed simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "lifelong-vt-material-to-g1-h2-m20-r1-replay-001", "evidence_id": "oa-w3015417033", "source_project": "Lifelong Visual-Tactile Cross-Modal Learning", "target_projects": [ "G1", "H2", "M20", "R1", "灵巧手", "视觉触觉", "持续学习" ], "affected_modules": [ "视觉触觉融合", "材料标签/回放", "持续学习筛选" ], "source_contract": { "embodiment": "材料感知研究，非人形/足式闭环", "inputs": [ "visual observations", "dynamic tactile sequences", "material labels" ], "action_output": "材料感知表示；无动作/力矩输出", "evidence_boundary": "PubMed/作者出版页/DOI支持 lifelong 感知范围；具体制品和跨本体证据未闭合" }, "target_contract_delta": { "required_checks": [ "freeze dataset snapshot, labels, calibration and timestamps", "offline replay before adapter", "report OOD shift, forgetting, latency and dropout separately", "simulation then manual real-machine gate" ], "data_match": "perception/replay reference only; no WAM/VLA/WBC gain evidence", "license_and_compute": "paper metadata verified; artifacts and Hub ledger required" }, "generalization_evidence": { "same_embodiment_real_robot": "material perception task only", "unseen_or_ood": "abstract reports unfamiliar objects but no fixed split in this review", "cross_task": "three public datasets", "perturbation_or_dynamics_shift": "not reported", "cross_embodiment": "not reported", "cross_sensor_or_hand": "not reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_verified" }, "verdict": "long_term_attention_continual_learning_reference_only", "confidence": "primary metadata/abstract evidence supports perception scope only", "rollback": "disable replay adapter and restore baseline data pipeline", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_reversible_simulation_candidate", "artifact_gate": "paper_only_no_open_artifacts_and_cross_embodiment_contract_pending", "next_gate": "fixed dataset snapshot and label contract before three-seed replay simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "wam-safety-redteam-to-g1-h2-safety-plane-001", "evidence_id": "arxiv-2604-05498", "source_project": "JailWAM physical-safety red-team evaluation", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real" ], "affected_modules": [ "WAM/VLA risk evaluator", "action-feasibility monitor", "independent safety plane", "fallback/recovery state machine", "red-team regression suite" ], "source_contract": { "embodiment": "RoboTwin/LIBERO simulation with four WAM/VLA families plus Motus/X-VLA; no physical robot", "inputs": [ "visual observations", "language/task instruction", "candidate WAM action trajectory", "scene and embodiment metadata", "risk taxonomy and human review labels" ], "action_output": "risk score, unsafe-trajectory flag and dual-path verification result; never direct torque or WBC authority", "evidence_boundary": "arXiv full text reports Visual-Trajectory Mapping, three-level Risk Discriminator and Dual-Path Verification; author reports 17/23 closed-loop unsafe cases captured, with 6/23 missed. Code, weights, JailWAM-Bench, prompts and data license are not open; all evidence is simulation-only." }, "target_contract_delta": { "required_checks": [ "freeze G1/H2/M20/R1 morphology, sensors, action units, simulator revision and current champion checkpoint", "replay the same adversarial prompt/trajectory batch through baseline and candidate risk gates with three seeds", "report unsafe-pass, false-reject, risk-label agreement, recovery success, latency and WBC rejection separately", "any NaN, contract mismatch, missing risk label, resource conflict or safety-plane bypass must fail-closed", "simulation gate precedes any manual real-machine review; no automatic model replacement" ], "data_match": "the risk protocol is a reversible evaluation/safety-adapter candidate; author attack sets and simulator labels do not establish real-world safety rates or humanoid transfer", "license_and_compute": "paper evidence only; JailWAM artifacts/license unavailable; 8x RTX 4090 is author configuration, not a deployment minimum; Hub live ledger required and 242 unavailable/244-245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "none", "unseen_or_ood": "author-defined adversarial prompts and closed-loop simulation only; independent OOD not reported", "cross_task": "RoboTwin/LIBERO tasks and multiple WAM/VLA families; no frozen cross-project regression yet", "perturbation_or_dynamics_shift": "risk perturbations are simulated; physical dynamics/latency shift not measured", "cross_embodiment": "simulated model/embodiment variants only; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "not_reported", "independent_reproduction": "not_reported", "reproducible_artifacts": "not_verified" }, "verdict": "test_soon_reversible-safety-evaluator-sim-only", "confidence": "primary full text with explicit risk protocol and miss boundary; no open artifacts, independent reproduction or real-robot evidence", "rollback": "disable the candidate risk evaluator, restore frozen WAM/VLA checkpoint and independent WBC/safety plane, retain all red-team traces and failure labels", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_artifact_gate_blocked_safety_plane_only", "artifact_gate": "blocked_code_dataset_risk_label_independent_review_and_simulator_version_contract", "next_gate": "freeze target-body action mapping, risk taxonomy, human-review seed and stop condition, then run three-seed closed-loop red-team simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "omega0-to-g1-h2-m20-r1-humanoid-wam-001", "evidence_id": "arxiv-2608-06375", "source_project": "ω-0 latent predictive world action model", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real", "导航" ], "affected_modules": [ "multiview/egocentric visual encoder", "robot-state and language alignment", "future visual-latent prediction", "whole-body action-token/diffusion head", "SONIC/WBC interface", "humanoid loco-manipulation regression" ], "source_contract": { "embodiment": "Unitree G1 with Inspire DexHands, ZED Mini plus external ZED RGB-D and SONIC low-level whole-body controller; data collection uses Pico headset/controllers/foot trackers", "inputs": [ "language instruction", "egocentric and exocentric RGB/RGB-D", "robot state", "teleoperation-derived trajectories", "future visual latent targets" ], "action_output": "25-step controller-compatible whole-body action chunk with first 8 steps executed before re-observation; policy forward reported about 0.14s (>7Hz), not a low-level safety or torque guarantee", "evidence_boundary": "author reports 11 household tasks, 10 trials per method/task, ω-0 Omni 81.8% success, 36.7/41 subtask score and 90.3% progress on a single G1. ω-HOME is readable at fixed public revision f5d7bf3, but code, weights, dataset-specific license, full checksum audit, calibration, dependency lock and independent reproduction are unavailable." }, "target_contract_delta": { "required_checks": [ "freeze each target morphology, cameras/state schema, action units, SONIC/WBC interface and latency budget before adapter work", "replay fixed ω-HOME revision and identical train/validation split through frozen baseline, ω-0-style latent/action adapter and RGB/state controls with three seeds", "report task success, subtask score, progress, action feasibility, WBC rejection, contact/fall rate, recovery, latency and human intervention separately", "inject camera dropout, time drift, action delay, unseen room/object and morphology changes; NaN, contract mismatch, missing license or safety-plane bypass must fail-closed", "simulation and cross-scene regression precede any manual real-machine gate; no automatic production replacement" ], "data_match": "the WAM interface, action-chunk contract and future-latent evaluation are reversible migration candidates; single-G1/author-data results do not establish H2/M20/R1 transfer or navigation benefit", "license_and_compute": "8×H100 is the author training configuration, not a minimum; ω-HOME fixed files are publicly readable but no dataset-specific license/card or full download audit is declared; Hub live resource ledger required, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "Unitree G1 + Inspire DexHands author evaluation, 11 tasks × 10 trials/method/task", "unseen_or_ood": "not independently measured; author task set only", "cross_task": "11 household loco-manipulation tasks under one G1 setup", "perturbation_or_dynamics_shift": "not reported beyond author deployment conditions", "cross_embodiment": "none; H2/M20/R1 pending", "cross_sensor_or_hand": "ZED/Pico/Inspire only", "independent_reproduction": "not_reported", "reproducible_artifacts": "ω-HOME fixed revision readable; code/weights/license/dependency lock not verified" }, "verdict": "test_soon_reversible-wam-adapter-sim-only", "confidence": "primary paper/project/data revision with quantified author G1 boundary; artifact, license and cross-body gates remain blocked", "rollback": "disable ω-0 latent/action adapter and restore frozen VLA/WAM plus SONIC/WBC safety baseline; preserve all rollout and failure traces", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_humanoid_wam_artifact_and_cross_body_gate_blocked", "artifact_gate": "code_weights_dataset_license_calibration_dependency_and_target_body_contract", "next_gate": "pin ω-HOME schema/license and build three-seed G1/H2/M20/R1 simulation with fixed action/WBC interface", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "oscar-to-g1-h2-m20-r1-cross-embodiment-wam-001", "evidence_id": "arxiv-2606-04463", "source_project": "OSCAR omni-embodiment action-conditioned world model", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "WBC", "Sim2Real", "导航" ], "affected_modules": [ "2D kinematic skeleton embodiment adapter", "action-conditioned video world model", "WAM rollout evaluator", "policy ranking/regression harness", "cross-embodiment data contract", "independent WBC/safety plane" ], "source_contract": { "embodiment": "AgiBot G1, DROID Franka/Robotiq, Franka Panda, KUKA iiwa, Toyota HSR and human MANO skeleton; no OSCAR direct closed-loop robot controller", "inputs": [ "RGB/video context", "2D kinematic skeleton/action condition", "embodiment metadata", "task prompts", "existing real-robot rollout pairs" ], "action_output": "predicted video/world-model rollout and policy-ranking signal; not joint commands, torque or WBC authority", "evidence_boundary": "author reports four-embodiment video evaluation and 1,365 paired preferences for offline ranking; official Apache-2.0 inference code, OSCAR-2B weights and 441 comparison rollouts are public. Training pipeline, complete mixed-data manifest, calibration/action labels, dataset license matrix and independent reproduction remain unavailable." }, "target_contract_delta": { "required_checks": [ "freeze camera calibration, skeleton convention, action units, embodiment metadata, rollout horizon and current champion policy", "run the same held-out scenes through frozen baseline and OSCAR evaluator with three seeds and no policy replacement", "report video fidelity, physical plausibility, action feasibility, ranking agreement, unsafe-pass, false-reject, latency and WBC rejection separately", "test G1/H2/M20/R1 morphology changes, camera dropout, time drift and unseen tasks; missing labels, schema mismatch, NaN or license conflict must fail-closed", "use the evaluator only for simulation/offline regression before any manual real-machine gate" ], "data_match": "the skeleton-conditioned evaluator and ranking protocol are reversible measurement infrastructure; cross-embodiment video prediction does not prove cross-body action transfer, navigation or tactile control", "license_and_compute": "public inference code and model card state Apache-2.0, but Cosmos/upstream/data terms remain separate; 24GB+ inference and single-GH200 author training are not minimum deployment or retraining guarantees; Hub live ledger required, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "offline comparisons against existing Franka/Robotiq and other recorded robot rollouts", "unseen_or_ood": "author cross-embodiment video set; independent OOD not reported", "cross_task": "multiple manipulation datasets and RoboArena ranking comparisons", "perturbation_or_dynamics_shift": "not measured as a control/dynamics shift", "cross_embodiment": "G1, Franka, KUKA, HSR and MANO in video/evaluation representation; target closed-loop transfer absent", "cross_sensor_or_hand": "camera/skeleton conventions only; tactile not evaluated", "independent_reproduction": "not_reported", "reproducible_artifacts": "inference code/weights/rollouts available; training and full data/license closure not verified" }, "verdict": "test_soon_reversible-wam-evaluator-offline-sim-only", "confidence": "primary paper, project, code, weights and rollout surfaces verified; offline-only and artifact/license/independent-reproduction limits explicit", "rollback": "remove OSCAR evaluator from the regression harness and restore frozen policy ranking/calibration baseline plus independent WBC/safety plane; retain comparison traces", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_open_evaluator_cross_body_control_gate_blocked", "artifact_gate": "training_data_manifest_calibration_license_and_target_body_contract", "next_gate": "pin public code/weights revisions, define skeleton/action mapping and run three-seed G1/H2/M20/R1 offline/closed-loop simulation without production mutation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } }, { "mapping_id": "robust-wam-geact-to-g1-h2-m20-r1-ood-adapter-001", "evidence_id": "arxiv-2608-05903", "source_project": "Robust-WAM GE-Act semantic foresight", "target_projects": [ "G1", "H2", "M20", "R1", "WAM", "VLA", "Sim2Real", "视觉鲁棒性" ], "affected_modules": [ "semantic future target extractor", "video-VAE/action-expert adapter", "visual OOD robustness evaluator", "LIBERO/LIBERO-Plus regression harness", "WAM/WBC feasibility and safety gate" ], "source_contract": { "embodiment": "GE-Act simulation branch; paper reports author Franka Research 3 lighting-OOD trials, but released source has no physical bridge or deployment guide", "inputs": [ "video/action context", "DINOv3 per-frame semantic future targets", "LTX-Video/GE-Act action expert", "LIBERO and separately installed LIBERO-Plus tasks" ], "action_output": "action-expert rollout/policy output for simulation evaluation; no released real-robot command bridge or WBC authority", "evidence_boundary": "fixed MIT repository commit and public GE-Act checkpoint are available; paper reports FR3 OOD averages, but FastWAM/LingBot-VA, training data snapshot, precomputed target bundle, physical logs and independent reproduction are not available." }, "target_contract_delta": { "required_checks": [ "freeze GE-Act source/checkpoint revisions, DINO target extraction, LIBERO/LIBERO-Plus versions, camera/action schema and target morphology", "run clean and perturbed evaluation separately against frozen baseline with three seeds and fixed trial denominators", "report task completion, OOD delta, action feasibility, latency, compute, unsafe-pass, false-reject and WBC rejection separately", "inject camera/color shift, dropout, latency and G1/H2/M20/R1 morphology changes; missing target cache, upstream license mismatch, NaN or contract mismatch fail-closed", "simulation and cross-scene regression precede any manual real-machine gate; do not treat FR3 author results as target-body evidence" ], "data_match": "semantic-future target extraction and OOD evaluation are reversible adapters; released GE-Act simulation source does not prove full Robust-WAM, humanoid transfer or production WAM benefit", "license_and_compute": "MIT applies to repository source/model-card metadata only; GE-Act/LTX-Video/DINOv3/LIBERO/LIBERO-Plus and data retain separate terms; documented 8-GPU/50K-step recipe is not a minimum; Hub live ledger required, 242 unavailable and 244/245 shared" }, "generalization_evidence": { "same_embodiment_real_robot": "author FR3 lighting-OOD, three tasks and 25 trials per condition; not independently reproduced", "unseen_or_ood": "illumination OOD only in author report", "cross_task": "three FR3 tasks plus LIBERO/LIBERO-Plus simulation suites", "perturbation_or_dynamics_shift": "visual lighting shift; dynamics/latency shift not measured", "cross_embodiment": "none; G1/H2/M20/R1 pending", "cross_sensor_or_hand": "camera/video only", "independent_reproduction": "not_reported", "reproducible_artifacts": "GE-Act source/checkpoint fixed; full training/data/physical deployment closure not verified" }, "verdict": "test_soon_reversible-ood-wam-adapter-sim-only", "confidence": "primary paper, fixed source and checkpoint verified; simulation branch is usable, but physical and cross-body gates remain blocked", "rollback": "disable semantic-foresight/GE-Act adapter and restore frozen VLA/WAM plus independent WBC/safety plane; retain OOD and failure traces", "engineering_review": { "schema_version": "1.0", "status": "primary_source_reviewed_geact_open_sim_branch_physical_gate_blocked", "artifact_gate": "checkpoint_target_cache_upstream_license_target_body_and_real_bridge_contract", "next_gate": "pin GE-Act source/checkpoint/target revisions and run three-seed clean-vs-OOD G1/H2/M20/R1 simulation", "independent_reproduction": "not_reported", "production_replacement": "blocked_by_project_contract", "last_checked_at": "2026-08-26" } } ], "decisions": [ { "failure_symptom": "G1/H2 接触失败（抓取滑落、插入偏斜、力过大/过小）", "candidate_causes": [ { "cause": "触觉时序缺失/滞后（力觉未进观测或与视觉不同步）", "evidence_papers": [ "arxiv-2607-02840", "arxiv-2607-07287", "arxiv-2607-10132" ], "recommended_check": "先核对触觉通道是否在训练/推理两侧都以同样频率与延迟进入模型；参照知识库“训练/推理前缀必须一致”" }, { "cause": "执行器 delay / 低层 WBC 输出不可实现", "evidence_papers": [ "arxiv-2606-09215", "arxiv-2608-06375" ], "recommended_check": "打印训练/推理实际张量形状与 SONIC 动作 latent 范围；动作分块提交，不每帧重规划" }, { "cause": "WAM 预测的未来表示与实际物理不符", "evidence_papers": [ "arxiv-2608-08558", "arxiv-2607-22530", "arxiv-2608-15816", "arxiv-2606-19531" ], "recommended_check": "先做 action-conditioned policy evaluation（生成 rollout 预评估），再上真机" }, { "cause": "数据端缺少失败/接触扰动样本", "evidence_papers": [ "arxiv-2607-02840", "arxiv-2606-31836" ], "recommended_check": "检查失败轨迹与接触扰动是否保留在训练集；测试集换采集通道" }, { "cause": "跨传感器/跨数据集力值标定被错误视为同一物理量", "evidence_papers": [ "arxiv-2608-15060" ], "recommended_check": "先分别报告传感器域内 MAE/F1 与跨域接触指标；没有标定证据时禁止把不同传感器输出换算为绝对牛顿值" }, { "cause": "真机平均成功率缺少逐任务试验分母", "evidence_papers": [ "arxiv-2607-23782" ], "recommended_check": "发布横评前逐项要求任务数、每任务试次、失败类型和置信区间；只有总分母可审计时才允许进入成功率排序" }, { "cause": "reward/termination 定义与闭环不一致", "evidence_papers": [ "arxiv-2607-10132" ], "recommended_check": "对照知识库 h2-train-eval-threshold-gap：train 里启用的终止项 eval 是否启用" }, { "cause": "移动基地ego-motion未进入未来表示，导致视角与动作不同步", "evidence_papers": [ "arxiv-2608-20114" ], "recommended_check": "分离记录基地速度、机械臂动作和相机运动；先统一14维动作接口做开放环未来视频/动作误差，再做闭环对照" }, { "cause": "数据筛选误删困难样本或把失败样本混入模仿目标", "evidence_papers": [ "arxiv-2607-06442", "arxiv-2607-16921", "arxiv-2608-10232" ], "recommended_check": "冻结 episode/transition 清单与失败标签版本；分别比较全量、结构选择和失败保留三组数据的同协议多 seed 仿真，未完成清单与许可证核验前不改生产训练集" }, { "cause": "相机、执行器或动力学域差被误归因于 VLA/WAM 能力不足", "evidence_papers": [ "arxiv-2511-15200", "arxiv-2606-26025", "arxiv-2608-01506", "arxiv-2507-21796" ], "recommended_check": "先冻结 observation/action/标定与延迟契约，分别做 real-to-sim 对齐、固定探测动作和同场景 sim2real 对照；任何在线适配必须有 safe-stop/回退路径，不得直接改生产 VLA/WBC" }, { "cause": "执行器传动、负载或伺服遥测变化未进入本体契约", "evidence_papers": [ "arxiv-2606-03297", "arxiv-2607-02205", "arxiv-2607-11734" ], "recommended_check": "先记录关节限位、负载、延迟、力矩/电流遥测和动作饱和，再做同本体固定 seed 的 system-identification/actuator-model A-B；任何未校准的无传感器力估计不得进入 WBC 或真机安全判定" } ] }, { "failure_symptom": "四足/轮足真机抓取滑落或接触力不稳定", "candidate_causes": [ { "cause": "没有直接观测手内接触力（仅隐式估计）", "evidence_papers": [ "arxiv-2607-10132" ], "recommended_check": "引入低维 taxel/力觉阵列并做紧凑 latent；grasp stability reward 同时降力与防滑" }, { "cause": "GelSight 渲染式触觉仿真 sim-to-real gap 大", "evidence_papers": [ "arxiv-2607-10132" ], "recommended_check": "用低维数组型触觉仿真（taxel 强度与法向力相关）" } ] }, { "failure_symptom": "透明/反光物体点云感知缺失导致操作失败", "candidate_causes": [ { "cause": "折射/反射/自遮挡使点云噪声大、信息缺失", "evidence_papers": [ "arxiv-2603-13869" ], "recommended_check": "用 masked point-cloud reconstruction 预训练补全，再端到端策略" } ] }, { "failure_symptom": "触觉接触已发生但WAM仍重复执行错误动作", "candidate_causes": [ { "cause": "触觉只进入预测或策略输入，未形成候选动作筛选与重规划闭环", "evidence_papers": [ "arxiv-2608-19574" ], "recommended_check": "分别记录接触预测、候选筛选、重规划触发与最终执行；先按固定K和逐任务分母复现。" }, { "cause": "世界模型输出绕过WBC/安全边界直接驱动执行", "evidence_papers": [ "arxiv-2608-18234" ], "recommended_check": "检查动作接口、限幅、终止与恢复状态机；未通过独立安全平面的输出不得进入真机。" } ] }, { "failure_symptom": "触觉预训练迁移后，ID任务提升但OOD接触任务不稳定", "candidate_causes": [ { "cause": "预训练触觉/手部动作域与目标机器人传感器、动作空间未对齐", "evidence_papers": [ "arxiv-2607-01067", "arxiv-2607-23782" ], "recommended_check": "先逐通道核对 taxel/力觉采样率、坐标系、动作维度和延迟；分别报告 ID/OOD，禁止用样本集规模替代域对齐证据。" }, { "cause": "训练数据只保留成功轨迹，失败/恢复优势信号没有进入后训练", "evidence_papers": [ "arxiv-2607-23782" ], "recommended_check": "审计失败、纠正、恢复片段是否进入 advantage/relabel 管线，并做去重后的失败类型分层回归。" } ] }, { "failure_symptom": "行为世界模型过滤器频繁误拒绝或放过不可行命令", "candidate_causes": [ { "cause": "行为分布阈值未按目标本体、地形接触和控制延迟重新校准", "evidence_papers": [ "arxiv-2608-18234" ], "recommended_check": "先固定 G1/H2 的命令分布、OOD 划分、延迟预算和 fallback 轨迹，分别报告 false-reject、unsafe-pass、恢复成功率与端到端延迟；不得用总成功率替代阈值校准证据。" }, { "cause": "过滤器输出绕过独立 WBC/安全平面，或恢复动作不在冻结动作契约内", "evidence_papers": [ "arxiv-2608-18234" ], "recommended_check": "对每次干预记录原命令、过滤后命令、WBC 可实现性、终止原因和恢复状态；任一契约不符、NaN 或资源冲突即 fail-closed。" } ] }, { "failure_symptom": "轮足越障仿真成绩高，但真机楼梯/沟槽重复失败", "candidate_causes": [ { "cause": "动力学、执行器延迟和接触模型未覆盖真实地形边界", "evidence_papers": [ "arxiv-2606-24089", "arxiv-2606-19928" ], "recommended_check": "先锁定真实平台、地形尺寸、控制频率、试验分母和失败日志，再比较 domain randomization/system identification；仿真成功率不得直接外推真机。" }, { "cause": "世界模型或规划器输出不可被低层 WBC 稳定执行", "evidence_papers": [ "arxiv-2606-09215", "arxiv-2607-10132" ], "recommended_check": "记录动作 latent 到关节/接触控制的每层限幅与延迟，先做开放环动作可执行性测试，再进入越障闭环。" } ] }, { "failure_symptom": "持续学习后新技能提升但旧技能、回退或安全边界退化", "candidate_causes": [ { "cause": "技能更新破坏旧技能子空间或动作头契约", "evidence_papers": [ "arxiv-2608-19589" ], "recommended_check": "冻结旧技能回归集、模型/数据 revision 和安全平面；先做多 seed 仿真 champion/challenger，对旧技能成功率、遗忘率、动作范围和 NaN 逐项设门" }, { "cause": "OOD 监测/风险校准与恢复状态机未同步更新", "evidence_papers": [ "legacy-5a2147857d18", "arxiv-2608-17496", "arxiv-2608-13901" ], "recommended_check": "把 false-reject、unsafe-pass、恢复成功率、端侧时延和人工接管纳入同一回归矩阵；任一契约不符、监测器失效或资源冲突即 fail-closed，禁止自动合并或真机发布" } ] } ] }