Release robot execution validation data and code

README.md

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+---
+license: cc-by-4.0
+language:
+- en
+size_categories:
+- n<1K
+pretty_name: Robot Execution Validation
+tags:
+- robotics
+- vision-language-action
+- robot-manipulation
+- evaluation
+- reproducibility
+---
+# Robot Execution Validation
+
+VLABench execution records for released SmolVLA and Pi0 policies: 320 primary
+confirmation attempts, a prospectively specified 60-attempt family-matched native
+validation extension, and 37 separately reported development attempts. Each native
+trajectory is evaluated at 60 and 200 actions. Paired instructions use the same
+initial state and requested-versus-alternative goal predicates.
+
+| File | Contents |
+|---|---|
+| `confirmation.json` | Frozen primary results, per-trial measurements, summaries, and raw-file hashes |
+| `extension.json` | Frozen validation-extension results and the prospective configuration selection |
+| `reproduction.zip` | Evaluation/analysis code, tests, protocols, selected inputs, complete action traces, initial states, scene images, and environment versions |
+| `SHA256SUMS.json` | File checksums |
+
+## Reproduce the analysis
+
+Download the files from one fixed repository revision and extract `reproduction.zip`.
+The archive has its own file-level `SHA256SUMS.json`. Python 3.10 or later with NumPy,
+SciPy, Matplotlib, and pytest is sufficient for analysis; no GPU is required.
+Use the recorded package versions for exact regeneration.
+
+From the extracted directory:
+
+```bash
+cp /path/to/download/confirmation.json code/paper/reproduce/revision_results.json
+cp /path/to/download/extension.json code/paper/reproduce/validation_extension_results.json
+cd code
+export PYTHONPATH="$PWD/src:$PWD"
+python -m pytest tests -q
+python -m experiments.revision.freeze --root ../confirmation --out ../confirmation_check.json
+python -m experiments.revision.freeze_extension --root ../extension --out ../extension_check.json
+python -m paper.reproduce.revision_assets --out ../latex_assets
+python -m paper.reproduce.extension_assets --out ../latex_assets
+```
+
+The checked exports reproduce the downloaded JSON files. The generated assets include
+the original four-family native results, paired outcomes, progress, development results,
+family-matched extension and synthesis, and stopping-rule sensitivity. Technical errors
+remain distinct from observed goal outcomes. The paired first-goal analysis is post hoc;
+the original native-stop outcomes are retained alongside it.
+
+Extension validation compares the frozen selected configurations with the recorded inputs,
+undoing only VLABench's automatic expansion of relative XML asset paths. No raw record or
+prospective selection is changed. The extension retains three Pi0 numerical failures.
+
+## Rerun execution
+
+Use the package inventories in `environments/versions.json` and install these pinned
+upstream sources and their assets in separate simulator and policy environments:
+
+- [VLABench](https://github.com/OpenMOSS/VLABench), revision `cf588fe60c0c7282174fe979f5913170cfe69017`.
+- [SmolVLA checkpoint](https://huggingface.co/lerobot/smolvla_vlabench), revision `4fd586e12dc14b04d9d606ddbb77448df4f0ff29`.
+- [Pi0 checkpoint](https://huggingface.co/VLABench/pi0-primitive-10task), revision `1ad73753a74d5cd97e67856664350f3f0baa21dc`.
+- [Author OpenPI implementation](https://github.com/Shiduo-zh/openpi), revision `4483d1da6332da44115fe530e4e6fdd89bd57b13`; use the included `openpi_uv.lock`.
+
+Initialize a local Git checkout of `code/` before execution so the evaluator can
+record the reproduction's source revision. From `code/`, relocate archived asset
+references into a fresh directory:
+
+```bash
+python -m experiments.revision.prepare_reproduction --inputs ../inputs \
+  --vlabench-root /path/to/VLABench/VLABench --out ../relocated
+```
+
+Set `PROJECT_STORAGE_ROOT` to the absolute path of `../relocated`, `VLABENCH_ROOT`
+to the installed benchmark package, and `PYTHONPATH` to `code/src:code` using absolute
+paths. Set `MUJOCO_GL=egl`, `OMP_NUM_THREADS=4`, and `OPENBLAS_NUM_THREADS=4`.
+The evaluator permits physical GPUs 0 through 4 and enforces one renderer at a time.
+Keep inference and rendering on separate GPUs.
+
+Start the services in their respective policy environments:
+
+```bash
+python -m experiments.e2a.smolvla_server --gpu 1 --port 5581
+python -m experiments.revision.pi0_server --gpu 3 --port 5583 \
+  --repo /path/to/openpi --checkpoint /path/to/pi0-checkpoint
+```
+
+Run the evaluator in the simulator environment with `CUDA_VISIBLE_DEVICES=0`.
+For the extension, use `--tasks select_book,select_mahjong,select_poker` and the
+relocated published track. For the original native control, use
+`--tasks select_fruit,select_toy,select_chemistry_tube,select_drink`.
+
+```bash
+python -m experiments.revision.vlabench_control --out /path/to/fresh/run \
+  --tasks select_book,select_mahjong,select_poker \
+  --track-config ../relocated/track_1_in_distribution.json --episodes-per-task 10 \
+  --policy-seed 17 --max-substeps 1 --max-steps 200 --port 5581 --chunk 50
+```
+
+Use `--port 5583 --chunk 5` for Pi0. For paired instructions, replace `--tasks` and
+`--track-config` with `--paired-spec ../relocated/final_study_command_spec.json`.
+Use fresh output directories and compare actual initial-state and observation hashes.
+The common 200-action diagnostic budget is not every task's official leaderboard budget.
+
+The separate synthetic-speech records are available in
+[multilingual-robot-grounding-causal-audit](https://huggingface.co/datasets/nur-dev/multilingual-robot-grounding-causal-audit/tree/0d82c875c6d58b1406b0217c9fc5deb0904df0f2).

SHA256SUMS.json

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+{
+  "README.md": "2b5759cae3ac461519fdf4abc2ed3cbb951f83c46683d1856e8dc960f4d0110b",
+  "confirmation.json": "7fb9e519d36d2dd48405f475b1f4edb7b804fdcbdd26f7fe30e4b990a90e18a3",
+  "extension.json": "7ec8074aab116bd3dd8f41073a2bd856e62d98f2736028f5966e10f7cbd98f1f",
+  "reproduction.zip": "d10a531056efe36ff092146e925c9fc3cc86a7cd821115ca4964d9abb1c7de96"
+}

reproduction.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d10a531056efe36ff092146e925c9fc3cc86a7cd821115ca4964d9abb1c7de96
+size 192841116