s018-scan-object-new-ctr-nomask-dp-final

• Experiment E930 (Study S018, Scan Object New simulation, task scan_object_ctr)
• Training data: Shiki42/ctr-scan-object-new-100ep-ctr@e75f1c96
• Variant: CTR without IdleMask (IdleMask ablation), Diffusion Policy
• Source: CTR repository experiment records; results reported / audit pending
• Official LeRobot Diffusion Policy final checkpoint (step 257616, 600 epochs) pretrained_model with processors

Archival identity and evaluation version mapping (2026-10-05)

Scientific weights/configuration/actual normalization unchanged. E607 original central Experiment record unchanged. The historical inference revision below remains the weights identity. Only evaluation bindings for this exact step/revision are listed; unresolved receipt references stay explicit.

{
  "experiment": "E930",
  "training_run": "E930-R001",
  "step": 257616,
  "task": "scan-object",
  "algorithm": "dp",
  "idle_mask": false,
  "data_condition": "ctr_no_mask",
  "revision": "d3a04135a0e1bc1473e66c0d27e97e58b1d3eb2c",
  "package_manifest_sha256": null,
  "training_configuration": {
    "task": "Scan Object New (scan_object_ctr)",
    "task_key": "scan_object_ctr",
    "policy": "DP",
    "policy_source": "official LeRobot Diffusion Policy",
    "training_variant": "ctr_no_mask",
    "schedule": "uniform",
    "dataset": {
      "publication_experiment": "E915",
      "repo_id": "Shiki42/ctr-scan-object-new-100ep-ctr",
      "revision": "e75f1c96b10e8a4e8eb8c8547183fd740f0d764e",
      "manifest_sha256": "c1fdec01f07c8ac94ffa5f70ea8076f200a8f78ca5634d134fe4878342a13bd9",
      "mask_sha256": "354d841e0e9de6a5f0972b7e715b7b49c5e7ed2561b2532c18940fc8a51adb55",
      "method": "ctr",
      "episodes": 100,
      "frames": 55658,
      "fps": 25,
      "sample_range": "all 100 episodes",
      "schedule": "CTR retimed: 50 source scenes x 2 relative-start samples",
      "camera_preset": "centered_fovy90",
      "head_intrinsics": "fx=fy=358.642px,cx=160px,cy=120px; wrists fx=fy=120px",
      "state_dimensions": 14,
      "action_dimensions": 14,
      "idle_mask_fields_present": true,
      "left_wrist_patch": "episode-44 left_wrist frame restored by duplicating the previous frame (meta/left-wrist-frame-patch.json); parent b060ff13 superseded"
    },
    "seed": 87431,
    "optimizer_updates": 257616,
    "effective_batch_size": 128,
    "selected_checkpoint": "final dataset-specific 600-epoch checkpoint",
    "checkpoint_selection": "final checkpoint fixed before any evaluation; no metric-based extension or intermediate-checkpoint selection",
    "idle_mask": false,
    "ablation": "IdleMask ablation on exact S018 CTR revision e75f1c96: ignore observation.arm_active_mask in the action loss while retaining ordinary temporal padding and the same action-window sampling as its with-mask pair.",
    "idle_mask_policy": "disabled ablation: do not load or consume observation.arm_active_mask; retain ordinary temporal padding only",
    "ctr_pairing": "The with-mask and without-mask arms use the identical dataset revision, all episodes, preprocessing, initialization, optimizer, schedule, seed, batch and update budget; only IdleMask loss consumption differs.",
    "normalization": "Official LeRobot STATE/ACTION MIN_MAX and ImageNet MEAN_STD, recomputed and verified against the exact pinned revision and eligible frame windows; bind the consumed artifact by SHA-256.",
    "trainer": "./scripts/train dp",
    "budget_status": "S018 registration reuses S016 ACT/DP recipe; user directed takeover and launch 2026-09-23",
    "budget_basis": "Registered formal DP recipe: 600 eligible-window epochs, effective batch128, exact tails carried across epochs; updates=ceil(600*training_samples/128).",
    "training_samples": 54958,
    "backend": "official LeRobot 0.4.4 accelerated DP path",
    "epochs": 600,
    "gradient_accumulation_steps": 1,
    "drop_n_last_frames_per_episode": 7,
    "observation_horizon": 2,
    "prediction_horizon": 16,
    "execution_action_steps": 8,
    "source_task_commit": "336b228c1a24992870c41294e368fbd2ae22cfdf"
  },
  "dataset": {
    "repo_id": "Shiki42/ctr-scan-object-new-100ep-ctr",
    "pre_rename_repo_id": "Shiki42/ctr-scanobject-100ep-ctr",
    "pinned_pre_rename_revision": "b060ff13806e400739537c29e0341cd137986e1d",
    "episodes": 100,
    "frames": 55658,
    "idle_mask_enabled": false,
    "idle_mask_purpose": "paired CTR ablation",
    "rename_verified_at": "2026-09-23T13:52:22.043600+00:00",
    "repository_move_experiment": "E915",
    "revision": "e75f1c96b10e8a4e8eb8c8547183fd740f0d764e"
  },
  "actual_normalization": null,
  "eligibility": null,
  "evaluation_bindings": [
    {
      "experiment": "E945",
      "title": "S018 Scan Object New / CTR without IdleMask / DP：100场评测",
      "checkpoint_step": null,
      "protocol": {
        "task_key": "scan_object_ctr",
        "robotwin_source_commit": "336b228c1a24992870c41294e368fbd2ae22cfdf",
        "native_entrypoint": "bash scripts/eval_policy.sh --task_name scan_object_ctr --policy_name POLICY --host localhost --port PORT --task_config demo_clean --seed 0 --test_num 100",
        "training_experiment": "E930",
        "policy": "DP",
        "training_variant": "ctr_without_idlemask",
        "checkpoint_selection": "preselected final checkpoint",
        "scenes": "one frozen ordered 100-scene held-out suite disjoint from all four training datasets, shared across all active checkpoints; verify seed/object identity and initial state",
        "physics": "native scan_object_ctr at pinned commit; preserve scan latch, object and scanner return targets, table support, open grippers, stationarity and collision checks",
        "cameras": "top and centered_fovy90 dual wrists; preserve actual calibrated mounts/intrinsics",
        "inference": "preserve each policy native action queue, reset, representation and denoising/temporal aggregation",
        "metrics": [
          "success_rate",
          "collision_rate",
          "wall_clock_seconds_including_startup",
          "per_scene_outcome"
        ],
        "engineering_acceptance": "100 scenes <=600 seconds including startup using model/task-qualified high-performance implementation",
        "reporting": "report success rate when available, then audit; reported -> audit pending -> archived/confirmed",
        "frozen_suite": {
          "experiment": "E975",
          "run": "E975-R002",
          "path": "eval/robotwin/seeds/ctr-disjoint100-20260924/scan_object_ctr.json",
          "sha256": "a7d34d6d2bc068d0616cb16526ff933849d21b88e562d822c1b5defb2a0b96e2",
          "scenes": 100,
          "adapter": "ctr.scan_new_eval",
          "ordered": true
        },
        "action_limit": 500,
        "action_count_semantics": "Maximum 500 executed native action targets cumulatively per scene, across both arms and all inference chunks; stop at success or the cap.",
        "native_task_source_limit": 1200
      },
      "runs": [
        {
          "id": "E945-R001",
          "status": "failed",
          "code_commit": "75840dfffe7fccc0a478b7dc2cd39416f5db900f",
          "result": null,
          "result_uri": null
        }
      ],
      "step_binding": "verify raw evaluation receipt"
    }
  ],
  "preservation": "Keep every historical version. Deprecation flags remain visible and do not constitute restored qualification. Missing exact evaluation step must be resolved from raw receipt, not inferred."
}