contract string | seed_rule string | world_size int64 | n_windows int64 | samples list | samples_sha256 string |
|---|---|---|---|---|---|
one deterministic window per frozen V7 validation recording | 20260824 + rank | 8 | 96 | [
{
"window": 0,
"recording_uuid": "03a06ff4-fa57-49fa-a5da-3ff138dafb2c",
"master_start": 444,
"rank": 0
},
{
"window": 1,
"recording_uuid": "04278d06-3d4b-452a-b5a9-23009608e5df",
"master_start": 510,
"rank": 1
},
{
"window": 2,
"recording_uuid": "07ef7d27-dd3c-49c3-a... | e38481643682a66b298d12d0a6e1d0afbb3b749dae924001bf415ada2ea2bf3d |
tacWAM V7 30k evaluation artifacts
This dataset repository contains compact evaluation artifacts for the tacWAM Cosmos3 V7 checkpoint at optimizer step 30,000.
Contents
v7_30k/metrics.json: metrics from true from-noise UniPC-20 rollout on one fixed window from each of the 96 V7 validation recordings;v7_30k/eval_sample_manifest.json: exact recording UUIDs, starts, and sample-set checksum;v7_30k/trajectory_manifest.json: identities and window starts for five complete trajectories;v7_30k/v7_trajectory_*.mp4: five GT-versus-prediction trajectory visualizations;v7_30k/v7_trajectory_*.json: sampler, checkpoint, duration, and teacher-forcing sidecars.teleop_smoke/teleop_smoke_two_cam_right_glove_action.mp4: 27.1 s aligned Teleop playback with table/head RGB, right-wrist RGB, right-glove tactile, hand target, and observed arm-state proxy;teleop_smoke/teleop_smoke_two_cam_right_glove_action.json: signal semantics and known alignment defects for that playback.teleop_smoke/teleop_smoke_tujian_taxels_xarm_revo3d.mp4: recommended playback with the original 880-taxel Tujian hand layout, xArm6 3-D kinematics/TCP trail, and command-driven Revo2 3-D hand;teleop_smoke/teleop_smoke_tujian_taxels_xarm_revo3d.json: geometry provenance and numerical tactile/FK validation results.
The trajectory videos are teacher-forced receding-horizon diagnostics: each model call predicts 0.8 s, the first 0.4 s is displayed, and the next call refreshes from a GT observation. They are not autonomous open-loop rollouts. Top-row video/tactile is GT and bottom-row video/tactile is prediction.
The Teleop playback is a data-audit artifact, not a successful policy-training demonstration. Only the hand target is a recorded command. Its arm plot is observed state because the capture omitted the arm command, and its tactile panel is the glove's 15-pad signal rather than robot Revo2 tactile.
The source validation recordings are not redistributed here. This repository also omits the full prediction tensor archive; it retains only the compact metrics and human-viewable outputs.
Full interpretation and the historical V5/V6 comparison are in the tacWAM repository's
docs/v7/V7_30K_CHECKPOINT_EVAL_REPORT.md.
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