Publish E002 SE(3) spline recovery experiment

Protocol-frozen E002 baselines and validation-selected minimum-jerk checkpoint; fresh-test conclusion rejected.

README.md

@@ -5,18 +5,18 @@ tags:
 - robotics
 - action-chunking
 - se3
+- b-spline
+- minimum-jerk
 - robotwin
 datasets:
 - Shiki42/up-vla-precision-recovery-15k
 ---
 
-# UP-VLA Action Chunk Recovery Checkpoints
+# UP-VLA Structured Recovery Checkpoints
 
-Protocol-registered E001 artifacts for endpoint, direct H16, and residual H16 recovery.
-The selected residual model improved grouped test path score by 4.68%, below the
-pre-registered 10% validation gate; E002 was not opened.
+Protocol-registered recovery experiments:
 
-The source dataset includes RLBench-derived material with non-commercial research
-restrictions. Treat these checkpoints as research-only unless all upstream license
-obligations have been independently resolved. See experiments/E001/E001-CARD.md
-and the immutable run/evaluation receipts for details.
+- E001: endpoint/direct/residual H16 action chunks; completed inconclusive.
+- E002: same-split endpoint and residual H16 baselines plus clamped cubic and true quintic minimum-jerk SE(3) residual heads; completed rejected. The selected minimum-jerk head reduced fresh-test grouped jerk by 18.50% but missed the frozen 25% effect gate and worsened path score by 4.18%, above the 2% bound. Real Pi0.5 rollout is not authorized.
+
+The source dataset includes RLBench-derived material with non-commercial research restrictions. Treat these checkpoints as research-only unless all upstream license obligations have been independently resolved. See each experiment card and immutable run/evaluation receipts.

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experiments/E002/E002-CARD.md

@@ -0,0 +1,58 @@
+# E002 — SE(3) B-spline / minimum-jerk recovery head
+
+Status: **completed / rejected**  
+Selected on validation: **E002-R004 quintic minimum-jerk CP6**  
+Real Pi0.5 rollout authorized: **no**
+
+## Decision
+
+The selected minimum-jerk head passed every validation gate. On the one-time fresh test it reduced group-macro command jerk from 3.1432 to 2.5615 (18.50%; paired ratio 0.815, 95% group-bootstrap CI [0.762, 0.869]) but missed the frozen 25% effect-size gate. Path score changed from 0.801884 to 0.835376 (4.18% worse), also missing the frozen 2% non-inferiority bound. Endpoint and latency gates passed. The hypothesis is therefore **rejected**, and E002 does not authorize a real Pi0.5 rollout.
+
+## Frozen mathematics
+
+For normalized time `u=t/0.8` and the 16-point grid `t_k=0.05k s`, both structured heads predict local initial-tool-frame tangent controls `xi=[v_m, omega_rad]`. The residual transform and command use
+
+`Delta T(u) = Exp_SE(3)(xi_res(u))`, `T_cmd[k] = T_base[k] @ Delta T(u_k)`.
+
+- Cubic: six controls `[0,c1,...,c5]`, open-uniform clamped degree-3 knots `[0,0,0,0,1/3,2/3,1,1,1,1]`. The tangent curve is C2 at its simple interior knots and begins at the identity residual.
+- Minimum jerk: degree-5 Bernstein controls `[0,0,0,q,q,q]`, exactly `xi_res(u)=(10u^3-15u^4+6u^5)q`. It has zero endpoint velocity and acceleration and is the integrated-squared-jerk minimizer under those boundary conditions.
+- Translation controls are metres in the translational component of `se(3)`; rotation controls are radians in `so(3)`. Both are norm-bounded before reconstruction. Duration and confidence heads were excluded as unidentifiable/unsupervised.
+
+Unit tests cover SE(3) exp/log, body-frame right composition, control-point identity initialization, B-spline partition/endpoints, and exact quintic minimum-jerk phase.
+
+## Validation (1,298 samples / 9 independent groups)
+
+| Run | Condition | Path score | Endpoint mm | Endpoint deg | Command jerk | GPU p95 ms |
+|---|---|---:|---:|---:|---:|---:|
+| R001 | endpoint + profiled path | 0.873585 | 6.187 | 3.882 | 2.221 | 3.137 |
+| R002 | residual H16 | 0.856968 | 6.062 | 3.858 | 3.137 | 8.201 |
+| R003 | clamped cubic CP6 | 0.847769 | 6.003 | 3.811 | 2.313 | 8.216 |
+| R004 | quintic minimum-jerk CP6 | 0.855793 | 6.209 | 3.745 | 2.272 | 8.980 |
+
+R004 was selected by the frozen minimum-jerk-among-guarded-candidates rule. Its residual-H16 jerk ratio was 0.724, 95% CI [0.595, 0.808].
+
+## One-time fresh test (1,523 samples / 9 independent groups)
+
+| Condition | Path score | Endpoint mm | Endpoint deg | Velocity RMSE | Accel RMSE | Jerk RMSE | Command jerk | GPU p95 ms |
+|---|---:|---:|---:|---:|---:|---:|---:|---:|
+| endpoint | 0.862117 | 6.095 | 3.800 | 0.03619 | 0.12567 | 3.063 | 2.537 | 3.137 |
+| residual H16 | 0.801884 | 5.905 | 3.462 | 0.03316 | 0.14658 | 3.569 | 3.143 | 8.237 |
+| minimum-jerk selected | 0.835376 | 5.905 | 3.701 | 0.03606 | 0.13714 | 3.082 | 2.562 | 8.214 |
+
+Fresh-test failures: jerk reduction was 18.50% (<25%) and selected path was 4.18% worse than residual H16 (>2%). The paired jerk CI still excluded no improvement, so the architecture reduced jerk consistently but not by the pre-registered magnitude and not without excessive path tradeoff.
+
+## Data firewall and leakage
+
+E002 uses exactly the 89 E001-train source groups, re-split to 71/9/9 groups (8,807/1,298/1,523 samples). All 22 old E001 validation/test groups are excluded. Both E002 holdouts cover RoboTwin and RLBench. The endpoint model was retrained from a fresh initialization on E002 train; proposal generation used `include_targets=False`, current observations/pose/task category only. Fresh test was opened once jointly for R001, R002, and validation-selected R004; R003 and the old E001 test were not opened as E002 test evidence.
+
+## Provenance
+
+- Training code: `033cb092edc8a14430f35e5c78e06323ee14655a`
+- Dataset revision: `77f5f306303361d602ab10759b3a139c67f2cf16`
+- Split audit SHA-256: `022dac36e48ce65ea920a789a36e1458b40e78df7f55eabe15504fd8ef0f96be`
+- Proposal manifest SHA-256: `7fb4fb67600a0f1b599aac4f5857a6af48513a9fcef9c348be90fe264af411a3`
+- Selection receipt SHA-256: `8c3e64ef2f874fda8ec4d263d389dacb5abb1f5b2253bd4d47b9cce9fd7a7ec4`
+- Sealed firewall SHA-256: `54a05d0efacd2f3355f3d14d904c275635715b440c9d22ca49a0b88406c48084`
+- Total training compute: 0.3595 GPU·h on NVIDIA RTX PRO 6000 Blackwell, Python 3.11.15, PyTorch 2.13.0+cu130, CUDA 13.0.
+
+Machine-readable details, commands, environments, grouped CIs, hashes, and limitations are in `experiment-summary.json`.

experiments/E002/audits/action-target-audit.json

@@ -0,0 +1,64 @@
+{
+  "configured_limits": {
+    "step_rotation_rad": 0.2,
+    "step_translation_m": 0.01
+  },
+  "expert_success_counts": {
+    "recovery_task_success": 15000,
+    "source_expert_success": 15000
+  },
+  "git_commit": "91b8c9473cfc60c8bfce3848c900aba8e4594ca1",
+  "horizon_reaches_target_count": 0,
+  "horizon_seconds": 0.8,
+  "horizon_steps": 16,
+  "limit_violations": {
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+    "step_translation": 0
+  },
+  "sample_count": 15000,
+  "schema_version": "precision.action_chunk.target_audit.v1",
+  "source_families": {
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+    "robotwin_generic": 9780
+  },
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+    "mean": 0.0043272625200924675,
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+    "p95": 0.00872664625997162,
+    "p99": 0.010053904361015777
+  },
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+    "mean": 0.0003779863550717578,
+    "min": 1.719141227820467e-05,
+    "p50": 0.0004000002360415781,
+    "p95": 0.000600000146014978,
+    "p99": 0.0006000012005080267
+  },
+  "trajectory_duration_s": {
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+    "mean": 6.3629103453163545,
+    "min": 1.2569543470285411,
+    "p50": 5.903310058639175,
+    "p95": 11.372092291086012,
+    "p99": 14.754663633027155
+  },
+  "waypoint_rotation_rad": {
+    "max": 0.16755160819145598,
+    "mean": 0.037987402154382004,
+    "min": 0.0004985226170931637,
+    "p50": 0.030744580054978578,
+    "p95": 0.09772211052589472,
+    "p99": 0.1255383529084257
+  },
+  "waypoint_translation_m": {
+    "max": 0.00960000000000014,
+    "mean": 0.0033021575027860745,
+    "min": 1.719141112148997e-05,
+    "p50": 0.0029999999999999884,
+    "p95": 0.007499999999999985,
+    "p99": 0.008399999999999987
+  }
+}

experiments/E002/audits/data-split-audit.json

@@ -0,0 +1,191 @@
+{
+  "checks": {
+    "both_holdouts_cover_rlbench_and_robotwin": true,
+    "eligible_pool_equals_e001_train": true,
+    "group_disjoint": true,
+    "old_e001_holdouts_excluded": true,
+    "sample_partition_complete": true
+  },
+  "condition_config": {
+    "path": "/home/coder/share/UP-VLA-se3-bspline-E002/configs/experiments/E002/R001-endpoint.yaml",
+    "sha256": "5adc301234cd1418e6c93b2628b2b7f6b869335b76ce5e20dd76e437cad74878"
+  },
+  "data": {
+    "extraction_receipt": "/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json",
+    "extraction_receipt_sha256": "ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd",
+    "hf_repo_id": "Shiki42/up-vla-precision-recovery-15k",
+    "revision": "77f5f306303361d602ab10759b3a139c67f2cf16",
+    "variant_id": "validated-physical-recovery-15k-v1"
+  },
+  "eligibility": "exact E001 train groups only",
+  "eligible_groups": 89,
+  "eligible_samples": 11628,
+  "excluded_e001_validation_test_group_count": 22,
+  "excluded_e001_validation_test_groups": [
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+    "rlbench::rlbench/square_ring::datasets/rlbench_expert_validation/samples/insert_onto_square_peg/episode_000000/trajectory.npz",
+    "robotwin_generic::002_bowl/base3::candidate_0114",
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+    "robotwin_generic::112_tea-box/base3::candidate_0110"
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+  "hash_namespace": "E002-source-group-split-v1::",
+  "protocol": "e001-train-only-source-family-stratified-group-hash-e002-v1",
+  "schema_version": "precision.e002.split_audit.v1",
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+        "robotwin_generic::049_shampoo/base1::candidate_0017",
+        "robotwin_generic::053_teanet/base5::candidate_0076",
+        "robotwin_generic::055_small-speaker/base1::candidate_0022",
+        "robotwin_generic::073_rubikscube/base0::candidate_0030",
+        "robotwin_generic::077_phone/base1::candidate_0087",
+        "robotwin_generic::107_soap/base0::candidate_0052",
+        "robotwin_generic::109_hydrating-oil/base1::candidate_0107"
+      ],
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+        "rlbench::rlbench/phone::datasets/rlbench_expert_validation/samples/phone_on_base/episode_000000/trajectory.npz",
+        "rlbench::rlbench/plate::datasets/rlbench_expert_validation/samples/take_plate_off_colored_dish_rack/episode_000000/trajectory.npz",
+        "rlbench::rlbench/screw_driver::datasets/rlbench_expert_validation/samples/screw_nail/episode_000000/trajectory.npz",
+        "rlbench::rlbench/toilet_roll::datasets/rlbench_expert_validation/samples/put_toilet_roll_on_stand/episode_000000/trajectory.npz",
+        "rlbench::rlbench/umbrella::datasets/rlbench_expert_validation/samples/put_umbrella_in_umbrella_stand/episode_000000/trajectory.npz",
+        "robotwin_generic::001_bottle/base0::candidate_0000",
+        "robotwin_generic::001_bottle/base10::candidate_0059",
+        "robotwin_generic::002_bowl/base2::candidate_0060",
+        "robotwin_generic::005_french-fries/base1::candidate_0061",
+        "robotwin_generic::006_hamburg/base0::candidate_0003",
+        "robotwin_generic::006_hamburg/base1::candidate_0062",
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+        "robotwin_generic::046_alarm-clock/base2::candidate_0069",
+        "robotwin_generic::046_alarm-clock/base3::candidate_0122",
+        "robotwin_generic::047_mouse/base0::candidate_0015",
+        "robotwin_generic::047_mouse/base2::candidate_0123",
+        "robotwin_generic::048_stapler/base2::candidate_0124",
+        "robotwin_generic::049_shampoo/base3::candidate_0125",
+        "robotwin_generic::050_bell/base1::candidate_0073",
+        "robotwin_generic::051_candlestick/base1::candidate_0074",
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+        "robotwin_generic::059_pencup/base0::candidate_0024",
+        "robotwin_generic::062_plasticbox/base0::candidate_0025",
+        "robotwin_generic::062_plasticbox/base10::candidate_0131",
+        "robotwin_generic::062_plasticbox/base1::candidate_0080",
+        "robotwin_generic::063_tabletrashbin/base0::candidate_0026",
+        "robotwin_generic::068_boxdrink/base3::candidate_0082",
+        "robotwin_generic::070_paymentsign/base1::candidate_0083",
+        "robotwin_generic::071_can/base0::candidate_0029",
+        "robotwin_generic::073_rubikscube/base1::candidate_0085",
+        "robotwin_generic::077_phone/base0::candidate_0032",
+        "robotwin_generic::079_remotecontrol/base0::candidate_0034",
+        "robotwin_generic::079_remotecontrol/base1::candidate_0089",
+        "robotwin_generic::080_pillbottle/base1::candidate_0035",
+        "robotwin_generic::082_smallshovel/base1::candidate_0092",
+        "robotwin_generic::084_woodenmallet/base3::candidate_0038",
+        "robotwin_generic::091_kettle/base0::candidate_0042",
+        "robotwin_generic::093_brush-pen/base1::candidate_0098",
+        "robotwin_generic::099_fan/base2::candidate_0046",
+        "robotwin_generic::100_seal/base1::candidate_0047",
+        "robotwin_generic::100_seal/base2::candidate_0101",
+        "robotwin_generic::101_milk-tea/base1::candidate_0102",
+        "robotwin_generic::102_roller/base1::candidate_0049",
+        "robotwin_generic::105_sauce-can/base2::candidate_0104",
+        "robotwin_generic::106_skillet/base0::candidate_0051",
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+        "robotwin_generic::110_basket/base0::candidate_0054",
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+        "robotwin_generic::002_bowl/base1::candidate_0001",
+        "robotwin_generic::050_bell/base0::candidate_0018",
+        "robotwin_generic::051_candlestick/base0::candidate_0019",
+        "robotwin_generic::063_tabletrashbin/base10::candidate_0081",
+        "robotwin_generic::068_boxdrink/base2::candidate_0027",
+        "robotwin_generic::071_can/base1::candidate_0084",
+        "robotwin_generic::107_soap/base1::candidate_0106",
+        "robotwin_generic::111_callbell/base2::candidate_0109"
+      ],
+      "sample_ids_sha256": "bb16c31fbf96333a43f2aa8ecee6aa774a51c9f646a5b22c3667b534f805ba72",
+      "samples": 1298,
+      "samples_by_source_family": {
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+        "robotwin_generic": 778
+      }
+    }
+  }
+}

experiments/E002/conditions/c-endpoint-5d2dff166d/CONDITION_CARD.md

@@ -0,0 +1,15 @@
+# Endpoint baseline + profiled controller
+
+- Experiment / run: E002 / E002-R001
+- Condition: c-endpoint-5d2dff166d
+- Role: baseline
+- Checkpoint SHA-256: 0126a82280cb7db4b733f63ab3cae79d47360c9bea700034e4c2a07b646c94da
+- Code commit: 033cb092edc8a14430f35e5c78e06323ee14655a (clean)
+- Dataset: Shiki42/up-vla-precision-recovery-15k @ 77f5f306303361d602ab10759b3a139c67f2cf16
+- E002 split: E001-train-only grouped re-split; train 8,807/71 groups, validation 1,298/9, fresh test 1,523/9
+- Geometry: local tool frame, right SE(3) composition. Endpoint prediction converted to a deterministic profiled 16-waypoint path.
+- Validation: path 0.873585, endpoint 6.187 mm / 3.882 deg, command jerk 2.221
+- Fresh test: path 0.862117, endpoint 6.095 mm / 3.800 deg, command jerk 2.537, GPU p95 3.137 ms
+- Decision: E002 rejected; real Pi0.5 rollout not authorized
+
+See sibling resolved config, immutable run manifest, validation report, and one-time fresh-test report.

experiments/E002/conditions/c-endpoint-5d2dff166d/best.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:0126a82280cb7db4b733f63ab3cae79d47360c9bea700034e4c2a07b646c94da
+size 189704503

experiments/E002/conditions/c-endpoint-5d2dff166d/config_resolved.yaml

@@ -0,0 +1,111 @@
+data:
+  hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+  revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+  variant_id: validated-physical-recovery-15k-v1
+  manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+  dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+  sample_count: 15000
+  eligible_sample_count: 11628
+  eligible_group_count: 89
+  eligibility: E001 train source groups only; E001 validation and test groups excluded
+  split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+  split_namespace: 'E002-source-group-split-v1::'
+  validation_fraction: 0.1
+  test_fraction: 0.1
+geometry:
+  cumulative_waypoint_representation: current_tool_relative_pose
+  step_representation: integrated_body_twist
+  step_integration: right_se3_exponential
+  residual_curve_frame: initial_local_tool_frame
+  residual_composition: base_right_multiply_se3_exponential
+  structured_translation: se3_tangent_translation_control_points_m
+  structured_rotation: so3_lie_algebra_control_points_rad
+  evaluation_grid: 16 positive-time waypoints at 0.05 s through 0.8 s
+  residual_boundary_at_t0: identity
+model:
+  backbone:
+    hidden_size: 256
+    fusion_layers: 4
+    fusion_heads: 8
+    fusion_mlp_ratio: 4
+    dropout: 0.1
+    vision_backend: conv
+    text_backend: embedding
+    pretrained_model_name: google/siglip-base-patch16-224
+    freeze_pretrained: true
+    image_size: 224
+    vision_tokens: 64
+    depth_tokens: 36
+    point_tokens: 32
+    point_samples: 256
+    max_text_tokens: 32
+    text_vocab_size: 32768
+    max_joints: 7
+    aloha_joints: 6
+    panda_joints: 7
+    translation_scale_m: 0.05
+    rotation_scale_rad: 0.5235987755982988
+    joint_scale_rad: 0.5
+  horizon_steps: 16
+  horizon_seconds: 0.8
+  decoder_layers: 4
+  decoder_heads: 8
+  decoder_mlp_ratio: 4
+  control_points: 6
+  maximum_step_translation_m: 0.01
+  maximum_step_rotation_rad: 0.2
+  maximum_residual_translation_m: 0.05
+  maximum_residual_rotation_rad: 0.52
+  action_head: endpoint
+  base_conditioning: none
+  trajectory_basis: none
+  parameter_counts:
+    total: 15790420
+    trainable: 15790420
+    frozen: 0
+loss:
+  translation: 1.0
+  rotation_vector: 1.0
+  rotation_geodesic: 0.25
+  joint: 0.5
+  gripper: 0.1
+training:
+  seed: 42
+  batch_size: 64
+  gradient_accumulation_steps: 1
+  epochs: 100
+  max_steps: 3000
+  learning_rate: 0.0003
+  weight_decay: 0.05
+  warmup_fraction: 0.05
+  gradient_clip_norm: 1.0
+  precision: bf16
+  workers: 8
+  log_every_steps: 10
+  validation_every_steps: 250
+  checkpoint_every_steps: 500
+evaluation:
+  version: se3-spline-eval-v1
+  trajectory_loss:
+    path_translation: 1.0
+    path_rotation: 1.0
+    endpoint_translation: 2.0
+    endpoint_rotation: 2.0
+    velocity: 1.0
+    acceleration: 0.1
+    jerk: 0.05
+    residual_magnitude: 0.02
+  selection_split: validation
+  test_firewall_opened: false
+  group_bootstrap_seed: 20260810
+  group_bootstrap_resamples: 10000
+runtime:
+  data_root: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples
+  base_proposal_root: null
+  output_directory: /home/coder/share/experiment-runs/E002/E002-R001
+split_counts:
+  train_samples: 8807
+  validation_samples: 1298
+  train_groups: 71
+  validation_groups: 9
+  overlap: false

experiments/E002/conditions/c-endpoint-5d2dff166d/evaluation_fresh_test.json

@@ -0,0 +1,278 @@
+{
+  "base_proposal_manifest": {
+    "path": "/home/coder/share/experiment-artifacts/E002/R001-profiled-proposals/manifest.json",
+    "sha256": "7fb4fb67600a0f1b599aac4f5857a6af48513a9fcef9c348be90fe264af411a3"
+  },
+  "checkpoint": null,
+  "checkpoint_run": null,
+  "condition_id": "c-endpoint-5d2dff166d",
+  "data_extraction_receipt": {
+    "path": "/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json",
+    "sha256": "ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd"
+  },
+  "experiment_id": "E002",
+  "group_bootstrap_95ci": {
+    "confidence": 0.95,
+    "group_count": 9,
+    "intervals": {
+      "acceleration_rmse": {
+        "lower": 0.1160274123152097,
+        "upper": 0.13443885842959086
+      },
+      "command_acceleration_rms": {
+        "lower": 0.09190107720593611,
+        "upper": 0.1158909913773338
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experiments/E002/conditions/c-endpoint-5d2dff166d/evaluation_validation.json

@@ -0,0 +1,278 @@
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+      "endpoint_translation_rmse_mm": 5.499370574951172,
+      "jerk_rmse": 2.957634449005127,
+      "path_rotation_rmse_deg": 2.308201313018799,
+      "path_translation_rmse_mm": 3.419480800628662,
+      "residual_rotation_mean_deg": 0.0,
+      "residual_translation_mean_mm": 0.0,
+      "velocity_rmse": 0.0345214307308197
+    },
+    "robotwin_generic::111_callbell/base2::candidate_0109": {
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+      "endpoint_rotation_rmse_deg": 3.7972915172576904,
+      "endpoint_translation_rmse_mm": 6.545653343200684,
+      "jerk_rmse": 2.747910737991333,
+      "path_rotation_rmse_deg": 2.393160104751587,
+      "path_translation_rmse_mm": 4.025181770324707,
+      "residual_rotation_mean_deg": 0.0,
+      "residual_translation_mean_mm": 0.0,
+      "velocity_rmse": 0.035542167723178864
+    }
+  },
+  "prediction_source": "base_proposal",
+  "primary_path_score": {
+    "definition": "path_translation_rmse_mm / 10 + path_rotation_rmse_deg / 5",
+    "group_macro": 0.8735849380493164,
+    "micro": 0.8965331554412841
+  },
+  "run_id": "E002-R001",
+  "sample_count": 1298,
+  "schema_version": "precision.action_chunk.evaluation.v1",
+  "source_family_metrics": {
+    "rlbench": {
+      "group_count": 1,
+      "metrics": {
+        "acceleration_rmse": 0.12432977557182312,
+        "command_acceleration_rms": 0.11089512705802917,
+        "command_jerk_rms": 2.782877206802368,
+        "endpoint_rotation_rmse_deg": 4.350729465484619,
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+        "path_rotation_rmse_deg": 2.7672295570373535,
+        "path_translation_rmse_mm": 3.89414119720459,
+        "residual_rotation_mean_deg": 0.0,
+        "residual_translation_mean_mm": 0.0,
+        "velocity_rmse": 0.040785618126392365
+      },
+      "path_score": 0.9428600311279296,
+      "sample_count": 520
+    },
+    "robotwin_generic": {
+      "group_count": 8,
+      "metrics": {
+        "acceleration_rmse": 0.12473664432764053,
+        "command_acceleration_rms": 0.10346533358097076,
+        "command_jerk_rms": 2.546473503112793,
+        "endpoint_rotation_rmse_deg": 3.693011522293091,
+        "endpoint_translation_rmse_mm": 6.344256401062012,
+        "jerk_rmse": 3.1005780696868896,
+        "path_rotation_rmse_deg": 2.3311872482299805,
+        "path_translation_rmse_mm": 3.962736129760742,
+        "residual_rotation_mean_deg": 0.0,
+        "residual_translation_mean_mm": 0.0,
+        "velocity_rmse": 0.03495059534907341
+      },
+      "path_score": 0.8625110626220703,
+      "sample_count": 778
+    }
+  },
+  "split": "validation",
+  "test_firewall_opened": false
+}

experiments/E002/conditions/c-endpoint-5d2dff166d/run_manifest.yaml

@@ -0,0 +1,93 @@
+schema_version: upvla.experiment_run.v1
+run:
+  id: E002-R001
+  experiment_id: E002
+  condition_id: c-endpoint-5d2dff166d
+  status: completed
+  started_at: '2026-08-10T11:12:08.698434+00:00'
+  ended_at: '2026-08-10T11:18:50.394652+00:00'
+condition:
+  model:
+    action_head: endpoint
+    base_conditioning: none
+    horizon_steps: 1
+    trajectory_basis: none
+randomness:
+  global_seed: 42
+  python_seed: 42
+  numpy_seed: 42
+  torch_seed: 42
+  dataloader_seed: 42
+code:
+  repo: https://github.com/Shiki42/UP-VLA.git
+  git_commit: 033cb092edc8a14430f35e5c78e06323ee14655a
+  git_branch: shuyuan/se3-bspline-recovery-e002
+  dirty: false
+  status_sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855
+  patch_ref: null
+data:
+  hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+  revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+  variant_id: validated-physical-recovery-15k-v1
+  manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+  dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+  extraction_receipt: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json
+  extraction_receipt_sha256: ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd
+  split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+  split_counts:
+    train_samples: 8807
+    validation_samples: 1298
+    train_groups: 71
+    validation_groups: 9
+    overlap: false
+environment:
+  python_version: 3.11.15
+  python_executable: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python
+  packages:
+    numpy: 1.26.0
+    Pillow: 11.3.0
+    PyYAML: 6.0.3
+    torch: 2.13.0
+  torch_version: 2.13.0+cu130
+  cuda_runtime: '13.0'
+  cudnn_version: 92000
+  os: Linux-7.0.0-28-generic-x86_64-with-glibc2.35
+  hostname: lm
+hardware:
+  accelerators:
+  - index: 0
+    name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
+    memory_bytes: 101973491712
+    compute_capability: '12.0'
+  accelerator_count: 1
+  cpu_count: 32
+execution:
+  command: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python scripts/train_action_chunk_recovery.py
+    --condition-config configs/experiments/E002/R001-endpoint.yaml --data-root /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples
+    --output-dir /home/coder/share/experiment-runs/E002/E002-R001
+metrics:
+  validation:
+    loss/total: 0.21126084798840786
+    loss/translation: 0.04712994648100599
+    loss/rotation_vector: 0.04120707774795994
+    loss/rotation_geodesic: 0.42234639320608647
+    loss/joint: 0.03408178494804078
+    loss/gripper: 0.0029633291347672696
+    metric/translation_mm: 23.808171852711354
+    metric/rotation_deg: 12.669311751202553
+    metric/joint_mae_rad: 0.08809902482251357
+    metric/gripper_accuracy: 1.0
+checkpoint:
+  path: /home/coder/share/experiment-runs/E002/E002-R001/best.pt
+  sha256: 0126a82280cb7db4b733f63ab3cae79d47360c9bea700034e4c2a07b646c94da
+  selection_metric: loss/total
+  selection_split: validation
+artifacts:
+  metrics_jsonl: /home/coder/share/experiment-runs/E002/E002-R001/metrics.jsonl
+  validation_evaluation: /home/coder/share/experiment-runs/E002/E002-R001/evaluation_validation.json
+  condition_snapshot: /home/coder/share/experiment-runs/E002/E002-R001/condition.yaml
+  resolved_config: /home/coder/share/experiment-runs/E002/E002-R001/config_resolved.yaml
+compute:
+  wall_seconds: 401.5836740859959
+  gpu_hours: 0.1115510205794433
+  peak_memory_bytes: 2885576192

experiments/E002/conditions/c-minjerk-se3-cp6-af54a01c9b/CONDITION_CARD.md

@@ -0,0 +1,15 @@
+# Quintic minimum-jerk CP6 selected
+
+- Experiment / run: E002 / E002-R004
+- Condition: c-minjerk-se3-cp6-af54a01c9b
+- Role: validation-selected structured head
+- Checkpoint SHA-256: 4538d12581ba6bb7ecaa2d0d1a90aa7a0c265c3daafdbd7a8d5da228f9849ba9
+- Code commit: 033cb092edc8a14430f35e5c78e06323ee14655a (clean)
+- Dataset: Shiki42/up-vla-precision-recovery-15k @ 77f5f306303361d602ab10759b3a139c67f2cf16
+- E002 split: E001-train-only grouped re-split; train 8,807/71 groups, validation 1,298/9, fresh test 1,523/9
+- Geometry: local tool frame, right SE(3) composition. Degree-5 Bernstein controls [0,0,0,q,q,q], xi(u)=(10u^3-15u^4+6u^5)q; T_cmd=T_base@Exp_SE3(xi).
+- Validation: path 0.855793, endpoint 6.209 mm / 3.745 deg, command jerk 2.272
+- Fresh test: path 0.835376, endpoint 5.905 mm / 3.701 deg, command jerk 2.562, GPU p95 8.214 ms
+- Decision: E002 rejected; real Pi0.5 rollout not authorized
+
+See sibling resolved config, immutable run manifest, validation report, and one-time fresh-test report.

experiments/E002/conditions/c-minjerk-se3-cp6-af54a01c9b/best.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4538d12581ba6bb7ecaa2d0d1a90aa7a0c265c3daafdbd7a8d5da228f9849ba9
+size 238735999

experiments/E002/conditions/c-minjerk-se3-cp6-af54a01c9b/config_resolved.yaml

@@ -0,0 +1,114 @@
+data:
+  hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+  revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+  variant_id: validated-physical-recovery-15k-v1
+  manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+  dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+  sample_count: 15000
+  eligible_sample_count: 11628
+  eligible_group_count: 89
+  eligibility: E001 train source groups only; E001 validation and test groups excluded
+  split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+  split_namespace: 'E002-source-group-split-v1::'
+  validation_fraction: 0.1
+  test_fraction: 0.1
+geometry:
+  cumulative_waypoint_representation: current_tool_relative_pose
+  step_representation: integrated_body_twist
+  step_integration: right_se3_exponential
+  residual_curve_frame: initial_local_tool_frame
+  residual_composition: base_right_multiply_se3_exponential
+  structured_translation: se3_tangent_translation_control_points_m
+  structured_rotation: so3_lie_algebra_control_points_rad
+  evaluation_grid: 16 positive-time waypoints at 0.05 s through 0.8 s
+  residual_boundary_at_t0: identity
+model:
+  backbone:
+    hidden_size: 256
+    fusion_layers: 4
+    fusion_heads: 8
+    fusion_mlp_ratio: 4
+    dropout: 0.1
+    vision_backend: conv
+    text_backend: embedding
+    pretrained_model_name: google/siglip-base-patch16-224
+    freeze_pretrained: true
+    image_size: 224
+    vision_tokens: 64
+    depth_tokens: 36
+    point_tokens: 32
+    point_samples: 256
+    max_text_tokens: 32
+    text_vocab_size: 32768
+    max_joints: 7
+    aloha_joints: 6
+    panda_joints: 7
+    translation_scale_m: 0.05
+    rotation_scale_rad: 0.5235987755982988
+    joint_scale_rad: 0.5
+  horizon_steps: 16
+  horizon_seconds: 0.8
+  decoder_layers: 4
+  decoder_heads: 8
+  decoder_mlp_ratio: 4
+  control_points: 6
+  maximum_step_translation_m: 0.01
+  maximum_step_rotation_rad: 0.2
+  maximum_residual_translation_m: 0.05
+  maximum_residual_rotation_rad: 0.52
+  action_head: minimum_jerk
+  base_conditioning: E002-R001-profiled-proposal
+  trajectory_basis: quintic_minimum_jerk_bezier_cp6
+  parameter_counts:
+    total: 20074074
+    trainable: 19870022
+    frozen: 204052
+loss:
+  path_translation: 1.0
+  path_rotation: 1.0
+  endpoint_translation: 2.0
+  endpoint_rotation: 2.0
+  velocity: 1.0
+  acceleration: 0.1
+  jerk: 0.05
+  residual_magnitude: 0.02
+training:
+  seed: 42
+  batch_size: 64
+  gradient_accumulation_steps: 1
+  epochs: 100
+  max_steps: 3000
+  learning_rate: 0.0003
+  weight_decay: 0.05
+  warmup_fraction: 0.05
+  gradient_clip_norm: 1.0
+  precision: bf16
+  workers: 8
+  log_every_steps: 10
+  validation_every_steps: 250
+  checkpoint_every_steps: 500
+evaluation:
+  version: se3-spline-eval-v1
+  trajectory_loss:
+    path_translation: 1.0
+    path_rotation: 1.0
+    endpoint_translation: 2.0
+    endpoint_rotation: 2.0
+    velocity: 1.0
+    acceleration: 0.1
+    jerk: 0.05
+    residual_magnitude: 0.02
+  selection_split: validation
+  test_firewall_opened: false
+  group_bootstrap_seed: 20260810
+  group_bootstrap_resamples: 10000
+runtime:
+  data_root: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples
+  base_proposal_root: /home/coder/share/experiment-artifacts/E002/R001-profiled-proposals
+  output_directory: /home/coder/share/experiment-runs/E002/E002-R004
+split_counts:
+  train_samples: 8807
+  validation_samples: 1298
+  train_groups: 71
+  validation_groups: 9
+  overlap: false

experiments/E002/conditions/c-minjerk-se3-cp6-af54a01c9b/evaluation_fresh_test.json

@@ -0,0 +1,295 @@
+{
+  "base_proposal_manifest": {
+    "path": "/home/coder/share/experiment-artifacts/E002/R001-profiled-proposals/manifest.json",
+    "sha256": "7fb4fb67600a0f1b599aac4f5857a6af48513a9fcef9c348be90fe264af411a3"
+  },
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+    "path": "/home/coder/share/experiment-runs/E002/E002-R004/best.pt",
+    "sha256": "4538d12581ba6bb7ecaa2d0d1a90aa7a0c265c3daafdbd7a8d5da228f9849ba9"
+  },
+  "checkpoint_run": {
+    "condition_id": "c-minjerk-se3-cp6-af54a01c9b",
+    "experiment_id": "E002",
+    "git_commit": "033cb092edc8a14430f35e5c78e06323ee14655a",
+    "manifest": "/home/coder/share/experiment-runs/E002/E002-R004/run_manifest.yaml",
+    "manifest_sha256": "846572232e745a74451e055f38cade8d2aad594999a71cf45d7cd5ba401406ac",
+    "run_id": "E002-R004"
+  },
+  "condition_id": "c-minjerk-se3-cp6-af54a01c9b",
+  "data_extraction_receipt": {
+    "path": "/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json",
+    "sha256": "ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd"
+  },
+  "experiment_id": "E002",
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+        "upper": 0.14594409606522984
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+        "upper": 4.63208531803555
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+        "upper": 6.2668231990602274
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+    "resamples": 10000,
+    "seed": 20260810
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+    "p95_ms": 8.21402955,
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+    "repeats": 500,
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experiments/E002/conditions/c-minjerk-se3-cp6-af54a01c9b/evaluation_validation.json

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+}

experiments/E002/conditions/c-minjerk-se3-cp6-af54a01c9b/run_manifest.yaml

@@ -0,0 +1,104 @@
+schema_version: upvla.experiment_run.v1
+run:
+  id: E002-R004
+  experiment_id: E002
+  condition_id: c-minjerk-se3-cp6-af54a01c9b
+  status: completed
+  started_at: '2026-08-10T11:42:37.552494+00:00'
+  ended_at: '2026-08-10T11:47:36.515256+00:00'
+condition:
+  model:
+    action_head: minimum_jerk
+    base_conditioning: E002-R001-profiled-proposal
+    horizon_steps: 16
+    trajectory_basis: quintic_minimum_jerk_bezier_cp6
+randomness:
+  global_seed: 42
+  python_seed: 42
+  numpy_seed: 42
+  torch_seed: 42
+  dataloader_seed: 42
+code:
+  repo: https://github.com/Shiki42/UP-VLA.git
+  git_commit: 033cb092edc8a14430f35e5c78e06323ee14655a
+  git_branch: shuyuan/se3-bspline-recovery-e002
+  dirty: false
+  status_sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855
+  patch_ref: null
+data:
+  hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+  revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+  variant_id: validated-physical-recovery-15k-v1
+  manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+  dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+  extraction_receipt: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json
+  extraction_receipt_sha256: ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd
+  split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+  split_counts:
+    train_samples: 8807
+    validation_samples: 1298
+    train_groups: 71
+    validation_groups: 9
+    overlap: false
+environment:
+  python_version: 3.11.15
+  python_executable: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python
+  packages:
+    numpy: 1.26.0
+    Pillow: 11.3.0
+    PyYAML: 6.0.3
+    torch: 2.13.0
+  torch_version: 2.13.0+cu130
+  cuda_runtime: '13.0'
+  cudnn_version: 92000
+  os: Linux-7.0.0-28-generic-x86_64-with-glibc2.35
+  hostname: lm
+hardware:
+  accelerators:
+  - index: 0
+    name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
+    memory_bytes: 101973491712
+    compute_capability: '12.0'
+  accelerator_count: 1
+  cpu_count: 32
+execution:
+  command: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python scripts/train_action_chunk_recovery.py
+    --condition-config configs/experiments/E002/R004-minjerk-se3-cp6.yaml --data-root
+    /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples --output-dir
+    /home/coder/share/experiment-runs/E002/E002-R004 --base-proposal-root /home/coder/share/experiment-artifacts/E002/R001-profiled-proposals
+metrics:
+  validation:
+    loss/total: 0.340089762706786
+    loss/path_translation: 0.0009601259408934825
+    loss/path_rotation: 0.062407021208426616
+    loss/endpoint_translation: 0.002470431426390776
+    loss/endpoint_rotation: 0.10961773915816161
+    loss/velocity: 0.051635161111094
+    loss/acceleration: 0.0013029350546147037
+    loss/jerk: 0.0016885478681280565
+    loss/residual_magnitude: 0.034819636315979834
+    metric/path_translation_rmse_mm: 3.7914421139586323
+    metric/path_rotation_rmse_deg: 2.3811969316244492
+    metric/endpoint_translation_rmse_mm: 6.081028670118476
+    metric/endpoint_rotation_rmse_deg: 3.774994674559183
+    metric/velocity_rmse: 0.036343481690150746
+    metric/acceleration_rmse: 0.13480377996280124
+    metric/jerk_rmse: 3.113585577540111
+    metric/command_acceleration_rms: 0.11796897273217952
+    metric/command_jerk_rms: 2.653614019576133
+    metric/residual_translation_mean_mm: 0.7937416224891122
+    metric/residual_rotation_mean_deg: 0.5683441197008858
+checkpoint:
+  path: /home/coder/share/experiment-runs/E002/E002-R004/best.pt
+  sha256: 4538d12581ba6bb7ecaa2d0d1a90aa7a0c265c3daafdbd7a8d5da228f9849ba9
+  selection_metric: loss/total
+  selection_split: validation
+artifacts:
+  metrics_jsonl: /home/coder/share/experiment-runs/E002/E002-R004/metrics.jsonl
+  validation_evaluation: /home/coder/share/experiment-runs/E002/E002-R004/evaluation_validation.json
+  condition_snapshot: /home/coder/share/experiment-runs/E002/E002-R004/condition.yaml
+  resolved_config: /home/coder/share/experiment-runs/E002/E002-R004/config_resolved.yaml
+compute:
+  wall_seconds: 298.82912589100306
+  gpu_hours: 0.08300809052527863
+  peak_memory_bytes: 2951936512

experiments/E002/conditions/c-residual-h16-f186e90df2/CONDITION_CARD.md

@@ -0,0 +1,15 @@
+# Residual H16 baseline
+
+- Experiment / run: E002 / E002-R002
+- Condition: c-residual-h16-f186e90df2
+- Role: baseline
+- Checkpoint SHA-256: c7cd3aac047e4ed726f086b292bd74121f513484e9979c773cafc606a90d8da9
+- Code commit: 033cb092edc8a14430f35e5c78e06323ee14655a (clean)
+- Dataset: Shiki42/up-vla-precision-recovery-15k @ 77f5f306303361d602ab10759b3a139c67f2cf16
+- E002 split: E001-train-only grouped re-split; train 8,807/71 groups, validation 1,298/9, fresh test 1,523/9
+- Geometry: local tool frame, right SE(3) composition. Independent 16-waypoint residuals.
+- Validation: path 0.856968, endpoint 6.062 mm / 3.858 deg, command jerk 3.137
+- Fresh test: path 0.801884, endpoint 5.905 mm / 3.462 deg, command jerk 3.143, GPU p95 8.237 ms
+- Decision: E002 rejected; real Pi0.5 rollout not authorized
+
+See sibling resolved config, immutable run manifest, validation report, and one-time fresh-test report.

experiments/E002/conditions/c-residual-h16-f186e90df2/best.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c7cd3aac047e4ed726f086b292bd74121f513484e9979c773cafc606a90d8da9
+size 238782079

experiments/E002/conditions/c-residual-h16-f186e90df2/config_resolved.yaml

@@ -0,0 +1,114 @@
+data:
+  hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+  revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+  variant_id: validated-physical-recovery-15k-v1
+  manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+  dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+  sample_count: 15000
+  eligible_sample_count: 11628
+  eligible_group_count: 89
+  eligibility: E001 train source groups only; E001 validation and test groups excluded
+  split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+  split_namespace: 'E002-source-group-split-v1::'
+  validation_fraction: 0.1
+  test_fraction: 0.1
+geometry:
+  cumulative_waypoint_representation: current_tool_relative_pose
+  step_representation: integrated_body_twist
+  step_integration: right_se3_exponential
+  residual_curve_frame: initial_local_tool_frame
+  residual_composition: base_right_multiply_se3_exponential
+  structured_translation: se3_tangent_translation_control_points_m
+  structured_rotation: so3_lie_algebra_control_points_rad
+  evaluation_grid: 16 positive-time waypoints at 0.05 s through 0.8 s
+  residual_boundary_at_t0: identity
+model:
+  backbone:
+    hidden_size: 256
+    fusion_layers: 4
+    fusion_heads: 8
+    fusion_mlp_ratio: 4
+    dropout: 0.1
+    vision_backend: conv
+    text_backend: embedding
+    pretrained_model_name: google/siglip-base-patch16-224
+    freeze_pretrained: true
+    image_size: 224
+    vision_tokens: 64
+    depth_tokens: 36
+    point_tokens: 32
+    point_samples: 256
+    max_text_tokens: 32
+    text_vocab_size: 32768
+    max_joints: 7
+    aloha_joints: 6
+    panda_joints: 7
+    translation_scale_m: 0.05
+    rotation_scale_rad: 0.5235987755982988
+    joint_scale_rad: 0.5
+  horizon_steps: 16
+  horizon_seconds: 0.8
+  decoder_layers: 4
+  decoder_heads: 8
+  decoder_mlp_ratio: 4
+  control_points: 6
+  maximum_step_translation_m: 0.01
+  maximum_step_rotation_rad: 0.2
+  maximum_residual_translation_m: 0.05
+  maximum_residual_rotation_rad: 0.52
+  action_head: residual_chunk
+  base_conditioning: E002-R001-profiled-proposal
+  trajectory_basis: independent_h16
+  parameter_counts:
+    total: 20077914
+    trainable: 19873862
+    frozen: 204052
+loss:
+  path_translation: 1.0
+  path_rotation: 1.0
+  endpoint_translation: 2.0
+  endpoint_rotation: 2.0
+  velocity: 1.0
+  acceleration: 0.1
+  jerk: 0.05
+  residual_magnitude: 0.02
+training:
+  seed: 42
+  batch_size: 64
+  gradient_accumulation_steps: 1
+  epochs: 100
+  max_steps: 3000
+  learning_rate: 0.0003
+  weight_decay: 0.05
+  warmup_fraction: 0.05
+  gradient_clip_norm: 1.0
+  precision: bf16
+  workers: 8
+  log_every_steps: 10
+  validation_every_steps: 250
+  checkpoint_every_steps: 500
+evaluation:
+  version: se3-spline-eval-v1
+  trajectory_loss:
+    path_translation: 1.0
+    path_rotation: 1.0
+    endpoint_translation: 2.0
+    endpoint_rotation: 2.0
+    velocity: 1.0
+    acceleration: 0.1
+    jerk: 0.05
+    residual_magnitude: 0.02
+  selection_split: validation
+  test_firewall_opened: false
+  group_bootstrap_seed: 20260810
+  group_bootstrap_resamples: 10000
+runtime:
+  data_root: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples
+  base_proposal_root: /home/coder/share/experiment-artifacts/E002/R001-profiled-proposals
+  output_directory: /home/coder/share/experiment-runs/E002/E002-R002
+split_counts:
+  train_samples: 8807
+  validation_samples: 1298
+  train_groups: 71
+  validation_groups: 9
+  overlap: false

experiments/E002/conditions/c-residual-h16-f186e90df2/evaluation_fresh_test.json

@@ -0,0 +1,295 @@
+{
+  "base_proposal_manifest": {
+    "path": "/home/coder/share/experiment-artifacts/E002/R001-profiled-proposals/manifest.json",
+    "sha256": "7fb4fb67600a0f1b599aac4f5857a6af48513a9fcef9c348be90fe264af411a3"
+  },
+  "checkpoint": {
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+    "sha256": "c7cd3aac047e4ed726f086b292bd74121f513484e9979c773cafc606a90d8da9"
+  },
+  "checkpoint_run": {
+    "condition_id": "c-residual-h16-f186e90df2",
+    "experiment_id": "E002",
+    "git_commit": "033cb092edc8a14430f35e5c78e06323ee14655a",
+    "manifest": "/home/coder/share/experiment-runs/E002/E002-R002/run_manifest.yaml",
+    "manifest_sha256": "6e4e3a93e8e2a046a47309d8f904abbedcc01ca2f577b837e214106a9d068e73",
+    "run_id": "E002-R002"
+  },
+  "condition_id": "c-residual-h16-f186e90df2",
+  "data_extraction_receipt": {
+    "path": "/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json",
+    "sha256": "ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd"
+  },
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+}

experiments/E002/conditions/c-residual-h16-f186e90df2/evaluation_validation.json

@@ -0,0 +1,295 @@
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+}

experiments/E002/conditions/c-residual-h16-f186e90df2/run_manifest.yaml

@@ -0,0 +1,104 @@
+schema_version: upvla.experiment_run.v1
+run:
+  id: E002-R002
+  experiment_id: E002
+  condition_id: c-residual-h16-f186e90df2
+  status: completed
+  started_at: '2026-08-10T11:31:58.411131+00:00'
+  ended_at: '2026-08-10T11:37:02.967653+00:00'
+condition:
+  model:
+    action_head: residual_chunk
+    base_conditioning: E002-R001-profiled-proposal
+    horizon_steps: 16
+    trajectory_basis: independent_h16
+randomness:
+  global_seed: 42
+  python_seed: 42
+  numpy_seed: 42
+  torch_seed: 42
+  dataloader_seed: 42
+code:
+  repo: https://github.com/Shiki42/UP-VLA.git
+  git_commit: 033cb092edc8a14430f35e5c78e06323ee14655a
+  git_branch: shuyuan/se3-bspline-recovery-e002
+  dirty: false
+  status_sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855
+  patch_ref: null
+data:
+  hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+  revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+  variant_id: validated-physical-recovery-15k-v1
+  manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+  dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+  extraction_receipt: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json
+  extraction_receipt_sha256: ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd
+  split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+  split_counts:
+    train_samples: 8807
+    validation_samples: 1298
+    train_groups: 71
+    validation_groups: 9
+    overlap: false
+environment:
+  python_version: 3.11.15
+  python_executable: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python
+  packages:
+    numpy: 1.26.0
+    Pillow: 11.3.0
+    PyYAML: 6.0.3
+    torch: 2.13.0
+  torch_version: 2.13.0+cu130
+  cuda_runtime: '13.0'
+  cudnn_version: 92000
+  os: Linux-7.0.0-28-generic-x86_64-with-glibc2.35
+  hostname: lm
+hardware:
+  accelerators:
+  - index: 0
+    name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
+    memory_bytes: 101973491712
+    compute_capability: '12.0'
+  accelerator_count: 1
+  cpu_count: 32
+execution:
+  command: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python scripts/train_action_chunk_recovery.py
+    --condition-config configs/experiments/E002/R002-residual-h16.yaml --data-root
+    /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples --output-dir
+    /home/coder/share/experiment-runs/E002/E002-R002 --base-proposal-root /home/coder/share/experiment-artifacts/E002/R001-profiled-proposals
+metrics:
+  validation:
+    loss/total: 0.33688340996189736
+    loss/path_translation: 0.000940837494032357
+    loss/path_rotation: 0.0615845355097612
+    loss/endpoint_translation: 0.0024366182872798806
+    loss/endpoint_rotation: 0.10941956785775847
+    loss/velocity: 0.04966655885011463
+    loss/acceleration: 0.0015241503069759884
+    loss/jerk: 0.0022666104369651876
+    loss/residual_magnitude: 0.0356679620689071
+    metric/path_translation_rmse_mm: 3.753689542573479
+    metric/path_rotation_rmse_deg: 2.3661541755100246
+    metric/endpoint_translation_rmse_mm: 6.03998319761044
+    metric/endpoint_rotation_rmse_deg: 3.7676057393084323
+    metric/velocity_rmse: 0.03566566113101315
+    metric/acceleration_rmse: 0.1493868921497386
+    metric/jerk_rmse: 3.6834481236379943
+    metric/command_acceleration_rms: 0.13423365026207293
+    metric/command_jerk_rms: 3.309643663500417
+    metric/residual_translation_mean_mm: 0.66311021459121
+    metric/residual_rotation_mean_deg: 0.6721727473342731
+checkpoint:
+  path: /home/coder/share/experiment-runs/E002/E002-R002/best.pt
+  sha256: c7cd3aac047e4ed726f086b292bd74121f513484e9979c773cafc606a90d8da9
+  selection_metric: loss/total
+  selection_split: validation
+artifacts:
+  metrics_jsonl: /home/coder/share/experiment-runs/E002/E002-R002/metrics.jsonl
+  validation_evaluation: /home/coder/share/experiment-runs/E002/E002-R002/evaluation_validation.json
+  condition_snapshot: /home/coder/share/experiment-runs/E002/E002-R002/condition.yaml
+  resolved_config: /home/coder/share/experiment-runs/E002/E002-R002/config_resolved.yaml
+compute:
+  wall_seconds: 304.37659596299636
+  gpu_hours: 0.08454905443416566
+  peak_memory_bytes: 2952011264

experiments/E002/experiment-registry.yaml

@@ -0,0 +1,214 @@
+schema_version: upvla.experiment.v1
+experiment:
+  id: E002
+  title: se3_bspline_minimum_jerk_recovery_head
+  owner: codex
+  status: completed
+  revision: 2
+  experiment_type: confirmatory
+  parent_experiment: E001
+revision_history:
+- revision: 1
+  frozen_from_git_commit: 71e72ac68e17dfc73e53d5e783efe0c26c7452ed
+  reason: User-authorized new structured-head research question; E001 conclusion remains unchanged. Protocol, split,
+    conditions, budgets, selection rule, and gates frozen before formal runs.
+- revision: 2
+  reason: Results-only conclusion update after the sealed fresh test. Revision 1 condition space, split, selection
+    rule, budgets, metrics, and gates are unchanged.
+  protocol_revision_1_sha256: fc288032290f2706bd04f58004d5df7166f7823695ad715e44e0bb1bc5bb5417
+  gates_changed: false
+research:
+  human_prompt_ref: codex-delegation-from-019fdd98-7e76-74f1-bf38-288d75196b2d-2026-08-10
+  observation: E001 residual H16 modestly improved path and endpoint error but raised test command jerk RMS from
+    2.311 to 4.300.
+  question: Can an explicitly continuous local-tool-frame SE(3) residual curve reduce command jerk versus a same-split
+    residual H16 head without materially degrading path or endpoint accuracy?
+  hypothesis: Constraining residuals to clamped cubic or true quintic minimum-jerk bases removes independent waypoint
+    switching, reducing grouped command jerk by at least 25% versus residual H16 while satisfying pre-registered
+    path, endpoint, and latency non-inferiority bounds.
+  intervention:
+    changed:
+      model.action_head:
+      - endpoint
+      - residual_chunk
+      - cubic_bspline
+      - minimum_jerk
+      model.trajectory_basis:
+      - none
+      - independent_h16
+      - clamped_cubic_bspline_degree3_cp6
+      - quintic_minimum_jerk_bezier_cp6
+  e001_integrity: E001 remains completed/inconclusive with advance_to_e002=false under its original Pi0.5-conditioned
+    Action Chunk definition; this E002 is a separately authorized protocol.
+identifiability_audit:
+  duration_seconds: 0.8
+  duration_head: excluded because duration is fixed and unidentifiable
+  confidence_head: excluded because no confidence supervision or calibration target exists
+  implementation: single deterministic residual branch
+baseline:
+  condition_id: c-residual-h16-f186e90df2
+  preferred_run_id: E002-R002
+  comparison: same-split residual H16; endpoint is a second safety reference
+condition_space:
+  allowed:
+    model.action_head:
+      values:
+      - endpoint
+      - residual_chunk
+      - cubic_bspline
+      - minimum_jerk
+    model.trajectory_basis:
+      values:
+      - none
+      - independent_h16
+      - clamped_cubic_bspline_degree3_cp6
+      - quintic_minimum_jerk_bezier_cp6
+    model.base_conditioning:
+      values:
+      - none
+      - E002-R001-profiled-proposal
+    model.horizon_steps:
+      values:
+      - 1
+      - 16
+  frozen:
+    model.horizon_seconds: 0.8
+    model.control_points: 6
+    model.backbone.hidden_size: 256
+    model.backbone.fusion_layers: 4
+    model.decoder_layers: 4
+    geometry.residual_curve_frame: initial_local_tool_frame
+    geometry.residual_composition: T_cmd[k] = T_base[k] @ Exp_SE3(xi_res(u_k))
+    geometry.cubic_basis: open-uniform clamped degree 3; C2 at simple interior knots
+    geometry.minimum_jerk_basis: degree-5 Bernstein with controls [0,0,0,q,q,q], phase 10u^3-15u^4+6u^5
+    data.hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+    data.revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+    data.variant_id: validated-physical-recovery-15k-v1
+    data.eligible_parent_split: E001 train only
+    data.split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+    data.split_namespace: 'E002-source-group-split-v1::'
+    training.max_steps: 3000
+    training.seed: 42
+    evaluation.version: se3-spline-eval-v1
+conditions:
+- run_id: E002-R001
+  condition_id: c-endpoint-5d2dff166d
+  role: endpoint_baseline
+  config: configs/experiments/E002/R001-endpoint.yaml
+  status: completed
+- run_id: E002-R002
+  condition_id: c-residual-h16-f186e90df2
+  role: residual_h16_baseline
+  config: configs/experiments/E002/R002-residual-h16.yaml
+  status: completed
+- run_id: E002-R003
+  condition_id: c-cubic-se3-cp6-43b928e718
+  role: candidate
+  config: configs/experiments/E002/R003-cubic-se3-cp6.yaml
+  status: completed
+- run_id: E002-R004
+  condition_id: c-minjerk-se3-cp6-af54a01c9b
+  role: candidate
+  config: configs/experiments/E002/R004-minjerk-se3-cp6.yaml
+  status: completed
+data:
+  hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+  revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+  variant_id: validated-physical-recovery-15k-v1
+  dataset_hash: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+  split_version: e001-train-only-source-family-stratified-group-hash-e002-v1
+  hash_namespace: 'E002-source-group-split-v1::'
+  eligible_samples: 11628
+  eligible_groups: 89
+  split_counts:
+    train:
+      samples: 8807
+      groups: 71
+    validation:
+      samples: 1298
+      groups: 9
+    fresh_test:
+      samples: 1523
+      groups: 9
+  holdout_coverage:
+    validation:
+    - rlbench
+    - robotwin_generic
+    fresh_test:
+    - rlbench
+    - robotwin_generic
+  exclusion: all 22 E001 validation/test source groups are excluded from E002 confirmatory evidence
+  proposal_rule: E002-R001 is trained only on E002 train; frozen proposal generation uses observations/current pose/task
+    category only and include_targets=False.
+  split_audit:
+    path: /home/coder/share/experiment-logs/E002/data-split-audit.json
+    sha256: 022dac36e48ce65ea920a789a36e1458b40e78df7f55eabe15504fd8ef0f96be
+  target_schema_audit:
+    path: /home/coder/share/experiment-logs/E001/action-target-audit.json
+    sha256: 16e1b62f9f54fb0ac8a0fab0b7772e66ab6b6bc0d930fc5aa30f53ff19258fa6
+    scope: dataset-wide physical/SE(3) target validity only; not reused as E002 model evidence
+evaluation:
+  evaluator_version: se3-spline-eval-v1
+  primary_metric:
+    name: validation_group_macro_path_score
+    direction: minimize
+    definition: path_translation_rmse_mm / 10 + path_rotation_rmse_deg / 5
+  core_metric: group_macro_command_jerk_rms
+  secondary_metrics:
+  - endpoint_translation_rmse_mm
+  - endpoint_rotation_rmse_deg
+  - velocity_rmse
+  - acceleration_rmse
+  - jerk_rmse
+  - command_acceleration_rms
+  - batch1_inference_p95_ms
+  group_bootstrap_seed: 20260810
+  group_bootstrap_resamples: 10000
+  confidence_interval: paired ordinary percentile bootstrap over source groups, 95%
+  validation_selection_rule: Select minimum grouped command jerk among candidates satisfying path/endpoint/latency
+    guardrails; if none satisfy guardrails, select minimum grouped command jerk among both candidates. Open fresh
+    test once for endpoint, residual H16, and that one selected candidate.
+  decision_rule:
+    advance_requires_on_validation_and_fresh_test:
+    - selected_path_score <= 1.02 * residual_h16_path_score
+    - selected_command_jerk_rms <= 0.75 * residual_h16_command_jerk_rms
+    - selected_command_jerk_rms <= 1.10 * endpoint_command_jerk_rms
+    - selected_endpoint_translation_rmse_mm <= endpoint + 1.0
+    - selected_endpoint_rotation_rmse_deg <= endpoint + 1.0
+    - selected_batch1_gpu_p95_ms < 20.0
+    - paired source-group bootstrap 95% CI upper bound for selected/residual command jerk ratio < 1.0
+    failure_status: rejected if a safety/non-inferiority gate fails; otherwise inconclusive if evidence is incomplete;
+      never relax gates post hoc
+  test_firewall: fresh test may be opened exactly once after validation selection, jointly for E002-R001, E002-R002,
+    and the selected spline; E001 test is not E002 evidence.
+compute_budget:
+  max_scientifically_valid_runs: 4
+  max_gpu_hours: 12
+  max_training_steps_per_run: 3000
+  invalid_implementation_retries: retain and count separately; no fifth scientific condition
+checkpoint_storage:
+  provider: huggingface
+  repo_id: Shiki42/up-vla-action-chunk-checkpoints
+  path_template: experiments/E002/conditions/{condition_id}/
+  require_condition_card: true
+  upload_policy: upload endpoint baseline, residual H16 baseline, and validation-selected structured condition after
+    sealed fresh-test evaluation
+result:
+  hypothesis_status: rejected
+  advance_to_real_pi05_rollout: false
+  selected_condition:
+    run_id: E002-R004
+    condition_id: c-minjerk-se3-cp6-af54a01c9b
+  validation_gate_passed: true
+  fresh_test_gate_passed: false
+  failed_fresh_test_gates:
+  - jerk_reduced_at_least_25pct_vs_residual
+  - path_not_worse_than_residual_by_2pct
+  summary: Minimum-jerk reduced fresh-test grouped command jerk by 18.50% with paired 95% CI excluding no improvement,
+    but missed the 25% effect threshold and worsened residual-H16 path score by 4.18%, above the 2% bound.
+  artifacts:
+    card: experiments/E002/E002-CARD.md
+    summary: experiments/E002/experiment-summary.json
+    protocol_freeze: experiments/E002/protocol-freeze-receipt.json
+    selection: experiments/E002/selection-validation.json
+    firewall: experiments/E002/fresh-test-firewall-receipt.json

experiments/E002/experiment-summary.json

@@ -0,0 +1,914 @@
+{
+  "advance_to_real_pi05_rollout": false,
+  "compute": {
+    "total_training_gpu_hours": 0.35953789120333063
+  },
+  "data": {
+    "eligible_groups": 89,
+    "eligible_samples": 11628,
+    "hf_repo_id": "Shiki42/up-vla-precision-recovery-15k",
+    "old_e001_holdout_groups_excluded": 22,
+    "revision": "77f5f306303361d602ab10759b3a139c67f2cf16",
+    "split_audit": {
+      "path": "/home/coder/share/experiment-logs/E002/data-split-audit.json",
+      "sha256": "022dac36e48ce65ea920a789a36e1458b40e78df7f55eabe15504fd8ef0f96be"
+    },
+    "split_counts": {
+      "fresh_test": {
+        "groups": 9,
+        "samples": 1523
+      },
+      "train": {
+        "groups": 71,
+        "samples": 8807
+      },
+      "validation": {
+        "groups": 9,
+        "samples": 1298
+      }
+    }
+  },
+  "decision": {
+    "next_step": "A new experiment is required for any changed basis, loss, control-point count, or gate; E002 must not be reinterpreted.",
+    "real_pi05_rollout_authorized": false,
+    "status": "stop"
+  },
+  "experiment_id": "E002",
+  "fresh_test": {
+    "firewall_opened_once_for": [
+      "E002-R001",
+      "E002-R002",
+      "E002-R004"
+    ],
+    "firewall_receipt": {
+      "path": "/home/coder/share/experiment-artifacts/E002/fresh-test-sealed/firewall.json",
+      "sha256": "54a05d0efacd2f3355f3d14d904c275635715b440c9d22ca49a0b88406c48084"
+    },
+    "gate_passed": false,
+    "gates": {
+      "batch1_gpu_p95_below_20ms": true,
+      "endpoint_rotation_within_endpoint_plus_1deg": true,
+      "endpoint_translation_within_endpoint_plus_1mm": true,
+      "jerk_not_above_endpoint_by_10pct": true,
+      "jerk_reduced_at_least_25pct_vs_residual": false,
+      "paired_jerk_ratio_95ci": {
+        "lower": 0.7616838102497108,
+        "method": "paired-percentile-bootstrap-over-source-groups",
+        "point": 0.8149532697598769,
+        "resamples": 10000,
+        "seed": 20260810,
+        "upper": 0.8694310609098554
+      },
+      "paired_jerk_ratio_95ci_upper_below_1": true,
+      "path_not_worse_than_residual_by_2pct": false
+    },
+    "group_count": 9,
+    "metrics": {
+      "endpoint": {
+        "group_bootstrap_95ci": {
+          "confidence": 0.95,
+          "group_count": 9,
+          "intervals": {
+            "acceleration_rmse": {
+              "lower": 0.1160274123152097,
+              "upper": 0.13443885842959086
+            },
+            "command_acceleration_rms": {
+              "lower": 0.09190107720593611,
+              "upper": 0.1158909913773338
+            },
+            "command_jerk_rms": {
+              "lower": 2.229633437262641,
+              "upper": 2.815442830324173
+            },
+            "endpoint_rotation_rmse_deg": {
+              "lower": 3.132349097728729,
+              "upper": 4.655834012561375
+            },
+            "endpoint_translation_rmse_mm": {
+              "lower": 5.6727268086539375,
+              "upper": 6.541422454516093
+            },
+            "group_macro_path_score": {
+              "lower": 0.7736077094740339,
+              "upper": 0.9841096719768314
+            },
+            "jerk_rmse": {
+              "lower": 2.810545167658064,
+              "upper": 3.28650067448616
+            },
+            "path_rotation_rmse_deg": {
+              "lower": 2.019929062657886,
+              "upper": 2.9412611941496527
+            },
+            "path_translation_rmse_mm": {
+              "lower": 3.5075451268090143,
+              "upper": 4.077366487847434
+            },
+            "residual_rotation_mean_deg": {
+              "lower": 0.0,
+              "upper": 0.0
+            },
+            "residual_translation_mean_mm": {
+              "lower": 0.0,
+              "upper": 0.0
+            },
+            "velocity_rmse": {
+              "lower": 0.03070427512543069,
+              "upper": 0.043454261496663094
+            }
+          },
+          "method": "ordinary-percentile-bootstrap-over-source-groups",
+          "resamples": 10000,
+          "seed": 20260810
+        },
+        "group_macro_path_score": 0.8621170043945312,
+        "grouped": {
+          "acceleration_rmse": 0.12567059695720673,
+          "command_acceleration_rms": 0.10415160655975342,
+          "command_jerk_rms": 2.5366859436035156,
+          "endpoint_rotation_rmse_deg": 3.7998945713043213,
+          "endpoint_translation_rmse_mm": 6.095478534698486,
+          "jerk_rmse": 3.062636137008667,
+          "path_rotation_rmse_deg": 2.4173941612243652,
+          "path_translation_rmse_mm": 3.786381721496582,
+          "residual_rotation_mean_deg": 0.0,
+          "residual_translation_mean_mm": 0.0,
+          "velocity_rmse": 0.03618572652339935
+        },
+        "latency": {
+          "device": "cuda",
+          "median_ms": 3.0951405000000003,
+          "p95_ms": 3.1367845,
+          "p99_ms": 4.168671939999989,
+          "repeats": 500,
+          "warmup": 50
+        }
+      },
+      "residual_h16": {
+        "group_bootstrap_95ci": {
+          "confidence": 0.95,
+          "group_count": 9,
+          "intervals": {
+            "acceleration_rmse": {
+              "lower": 0.13074185450871786,
+              "upper": 0.16456541187233395
+            },
+            "command_acceleration_rms": {
+              "lower": 0.11084854687667554,
+              "upper": 0.1475676911158694
+            },
+            "command_jerk_rms": {
+              "lower": 2.763100173738268,
+              "upper": 3.5584357129202946
+            },
+            "endpoint_rotation_rmse_deg": {
+              "lower": 2.8186066928837032,
+              "upper": 4.241162343819936
+            },
+            "endpoint_translation_rmse_mm": {
+              "lower": 5.567114898893569,
+              "upper": 6.269226944446563
+            },
+            "group_macro_path_score": {
+              "lower": 0.7137930199835036,
+              "upper": 0.9175362461805343
+            },
+            "jerk_rmse": {
+              "lower": 3.2203344961007434,
+              "upper": 3.95932028359837
+            },
+            "path_rotation_rmse_deg": {
+              "lower": 1.7755660480923123,
+              "upper": 2.6797972198989655
+            },
+            "path_translation_rmse_mm": {
+              "lower": 3.434561617506875,
+              "upper": 3.892301390568415
+            },
+            "residual_rotation_mean_deg": {
+              "lower": 0.6014344857798682,
+              "upper": 0.8241439182725218
+            },
+            "residual_translation_mean_mm": {
+              "lower": 0.5710233522786035,
+              "upper": 0.6960068250695863
+            },
+            "velocity_rmse": {
+              "lower": 0.027650315987153184,
+              "upper": 0.04000451112062567
+            }
+          },
+          "method": "ordinary-percentile-bootstrap-over-source-groups",
+          "resamples": 10000,
+          "seed": 20260810
+        },
+        "group_macro_path_score": 0.8018841505050659,
+        "grouped": {
+          "acceleration_rmse": 0.14657944440841675,
+          "command_acceleration_rms": 0.1282518208026886,
+          "command_jerk_rms": 3.143152952194214,
+          "endpoint_rotation_rmse_deg": 3.4617953300476074,
+          "endpoint_translation_rmse_mm": 5.905381202697754,
+          "jerk_rmse": 3.5692028999328613,
+          "path_rotation_rmse_deg": 2.180569648742676,
+          "path_translation_rmse_mm": 3.6577022075653076,
+          "residual_rotation_mean_deg": 0.7084853053092957,
+          "residual_translation_mean_mm": 0.6295439600944519,
+          "velocity_rmse": 0.03316418454051018
+        },
+        "latency": {
+          "device": "cuda",
+          "median_ms": 8.124232,
+          "p95_ms": 8.236784049999999,
+          "p99_ms": 10.43429551,
+          "repeats": 500,
+          "warmup": 50
+        }
+      },
+      "selected_spline": {
+        "group_bootstrap_95ci": {
+          "confidence": 0.95,
+          "group_count": 9,
+          "intervals": {
+            "acceleration_rmse": {
+              "lower": 0.127791753038764,
+              "upper": 0.14594409606522984
+            },
+            "command_acceleration_rms": {
+              "lower": 0.10712421170125405,
+              "upper": 0.12841273289587762
+            },
+            "command_jerk_rms": {
+              "lower": 2.2563910881678266,
+              "upper": 2.8369754082626764
+            },
+            "endpoint_rotation_rmse_deg": {
+              "lower": 3.017780652973387,
+              "upper": 4.63208531803555
+            },
+            "endpoint_translation_rmse_mm": {
+              "lower": 5.5506986127959355,
+              "upper": 6.2668231990602274
+            },
+            "group_macro_path_score": {
+              "lower": 0.7442402338319355,
+              "upper": 0.9650608261426288
+            },
+            "jerk_rmse": {
+              "lower": 2.8284443749321833,
+              "upper": 3.306691540612115
+            },
+            "path_rotation_rmse_deg": {
+              "lower": 1.9337187038527595,
+              "upper": 2.9215715991126165
+            },
+            "path_translation_rmse_mm": {
+              "lower": 3.4247371594111127,
+              "upper": 3.897781629694833
+            },
+            "residual_rotation_mean_deg": {
+              "lower": 0.49182973437839084,
+              "upper": 0.6278564759426647
+            },
+            "residual_translation_mean_mm": {
+              "lower": 0.6452037485109435,
+              "upper": 0.8209328550431463
+            },
+            "velocity_rmse": {
+              "lower": 0.030529986860023603,
+              "upper": 0.04382059392001894
+            }
+          },
+          "method": "ordinary-percentile-bootstrap-over-source-groups",
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+    "selected_run_id": "E002-R004",
+    "selection_receipt": {
+      "path": "/home/coder/share/experiment-artifacts/E002/selection-validation.json",
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+    }
+  }
+}

experiments/E002/fresh-test-firewall-receipt.json

@@ -0,0 +1,30 @@
+{
+  "advance_to_real_pi05_rollout": false,
+  "allowed_runs": [
+    "E002-R001",
+    "E002-R002",
+    "E002-R004"
+  ],
+  "commands": {
+    "endpoint": "/home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python /home/coder/share/UP-VLA-se3-bspline-E002/scripts/evaluate_action_chunk_recovery.py --condition-config /home/coder/share/UP-VLA-se3-bspline-E002/configs/experiments/E002/R001-endpoint.yaml --data-root /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples --split test --prediction-source base_proposal --base-proposal-root /home/coder/share/experiment-artifacts/E002/R001-profiled-proposals --output /home/coder/share/experiment-artifacts/E002/fresh-test-sealed.opening/endpoint-test.json --open-test-firewall",
+    "residual_h16": "/home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python /home/coder/share/UP-VLA-se3-bspline-E002/scripts/evaluate_action_chunk_recovery.py --condition-config /home/coder/share/UP-VLA-se3-bspline-E002/configs/experiments/E002/R002-residual-h16.yaml --data-root /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples --split test --prediction-source checkpoint --base-proposal-root /home/coder/share/experiment-artifacts/E002/R001-profiled-proposals --output /home/coder/share/experiment-artifacts/E002/fresh-test-sealed.opening/residual_h16-test.json --open-test-firewall --checkpoint /home/coder/share/experiment-runs/E002/E002-R002/best.pt",
+    "selected_spline": "/home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python /home/coder/share/UP-VLA-se3-bspline-E002/scripts/evaluate_action_chunk_recovery.py --condition-config /home/coder/share/UP-VLA-se3-bspline-E002/configs/experiments/E002/R004-minjerk-se3-cp6.yaml --data-root /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples --split test --prediction-source checkpoint --base-proposal-root /home/coder/share/experiment-artifacts/E002/R001-profiled-proposals --output /home/coder/share/experiment-artifacts/E002/fresh-test-sealed.opening/selected_spline-test.json --open-test-firewall --checkpoint /home/coder/share/experiment-runs/E002/E002-R004/best.pt"
+  },
+  "e001_test_reused": false,
+  "experiment": {
+    "path": "/home/coder/share/UP-VLA-se3-bspline-E002/experiments/E002-se3-bspline-minjerk-recovery.yaml",
+    "sha256": "fc288032290f2706bd04f58004d5df7166f7823695ad715e44e0bb1bc5bb5417"
+  },
+  "fresh_split": "E002 test groups from the frozen E001-train-only re-split",
+  "hypothesis_status": "rejected",
+  "schema_version": "precision.e002.test_firewall.v1",
+  "selection": {
+    "path": "/home/coder/share/experiment-artifacts/E002/selection-validation.json",
+    "sha256": "8c3e64ef2f874fda8ec4d263d389dacb5abb1f5b2253bd4d47b9cce9fd7a7ec4"
+  },
+  "status": "sealed",
+  "summary": {
+    "path": "/home/coder/share/experiment-artifacts/E002/fresh-test-sealed/fresh-test-summary.json",
+    "sha256": "3751e6ac03749b0bee791baedd4317a269747e35eb92e7b27cd38f2d76373136"
+  }
+}

experiments/E002/fresh-test-summary.json

@@ -0,0 +1,290 @@
+{
+  "advance_to_real_pi05_rollout": false,
+  "experiment_id": "E002",
+  "firewall_opened_once_for": [
+    "E002-R001",
+    "E002-R002",
+    "E002-R004"
+  ],
+  "fresh_test_gate_passed": false,
+  "fresh_test_gates": {
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+    "endpoint_rotation_within_endpoint_plus_1deg": true,
+    "endpoint_translation_within_endpoint_plus_1mm": true,
+    "jerk_not_above_endpoint_by_10pct": true,
+    "jerk_reduced_at_least_25pct_vs_residual": false,
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+    "paired_jerk_ratio_95ci_upper_below_1": true,
+    "path_not_worse_than_residual_by_2pct": false
+  },
+  "hypothesis_status": "rejected",
+  "metrics": {
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+        "warmup": 50
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+  },
+  "reports": {
+    "endpoint": {
+      "path": "/home/coder/share/experiment-artifacts/E002/fresh-test-sealed/endpoint-test.json",
+      "sha256": "6bac903b2a7a547f753130a77604bafda1e4f76a8138396734c0bd98bd7187df"
+    },
+    "residual_h16": {
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+      "sha256": "390e69b77677e4e6096afa2eefde8edb633f88558746f715ecbfb9ed03102742"
+    },
+    "selected_spline": {
+      "path": "/home/coder/share/experiment-artifacts/E002/fresh-test-sealed/selected_spline-test.json",
+      "sha256": "8c32ee98a9039c7a5f426f44c5aec1eec00d65e06347a15d2ed9899387d2e4c7"
+    }
+  },
+  "schema_version": "precision.e002.fresh_test_summary.v1",
+  "selected_condition_id": "c-minjerk-se3-cp6-af54a01c9b",
+  "validation_gate_passed": true
+}

experiments/E002/protocol-freeze-receipt.json

@@ -0,0 +1,22 @@
+{
+  "condition_ids": [
+    "c-endpoint-5d2dff166d",
+    "c-residual-h16-f186e90df2",
+    "c-cubic-se3-cp6-43b928e718",
+    "c-minjerk-se3-cp6-af54a01c9b"
+  ],
+  "experiment_id": "E002",
+  "formal_runs": [
+    "E002-R001",
+    "E002-R002",
+    "E002-R003",
+    "E002-R004"
+  ],
+  "gates_adjusted_after_results": false,
+  "git_branch": "shuyuan/se3-bspline-recovery-e002",
+  "git_commit": "033cb092edc8a14430f35e5c78e06323ee14655a",
+  "registry_path": "experiments/E002-se3-bspline-minjerk-recovery.yaml",
+  "registry_sha256": "fc288032290f2706bd04f58004d5df7166f7823695ad715e44e0bb1bc5bb5417",
+  "schema_version": "precision.e002.protocol_freeze.v1",
+  "split_audit_sha256": "022dac36e48ce65ea920a789a36e1458b40e78df7f55eabe15504fd8ef0f96be"
+}

experiments/E002/runs/E002-R001/condition_config.yaml

@@ -0,0 +1,109 @@
+schema_version: upvla.condition_config.v1
+experiment_id: E002
+run_id: E002-R001
+condition_id: c-endpoint-5d2dff166d
+condition_summary: endpoint
+condition:
+  model:
+    action_head: endpoint
+    base_conditioning: none
+    horizon_steps: 1
+    trajectory_basis: none
+resolved_config:
+  data:
+    hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+    revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+    variant_id: validated-physical-recovery-15k-v1
+    manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+    dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+    sample_count: 15000
+    eligible_sample_count: 11628
+    eligible_group_count: 89
+    eligibility: E001 train source groups only; E001 validation and test groups excluded
+    split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+    split_namespace: 'E002-source-group-split-v1::'
+    validation_fraction: 0.1
+    test_fraction: 0.1
+  geometry:
+    cumulative_waypoint_representation: current_tool_relative_pose
+    step_representation: integrated_body_twist
+    step_integration: right_se3_exponential
+    residual_curve_frame: initial_local_tool_frame
+    residual_composition: base_right_multiply_se3_exponential
+    structured_translation: se3_tangent_translation_control_points_m
+    structured_rotation: so3_lie_algebra_control_points_rad
+    evaluation_grid: 16 positive-time waypoints at 0.05 s through 0.8 s
+    residual_boundary_at_t0: identity
+  model:
+    backbone:
+      hidden_size: 256
+      fusion_layers: 4
+      fusion_heads: 8
+      fusion_mlp_ratio: 4
+      dropout: 0.1
+      vision_backend: conv
+      text_backend: embedding
+      pretrained_model_name: google/siglip-base-patch16-224
+      freeze_pretrained: true
+      image_size: 224
+      vision_tokens: 64
+      depth_tokens: 36
+      point_tokens: 32
+      point_samples: 256
+      max_text_tokens: 32
+      text_vocab_size: 32768
+      max_joints: 7
+      aloha_joints: 6
+      panda_joints: 7
+      translation_scale_m: 0.05
+      rotation_scale_rad: 0.5235987755982988
+      joint_scale_rad: 0.5
+    horizon_steps: 16
+    horizon_seconds: 0.8
+    decoder_layers: 4
+    decoder_heads: 8
+    decoder_mlp_ratio: 4
+    control_points: 6
+    maximum_step_translation_m: 0.01
+    maximum_step_rotation_rad: 0.2
+    maximum_residual_translation_m: 0.05
+    maximum_residual_rotation_rad: 0.52
+    action_head: endpoint
+    base_conditioning: none
+    trajectory_basis: none
+  loss:
+    translation: 1.0
+    rotation_vector: 1.0
+    rotation_geodesic: 0.25
+    joint: 0.5
+    gripper: 0.1
+  training:
+    seed: 42
+    batch_size: 64
+    gradient_accumulation_steps: 1
+    epochs: 100
+    max_steps: 3000
+    learning_rate: 0.0003
+    weight_decay: 0.05
+    warmup_fraction: 0.05
+    gradient_clip_norm: 1.0
+    precision: bf16
+    workers: 8
+    log_every_steps: 10
+    validation_every_steps: 250
+    checkpoint_every_steps: 500
+  evaluation:
+    version: se3-spline-eval-v1
+    trajectory_loss:
+      path_translation: 1.0
+      path_rotation: 1.0
+      endpoint_translation: 2.0
+      endpoint_rotation: 2.0
+      velocity: 1.0
+      acceleration: 0.1
+      jerk: 0.05
+      residual_magnitude: 0.02
+    selection_split: validation
+    test_firewall_opened: false
+    group_bootstrap_seed: 20260810
+    group_bootstrap_resamples: 10000

experiments/E002/runs/E002-R001/evaluation_validation.json

@@ -0,0 +1,278 @@
+{
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+    "path": "/home/coder/share/experiment-artifacts/E002/R001-profiled-proposals/manifest.json",
+    "sha256": "7fb4fb67600a0f1b599aac4f5857a6af48513a9fcef9c348be90fe264af411a3"
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+  "checkpoint_run": null,
+  "condition_id": "c-endpoint-5d2dff166d",
+  "data_extraction_receipt": {
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+    "sha256": "ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd"
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+  },
+  "prediction_source": "base_proposal",
+  "primary_path_score": {
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+    "group_macro": 0.8735849380493164,
+    "micro": 0.8965331554412841
+  },
+  "run_id": "E002-R001",
+  "sample_count": 1298,
+  "schema_version": "precision.action_chunk.evaluation.v1",
+  "source_family_metrics": {
+    "rlbench": {
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+      "metrics": {
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+      },
+      "path_score": 0.9428600311279296,
+      "sample_count": 520
+    },
+    "robotwin_generic": {
+      "group_count": 8,
+      "metrics": {
+        "acceleration_rmse": 0.12473664432764053,
+        "command_acceleration_rms": 0.10346533358097076,
+        "command_jerk_rms": 2.546473503112793,
+        "endpoint_rotation_rmse_deg": 3.693011522293091,
+        "endpoint_translation_rmse_mm": 6.344256401062012,
+        "jerk_rmse": 3.1005780696868896,
+        "path_rotation_rmse_deg": 2.3311872482299805,
+        "path_translation_rmse_mm": 3.962736129760742,
+        "residual_rotation_mean_deg": 0.0,
+        "residual_translation_mean_mm": 0.0,
+        "velocity_rmse": 0.03495059534907341
+      },
+      "path_score": 0.8625110626220703,
+      "sample_count": 778
+    }
+  },
+  "split": "validation",
+  "test_firewall_opened": false
+}

experiments/E002/runs/E002-R001/run_manifest.yaml

@@ -0,0 +1,93 @@
+schema_version: upvla.experiment_run.v1
+run:
+  id: E002-R001
+  experiment_id: E002
+  condition_id: c-endpoint-5d2dff166d
+  status: completed
+  started_at: '2026-08-10T11:12:08.698434+00:00'
+  ended_at: '2026-08-10T11:18:50.394652+00:00'
+condition:
+  model:
+    action_head: endpoint
+    base_conditioning: none
+    horizon_steps: 1
+    trajectory_basis: none
+randomness:
+  global_seed: 42
+  python_seed: 42
+  numpy_seed: 42
+  torch_seed: 42
+  dataloader_seed: 42
+code:
+  repo: https://github.com/Shiki42/UP-VLA.git
+  git_commit: 033cb092edc8a14430f35e5c78e06323ee14655a
+  git_branch: shuyuan/se3-bspline-recovery-e002
+  dirty: false
+  status_sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855
+  patch_ref: null
+data:
+  hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+  revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+  variant_id: validated-physical-recovery-15k-v1
+  manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+  dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+  extraction_receipt: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json
+  extraction_receipt_sha256: ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd
+  split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+  split_counts:
+    train_samples: 8807
+    validation_samples: 1298
+    train_groups: 71
+    validation_groups: 9
+    overlap: false
+environment:
+  python_version: 3.11.15
+  python_executable: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python
+  packages:
+    numpy: 1.26.0
+    Pillow: 11.3.0
+    PyYAML: 6.0.3
+    torch: 2.13.0
+  torch_version: 2.13.0+cu130
+  cuda_runtime: '13.0'
+  cudnn_version: 92000
+  os: Linux-7.0.0-28-generic-x86_64-with-glibc2.35
+  hostname: lm
+hardware:
+  accelerators:
+  - index: 0
+    name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
+    memory_bytes: 101973491712
+    compute_capability: '12.0'
+  accelerator_count: 1
+  cpu_count: 32
+execution:
+  command: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python scripts/train_action_chunk_recovery.py
+    --condition-config configs/experiments/E002/R001-endpoint.yaml --data-root /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples
+    --output-dir /home/coder/share/experiment-runs/E002/E002-R001
+metrics:
+  validation:
+    loss/total: 0.21126084798840786
+    loss/translation: 0.04712994648100599
+    loss/rotation_vector: 0.04120707774795994
+    loss/rotation_geodesic: 0.42234639320608647
+    loss/joint: 0.03408178494804078
+    loss/gripper: 0.0029633291347672696
+    metric/translation_mm: 23.808171852711354
+    metric/rotation_deg: 12.669311751202553
+    metric/joint_mae_rad: 0.08809902482251357
+    metric/gripper_accuracy: 1.0
+checkpoint:
+  path: /home/coder/share/experiment-runs/E002/E002-R001/best.pt
+  sha256: 0126a82280cb7db4b733f63ab3cae79d47360c9bea700034e4c2a07b646c94da
+  selection_metric: loss/total
+  selection_split: validation
+artifacts:
+  metrics_jsonl: /home/coder/share/experiment-runs/E002/E002-R001/metrics.jsonl
+  validation_evaluation: /home/coder/share/experiment-runs/E002/E002-R001/evaluation_validation.json
+  condition_snapshot: /home/coder/share/experiment-runs/E002/E002-R001/condition.yaml
+  resolved_config: /home/coder/share/experiment-runs/E002/E002-R001/config_resolved.yaml
+compute:
+  wall_seconds: 401.5836740859959
+  gpu_hours: 0.1115510205794433
+  peak_memory_bytes: 2885576192

experiments/E002/runs/E002-R002/condition_config.yaml

@@ -0,0 +1,112 @@
+schema_version: upvla.condition_config.v1
+experiment_id: E002
+run_id: E002-R002
+condition_id: c-residual-h16-f186e90df2
+condition_summary: residual-h16
+condition:
+  model:
+    action_head: residual_chunk
+    base_conditioning: E002-R001-profiled-proposal
+    horizon_steps: 16
+    trajectory_basis: independent_h16
+resolved_config:
+  data:
+    hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+    revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+    variant_id: validated-physical-recovery-15k-v1
+    manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+    dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+    sample_count: 15000
+    eligible_sample_count: 11628
+    eligible_group_count: 89
+    eligibility: E001 train source groups only; E001 validation and test groups excluded
+    split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+    split_namespace: 'E002-source-group-split-v1::'
+    validation_fraction: 0.1
+    test_fraction: 0.1
+  geometry:
+    cumulative_waypoint_representation: current_tool_relative_pose
+    step_representation: integrated_body_twist
+    step_integration: right_se3_exponential
+    residual_curve_frame: initial_local_tool_frame
+    residual_composition: base_right_multiply_se3_exponential
+    structured_translation: se3_tangent_translation_control_points_m
+    structured_rotation: so3_lie_algebra_control_points_rad
+    evaluation_grid: 16 positive-time waypoints at 0.05 s through 0.8 s
+    residual_boundary_at_t0: identity
+  model:
+    backbone:
+      hidden_size: 256
+      fusion_layers: 4
+      fusion_heads: 8
+      fusion_mlp_ratio: 4
+      dropout: 0.1
+      vision_backend: conv
+      text_backend: embedding
+      pretrained_model_name: google/siglip-base-patch16-224
+      freeze_pretrained: true
+      image_size: 224
+      vision_tokens: 64
+      depth_tokens: 36
+      point_tokens: 32
+      point_samples: 256
+      max_text_tokens: 32
+      text_vocab_size: 32768
+      max_joints: 7
+      aloha_joints: 6
+      panda_joints: 7
+      translation_scale_m: 0.05
+      rotation_scale_rad: 0.5235987755982988
+      joint_scale_rad: 0.5
+    horizon_steps: 16
+    horizon_seconds: 0.8
+    decoder_layers: 4
+    decoder_heads: 8
+    decoder_mlp_ratio: 4
+    control_points: 6
+    maximum_step_translation_m: 0.01
+    maximum_step_rotation_rad: 0.2
+    maximum_residual_translation_m: 0.05
+    maximum_residual_rotation_rad: 0.52
+    action_head: residual_chunk
+    base_conditioning: E002-R001-profiled-proposal
+    trajectory_basis: independent_h16
+  loss:
+    path_translation: 1.0
+    path_rotation: 1.0
+    endpoint_translation: 2.0
+    endpoint_rotation: 2.0
+    velocity: 1.0
+    acceleration: 0.1
+    jerk: 0.05
+    residual_magnitude: 0.02
+  training:
+    seed: 42
+    batch_size: 64
+    gradient_accumulation_steps: 1
+    epochs: 100
+    max_steps: 3000
+    learning_rate: 0.0003
+    weight_decay: 0.05
+    warmup_fraction: 0.05
+    gradient_clip_norm: 1.0
+    precision: bf16
+    workers: 8
+    log_every_steps: 10
+    validation_every_steps: 250
+    checkpoint_every_steps: 500
+  evaluation:
+    version: se3-spline-eval-v1
+    trajectory_loss:
+      path_translation: 1.0
+      path_rotation: 1.0
+      endpoint_translation: 2.0
+      endpoint_rotation: 2.0
+      velocity: 1.0
+      acceleration: 0.1
+      jerk: 0.05
+      residual_magnitude: 0.02
+    selection_split: validation
+    test_firewall_opened: false
+    group_bootstrap_seed: 20260810
+    group_bootstrap_resamples: 10000

experiments/E002/runs/E002-R002/evaluation_validation.json

@@ -0,0 +1,295 @@
+{
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+  "data_extraction_receipt": {
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+  "split": "validation",
+  "test_firewall_opened": false
+}

experiments/E002/runs/E002-R002/run_manifest.yaml

@@ -0,0 +1,104 @@
+schema_version: upvla.experiment_run.v1
+run:
+  id: E002-R002
+  experiment_id: E002
+  condition_id: c-residual-h16-f186e90df2
+  status: completed
+  started_at: '2026-08-10T11:31:58.411131+00:00'
+  ended_at: '2026-08-10T11:37:02.967653+00:00'
+condition:
+  model:
+    action_head: residual_chunk
+    base_conditioning: E002-R001-profiled-proposal
+    horizon_steps: 16
+    trajectory_basis: independent_h16
+randomness:
+  global_seed: 42
+  python_seed: 42
+  numpy_seed: 42
+  torch_seed: 42
+  dataloader_seed: 42
+code:
+  repo: https://github.com/Shiki42/UP-VLA.git
+  git_commit: 033cb092edc8a14430f35e5c78e06323ee14655a
+  git_branch: shuyuan/se3-bspline-recovery-e002
+  dirty: false
+  status_sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855
+  patch_ref: null
+data:
+  hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+  revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+  variant_id: validated-physical-recovery-15k-v1
+  manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+  dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+  extraction_receipt: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json
+  extraction_receipt_sha256: ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd
+  split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+  split_counts:
+    train_samples: 8807
+    validation_samples: 1298
+    train_groups: 71
+    validation_groups: 9
+    overlap: false
+environment:
+  python_version: 3.11.15
+  python_executable: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python
+  packages:
+    numpy: 1.26.0
+    Pillow: 11.3.0
+    PyYAML: 6.0.3
+    torch: 2.13.0
+  torch_version: 2.13.0+cu130
+  cuda_runtime: '13.0'
+  cudnn_version: 92000
+  os: Linux-7.0.0-28-generic-x86_64-with-glibc2.35
+  hostname: lm
+hardware:
+  accelerators:
+  - index: 0
+    name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
+    memory_bytes: 101973491712
+    compute_capability: '12.0'
+  accelerator_count: 1
+  cpu_count: 32
+execution:
+  command: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python scripts/train_action_chunk_recovery.py
+    --condition-config configs/experiments/E002/R002-residual-h16.yaml --data-root
+    /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples --output-dir
+    /home/coder/share/experiment-runs/E002/E002-R002 --base-proposal-root /home/coder/share/experiment-artifacts/E002/R001-profiled-proposals
+metrics:
+  validation:
+    loss/total: 0.33688340996189736
+    loss/path_translation: 0.000940837494032357
+    loss/path_rotation: 0.0615845355097612
+    loss/endpoint_translation: 0.0024366182872798806
+    loss/endpoint_rotation: 0.10941956785775847
+    loss/velocity: 0.04966655885011463
+    loss/acceleration: 0.0015241503069759884
+    loss/jerk: 0.0022666104369651876
+    loss/residual_magnitude: 0.0356679620689071
+    metric/path_translation_rmse_mm: 3.753689542573479
+    metric/path_rotation_rmse_deg: 2.3661541755100246
+    metric/endpoint_translation_rmse_mm: 6.03998319761044
+    metric/endpoint_rotation_rmse_deg: 3.7676057393084323
+    metric/velocity_rmse: 0.03566566113101315
+    metric/acceleration_rmse: 0.1493868921497386
+    metric/jerk_rmse: 3.6834481236379943
+    metric/command_acceleration_rms: 0.13423365026207293
+    metric/command_jerk_rms: 3.309643663500417
+    metric/residual_translation_mean_mm: 0.66311021459121
+    metric/residual_rotation_mean_deg: 0.6721727473342731
+checkpoint:
+  path: /home/coder/share/experiment-runs/E002/E002-R002/best.pt
+  sha256: c7cd3aac047e4ed726f086b292bd74121f513484e9979c773cafc606a90d8da9
+  selection_metric: loss/total
+  selection_split: validation
+artifacts:
+  metrics_jsonl: /home/coder/share/experiment-runs/E002/E002-R002/metrics.jsonl
+  validation_evaluation: /home/coder/share/experiment-runs/E002/E002-R002/evaluation_validation.json
+  condition_snapshot: /home/coder/share/experiment-runs/E002/E002-R002/condition.yaml
+  resolved_config: /home/coder/share/experiment-runs/E002/E002-R002/config_resolved.yaml
+compute:
+  wall_seconds: 304.37659596299636
+  gpu_hours: 0.08454905443416566
+  peak_memory_bytes: 2952011264

experiments/E002/runs/E002-R003/condition_config.yaml

@@ -0,0 +1,112 @@
+schema_version: upvla.condition_config.v1
+experiment_id: E002
+run_id: E002-R003
+condition_id: c-cubic-se3-cp6-43b928e718
+condition_summary: cubic-se3-cp6
+condition:
+  model:
+    action_head: cubic_bspline
+    base_conditioning: E002-R001-profiled-proposal
+    horizon_steps: 16
+    trajectory_basis: clamped_cubic_bspline_degree3_cp6
+resolved_config:
+  data:
+    hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+    revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+    variant_id: validated-physical-recovery-15k-v1
+    manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+    dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+    sample_count: 15000
+    eligible_sample_count: 11628
+    eligible_group_count: 89
+    eligibility: E001 train source groups only; E001 validation and test groups excluded
+    split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+    split_namespace: 'E002-source-group-split-v1::'
+    validation_fraction: 0.1
+    test_fraction: 0.1
+  geometry:
+    cumulative_waypoint_representation: current_tool_relative_pose
+    step_representation: integrated_body_twist
+    step_integration: right_se3_exponential
+    residual_curve_frame: initial_local_tool_frame
+    residual_composition: base_right_multiply_se3_exponential
+    structured_translation: se3_tangent_translation_control_points_m
+    structured_rotation: so3_lie_algebra_control_points_rad
+    evaluation_grid: 16 positive-time waypoints at 0.05 s through 0.8 s
+    residual_boundary_at_t0: identity
+  model:
+    backbone:
+      hidden_size: 256
+      fusion_layers: 4
+      fusion_heads: 8
+      fusion_mlp_ratio: 4
+      dropout: 0.1
+      vision_backend: conv
+      text_backend: embedding
+      pretrained_model_name: google/siglip-base-patch16-224
+      freeze_pretrained: true
+      image_size: 224
+      vision_tokens: 64
+      depth_tokens: 36
+      point_tokens: 32
+      point_samples: 256
+      max_text_tokens: 32
+      text_vocab_size: 32768
+      max_joints: 7
+      aloha_joints: 6
+      panda_joints: 7
+      translation_scale_m: 0.05
+      rotation_scale_rad: 0.5235987755982988
+      joint_scale_rad: 0.5
+    horizon_steps: 16
+    horizon_seconds: 0.8
+    decoder_layers: 4
+    decoder_heads: 8
+    decoder_mlp_ratio: 4
+    control_points: 6
+    maximum_step_translation_m: 0.01
+    maximum_step_rotation_rad: 0.2
+    maximum_residual_translation_m: 0.05
+    maximum_residual_rotation_rad: 0.52
+    action_head: cubic_bspline
+    base_conditioning: E002-R001-profiled-proposal
+    trajectory_basis: clamped_cubic_bspline_degree3_cp6
+  loss:
+    path_translation: 1.0
+    path_rotation: 1.0
+    endpoint_translation: 2.0
+    endpoint_rotation: 2.0
+    velocity: 1.0
+    acceleration: 0.1
+    jerk: 0.05
+    residual_magnitude: 0.02
+  training:
+    seed: 42
+    batch_size: 64
+    gradient_accumulation_steps: 1
+    epochs: 100
+    max_steps: 3000
+    learning_rate: 0.0003
+    weight_decay: 0.05
+    warmup_fraction: 0.05
+    gradient_clip_norm: 1.0
+    precision: bf16
+    workers: 8
+    log_every_steps: 10
+    validation_every_steps: 250
+    checkpoint_every_steps: 500
+  evaluation:
+    version: se3-spline-eval-v1
+    trajectory_loss:
+      path_translation: 1.0
+      path_rotation: 1.0
+      endpoint_translation: 2.0
+      endpoint_rotation: 2.0
+      velocity: 1.0
+      acceleration: 0.1
+      jerk: 0.05
+      residual_magnitude: 0.02
+    selection_split: validation
+    test_firewall_opened: false
+    group_bootstrap_seed: 20260810
+    group_bootstrap_resamples: 10000

experiments/E002/runs/E002-R003/evaluation_validation.json

@@ -0,0 +1,295 @@
+{
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+    "path": "/home/coder/share/experiment-artifacts/E002/R001-profiled-proposals/manifest.json",
+    "sha256": "7fb4fb67600a0f1b599aac4f5857a6af48513a9fcef9c348be90fe264af411a3"
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+    "sha256": "3490f23a0a5bcddb9d1998d08af37318023c8f792b17c68c1562b317dc88554a"
+  },
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+    "experiment_id": "E002",
+    "git_commit": "033cb092edc8a14430f35e5c78e06323ee14655a",
+    "manifest": "/home/coder/share/experiment-runs/E002/E002-R003/run_manifest.yaml",
+    "manifest_sha256": "6ec30c7b61750729b9750a0fbb86e983c1192defd433e9986c69b6be3fb77298",
+    "run_id": "E002-R003"
+  },
+  "condition_id": "c-cubic-se3-cp6-43b928e718",
+  "data_extraction_receipt": {
+    "path": "/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json",
+    "sha256": "ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd"
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+}

experiments/E002/runs/E002-R003/run_manifest.yaml

@@ -0,0 +1,104 @@
+schema_version: upvla.experiment_run.v1
+run:
+  id: E002-R003
+  experiment_id: E002
+  condition_id: c-cubic-se3-cp6-43b928e718
+  status: completed
+  started_at: '2026-08-10T11:37:25.747422+00:00'
+  ended_at: '2026-08-10T11:42:15.419706+00:00'
+condition:
+  model:
+    action_head: cubic_bspline
+    base_conditioning: E002-R001-profiled-proposal
+    horizon_steps: 16
+    trajectory_basis: clamped_cubic_bspline_degree3_cp6
+randomness:
+  global_seed: 42
+  python_seed: 42
+  numpy_seed: 42
+  torch_seed: 42
+  dataloader_seed: 42
+code:
+  repo: https://github.com/Shiki42/UP-VLA.git
+  git_commit: 033cb092edc8a14430f35e5c78e06323ee14655a
+  git_branch: shuyuan/se3-bspline-recovery-e002
+  dirty: false
+  status_sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855
+  patch_ref: null
+data:
+  hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+  revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+  variant_id: validated-physical-recovery-15k-v1
+  manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+  dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+  extraction_receipt: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json
+  extraction_receipt_sha256: ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd
+  split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+  split_counts:
+    train_samples: 8807
+    validation_samples: 1298
+    train_groups: 71
+    validation_groups: 9
+    overlap: false
+environment:
+  python_version: 3.11.15
+  python_executable: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python
+  packages:
+    numpy: 1.26.0
+    Pillow: 11.3.0
+    PyYAML: 6.0.3
+    torch: 2.13.0
+  torch_version: 2.13.0+cu130
+  cuda_runtime: '13.0'
+  cudnn_version: 92000
+  os: Linux-7.0.0-28-generic-x86_64-with-glibc2.35
+  hostname: lm
+hardware:
+  accelerators:
+  - index: 0
+    name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
+    memory_bytes: 101973491712
+    compute_capability: '12.0'
+  accelerator_count: 1
+  cpu_count: 32
+execution:
+  command: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python scripts/train_action_chunk_recovery.py
+    --condition-config configs/experiments/E002/R003-cubic-se3-cp6.yaml --data-root
+    /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples --output-dir
+    /home/coder/share/experiment-runs/E002/E002-R003 --base-proposal-root /home/coder/share/experiment-artifacts/E002/R001-profiled-proposals
+metrics:
+  validation:
+    loss/total: 0.3333665318959299
+    loss/path_translation: 0.0008991088694677571
+    loss/path_rotation: 0.0610695354904526
+    loss/endpoint_translation: 0.002355156106176931
+    loss/endpoint_rotation: 0.1086380337529998
+    loss/velocity: 0.048265731894914836
+    loss/acceleration: 0.0012069116290931365
+    loss/jerk: 0.001686878622371778
+    loss/residual_magnitude: 0.04703686542476087
+    metric/path_translation_rmse_mm: 3.6693616519540044
+    metric/path_rotation_rmse_deg: 2.3440397380864124
+    metric/endpoint_translation_rmse_mm: 5.938006472330431
+    metric/endpoint_rotation_rmse_deg: 3.745353331000118
+    metric/velocity_rmse: 0.035310372233804094
+    metric/acceleration_rmse: 0.129455449355218
+    metric/jerk_rmse: 3.1107937143469813
+    metric/command_acceleration_rms: 0.11191823623948179
+    metric/command_jerk_rms: 2.6516284593632116
+    metric/residual_translation_mean_mm: 1.0198310279331884
+    metric/residual_rotation_mean_deg: 0.7992073678639711
+checkpoint:
+  path: /home/coder/share/experiment-runs/E002/E002-R003/best.pt
+  sha256: 3490f23a0a5bcddb9d1998d08af37318023c8f792b17c68c1562b317dc88554a
+  selection_metric: loss/total
+  selection_split: validation
+artifacts:
+  metrics_jsonl: /home/coder/share/experiment-runs/E002/E002-R003/metrics.jsonl
+  validation_evaluation: /home/coder/share/experiment-runs/E002/E002-R003/evaluation_validation.json
+  condition_snapshot: /home/coder/share/experiment-runs/E002/E002-R003/condition.yaml
+  resolved_config: /home/coder/share/experiment-runs/E002/E002-R003/config_resolved.yaml
+compute:
+  wall_seconds: 289.54701239199494
+  gpu_hours: 0.08042972566444304
+  peak_memory_bytes: 2951959040

experiments/E002/runs/E002-R004/condition_config.yaml

@@ -0,0 +1,112 @@
+schema_version: upvla.condition_config.v1
+experiment_id: E002
+run_id: E002-R004
+condition_id: c-minjerk-se3-cp6-af54a01c9b
+condition_summary: minjerk-se3-cp6
+condition:
+  model:
+    action_head: minimum_jerk
+    base_conditioning: E002-R001-profiled-proposal
+    horizon_steps: 16
+    trajectory_basis: quintic_minimum_jerk_bezier_cp6
+resolved_config:
+  data:
+    hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+    revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+    variant_id: validated-physical-recovery-15k-v1
+    manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+    dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+    sample_count: 15000
+    eligible_sample_count: 11628
+    eligible_group_count: 89
+    eligibility: E001 train source groups only; E001 validation and test groups excluded
+    split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+    split_namespace: 'E002-source-group-split-v1::'
+    validation_fraction: 0.1
+    test_fraction: 0.1
+  geometry:
+    cumulative_waypoint_representation: current_tool_relative_pose
+    step_representation: integrated_body_twist
+    step_integration: right_se3_exponential
+    residual_curve_frame: initial_local_tool_frame
+    residual_composition: base_right_multiply_se3_exponential
+    structured_translation: se3_tangent_translation_control_points_m
+    structured_rotation: so3_lie_algebra_control_points_rad
+    evaluation_grid: 16 positive-time waypoints at 0.05 s through 0.8 s
+    residual_boundary_at_t0: identity
+  model:
+    backbone:
+      hidden_size: 256
+      fusion_layers: 4
+      fusion_heads: 8
+      fusion_mlp_ratio: 4
+      dropout: 0.1
+      vision_backend: conv
+      text_backend: embedding
+      pretrained_model_name: google/siglip-base-patch16-224
+      freeze_pretrained: true
+      image_size: 224
+      vision_tokens: 64
+      depth_tokens: 36
+      point_tokens: 32
+      point_samples: 256
+      max_text_tokens: 32
+      text_vocab_size: 32768
+      max_joints: 7
+      aloha_joints: 6
+      panda_joints: 7
+      translation_scale_m: 0.05
+      rotation_scale_rad: 0.5235987755982988
+      joint_scale_rad: 0.5
+    horizon_steps: 16
+    horizon_seconds: 0.8
+    decoder_layers: 4
+    decoder_heads: 8
+    decoder_mlp_ratio: 4
+    control_points: 6
+    maximum_step_translation_m: 0.01
+    maximum_step_rotation_rad: 0.2
+    maximum_residual_translation_m: 0.05
+    maximum_residual_rotation_rad: 0.52
+    action_head: minimum_jerk
+    base_conditioning: E002-R001-profiled-proposal
+    trajectory_basis: quintic_minimum_jerk_bezier_cp6
+  loss:
+    path_translation: 1.0
+    path_rotation: 1.0
+    endpoint_translation: 2.0
+    endpoint_rotation: 2.0
+    velocity: 1.0
+    acceleration: 0.1
+    jerk: 0.05
+    residual_magnitude: 0.02
+  training:
+    seed: 42
+    batch_size: 64
+    gradient_accumulation_steps: 1
+    epochs: 100
+    max_steps: 3000
+    learning_rate: 0.0003
+    weight_decay: 0.05
+    warmup_fraction: 0.05
+    gradient_clip_norm: 1.0
+    precision: bf16
+    workers: 8
+    log_every_steps: 10
+    validation_every_steps: 250
+    checkpoint_every_steps: 500
+  evaluation:
+    version: se3-spline-eval-v1
+    trajectory_loss:
+      path_translation: 1.0
+      path_rotation: 1.0
+      endpoint_translation: 2.0
+      endpoint_rotation: 2.0
+      velocity: 1.0
+      acceleration: 0.1
+      jerk: 0.05
+      residual_magnitude: 0.02
+    selection_split: validation
+    test_firewall_opened: false
+    group_bootstrap_seed: 20260810
+    group_bootstrap_resamples: 10000

experiments/E002/runs/E002-R004/evaluation_validation.json

@@ -0,0 +1,295 @@
+{
+  "base_proposal_manifest": {
+    "path": "/home/coder/share/experiment-artifacts/E002/R001-profiled-proposals/manifest.json",
+    "sha256": "7fb4fb67600a0f1b599aac4f5857a6af48513a9fcef9c348be90fe264af411a3"
+  },
+  "checkpoint": {
+    "path": "/home/coder/share/experiment-runs/E002/E002-R004/best.pt",
+    "sha256": "4538d12581ba6bb7ecaa2d0d1a90aa7a0c265c3daafdbd7a8d5da228f9849ba9"
+  },
+  "checkpoint_run": {
+    "condition_id": "c-minjerk-se3-cp6-af54a01c9b",
+    "experiment_id": "E002",
+    "git_commit": "033cb092edc8a14430f35e5c78e06323ee14655a",
+    "manifest": "/home/coder/share/experiment-runs/E002/E002-R004/run_manifest.yaml",
+    "manifest_sha256": "846572232e745a74451e055f38cade8d2aad594999a71cf45d7cd5ba401406ac",
+    "run_id": "E002-R004"
+  },
+  "condition_id": "c-minjerk-se3-cp6-af54a01c9b",
+  "data_extraction_receipt": {
+    "path": "/home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json",
+    "sha256": "ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd"
+  },
+  "experiment_id": "E002",
+  "group_bootstrap_95ci": {
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+    "intervals": {
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+        "velocity_rmse": 0.03380199894309044
+      },
+      "path_score": 0.8173685312271117,
+      "sample_count": 778
+    }
+  },
+  "split": "validation",
+  "test_firewall_opened": false
+}

experiments/E002/runs/E002-R004/run_manifest.yaml

@@ -0,0 +1,104 @@
+schema_version: upvla.experiment_run.v1
+run:
+  id: E002-R004
+  experiment_id: E002
+  condition_id: c-minjerk-se3-cp6-af54a01c9b
+  status: completed
+  started_at: '2026-08-10T11:42:37.552494+00:00'
+  ended_at: '2026-08-10T11:47:36.515256+00:00'
+condition:
+  model:
+    action_head: minimum_jerk
+    base_conditioning: E002-R001-profiled-proposal
+    horizon_steps: 16
+    trajectory_basis: quintic_minimum_jerk_bezier_cp6
+randomness:
+  global_seed: 42
+  python_seed: 42
+  numpy_seed: 42
+  torch_seed: 42
+  dataloader_seed: 42
+code:
+  repo: https://github.com/Shiki42/UP-VLA.git
+  git_commit: 033cb092edc8a14430f35e5c78e06323ee14655a
+  git_branch: shuyuan/se3-bspline-recovery-e002
+  dirty: false
+  status_sha256: e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855
+  patch_ref: null
+data:
+  hf_repo_id: Shiki42/up-vla-precision-recovery-15k
+  revision: 77f5f306303361d602ab10759b3a139c67f2cf16
+  variant_id: validated-physical-recovery-15k-v1
+  manifest_sha256: 4cda13bc86038829f5fd519c7c766d40e770ad915974f68afea6f251b59faa50
+  dataset_info_sha256: 99a2f93632799a2b0a5da785438a55934e7fbaac582de0d63f8ddc0186b10ef3
+  extraction_receipt: /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples/_extraction_receipt.json
+  extraction_receipt_sha256: ff05bdb511990c0f951cb17efb1f84cc4c4a48e59f875ebd6d66a468c3b840dd
+  split_protocol: e001-train-only-source-family-stratified-group-hash-e002-v1
+  split_counts:
+    train_samples: 8807
+    validation_samples: 1298
+    train_groups: 71
+    validation_groups: 9
+    overlap: false
+environment:
+  python_version: 3.11.15
+  python_executable: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python
+  packages:
+    numpy: 1.26.0
+    Pillow: 11.3.0
+    PyYAML: 6.0.3
+    torch: 2.13.0
+  torch_version: 2.13.0+cu130
+  cuda_runtime: '13.0'
+  cudnn_version: 92000
+  os: Linux-7.0.0-28-generic-x86_64-with-glibc2.35
+  hostname: lm
+hardware:
+  accelerators:
+  - index: 0
+    name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
+    memory_bytes: 101973491712
+    compute_capability: '12.0'
+  accelerator_count: 1
+  cpu_count: 32
+execution:
+  command: /home/coder/share/experiment-runtimes/E001-py311-cu130/bin/python scripts/train_action_chunk_recovery.py
+    --condition-config configs/experiments/E002/R004-minjerk-se3-cp6.yaml --data-root
+    /home/coder/share/datasets/up-vla-precision-recovery-15k-77f5f306-samples --output-dir
+    /home/coder/share/experiment-runs/E002/E002-R004 --base-proposal-root /home/coder/share/experiment-artifacts/E002/R001-profiled-proposals
+metrics:
+  validation:
+    loss/total: 0.340089762706786
+    loss/path_translation: 0.0009601259408934825
+    loss/path_rotation: 0.062407021208426616
+    loss/endpoint_translation: 0.002470431426390776
+    loss/endpoint_rotation: 0.10961773915816161
+    loss/velocity: 0.051635161111094
+    loss/acceleration: 0.0013029350546147037
+    loss/jerk: 0.0016885478681280565
+    loss/residual_magnitude: 0.034819636315979834
+    metric/path_translation_rmse_mm: 3.7914421139586323
+    metric/path_rotation_rmse_deg: 2.3811969316244492
+    metric/endpoint_translation_rmse_mm: 6.081028670118476
+    metric/endpoint_rotation_rmse_deg: 3.774994674559183
+    metric/velocity_rmse: 0.036343481690150746
+    metric/acceleration_rmse: 0.13480377996280124
+    metric/jerk_rmse: 3.113585577540111
+    metric/command_acceleration_rms: 0.11796897273217952
+    metric/command_jerk_rms: 2.653614019576133
+    metric/residual_translation_mean_mm: 0.7937416224891122
+    metric/residual_rotation_mean_deg: 0.5683441197008858
+checkpoint:
+  path: /home/coder/share/experiment-runs/E002/E002-R004/best.pt
+  sha256: 4538d12581ba6bb7ecaa2d0d1a90aa7a0c265c3daafdbd7a8d5da228f9849ba9
+  selection_metric: loss/total
+  selection_split: validation
+artifacts:
+  metrics_jsonl: /home/coder/share/experiment-runs/E002/E002-R004/metrics.jsonl
+  validation_evaluation: /home/coder/share/experiment-runs/E002/E002-R004/evaluation_validation.json
+  condition_snapshot: /home/coder/share/experiment-runs/E002/E002-R004/condition.yaml
+  resolved_config: /home/coder/share/experiment-runs/E002/E002-R004/config_resolved.yaml
+compute:
+  wall_seconds: 298.82912589100306
+  gpu_hours: 0.08300809052527863
+  peak_memory_bytes: 2951936512

experiments/E002/selection-validation.json

@@ -0,0 +1,109 @@
+{
+  "candidate_gates": {
+    "c-cubic-se3-cp6-43b928e718": {
+      "batch1_gpu_p95_below_20ms": true,
+      "endpoint_rotation_within_endpoint_plus_1deg": true,
+      "endpoint_translation_within_endpoint_plus_1mm": true,
+      "jerk_not_above_endpoint_by_10pct": true,
+      "jerk_reduced_at_least_25pct_vs_residual": true,
+      "paired_jerk_ratio_95ci": {
+        "lower": 0.6329302244799777,
+        "method": "paired-percentile-bootstrap-over-source-groups",
+        "point": 0.7373313062669027,
+        "resamples": 10000,
+        "seed": 20260810,
+        "upper": 0.8095807915029037
+      },
+      "paired_jerk_ratio_95ci_upper_below_1": true,
+      "path_not_worse_than_residual_by_2pct": true
+    },
+    "c-minjerk-se3-cp6-af54a01c9b": {
+      "batch1_gpu_p95_below_20ms": true,
+      "endpoint_rotation_within_endpoint_plus_1deg": true,
+      "endpoint_translation_within_endpoint_plus_1mm": true,
+      "jerk_not_above_endpoint_by_10pct": true,
+      "jerk_reduced_at_least_25pct_vs_residual": true,
+      "paired_jerk_ratio_95ci": {
+        "lower": 0.5945370613267315,
+        "method": "paired-percentile-bootstrap-over-source-groups",
+        "point": 0.7240625802894608,
+        "resamples": 10000,
+        "seed": 20260810,
+        "upper": 0.8080530623282974
+      },
+      "paired_jerk_ratio_95ci_upper_below_1": true,
+      "path_not_worse_than_residual_by_2pct": true
+    }
+  },
+  "endpoint_condition_id": "c-endpoint-5d2dff166d",
+  "experiment_id": "E002",
+  "gates": {
+    "batch1_gpu_p95_below_20ms": true,
+    "endpoint_rotation_within_endpoint_plus_1deg": true,
+    "endpoint_translation_within_endpoint_plus_1mm": true,
+    "jerk_not_above_endpoint_by_10pct": true,
+    "jerk_reduced_at_least_25pct_vs_residual": true,
+    "paired_jerk_ratio_95ci": {
+      "lower": 0.5945370613267315,
+      "method": "paired-percentile-bootstrap-over-source-groups",
+      "point": 0.7240625802894608,
+      "resamples": 10000,
+      "seed": 20260810,
+      "upper": 0.8080530623282974
+    },
+    "paired_jerk_ratio_95ci_upper_below_1": true,
+    "path_not_worse_than_residual_by_2pct": true
+  },
+  "inputs": {
+    "candidates": [
+      {
+        "path": "/home/coder/share/experiment-artifacts/E002/evaluations/R003-validation.json",
+        "sha256": "237728c0a5594821ef420a5ec4452943767845a7058ccf32f7dc6515ab7cd330"
+      },
+      {
+        "path": "/home/coder/share/experiment-artifacts/E002/evaluations/R004-validation.json",
+        "sha256": "7c451bf90cb7e2f1ea50a3dff1647bca8a9cea6d4adf9003733d8140e6beb741"
+      }
+    ],
+    "endpoint": {
+      "path": "/home/coder/share/experiment-artifacts/E002/evaluations/R001-validation.json",
+      "sha256": "0fda3f48a9f3ac61cdc91d4e13c0cd0d7bbb006c23a4f074d0426313da506b06"
+    },
+    "experiment": {
+      "path": "/home/coder/share/UP-VLA-se3-bspline-E002/experiments/E002-se3-bspline-minjerk-recovery.yaml",
+      "sha256": "fc288032290f2706bd04f58004d5df7166f7823695ad715e44e0bb1bc5bb5417"
+    },
+    "residual": {
+      "path": "/home/coder/share/experiment-artifacts/E002/evaluations/R002-validation.json",
+      "sha256": "17a116944f1967d60d2427975690f635f4886180578b92b969be7d9d756c84a1"
+    }
+  },
+  "ranking": [
+    {
+      "batch1_gpu_p95_ms": 8.980220799999982,
+      "command_jerk_rms": 2.2715606689453125,
+      "condition_id": "c-minjerk-se3-cp6-af54a01c9b",
+      "endpoint_rotation_rmse_deg": 3.7452497482299805,
+      "endpoint_translation_rmse_mm": 6.209352493286133,
+      "group_macro_path_score": 0.8557925224304199,
+      "run_id": "E002-R004"
+    },
+    {
+      "batch1_gpu_p95_ms": 8.21552085,
+      "command_jerk_rms": 2.313187599182129,
+      "condition_id": "c-cubic-se3-cp6-43b928e718",
+      "endpoint_rotation_rmse_deg": 3.8112881183624268,
+      "endpoint_translation_rmse_mm": 6.002523422241211,
+      "group_macro_path_score": 0.8477689743041992,
+      "run_id": "E002-R003"
+    }
+  ],
+  "residual_condition_id": "c-residual-h16-f186e90df2",
+  "schema_version": "precision.e002.selection.v1",
+  "selected_condition_id": "c-minjerk-se3-cp6-af54a01c9b",
+  "selected_run_id": "E002-R004",
+  "selection_rule": "minimum grouped command jerk among path/endpoint/latency-guarded candidates; if none are guarded, minimum grouped command jerk among all candidates",
+  "selection_split": "validation",
+  "test_firewall_opened": false,
+  "validation_gate_passed": true
+}