{
  "audit": "S2S Open-X Embodiment Audit",
  "dataset": "nyu_rot_dataset (Open-X Embodiment)",
  "date": "2026-03-11",
  "s2s_version": "v1.5.0",
  "hz": 10,
  "segment": "forearm",
  "n_episodes": 14,
  "n_windows": 16,
  "pass_rate_pct": 0.0,
  "tiers": {
    "GOLD": 0,
    "SILVER": 0,
    "BRONZE": 16,
    "REJECTED": 0
  },
  "top_failing_laws": {
    "jerk_bounds": 16
  },
  "episodes": [
    {
      "episode": "sample_000000000000.data.pickle",
      "instruction": "erase the board",
      "n_steps": 40,
      "n_windows": 2,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 2
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000001.data.pickle",
      "instruction": "pour the almonds into the cup",
      "n_steps": 30,
      "n_windows": 1,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 1
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000002.data.pickle",
      "instruction": "hang the bag on the hook",
      "n_steps": 30,
      "n_windows": 1,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 1
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000003.data.pickle",
      "instruction": "open the box",
      "n_steps": 30,
      "n_windows": 1,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 1
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000004.data.pickle",
      "instruction": "hang the mug on the hook",
      "n_steps": 30,
      "n_windows": 1,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 1
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000005.data.pickle",
      "instruction": "reach the blue mark on the table",
      "n_steps": 30,
      "n_windows": 1,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 1
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000006.data.pickle",
      "instruction": "hang the hanger on the rod",
      "n_steps": 30,
      "n_windows": 1,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 1
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000007.data.pickle",
      "instruction": "press the button",
      "n_steps": 30,
      "n_windows": 1,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 1
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000008.data.pickle",
      "instruction": "close the door",
      "n_steps": 30,
      "n_windows": 1,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 1
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000009.data.pickle",
      "instruction": "insert the peg in the cup",
      "n_steps": 30,
      "n_windows": 1,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 1
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000010.data.pickle",
      "instruction": "insert the peg in the cup",
      "n_steps": 30,
      "n_windows": 1,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 1
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000011.data.pickle",
      "instruction": "turn the knob",
      "n_steps": 40,
      "n_windows": 2,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 2
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000012.data.pickle",
      "instruction": "insert the peg in the cup",
      "n_steps": 30,
      "n_windows": 1,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 1
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    },
    {
      "episode": "sample_000000000013.data.pickle",
      "instruction": "stack the cups",
      "n_steps": 30,
      "n_windows": 1,
      "avg_score": 36.0,
      "tiers": {
        "BRONZE": 1
      },
      "laws_failed": [
        "jerk_bounds"
      ]
    }
  ]
}