Publish verified no-dual-wait random-delay viewer r2

Complete artifact staging: viewer, native replay receipts, rejected seed421 evidence, and 539-file transfer inventory. Removes the accidental duplicate root bundle from ff8e0e1.

README.md

@@ -1,21 +0,0 @@
-# Local put_object_cabinet serial/parallel viewer
-
-This immutable static bundle contains 103 episodes across serial, baseline
-parallel, and random relative-delay preview datasets. Each episode contains three
-synchronized MP4 videos, per-frame dual-arm semantic timelines, Aloha 3D meshes, and
-packed transforms. Parallel datasets also expose independent left/right source progress.
-It does not contain training HDF5, pointclouds, checkpoints, or credentials.
-
-Datasets:
-- `serial_qwen_gt_v2`: 50 episodes
-- `parallel_qwen_v6_native_v2`: 50 episodes
-- `parallel_random_delay_seed427_preview`: 3 episodes
-
-Serve the bundle from its root:
-
-```bash
-python3 -m http.server 8766 --bind 127.0.0.1
-```
-
-Then open <http://127.0.0.1:8766/>. Do not open `index.html` with `file://` because
-browsers block the relative API reads used by the viewer.

api/config

@@ -1 +0,0 @@
-{"datasets":{"parallel_qwen_v6_native_v2":{"annotations":{"annotation_revision":"6fd90ab9039176cec8b7cf483b5a36b3e1014a4051c7e97e62d3e8cd980a10d9","available":true,"boundary_changed_arms":{"both":0,"left_only":77,"right_only":75},"episode_counts":{"heldout":10,"train":40},"frame_categories":{"both_active":3334,"both_wait_hold":200,"left_active_right_wait_hold":3577,"left_wait_hold_right_active":3353},"paired_text_frame_counts":{"Left arm: insert and place object; Right arm: wait while holding drawer open.":2531,"Left arm: reach and grasp object; Right arm: reach and open drawer.":1793,"Left arm: reach and grasp object; Right arm: wait.":10,"Left arm: reach and open drawer; Right arm: reach and grasp object.":1541,"Left arm: reach and open drawer; Right arm: wait while holding object.":996,"Left arm: reach and open drawer; Right arm: wait.":40,"Left arm: wait while holding drawer open; Right arm: insert and place object.":2144,"Left arm: wait while holding drawer open; Right arm: wait while holding object.":92,"Left arm: wait while holding object; Right arm: reach and open drawer.":1209,"Left arm: wait while holding object; Right arm: wait while holding drawer open.":108},"projection_contract":"map each native-retime frame through retime_manifest source_indices; a repeated moving-prefix start index is wait, and a repeated moving-prefix end index after progress is the role-specific wait-hold semantic","retime_manifest_sha256":"519a4fc45bcf00e8e14ba656a26d03d987c1b906a993e47bb47486f22733ea46","schema_version":"parallelvla.putcab_parallel_dual_arm_projection.v1","semantic_definitions":[{"color":"#7f95a3","key":"wait","label_en":"Wait","label_zh":"等待","text":"wait"},{"color":"#39a8ff","key":"reach_grasp_object","label_en":"Reach & grasp object","label_zh":"接近并抓取物体","text":"reach and grasp object"},{"color":"#58c6a5","key":"wait_hold_object","label_en":"Wait while holding object","label_zh":"等待并保持物体","text":"wait while holding object"},{"color":"#9a7df0","key":"reach_open_drawer","label_en":"Reach & open drawer","label_zh":"接近并打开抽屉","text":"reach and open drawer"},{"color":"#ef6f91","key":"insert_place_object","label_en":"Insert & place object","label_zh":"插入并放置物体","text":"insert and place object"},{"color":"#f0b44d","key":"wait_hold_drawer_open","label_en":"Wait while holding drawer open","label_zh":"等待并保持抽屉打开","text":"wait while holding drawer open"}],"source":{"boundary_contract":"accepted MLLM intervals with GT proprioception/state gate","model":"Qwen/Qwen2.5-VL-7B-Instruct","prompt_version":"put_object_cabinet_overlap_v6_hard_gt_state_feedback","text_contract":"ordered physical-arm fields from independent MLLM role intervals and GT arm assignments"},"source_annotation_revision":"3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e","text_format":"Left arm: <semantic>; Right arm: <semantic>."},"episode_count":50,"episode_indices":[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49]},"parallel_random_delay_seed427_preview":{"annotations":{"annotation_revision":"19b09aae3a7cb7e530b24bb6bdc6a50de77255eea03c0c83c11b08d6acb2d33b","available":true,"boundary_changed_arms":{"both":2,"left_only":2,"right_only":5},"episode_counts":{"heldout":1,"train":2},"frame_categories":{"both_active":187,"both_wait_hold":0,"left_active_right_wait_hold":184,"left_wait_hold_right_active":240},"paired_text_frame_counts":{"Left arm: insert and place object; Right arm: wait while holding drawer open.":83,"Left arm: reach and grasp object; Right arm: reach and open drawer.":52,"Left arm: reach and grasp object; Right arm: wait while holding drawer open.":14,"Left arm: reach and open drawer; Right arm: reach and grasp object.":135,"Left arm: reach and open drawer; Right arm: wait while holding object.":11,"Left arm: reach and open drawer; Right arm: wait.":76,"Left arm: wait while holding drawer open; Right arm: insert and place object.":181,"Left arm: wait; Right arm: reach and open drawer.":59},"projection_contract":"map each native-retime frame through retime_manifest source_indices; a repeated moving-prefix start index is wait, and a repeated moving-prefix end index after progress is the role-specific wait-hold semantic","retime_manifest_sha256":"d83dffc032d520c23f7687d9c6decb923ac5d57d62bf29c367ea4c14fdebd1aa","schema_version":"parallelvla.putcab_parallel_dual_arm_projection.v1","semantic_definitions":[{"color":"#7f95a3","key":"wait","label_en":"Wait","label_zh":"等待","text":"wait"},{"color":"#39a8ff","key":"reach_grasp_object","label_en":"Reach & grasp object","label_zh":"接近并抓取物体","text":"reach and grasp object"},{"color":"#58c6a5","key":"wait_hold_object","label_en":"Wait while holding object","label_zh":"等待并保持物体","text":"wait while holding object"},{"color":"#9a7df0","key":"reach_open_drawer","label_en":"Reach & open drawer","label_zh":"接近并打开抽屉","text":"reach and open drawer"},{"color":"#ef6f91","key":"insert_place_object","label_en":"Insert & place object","label_zh":"插入并放置物体","text":"insert and place object"},{"color":"#f0b44d","key":"wait_hold_drawer_open","label_en":"Wait while holding drawer open","label_zh":"等待并保持抽屉打开","text":"wait while holding drawer open"}],"source":{"boundary_contract":"accepted MLLM intervals with GT proprioception/state gate","model":"Qwen/Qwen2.5-VL-7B-Instruct","prompt_version":"put_object_cabinet_overlap_v6_hard_gt_state_feedback","text_contract":"ordered physical-arm fields from independent MLLM role intervals and GT arm assignments"},"source_annotation_revision":"3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e","text_format":"Left arm: <semantic>; Right arm: <semantic>."},"episode_count":3,"episode_indices":[19,25,28]},"serial_qwen_gt_v2":{"annotations":{"annotation_revision":"3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e","arm_semantic_frame_counts":{"left":{"insert_place_object":2531,"reach_grasp_object":1803,"reach_open_drawer":2577,"wait":1497,"wait_hold_drawer_open":2144,"wait_hold_object":2964},"right":{"insert_place_object":2144,"reach_grasp_object":1542,"reach_open_drawer":3003,"wait":1764,"wait_hold_drawer_open":2531,"wait_hold_object":2532}},"available":true,"episode_counts":{"heldout":10,"train":40},"paired_text_frame_counts":{"Left arm: insert and place object; Right arm: wait while holding drawer open.":2531,"Left arm: reach and grasp object; Right arm: reach and open drawer.":39,"Left arm: reach and grasp object; Right arm: wait.":1764,"Left arm: reach and open drawer; Right arm: reach and grasp object.":45,"Left arm: reach and open drawer; Right arm: wait while holding object.":2532,"Left arm: wait while holding drawer open; Right arm: insert and place object.":2144,"Left arm: wait while holding object; Right arm: reach and open drawer.":2964,"Left arm: wait; Right arm: reach and grasp object.":1497},"schema_version":"parallelvla.putcab_dual_arm_subtask.v2","semantic_definitions":[{"color":"#7f95a3","key":"wait","label_en":"Wait","label_zh":"等待","text":"wait"},{"color":"#39a8ff","key":"reach_grasp_object","label_en":"Reach & grasp object","label_zh":"接近并抓取物体","text":"reach and grasp object"},{"color":"#58c6a5","key":"wait_hold_object","label_en":"Wait while holding object","label_zh":"等待并保持物体","text":"wait while holding object"},{"color":"#9a7df0","key":"reach_open_drawer","label_en":"Reach & open drawer","label_zh":"接近并打开抽屉","text":"reach and open drawer"},{"color":"#ef6f91","key":"insert_place_object","label_en":"Insert & place object","label_zh":"插入并放置物体","text":"insert and place object"},{"color":"#f0b44d","key":"wait_hold_drawer_open","label_en":"Wait while holding drawer open","label_zh":"等待并保持抽屉打开","text":"wait while holding drawer open"}],"source":{"boundary_contract":"accepted MLLM intervals with GT proprioception/state gate","model":"Qwen/Qwen2.5-VL-7B-Instruct","prompt_version":"put_object_cabinet_overlap_v6_hard_gt_state_feedback","text_contract":"ordered physical-arm fields from independent MLLM role intervals and GT arm assignments"},"text_format":"Left arm: <semantic>; Right arm: <semantic>."},"episode_count":50,"episode_indices":[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49]}},"fps":30.0,"mesh_count":18,"meshes":[{"index":0,"link_name":"fl_base_link","name":"fl_base_link_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/0.dae"},{"index":1,"link_name":"fl_link1","name":"fl_link1_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/1.dae"},{"index":2,"link_name":"fl_link2","name":"fl_link2_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/2.dae"},{"index":3,"link_name":"fl_link3","name":"fl_link3_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/3.dae"},{"index":4,"link_name":"fl_link4","name":"fl_link4_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/4.dae"},{"index":5,"link_name":"fl_link5","name":"fl_link5_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/5.dae"},{"index":6,"link_name":"fl_link6","name":"fl_link6_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/6.dae"},{"index":7,"link_name":"fl_link7","name":"fl_link7_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/7.dae"},{"index":8,"link_name":"fl_link8","name":"fl_link8_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/8.dae"},{"index":9,"link_name":"fr_base_link","name":"fr_base_link_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/0.dae"},{"index":10,"link_name":"fr_link1","name":"fr_link1_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/1.dae"},{"index":11,"link_name":"fr_link2","name":"fr_link2_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/2.dae"},{"index":12,"link_name":"fr_link3","name":"fr_link3_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/3.dae"},{"index":13,"link_name":"fr_link4","name":"fr_link4_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/4.dae"},{"index":14,"link_name":"fr_link5","name":"fr_link5_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/5.dae"},{"index":15,"link_name":"fr_link6","name":"fr_link6_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/6.dae"},{"index":16,"link_name":"fr_link7","name":"fr_link7_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/7.dae"},{"index":17,"link_name":"fr_link8","name":"fr_link8_0","scale":[1.0,1.0,1.0],"url":"/api/mesh/8.dae"}]}

api/episode/parallel_qwen_v6_native_v2/0

@@ -1 +0,0 @@
-{"annotations":{"annotation_revision":"6fd90ab9039176cec8b7cf483b5a36b3e1014a4051c7e97e62d3e8cd980a10d9","arm_segments":{"left":[{"end":111,"semantic_key":"reach_open_drawer","semantic_text":"reach and open drawer","start":0},{"end":203,"semantic_key":"wait_hold_drawer_open","semantic_text":"wait while holding drawer open","start":111}],"right":[{"end":63,"semantic_key":"reach_grasp_object","semantic_text":"reach and grasp object","start":0},{"end":115,"semantic_key":"wait_hold_object","semantic_text":"wait while holding object","start":63},{"end":203,"semantic_key":"insert_place_object","semantic_text":"insert and place object","start":115}]},"drawer_arm":"left","object_arm":"right","paired_segments":[{"arm_semantic_keys":{"left":"reach_open_drawer","right":"reach_grasp_object"},"arm_semantics":{"left":"reach and open drawer","right":"reach and grasp object"},"end":63,"start":0,"subtask_text":"Left arm: reach and open drawer; Right arm: reach and grasp object."},{"arm_semantic_keys":{"left":"reach_open_drawer","right":"wait_hold_object"},"arm_semantics":{"left":"reach and open drawer","right":"wait while holding object"},"end":111,"start":63,"subtask_text":"Left arm: reach and open drawer; Right arm: wait while holding object."},{"arm_semantic_keys":{"left":"wait_hold_drawer_open","right":"wait_hold_object"},"arm_semantics":{"left":"wait while holding drawer open","right":"wait while holding object"},"end":115,"start":111,"subtask_text":"Left arm: wait while holding drawer open; Right arm: wait while holding object."},{"arm_semantic_keys":{"left":"wait_hold_drawer_open","right":"insert_place_object"},"arm_semantics":{"left":"wait while holding drawer open","right":"insert and place object"},"end":203,"start":115,"subtask_text":"Left arm: wait while holding drawer open; Right arm: insert and place object."}],"projection_contract":"map each native-retime frame through retime_manifest source_indices; a repeated moving-prefix start index is wait, and a repeated moving-prefix end index after progress is the role-specific wait-hold semantic","retime_manifest_sha256":"519a4fc45bcf00e8e14ba656a26d03d987c1b906a993e47bb47486f22733ea46","schedule":{"kind":"native_parallel_retime","left_segment":{"arm":"left","end":174,"label":"reach_open_drawer","start":63},"plan":{"async_frames":111,"compression_ratio":0.7748091603053435,"prefix_frames":0,"retimed_frames":203,"source_frames":262,"sync_hold_frames":4,"tail_start":174,"wait_ratio":0.0,"wait_steps_left":0,"wait_steps_right":0},"right_segment":{"arm":"right","end":63,"label":"reach_grasp_object","start":0},"source_indices":[[63,0],[64,1],[65,2],[66,3],[67,4],[68,5],[69,6],[70,7],[71,8],[72,9],[73,10],[74,11],[75,12],[76,13],[77,14],[78,15],[79,16],[80,17],[81,18],[82,19],[83,20],[84,21],[85,22],[86,23],[87,24],[88,25],[89,26],[90,27],[91,28],[92,29],[93,30],[94,31],[95,32],[96,33],[97,34],[98,35],[99,36],[100,37],[101,38],[102,39],[103,40],[104,41],[105,42],[106,43],[107,44],[108,45],[109,46],[110,47],[111,48],[112,49],[113,50],[114,51],[115,52],[116,53],[117,54],[118,55],[119,56],[120,57],[121,58],[122,59],[123,60],[124,61],[125,62],[126,62],[127,62],[128,62],[129,62],[130,62],[131,62],[132,62],[133,62],[134,62],[135,62],[136,62],[137,62],[138,62],[139,62],[140,62],[141,62],[142,62],[143,62],[144,62],[145,62],[146,62],[147,62],[148,62],[149,62],[150,62],[151,62],[152,62],[153,62],[154,62],[155,62],[156,62],[157,62],[158,62],[159,62],[160,62],[161,62],[162,62],[163,62],[164,62],[165,62],[166,62],[167,62],[168,62],[169,62],[170,62],[171,62],[172,62],[173,62],[173,62],[173,62],[173,62],[173,62],[174,174],[175,175],[176,176],[177,177],[178,178],[179,179],[180,180],[181,181],[182,182],[183,183],[184,184],[185,185],[186,186],[187,187],[188,188],[189,189],[190,190],[191,191],[192,192],[193,193],[194,194],[195,195],[196,196],[197,197],[198,198],[199,199],[200,200],[201,201],[202,202],[203,203],[204,204],[205,205],[206,206],[207,207],[208,208],[209,209],[210,210],[211,211],[212,212],[213,213],[214,214],[215,215],[216,216],[217,217],[218,218],[219,219],[220,220],[221,221],[222,222],[223,223],[224,224],[225,225],[226,226],[227,227],[228,228],[229,229],[230,230],[231,231],[232,232],[233,233],[234,234],[235,235],[236,236],[237,237],[238,238],[239,239],[240,240],[241,241],[242,242],[243,243],[244,244],[245,245],[246,246],[247,247],[248,248],[249,249],[250,250],[251,251],[252,252],[253,253],[254,254],[255,255],[256,256],[257,257],[258,258],[259,259],[260,260],[261,261]]},"semantic_definitions":[{"color":"#7f95a3","key":"wait","label_en":"Wait","label_zh":"等待","text":"wait"},{"color":"#39a8ff","key":"reach_grasp_object","label_en":"Reach & grasp object","label_zh":"接近并抓取物体","text":"reach and grasp object"},{"color":"#58c6a5","key":"wait_hold_object","label_en":"Wait while holding object","label_zh":"等待并保持物体","text":"wait while holding object"},{"color":"#9a7df0","key":"reach_open_drawer","label_en":"Reach & open drawer","label_zh":"接近并打开抽屉","text":"reach and open drawer"},{"color":"#ef6f91","key":"insert_place_object","label_en":"Insert & place object","label_zh":"插入并放置物体","text":"insert and place object"},{"color":"#f0b44d","key":"wait_hold_drawer_open","label_en":"Wait while holding drawer open","label_zh":"等待并保持抽屉打开","text":"wait while holding drawer open"}],"source":{"boundary_contract":"accepted MLLM intervals with GT proprioception/state gate","model":"Qwen/Qwen2.5-VL-7B-Instruct","prompt_version":"put_object_cabinet_overlap_v6_hard_gt_state_feedback","text_contract":"ordered physical-arm fields from independent MLLM role intervals and GT arm assignments"},"source_annotation_revision":"3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e","split":"train","text_format":"Left arm: <semantic>; Right arm: <semantic>."},"attributes":{"parallelvla_retime_validation":"native_action_sequence_success_async_collision_checked","parallelvla_seed":24,"parallelvla_source_config":"parallelvla_clean_pcd_verified_v2","parallelvla_source_episode":0},"dataset":"parallel_qwen_v6_native_v2","deployment_router":{"async_steps":0,"boundary_context_steps":0},"duration_s":6.766666666666667,"episode_index":0,"fps":30.0,"frame_count":203,"phase_timeline":{"async_probabilities":null,"has_gate_records":false,"inference_indices":null,"phase_ids":null},"transforms_url":"/api/transforms/parallel_qwen_v6_native_v2/0.bin","videos":{"head":"/api/video/parallel_qwen_v6_native_v2/0/head.mp4","left_wrist":"/api/video/parallel_qwen_v6_native_v2/0/left_wrist.mp4","right_wrist":"/api/video/parallel_qwen_v6_native_v2/0/right_wrist.mp4"}}

api/episode/parallel_qwen_v6_native_v2/1

@@ -1 +0,0 @@
-{"annotations":{"annotation_revision":"6fd90ab9039176cec8b7cf483b5a36b3e1014a4051c7e97e62d3e8cd980a10d9","arm_segments":{"left":[{"end":111,"semantic_key":"reach_open_drawer","semantic_text":"reach and open drawer","start":0},{"end":213,"semantic_key":"wait_hold_drawer_open","semantic_text":"wait while holding drawer open","start":111}],"right":[{"end":66,"semantic_key":"reach_grasp_object","semantic_text":"reach and grasp object","start":0},{"end":115,"semantic_key":"wait_hold_object","semantic_text":"wait while holding object","start":66},{"end":213,"semantic_key":"insert_place_object","semantic_text":"insert and place object","start":115}]},"drawer_arm":"left","object_arm":"right","paired_segments":[{"arm_semantic_keys":{"left":"reach_open_drawer","right":"reach_grasp_object"},"arm_semantics":{"left":"reach and open drawer","right":"reach and grasp object"},"end":66,"start":0,"subtask_text":"Left arm: reach and open drawer; Right arm: reach and grasp object."},{"arm_semantic_keys":{"left":"reach_open_drawer","right":"wait_hold_object"},"arm_semantics":{"left":"reach and open drawer","right":"wait while holding object"},"end":111,"start":66,"subtask_text":"Left arm: reach and open drawer; 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api/episode/parallel_qwen_v6_native_v2/10

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api/episode/parallel_qwen_v6_native_v2/11

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api/episode/parallel_qwen_v6_native_v2/12

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api/episode/parallel_qwen_v6_native_v2/13

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api/episode/parallel_qwen_v6_native_v2/14

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api/episode/parallel_qwen_v6_native_v2/15

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api/episode/parallel_qwen_v6_native_v2/16

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api/episode/parallel_qwen_v6_native_v2/17

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api/episode/parallel_qwen_v6_native_v2/18

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api/episode/parallel_qwen_v6_native_v2/19

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api/episode/parallel_qwen_v6_native_v2/2

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api/episode/parallel_qwen_v6_native_v2/20

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api/episode/parallel_qwen_v6_native_v2/21

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api/episode/parallel_qwen_v6_native_v2/22

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api/episode/parallel_qwen_v6_native_v2/23

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api/episode/parallel_qwen_v6_native_v2/24

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api/episode/parallel_qwen_v6_native_v2/25

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api/episode/parallel_qwen_v6_native_v2/26

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api/episode/parallel_qwen_v6_native_v2/27

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api/episode/parallel_qwen_v6_native_v2/28

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api/episode/parallel_qwen_v6_native_v2/29

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api/episode/parallel_qwen_v6_native_v2/3

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api/episode/parallel_qwen_v6_native_v2/30

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api/episode/parallel_qwen_v6_native_v2/31

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api/episode/parallel_qwen_v6_native_v2/32

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api/episode/parallel_qwen_v6_native_v2/33

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api/episode/parallel_qwen_v6_native_v2/34

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api/episode/parallel_qwen_v6_native_v2/35

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api/episode/parallel_qwen_v6_native_v2/36

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api/episode/parallel_qwen_v6_native_v2/37

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api/episode/parallel_qwen_v6_native_v2/38

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api/episode/parallel_qwen_v6_native_v2/39

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api/episode/parallel_qwen_v6_native_v2/4

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api/episode/parallel_qwen_v6_native_v2/40

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api/episode/parallel_qwen_v6_native_v2/41

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api/episode/parallel_qwen_v6_native_v2/42

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api/episode/parallel_qwen_v6_native_v2/43

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api/episode/parallel_qwen_v6_native_v2/44

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api/episode/parallel_qwen_v6_native_v2/45

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api/episode/parallel_qwen_v6_native_v2/46

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api/episode/parallel_qwen_v6_native_v2/47

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api/episode/parallel_qwen_v6_native_v2/48

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api/episode/parallel_qwen_v6_native_v2/49

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api/episode/parallel_qwen_v6_native_v2/5

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api/episode/parallel_qwen_v6_native_v2/6

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api/episode/parallel_qwen_v6_native_v2/7

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