From 54ef1b2a686cbf327beb1c6cb1ba61ddee197ae9 Mon Sep 17 00:00:00 2001 From: DVIDIA Date: Mon, 9 Nov 2026 10:16:29 -0500 Subject: [PATCH 1/6] Verify matched reset heads before camera-action learning --- .../evidence-20261109/cases.json | 1 + .../evidence-20261109/initialization.json | 1 + .../evidence-20261109/measurements.json | 1 + .../evidence-20261109/negative-checks.json | 1 + .../evidence-20261109/protocol.json | 1 + .../evidence-20261109/report.json | 1 + .../preflight.py | 268 ++++++++++++++++++ .../test_preflight.py | 119 ++++++++ .../tests-20261109.log | 20 ++ docs/camera-action-v02-head-preflight.md | 109 +++++++ 10 files changed, 522 insertions(+) create mode 100644 benchmarks/camera-action-v02-head-preflight/evidence-20261109/cases.json create mode 100644 benchmarks/camera-action-v02-head-preflight/evidence-20261109/initialization.json create mode 100644 benchmarks/camera-action-v02-head-preflight/evidence-20261109/measurements.json create mode 100644 benchmarks/camera-action-v02-head-preflight/evidence-20261109/negative-checks.json create mode 100644 benchmarks/camera-action-v02-head-preflight/evidence-20261109/protocol.json create mode 100644 benchmarks/camera-action-v02-head-preflight/evidence-20261109/report.json create mode 100644 benchmarks/camera-action-v02-head-preflight/preflight.py create mode 100644 benchmarks/camera-action-v02-head-preflight/test_preflight.py create mode 100644 benchmarks/camera-action-v02-head-preflight/tests-20261109.log create mode 100644 docs/camera-action-v02-head-preflight.md diff --git a/benchmarks/camera-action-v02-head-preflight/evidence-20261109/cases.json b/benchmarks/camera-action-v02-head-preflight/evidence-20261109/cases.json new file mode 100644 index 0000000..2ab3312 --- /dev/null +++ b/benchmarks/camera-action-v02-head-preflight/evidence-20261109/cases.json @@ -0,0 +1 @@ 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simulation, complete learner gradients, Adam updates or controller performance is measured.","This common-D affine absolute parameterization must be explicitly registered before fitting; it is not automatically the original Cabs recipe."],"max_loss_gradient_finite_difference_error":5.285296939688822e-13,"max_offset_identity_error_native":2.220446049250313e-16,"measurement_wall_seconds":0.13079516700236127,"native_runs":0,"negative_checks_rejected":9,"passed":true,"qualified":false,"recordings_read":false,"reset_bitwise_equal":64,"reset_cases":64,"reset_cases_with_unprojected_out_of_bounds_output":36,"schema":"dvidia.camera-action-head-preflight/v1/report","timing_scope":"Comparisons, central differences, negative checks and measurement-file writes; excludes imports, binding, cases/initialization/protocol and report writes.","trained_models_read":false} diff --git a/benchmarks/camera-action-v02-head-preflight/preflight.py b/benchmarks/camera-action-v02-head-preflight/preflight.py new file mode 100644 index 0000000..468d307 --- /dev/null +++ b/benchmarks/camera-action-v02-head-preflight/preflight.py @@ -0,0 +1,268 @@ +#!/usr/bin/env python3 +"""Synthetic reset-head algebra only; no policy fitting, recording or simulator. + +Two candidate decoders share one seeded 269->64->64->7 float32 network. +Cabs = r0 + D*g(x); Cdelta = r + D*g(x). Decoding and endpoint loss are +float64. Outputs are compared BEFORE feasibility projection or joint clipping. +This explicit parameterization still needs registration before learning. +""" +from __future__ import annotations + +import argparse +import ast +from copy import deepcopy +from hashlib import sha256 +import json +from pathlib import Path +import platform +import sys +import time + +import numpy as np + +BASE_COMMIT = '77624ca66ace1b3aa81d076fefc294fca9015711' +SOURCES = { + 'src/dvidia_training/piper_task.py': 'e66a44a8df4e7a8ee42e4f3866f889f8797cdfb8e2688a146e09b75d2c76664f', + 'src/dvidia_training/camera_action_model.py': 'e9a9c4d1d0f16fc7c91cac3ca2e6560d0532370ab78a2af5a4ec84425c23932f', + 'benchmarks/camera-action-v02-preflight/preflight.py': '39f948ce5100c93fd0f31d3aa3b49f8084fcdafa31ed937db88f2a6b1780fa96', +} +R0 = [0., 1.57, -1.3485, 0., 0., 0., .035] +ORDER = [f'joint{i}' for i in range(1, 7)] + ['single_finger_jaw'] +LIMITS = [[-2.618, 2.618], [0., 3.14], [-2.697, 0.], [-1.832, 1.832], + [-1.22, 1.22], [-3.14, 3.14], [0., .035]] +CONTRACT = { + 'schema': 'dvidia.camera-action-head-preflight/v1', + 'reference_kind': 'previous_applied_servo_reference', 'order': ORDER, + 'units': ['rad'] * 6 + ['single_finger_m'], 'reset_reference': R0, + 'increment_scale': [.03] * 6 + [.001], 'endpoint_loss_scale': [3.] * 6 + [.035], + 'loss': 'mean(((decoded_endpoint-target_endpoint)/endpoint_loss_scale)**2)', + 'network_dtype': 'float32', 'decoder_and_loss_dtype': 'float64', + 'dims': [269, 64, 64, 7], 'parameter_seed': 17, 'case_seed': 171711, + 'reset_cases': 64, 'later_cases': 64, 'projection_applied': False, + 'comparison_absolute_tolerance': 1e-12, 'relative_tolerance': 0., + 'finite_difference_step': 1e-4, 'finite_difference_absolute_tolerance': 1e-8, +} + + +def canonical(value): + return json.dumps(value, sort_keys=True, separators=(',', ':'), allow_nan=False).encode() + + +def digest(value): + return sha256(canonical(value)).hexdigest() + + +def check_contract(contract): + if canonical(contract) != canonical(CONTRACT): + raise ValueError('Changed reset, order, units, scales, dtype or experiment contract.') + + +def vector(value, size, label): + if type(value) is not list or len(value) != size or any(type(v) not in (int, float) for v in value): + raise ValueError(label + ' requires ordinary finite numeric coordinates.') + result = np.asarray(value, dtype=np.float64) + if not np.isfinite(result).all(): + raise ValueError(label + ' contains a nonfinite coordinate.') + return result + + +def reference(value): + return {'kind': CONTRACT['reference_kind'], 'order': list(ORDER), 'value': list(value)} + + +def read_reference(value): + if type(value) is not dict or set(value) != {'kind', 'order', 'value'}: + raise ValueError('Explicit prior-reference authority is required.') + if value['kind'] != CONTRACT['reference_kind'] or value['order'] != ORDER: + raise ValueError('Wrong reference kind or coordinate order.') + result = vector(value['value'], 7, 'reference') + limits = np.asarray(LIMITS) + if np.any(result < limits[:, 0]) or np.any(result > limits[:, 1]): + raise ValueError('Reference is outside original native bounds.') + return result + + +def bind_sources(root): + bodies = {} + for relative, expected in SOURCES.items(): + body = (Path(root) / relative).read_bytes() + if sha256(body).hexdigest() != expected: + raise ValueError('Source binding changed: ' + relative) + bodies[relative] = body + tree = ast.parse(bodies['src/dvidia_training/piper_task.py']) + cls = next(n for n in tree.body if isinstance(n, ast.ClassDef) and n.name == 'PiperTaskEnv') + reset = next(n for n in cls.body if isinstance(n, ast.FunctionDef) and n.name == 'reset') + assignments = {ast.unparse(n.targets[0]): n.value for n in ast.walk(reset) + if isinstance(n, ast.Assign) and len(n.targets) == 1} + q = ast.literal_eval(assignments['self.data.qpos[:8]']) + jaw = ast.literal_eval(assignments['self.command_gripper']) + if q[:6] + [jaw] != R0 or ast.unparse(assignments['self.command_targets']) != 'self.data.qpos[:6].copy()': + raise ValueError('Original constant reset-reference assignment changed.') + return {'base_commit': BASE_COMMIT, 'source_sha256': SOURCES, + 'reset_reference': q[:6] + [jaw], + 'scope': 'Source literals and hashes only; no import or execution of native code.'} + + +def parameters(): + rng = np.random.default_rng(CONTRACT['parameter_seed']) + dims = CONTRACT['dims'] + weights = [rng.normal(0., np.sqrt(2. / (a+b)), (a, b)).astype(np.float32) + for a, b in zip(dims[:-1], dims[1:])] + return weights, [np.zeros(b, dtype=np.float32) for b in dims[1:]] + + +def forward(x, params): + weights, biases = params + a = np.tanh(x @ weights[0] + biases[0]) + b = np.tanh(a @ weights[1] + biases[1]) + return b @ weights[2] + biases[2] + + +def decode(head, previous, mode, contract=CONTRACT): + check_contract(contract) + r = read_reference(previous) + g = vector(head, 7, 'head') + if mode not in ('absolute', 'delta'): + raise ValueError('Unknown decoder.') + base = np.asarray(R0, dtype=np.float64) if mode == 'absolute' else r + return base + np.asarray(CONTRACT['increment_scale']) * g + + +def endpoint_loss_gradient(decoded, target, contract=CONTRACT): + """Loss and dL/dg in the same native endpoint units for both decoders.""" + check_contract(contract) + prediction = vector(decoded, 7, 'decoded endpoint') + target = vector(target, 7, 'target endpoint') + scale, increment = np.asarray(CONTRACT['endpoint_loss_scale']), np.asarray(CONTRACT['increment_scale']) + error = prediction-target + return float(np.mean((error/scale)**2)), 2.*error*increment/(7.*scale**2) + + +def cases(): + rng = np.random.default_rng(CONTRACT['case_seed']) + limits = np.asarray(LIMITS) + rows = [] + for i in range(64): + x = np.zeros(269, dtype=np.float32) if i == 0 else rng.uniform(-3., 3., 269).astype(np.float32) + r_later = rng.uniform(limits[:, 0], limits[:, 1]) + for kind, r in (('reset', np.asarray(R0)), ('later', r_later)): + target = np.clip(r + rng.uniform(-1., 1., 7)*np.asarray(CONTRACT['increment_scale']), limits[:, 0], limits[:, 1]) + rows.append({'id': f'{kind}-{i:02}', 'kind': kind, 'features': x.tolist(), + 'previous_reference': reference(r.tolist()), 'target_endpoint': target.tolist()}) + return rows + + +def measure(row, params): + g = forward(np.asarray(row['features'], dtype=np.float32), params).astype(np.float64).tolist() + r = row['previous_reference'] + absolute, delta = decode(g, r, 'absolute'), decode(g, r, 'delta') + loss_a, grad_a = endpoint_loss_gradient(absolute.tolist(), row['target_endpoint']) + loss_d, grad_d = endpoint_loss_gradient(delta.tolist(), row['target_endpoint']) + expected_offset = read_reference(r)-np.asarray(R0) + offset_error = float(np.max(np.abs((delta-absolute)-expected_offset))) + # Both decoders have the same d(endpoint)/dg = D even away from reset. + # A central-difference check measures the actual loss derivative per axis. + h, fd_error = CONTRACT['finite_difference_step'], 0. + for mode, gradient in (('absolute', grad_a), ('delta', grad_d)): + for j in range(7): + plus, minus = list(g), list(g) + plus[j] += h; minus[j] -= h + lp = endpoint_loss_gradient(decode(plus, r, mode).tolist(), row['target_endpoint'])[0] + lm = endpoint_loss_gradient(decode(minus, r, mode).tolist(), row['target_endpoint'])[0] + fd_error = max(fd_error, abs((lp-lm)/(2*h)-gradient[j])) + reset = row['kind'] == 'reset' + decoded_error = float(np.max(np.abs(delta-absolute))) + gradient_error = float(np.max(np.abs(grad_d-grad_a))) + tolerance = CONTRACT['comparison_absolute_tolerance'] + passed = offset_error <= tolerance and fd_error <= CONTRACT['finite_difference_absolute_tolerance'] + if reset: + passed = passed and decoded_error <= tolerance and abs(loss_d-loss_a) <= tolerance and gradient_error <= tolerance + limits = np.asarray(LIMITS) + return {'case_id': row['id'], 'kind': row['kind'], 'passed': bool(passed), + 'preprojection_decoded_max_abs_difference_native': decoded_error, + 'decoded_offset_identity_max_abs_error_native': offset_error, + 'reset_bitwise_decoded_equal': absolute.tobytes() == delta.tobytes() if reset else None, + 'endpoint_loss_absolute': loss_a, 'endpoint_loss_delta': loss_d, + 'd_loss_d_head_max_abs_difference': gradient_error, + 'gradient_finite_difference_max_abs_error': fd_error, + 'absolute_output_exceeds_native_bounds': bool(np.any(absolute < limits[:, 0]) or np.any(absolute > limits[:, 1])), + 'delta_output_exceeds_native_bounds': bool(np.any(delta < limits[:, 0]) or np.any(delta > limits[:, 1]))} + + +def negative_checks(): + checks = [] + for name, field, value in ( + ('reset', 'reset_reference', [0.]*7), ('order', 'order', list(reversed(ORDER))), + ('loss_units', 'endpoint_loss_scale', [1.]*7), ('increment_units', 'increment_scale', [1.]*7), + ('dtype', 'decoder_and_loss_dtype', 'float32'), ('projection', 'projection_applied', True)): + contract = deepcopy(CONTRACT); contract[field] = value + try: decode([0.]*7, reference(R0), 'absolute', contract) + except ValueError: checks.append({'case': name, 'rejected': True}) + else: checks.append({'case': name, 'rejected': False}) + for kind in ('measured_joint_position', 'current_teacher_target', 'future_applied_reference'): + ref = reference(R0); ref['kind'] = kind + try: decode([0.]*7, ref, 'delta') + except ValueError: checks.append({'case': kind, 'rejected': True}) + else: checks.append({'case': kind, 'rejected': False}) + return checks + + +def run(root, output): + root, output = Path(root), Path(output) + if output.exists() or output.is_symlink(): + raise ValueError('Use a fresh output directory; retain prior attempts.') + source = bind_sources(root) + params, rows = parameters(), cases() + output.mkdir(parents=True) + def write(name, value): + with (output/name).open('xb') as stream: stream.write(canonical(value)+b'\n') + # Seal complete synthetic case list, exact parameters and declared gates + # before evaluating any case. This is random initialization, not fitting. + write('cases.json', rows) + write('initialization.json', {'weights': [x.tolist() for x in params[0]], 'biases': [x.tolist() for x in params[1]], + 'origin': 'seeded synthetic random initialization; never trained'}) + protocol = {'contract': CONTRACT, 'source_binding': source, 'script_sha256': sha256(Path(__file__).read_bytes()).hexdigest(), + 'cases_sha256': sha256((output/'cases.json').read_bytes()).hexdigest(), + 'initialization_sha256': sha256((output/'initialization.json').read_bytes()).hexdigest(), + 'negative_cases': ['reset', 'order', 'loss_units', 'increment_units', 'dtype', 'projection', + 'measured_joint_position', 'current_teacher_target', 'future_applied_reference'], + 'status': 'frozen_before_measurement', 'real_observation_vectors': False} + write('protocol.json', protocol) + started = time.perf_counter() + measurements = [measure(row, params) for row in rows] + negatives = negative_checks() + write('measurements.json', measurements); write('negative-checks.json', negatives) + elapsed = time.perf_counter()-started + resets = [r for r in measurements if r['kind'] == 'reset'] + later = [r for r in measurements if r['kind'] == 'later'] + report = {'schema': CONTRACT['schema']+'/report', 'passed': all(r['passed'] for r in measurements) and all(r['rejected'] for r in negatives), + 'reset_cases': len(resets), 'later_cases': len(later), + 'reset_bitwise_equal': sum(r['reset_bitwise_decoded_equal'] for r in resets), + 'max_offset_identity_error_native': max(r['decoded_offset_identity_max_abs_error_native'] for r in measurements), + 'max_loss_gradient_finite_difference_error': max(r['gradient_finite_difference_max_abs_error'] for r in measurements), + 'later_cases_with_different_decoded_outputs': sum(r['preprojection_decoded_max_abs_difference_native'] > 1e-12 for r in later), + 'reset_cases_with_unprojected_out_of_bounds_output': sum(r['absolute_output_exceeds_native_bounds'] for r in resets), + 'negative_checks_rejected': sum(r['rejected'] for r in negatives), + 'measurement_wall_seconds': elapsed, 'timing_scope': 'Comparisons, central differences, negative checks and measurement-file writes; excludes imports, binding, cases/initialization/protocol and report writes.', + 'hardware': {'platform': platform.platform(), 'machine': platform.machine(), 'python': platform.python_version(), 'numpy': np.__version__}, + 'native_runs': 0, 'fitting_runs': 0, 'recordings_read': False, 'trained_models_read': False, + 'qualified': False, 'learning_experiment_registered': False, + 'limitations': ['Synthetic normalized vectors are not registered reset observations.', + 'Reference authority tags do not authenticate runtime telemetry.', + 'Only reset decoded functions and common endpoint-loss derivatives are matched; later feedback and optimization outcomes differ.', + 'No feasibility projection, native microstep simulation, complete learner gradients, Adam updates or controller performance is measured.', + 'This common-D affine absolute parameterization must be explicitly registered before fitting; it is not automatically the original Cabs recipe.']} + report['artifacts'] = {name: sha256((output/name).read_bytes()).hexdigest() for name in + ('cases.json', 'initialization.json', 'protocol.json', 'measurements.json', 'negative-checks.json')} + write('report.json', report) + return report + + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument('--root', type=Path, default=Path(__file__).resolve().parents[2]) + parser.add_argument('--output', type=Path, required=True) + args = parser.parse_args() + result = run(args.root, args.output) + print(json.dumps(result, indent=2)) + sys.exit(0 if result['passed'] else 1) diff --git a/benchmarks/camera-action-v02-head-preflight/test_preflight.py b/benchmarks/camera-action-v02-head-preflight/test_preflight.py new file mode 100644 index 0000000..864d2e2 --- /dev/null +++ b/benchmarks/camera-action-v02-head-preflight/test_preflight.py @@ -0,0 +1,119 @@ +import importlib.util +from pathlib import Path +import shutil +import sys +import tempfile +import unittest +from copy import deepcopy + +import numpy as np + +MODULE = Path(__file__).with_name('preflight.py') +spec = importlib.util.spec_from_file_location('head_preflight', MODULE) +p = importlib.util.module_from_spec(spec) +spec.loader.exec_module(p) +ROOT = MODULE.resolve().parents[2] + + +class HeadPreflightTests(unittest.TestCase): + def test_source_reset_is_bound(self): + self.assertEqual(p.bind_sources(ROOT)['reset_reference'], p.R0) + + def test_changed_source_refused_before_output(self): + with tempfile.TemporaryDirectory() as tmp: + root = Path(tmp) + for name in p.SOURCES: + target = root/name; target.parent.mkdir(parents=True, exist_ok=True) + shutil.copyfile(ROOT/name, target) + target = root/'src/dvidia_training/piper_task.py' + target.write_bytes(target.read_bytes().replace(b'1.57, -1.3485', b'1.58, -1.3485')) + output = root/'evidence' + with self.assertRaisesRegex(ValueError, 'Source binding changed'): + p.run(root, output) + self.assertFalse(output.exists()) + + def test_deterministic_random_initialization(self): + a, b = p.parameters(), p.parameters() + for left, right in zip(a[0]+a[1], b[0]+b[1]): + self.assertEqual(left.dtype, np.dtype('float32')) + self.assertEqual(left.tobytes(), right.tobytes()) + self.assertEqual([x.shape for x in a[0]], [(269,64),(64,64),(64,7)]) + + def test_explicit_case_roster(self): + rows = p.cases() + self.assertEqual(rows, p.cases()) + self.assertEqual(len(rows), 128) + self.assertEqual(len(set(r['id'] for r in rows)), 128) + self.assertEqual(sum(r['kind']=='reset' for r in rows), 64) + for i in range(0, len(rows), 2): + self.assertEqual(rows[i]['features'], rows[i+1]['features']) + self.assertEqual(rows[i]['previous_reference']['value'], p.R0) + + def test_preprojection_equivalence_even_outside_bounds(self): + head = [100.]*7 + a = p.decode(head, p.reference(p.R0), 'absolute') + d = p.decode(head, p.reference(p.R0), 'delta') + self.assertEqual(a.tobytes(), d.tobytes()) + self.assertGreater(a[-1], .035) # Saturation cannot manufacture a pass. + + def test_later_reference_offset(self): + ref = p.reference([.1,1.6,-1.3,.2,0.,-.1,.02]) + a = p.decode([.3]*7, ref, 'absolute') + d = p.decode([.3]*7, ref, 'delta') + np.testing.assert_allclose(d-a, np.asarray(ref['value'])-p.R0, atol=1e-12, rtol=0.) + self.assertFalse(np.array_equal(a,d)) + + def test_native_endpoint_loss_and_derivative(self): + decoded = [1.,1.,-1.,0.,0.,0.,.02] + target = [.9,1.1,-1.1,.1,-.1,0.,.019] + loss, grad = p.endpoint_loss_gradient(decoded, target) + error = np.asarray(decoded)-target + s = np.asarray([3.]*6+[.035]); d=np.asarray([.03]*6+[.001]) + self.assertEqual(loss, float(np.mean((error/s)**2))) + np.testing.assert_array_equal(grad, 2.*error*d/(7.*s**2)) + + def test_reset_gradient_and_central_difference(self): + result = p.measure(p.cases()[2], p.parameters()) + self.assertTrue(result['passed']) + self.assertTrue(result['reset_bitwise_decoded_equal']) + self.assertEqual(result['d_loss_d_head_max_abs_difference'], 0.) + self.assertLessEqual(result['gradient_finite_difference_max_abs_error'], 1e-8) + + def test_mislabeled_later_reference_cannot_pass_reset(self): + row = p.cases()[1]; row['kind']='reset' + self.assertFalse(p.measure(row, p.parameters())['passed']) + + def test_negative_contract_and_authority_checks(self): + checks = p.negative_checks() + self.assertEqual(len(checks), 9) + self.assertTrue(all(c['rejected'] for c in checks)) + + def test_loss_unit_change_refused(self): + c=deepcopy(p.CONTRACT); c['endpoint_loss_scale'][-1]=.07 + with self.assertRaises(ValueError): + p.endpoint_loss_gradient(p.R0,p.R0,c) + + def test_reference_validation(self): + for bad in (float('nan'),float('inf'),True,'1',None): + r=p.reference(p.R0); r['value'][0]=bad + with self.assertRaises(ValueError):p.decode([0.]*7,r,'delta') + r=p.reference(p.R0);r['value'][-1]=.036 + with self.assertRaises(ValueError):p.decode([0.]*7,r,'delta') + r=p.reference(p.R0);r['order']=list(reversed(r['order'])) + with self.assertRaises(ValueError):p.decode([0.]*7,r,'delta') + + def test_unknown_decoder_refused(self): + with self.assertRaises(ValueError):p.decode([0.]*7,p.reference(p.R0),'measured-relative') + + def test_existing_output_preserved(self): + with tempfile.TemporaryDirectory() as tmp: + output=Path(tmp);(output/'marker').write_text('keep') + with self.assertRaises(ValueError):p.run(ROOT,output) + self.assertEqual((output/'marker').read_text(),'keep') + + def test_no_native_package_imported(self): + self.assertFalse(any(n=='mujoco' or n.startswith('dvidia_training') for n in sys.modules)) + + +if __name__ == '__main__': + unittest.main() diff --git a/benchmarks/camera-action-v02-head-preflight/tests-20261109.log b/benchmarks/camera-action-v02-head-preflight/tests-20261109.log new file mode 100644 index 0000000..bf0180f --- /dev/null +++ b/benchmarks/camera-action-v02-head-preflight/tests-20261109.log @@ -0,0 +1,20 @@ +test_changed_source_refused_before_output (test_preflight.HeadPreflightTests.test_changed_source_refused_before_output) ... ok +test_deterministic_random_initialization (test_preflight.HeadPreflightTests.test_deterministic_random_initialization) ... ok +test_existing_output_preserved (test_preflight.HeadPreflightTests.test_existing_output_preserved) ... ok +test_explicit_case_roster (test_preflight.HeadPreflightTests.test_explicit_case_roster) ... ok +test_later_reference_offset (test_preflight.HeadPreflightTests.test_later_reference_offset) ... ok +test_loss_unit_change_refused (test_preflight.HeadPreflightTests.test_loss_unit_change_refused) ... ok +test_mislabeled_later_reference_cannot_pass_reset (test_preflight.HeadPreflightTests.test_mislabeled_later_reference_cannot_pass_reset) ... ok +test_native_endpoint_loss_and_derivative (test_preflight.HeadPreflightTests.test_native_endpoint_loss_and_derivative) ... ok +test_negative_contract_and_authority_checks (test_preflight.HeadPreflightTests.test_negative_contract_and_authority_checks) ... ok +test_no_native_package_imported (test_preflight.HeadPreflightTests.test_no_native_package_imported) ... ok +test_preprojection_equivalence_even_outside_bounds (test_preflight.HeadPreflightTests.test_preprojection_equivalence_even_outside_bounds) ... ok +test_reference_validation (test_preflight.HeadPreflightTests.test_reference_validation) ... ok +test_reset_gradient_and_central_difference (test_preflight.HeadPreflightTests.test_reset_gradient_and_central_difference) ... ok +test_source_reset_is_bound (test_preflight.HeadPreflightTests.test_source_reset_is_bound) ... ok +test_unknown_decoder_refused (test_preflight.HeadPreflightTests.test_unknown_decoder_refused) ... ok + +---------------------------------------------------------------------- +Ran 15 tests in 0.044s + +OK diff --git a/docs/camera-action-v02-head-preflight.md b/docs/camera-action-v02-head-preflight.md new file mode 100644 index 0000000..b47e106 --- /dev/null +++ b/docs/camera-action-v02-head-preflight.md @@ -0,0 +1,109 @@ +# Camera-to-action v0.2: matching initial action heads + +**9 November 2026 — a standalone numerical prerequisite passes.** Two proposed +decoders give identical outputs at the pinned PiPER reset reference, before +projection, and use the same endpoint-loss units. This does not train a policy +or change the v0.1 result. The five-candidate v0.2 learning screen remains unrun +and unregistered. This parameterization choice needs explicit registration +before any learning or rollout. + +## The comparison + +The original v0.1 feature vector stores normalized previous references as +float32. It cannot reconstruct exact float64 limiter state. A later controller +must obtain `r` from its exact preceding applied reference, separately from the +learned features. This preflight uses declared synthetic references only. + +Both candidates share the same seeded float32 269→64→64→7 network, including +both hidden layers and the final head. Let its output be `g(x)`: + +```text +D = [0.03 rad × 6, 0.001 single-finger m] +S = [3 rad × 6, 0.035 single-finger m] +Cabs endpoint = r0 + D * g(x) +Cdelta endpoint = r + D * g(x) +loss = mean(((endpoint - target_endpoint) / S)²) +d(loss)/d(g) = 2 * (endpoint - target_endpoint) * D / (7 * S²) +``` + +`Cabs` predicts an absolute endpoint through a fixed affine parameterization; +its offset is always the original reset reference `r0`. `Cdelta` uses the +current reference `r`. Both decoding and loss arithmetic use float64. The +source-bound reset is `[0, 1.57, -1.3485, 0, 0, 0, 0.035]` in the declared +joint/jaw order. The script parses those literals and the reference-copy +assignment from the hash-pinned `PiperTaskEnv.reset`; it imports no native code. + +At reset, `r = r0`, so both decoded functions match for any shared head value. +Later, their output difference is `r - r0`. That difference is intentional. +Using common `D` also gives both heads the same endpoint Jacobian and loss +scaling. This avoids comparing heads with different parameter scales merely +because one output represents an increment. It does not prove equal later +gradients, optimizer trajectories, function classes or manipulation performance. +No Adam update or full network-backpropagation comparison is performed. + +## Frozen numerical evidence + +The script writes the complete cases, random initialization and protocol before +measurement. Parameter seed is 17; case seed is 171711. There are 64 synthetic +feature vectors and two reference conditions per vector: reset and later. +These are bounded numerical inputs, **not** captured observations or additional +training episodes. Native-unit output comparisons use absolute tolerance +`1e-12`, zero relative tolerance; central-difference derivative checks use +step `1e-4` and absolute tolerance `1e-8`. + +| Check | Result | +|---|---:| +| Reset decoded outputs, before projection | 64/64 bitwise equal | +| Reset loss and output-head gradients | 64/64 equal within tolerance | +| Later-reference offset identity | 64/64 within tolerance | +| Largest offset-identity error | 2.22e-16 native units | +| Largest central-difference loss-gradient error | 5.29e-13 | +| Later cases with different decoded outputs | 64/64 | +| Changed-contract/reference-kind checks refused | 9/9 | + +The comparison applies **no projection or joint clipping**. In 36 reset cases, +the random head produces an output outside native bounds; the matching test +still checks those original values. Thus saturation cannot manufacture an +initialization pass. These outputs must not be executed. The existing separate +[limiter preflight](camera-action-v02-preflight.md) covers numerical reference +evolution; this head preflight does not run microsteps or physics. + +All 15 focused tests passed, including changed source/reset rejection, altered +units/order/reference authority, loss derivatives, a mislabeled later state, +unknown decoder and preservation of existing output. The numerical run took +0.131 s on shared arm64 macOS, Python 3.12.9 and NumPy 2.5.3. That timing includes +comparisons, central differences, negative checks and measurement writes; +it excludes imports, source validation, case/parameter/protocol writes and the +final report. It is not an inference or training performance measurement. + +## Reproduction and limits + +```sh +python -B benchmarks/camera-action-v02-head-preflight/preflight.py \ + --output /absolute/new-numerical-evidence +python -B -m unittest discover \ + -s benchmarks/camera-action-v02-head-preflight -p test_preflight.py -v +``` + +Only NumPy and the three pinned local source files are required. Run tests in +their own interpreter: the no-native-import test intentionally rejects a +process that already imported `dvidia_training` or MuJoCo. No recording, trained +model, cloud service, renderer or physical arm is used. The retained random +initialization is synthetic and never fitted; it is not a skill package. + +The [protocol](../benchmarks/camera-action-v02-head-preflight/evidence-20261109/protocol.json), +[cases](../benchmarks/camera-action-v02-head-preflight/evidence-20261109/cases.json), +[per-case measurements](../benchmarks/camera-action-v02-head-preflight/evidence-20261109/measurements.json), +[report](../benchmarks/camera-action-v02-head-preflight/evidence-20261109/report.json) +and [test log](../benchmarks/camera-action-v02-head-preflight/tests-20261109.log) +retain the exact scope. Protocol SHA-256: +`72cf2af974193300315b3db477ecd983300e8ead75d983cd6e8c55dcbc135a84`. +Report SHA-256: +`cc2e81e6a3922461e36aa6659754c128aff763c75080ca0b441fef2a3177ff81`. + +Before integration, separately register this common-scale parameterization, +validate exact reference ancestry, and test decoding with real registered reset +contexts and the chosen serialization/inference dtype. Use identical final +feasibility projection and native-unit scoring for both candidates. Equal +initial commands alone are not evidence of improved training or a qualified +skill; the frozen v0.1 candidate remains unqualified. From a9340b7d00bdd0618421027807faad247f9be99d Mon Sep 17 00:00:00 2001 From: DVIDIA Date: Mon, 9 Nov 2026 10:16:59 -0500 Subject: [PATCH 2/6] Add exact servo reference export beside pinned training cache --- docs/camera-action-reference-export-v01.md | 116 ++++++ .../camera_action_reference_export.py | 316 ++++++++++++++++ tests/test_camera_action_reference_export.py | 353 ++++++++++++++++++ 3 files changed, 785 insertions(+) create mode 100644 docs/camera-action-reference-export-v01.md create mode 100644 src/dvidia_training/camera_action_reference_export.py create mode 100644 tests/test_camera_action_reference_export.py diff --git a/docs/camera-action-reference-export-v01.md b/docs/camera-action-reference-export-v01.md new file mode 100644 index 0000000..321e323 --- /dev/null +++ b/docs/camera-action-reference-export-v01.md @@ -0,0 +1,116 @@ +# Exact references for the next camera-to-action experiment + +This additive Python API preserves the exact prior servo reference needed to +compare future absolute and reference-relative action heads. It writes two +float64 arrays beside a caller-pinned v0.1 training cache. It does not change +v0.1 features, targets, models, CLI, runtime, released wheel or qualification. +Only synthetic fixtures have exercised this new exporter; no original study +recording or trained model was read for this milestone. + +The existing feature cache stores normalized command history as float32. That +history cannot recover the exact float64 servo state. For row zero of each +episode, `previous-references.npy` uses `initial_applied_targets`. For later +rows, it uses the preceding row's `applied.ramped_targets`. These are six joint +references in radians and one **normal single-finger jaw reference** in metres. +Measured joint positions, current issued targets and pulse-overridden native +controls are different quantities and are not used as that reference. + +`feasible-targets.npy` contains the endpoint after the original twenty 1 ms +reference updates toward the parent training label: 1.5 rad/s per joint and +0.05 m/s for the single-finger jaw. Each subtraction, clip and addition uses +float64 in the original order; a closed-form projection is not substituted. +Teacher demonstration labels remain issued commands. Mixed-control correction +labels remain separately recorded teacher suggestions, even when the student +actually controlled the arm. Exact prior references follow **actual executed +commands**, never those suggestions. + +## Construction and authority + +Import `dvidia_training.camera_action_reference_export` from this source branch. +The public API accepts the following explicit caller expectations: + +```python +from dvidia_training import camera_action_reference_export as references + +pins = { + "expected_parent_manifest_sha256": parent_manifest_digest, + "expected_parent_source_sha256": parent_source_digest, + "expected_protocol_sha256": registered_protocol_digest, + "expected_stage": "demonstrations", # or "corrections" + "expected_split": "train", + "expected_source_sha256": reviewed_reference_helper_digest, +} +seal = references.build_reference_export( + immutable_study_directory, verified_parent_cache, fresh_output_directory, + **pins, +) +# Retain this digest separately from the output directory. +loaded = references.load_reference_export( + fresh_output_directory, verified_parent_cache, + expected_manifest_sha256=seal["manifest_sha256"], **pins, +) +``` + +`source_identity()` and `source_digest()` expose the implementation binding for +review. Supply independently reviewed digests; reading expectations from an +untrusted manifest does not establish authority. The source identity includes +the new helper bytes, unchanged parent cache contract, eight fixed source +hashes, original limiter AST hash, native units and rates. A changed helper +version needs a new reviewed source pin. The parent must be a full-feedback +training cache bound to the exact registered stage and ordered episode roster. +Development, confirmation and blind caches are refused. + +Construction revalidates parent **derived bytes** and reads only the registered +study/stage metadata and the recording, integrity and rollout JSON files bound +by that parent. It verifies complete row indices, causal snapshot/clock chains, +episode resets, teacher-query identities and actual-control authority. It also +checks that recorded normal references follow the twenty updates toward actual +issued commands. Metadata, source and parent bindings are checked again before +sealing. No frames, teacher-query bodies, native trace, trained model or physics +are loaded. This is **metadata verification, not a fresh strict raw export**: +the parent's original raw verification and subsequent source immutability are +prerequisites. Hashes detect changed bytes; they do not authenticate a producer +or prove physically truthful metadata. Keep exclusive write access during a +build; filesystem checks do not provide transactional isolation. + +The output is exactly a manifest and two C-order little-endian float64 `[N,7]` +NPY arrays. The manifest binds every episode's reset boundary, row offset and +count to the parent dataset, provenance, target array and caller expectations. +No pickle is accepted. Files are sealed read-only, with the manifest written +last. A load revalidates those derived arrays and the pinned parent, recomputes +the twenty-update labels, and returns read-only arrays plus the unchanged +parent dataset. It does not read source recordings or reverify raw footage. +The returned `feasible_targets` are **supervision**, never decoder input. + +Use a fresh directory outside both study and parent cache. Existing outputs, +extra files, symlink/hardlink paths, malformed/reordered/truncated arrays, +changed sources and active study workers are refused. Writes preserve a 30 GiB +free-space reserve. Interrupted prefixes remain for diagnosis and are not +accepted or overwritten. The bound is 128,000 rows; a larger experiment needs +an explicitly reviewed contract change. + +## Synthetic verification and remaining gate + +Run the focused tests using the repository's existing NumPy environment: + +```sh +PYTHONPATH=src python -B -m unittest tests.test_camera_action_reference_export -v +``` + +The tests use tiny authored metadata fixtures. Only fixture parent-cache +construction substitutes the original native recording reader; the new +reference-export build and load operate normally. An independent oracle +extracts and executes only the two hash-bound reference-update statements +from the original source, with no simulator. Tests compare **all twenty +microsteps** and endpoint reissue, preserve two distinct float64 resets that +collapse to the same float32 feature, and check mixed-label separation, +future/truth exclusion, before-seal mutation, stale pins, broken ancestry, +file tampering, split isolation, reserve enforcement and interrupted writes. + +The separate [head initialization preflight](camera-action-v02-head-preflight.md) +checks a proposed common-scale absolute/delta parameterization. Integration +still requires a registered learning experiment, real metadata admission, +serialization/inference tests and a runtime path that supplies the actual +retained limiter state. Neither this exporter nor that numerical preflight +fits or executes a policy. There is no new evidence of placement improvement, +physical transfer or a qualified skill; the frozen v0.1 result is unchanged. diff --git a/src/dvidia_training/camera_action_reference_export.py b/src/dvidia_training/camera_action_reference_export.py new file mode 100644 index 0000000..cb9bf27 --- /dev/null +++ b/src/dvidia_training/camera_action_reference_export.py @@ -0,0 +1,316 @@ +"""Exact causal servo references and feasible labels beside a pinned v0.1 cache. + +This additive Python API verifies source metadata, not raw RGB-D/native replay. +It does not change learner inputs, fit a model, or execute a policy or simulator. +Caller pins must be kept independently. Preserve source files immutably and use +exclusive write access while constructing a fresh derived artifact. +""" +from __future__ import annotations + +from hashlib import sha256 +import io +import math +from pathlib import Path + +import numpy as np + +from . import camera_action_cache as cache +from . import camera_action_model as model + +SCHEMA = 'dvidia.camera-action-reference-labels/v1' +FILES = {'manifest.json', 'previous-references.npy', 'feasible-targets.npy'} +MAX_SAMPLES = 128_000 +SCOPE = ('Derived training labels and exact prior normal servo references; metadata bytes verified, ' + 'not raw recording revalidation, source authentication, inference, physics or qualification.') +SOURCE_PINS = { + 'piper_task.py': 'e66a44a8df4e7a8ee42e4f3866f889f8797cdfb8e2688a146e09b75d2c76664f', + 'piper_imitation.py': '849f66512c58441a240cd20230fcc58691234ddd254c5bbcbfd76abc21b14868', + 'camera_action_model.py': 'e9a9c4d1d0f16fc7c91cac3ca2e6560d0532370ab78a2af5a4ec84425c23932f', + 'camera_action_export.py': '2c4e30587605edc0342150a93430a70ed0559c3ee3eda17d93c5670831370b02', + 'piper_action_capture.py': 'da037b2198cf7d2f3a9aa40fc19a4c0f5cc375a22c5dd75606e2c1856f6efc7f', + 'camera_action_capture.py': '399f512a08087c72bfa37e382157a2250f413e423974b77b1bd3c0a911ff0a1e', + 'robot_profiles.lock.json': '4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe', + 'camera_action_cache.py': '9191f2eb9f96bd09d4f711c31966a583bd938853a874e6018f8ddebfb0bc00d8', +} +CONTRACT = dict(reference_kind='previous_applied_normal_servo_reference', + reset_source='initial_applied_targets', later_source='steps[i-1].applied.ramped_targets', + joint_order=[f'joint{i}' for i in range(1, 7)], action_units=['rad']*6 + ['single_finger_m'], + limits_native=[list(x) for x in model.core.JOINT_LIMITS] + [[0., .035]], + timestep_s=.001, control_dt_s=.02, microsteps=20, joint_rate_rad_s=1.5, jaw_rate_m_s=.05, + endpoint_algorithm='20 original float64 reference updates, not closed-form projection', + clock_tolerance_s=1e-9, numerical_equivalence_tolerance_native=1e-12, + actual_pulse_overridden_controls_are_not_references=True, + limiter_ast_sha256='a5356fb9e1bd8b1dc6e6b2b14d657fbe625e018ba8d1e5e668ba4d11191f7921') + + +def source_identity(): + """Bind this helper, unchanged parent implementation and fixed limiter source.""" + package = Path(__file__).parent + actual = {name: sha256(cache._bytes(package/name, 8*1024**2)).hexdigest() for name in SOURCE_PINS} + if actual != SOURCE_PINS: + raise ValueError('Reference export requires the exact reviewed frozen source files.') + return dict(source_sha256=actual, parent_source=cache.source_identity(), contract=CONTRACT, + helper_sha256=sha256(cache._bytes(Path(__file__), 8*1024**2)).hexdigest()) + + +def source_digest(): + return cache._digest(source_identity()) + + +def _matrix(value, name): + if (not isinstance(value, np.ndarray) or value.dtype.str != ' bounds[:, 1]): + raise ValueError(name + ' exceeds original joint/single-finger bounds.') + return value + + +def _reference_updates(previous_references, targets): + references = _matrix(previous_references, 'Previous references').copy() + targets = _matrix(targets, 'Targets') + if targets.shape != references.shape: + raise ValueError('Previous references and targets must have identical shapes.') + # Same float64 subtraction, clipping and addition order as the two pinned + # native reference statements. The jaw is its NORMAL single-finger state, + # never pulse-overridden data.ctrl, measured q or a reference reconstructed + # from float32 features. This is only numerical reference evolution. + for _ in range(20): + references[:, :6] += np.clip(targets[:, :6]-references[:, :6], -1.5*.001, 1.5*.001) + references[:, 6] += np.clip(targets[:, 6]-references[:, 6], -.05*.001, .05*.001) + yield references.copy() + + +def feasible_targets(previous_references, targets): + """Return the original 20-update endpoints, without modifying either input.""" + for endpoint in _reference_updates(previous_references, targets): + pass + return endpoint + + +def _pins(expected_parent_manifest_sha256, expected_parent_source_sha256, + expected_protocol_sha256, expected_stage, expected_split, expected_source_sha256): + if expected_split != 'train' or expected_stage not in ('demonstrations', 'corrections'): + raise ValueError('Reference labels require an explicit training stage; no development or confirmation.') + return dict(parent_manifest_sha256=cache._hash(expected_parent_manifest_sha256, 'parent manifest'), + parent_source_sha256=cache._hash(expected_parent_source_sha256, 'parent source'), + protocol_sha256=cache._hash(expected_protocol_sha256, 'protocol'), + stage=expected_stage, split=expected_split, + source_sha256=cache._hash(expected_source_sha256, 'reference source')) + + +def _parent(directory, pins): + directory = cache._path(directory) + dataset = cache.load_cache(directory, + expected_manifest_sha256=pins['parent_manifest_sha256'], + expected_protocol_sha256=pins['protocol_sha256'], expected_split=pins['split'], + expected_source_sha256=pins['parent_source_sha256']) + manifest, digest = cache._json(directory/'manifest.json') + if (digest != pins['parent_manifest_sha256'] or manifest['blind'] is not False + or manifest['binding']['stage'] != pins['stage']): + raise ValueError('Parent must retain the pinned full-feedback training stage.') + return dataset, manifest + + +def _time(value, expected): + if (type(value) not in (int, float) or not math.isfinite(value) + or not math.isclose(value, expected, rel_tol=0., abs_tol=1e-9)): + raise ValueError('Reference row timestamps must preserve complete causal 20 ms intervals.') + + +def _metadata(root, episode): + path = episode['path'] + expected_path = f'episodes/{episode["label_stage"]}/{episode["attempt_id"]}' + if path != expected_path or Path(path).is_absolute() or '..' in Path(path).parts: + raise ValueError('Unregistered episode metadata path.') + bodies = {name: cache._bytes(root/path/name, 64*1024**2) + for name in ('recording.json', 'integrity.json', 'rollout.json')} + if {name: sha256(body).hexdigest() for name, body in bodies.items()} != episode['metadata_sha256']: + raise ValueError('Recording metadata differs from the independently pinned parent cache.') + return model.core._decode(bodies['recording.json']) + + +def _references(recording, source, episode, parent_targets): + """Only reset/preceding normal references become output; queries stay labels.""" + label = episode['label_source'] + mode = 'teacher' if label == 'issued' else 'mixed' + steps = recording.get('steps') + if (recording.get('schema') != 'dvidia.camera-action-rollout/v2' + or recording.get('control_mode') != mode or not isinstance(steps, list) + or len(steps) != source['sample_count'] or len(steps) != len(parent_targets) + or recording.get('provenance', {}).get('source_group') != source['source_group'] + or recording.get('provenance', {}).get('case_id') != source['case_id']): + raise ValueError('Recording identity, mode or sample count differs from the parent.') + previous = model.action_vector(recording['initial_applied_targets']) + references, issued, ramped, authorities, query_hashes = [], [], [], [], [] + prior_after = recording['initial'] + for i, step in enumerate(steps): + if type(step.get('index')) is not int or step['index'] != i or step['before'] != prior_after: + raise ValueError('Reference row indices and preceding snapshot chain must be preserved.') + start, end = step['before']['timestamp_seconds'], step['after']['timestamp_seconds'] + _time(start, i*.02); _time(end, (i+1)*.02) + _time(step['command']['issued_at_seconds'], start) + _time(step['applied']['interval_start_seconds'], start) + _time(step['applied']['interval_end_seconds'], end) + if step['applied']['scope'] != 'final_native_tick_only': + raise ValueError('References require the original final normal native-tick scope.') + authority = step['command']['authority'] + if authority not in (('teacher',) if mode == 'teacher' else ('teacher', 'student')): + raise ValueError('Recorded command authority differs from the parent label stage.') + issued_target = model.action_vector(step['command']['issued']) + if label == 'issued' and not np.array_equal(issued_target, parent_targets[i]): + raise ValueError('Teacher-issued labels differ from the pinned parent targets.') + if label == 'teacher_query': + query = step.get('teacher_query') + if not isinstance(query, dict): + raise ValueError('Mixed supervision requires a separately bound teacher query.') + query_hashes.append(cache._hash(query.get('sha256'), 'teacher query')) + references.append(previous.copy()) + issued.append(issued_target) + previous = model.action_vector(step['applied']['ramped_targets']) + ramped.append(previous.copy()); authorities.append(authority) + prior_after = step['after'] + if (cache._digest(authorities) != source['actual_authority_sha256'] + or cache._digest(query_hashes) != source['teacher_query_references_sha256']): + raise ValueError('Teacher-query or actual-control authority identities changed.') + references = np.asarray(references, dtype='', 'exec') + state = SimpleNamespace(command_targets=np.asarray(previous[:6], dtype=np.float64).copy(), + command_gripper=float(previous[6]), config=SimpleNamespace( + joint_target_rate_rad_s=1.5, jaw_target_rate_m_s=.05, timestep=.001)) + scope = dict(self=state, targets=np.asarray(target[:6], dtype=np.float64), + jaw=float(target[6]), np=np, float=float) + rows = [] + for _ in range(20): + exec(code, {'__builtins__': {}}, scope) + rows.append([*state.command_targets.tolist(), state.command_gripper]) + return np.asarray(rows, dtype=' Date: Mon, 9 Nov 2026 10:21:48 -0500 Subject: [PATCH 3/6] Check precision contracts across platforms with stable source bytes --- .gitattributes | 24 ++++++++++++++++++++++++ .github/workflows/ci.yml | 4 ++++ 2 files changed, 28 insertions(+) diff --git a/.gitattributes b/.gitattributes index c020970..b47787f 100644 --- a/.gitattributes +++ b/.gitattributes @@ -6,3 +6,27 @@ src/dvidia_training/piper_imitation_viewer.bundle.js linguist-generated=true -di src/dvidia_training/mujoco.wasm binary # Preserve exact NVIDIA metadata bytes, including upstream trailing blank lines. benchmarks/nvidia-material-appearance-v01-20261025/central-metadata/*.usda -text -whitespace +# Source-byte contracts must retain the same reviewed bytes on every OS. +src/dvidia_training/piper_task.py text eol=lf +src/dvidia_training/piper_imitation.py text eol=lf +src/dvidia_training/camera_action_model.py text eol=lf +src/dvidia_training/camera_action_export.py text eol=lf +src/dvidia_training/piper_action_capture.py text eol=lf +src/dvidia_training/camera_action_capture.py text eol=lf +src/dvidia_training/robot_profiles.lock.json text eol=lf +src/dvidia_training/camera_action_cache.py text eol=lf +src/dvidia_training/camera_action_reference_export.py text eol=lf +src/dvidia_training/camera_action_study.py text eol=lf +src/dvidia_training/piper_rgbd_tracker.py text eol=lf +src/dvidia_training/action_demonstration.py text eol=lf +src/dvidia_training/reference_task.py text eol=lf +src/dvidia_training/reference_sim.py text eol=lf +src/dvidia_training/piper_imitation_score.py text eol=lf +src/dvidia_training/piper_motor_primitive.py text eol=lf +src/dvidia_training/piper_feedback_env.py text eol=lf +src/dvidia_training/piper_feedback_score.py text eol=lf +src/dvidia_training/robot_profiles.py text eol=lf +src/dvidia_training/episode_tape.py text eol=lf +src/dvidia_training/embodiment_calibration.py text eol=lf +benchmarks/camera-action-v02-preflight/*.py text eol=lf +benchmarks/camera-action-v02-head-preflight/*.py text eol=lf diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 8b6bb1c..0243095 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -80,6 +80,10 @@ jobs: dvidia-training-doctor --json - name: Verify pinned learning caches run: python -m unittest tests.test_camera_action_cache tests.test_camera_cache_cli tests.test_camera_action_export tests.test_camera_action_model -v + - name: Verify exact-reference and initial-head contracts without physics + run: | + python -B -m unittest tests.test_camera_action_reference_export -v + python -B -m unittest discover -s benchmarks/camera-action-v02-head-preflight -p test_preflight.py -v - name: Test footage, visual training and loopback studio run: python -m unittest tests.test_footage_data tests.test_footage_train tests.test_footage_pipeline tests.test_footage_benchmark tests.test_training_studio tests.test_doctor tests.test_coverage tests.test_episode_tape tests.test_reaction tests.test_reaction_metrics tests.test_reaction_convergence tests.test_reaction_benchmark tests.test_motor_memory tests.test_motor_metrics tests.test_motor_benchmark tests.test_observations tests.test_observation_models tests.test_motion tests.test_motion_benchmark tests.test_transition_model tests.test_transition_pilot tests.test_transition_cli tests.test_embodiment_calibration tests.test_embodiment_cli tests.test_reference_sim -v From e14fc4affbadac7cf76f8f09053c14bb1522a7c2 Mon Sep 17 00:00:00 2001 From: DVIDIA Date: Mon, 9 Nov 2026 10:22:47 -0500 Subject: [PATCH 4/6] Make sealed-file rename fixture portable on Windows --- tests/test_camera_action_reference_export.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/tests/test_camera_action_reference_export.py b/tests/test_camera_action_reference_export.py index 31ac99c..595939a 100644 --- a/tests/test_camera_action_reference_export.py +++ b/tests/test_camera_action_reference_export.py @@ -318,7 +318,9 @@ def test_unknown_files_missing_seal_links_and_fresh_output(self): (out/'unknown').write_text('extra') with self.assertRaises(ValueError): self.load(f, built) (out/'unknown').unlink() - path = out/'previous-references.npy'; moved = self.root/'moved.npy'; path.rename(moved) + path = out/'previous-references.npy'; moved = self.root/'moved.npy' + path.chmod(0o644) # Windows refuses renaming an intentionally sealed file. + path.rename(moved) try: path.symlink_to(moved) except (OSError, NotImplementedError): From e92acc53f29227d9c52a94c7a3f9c998aa52a168 Mon Sep 17 00:00:00 2001 From: DVIDIA Date: Mon, 9 Nov 2026 10:32:04 -0500 Subject: [PATCH 5/6] Keep native oracle AST serialization stable across Python versions --- tests/test_camera_action_reference_export.py | 25 +++++++++++++++++++- 1 file changed, 24 insertions(+), 1 deletion(-) diff --git a/tests/test_camera_action_reference_export.py b/tests/test_camera_action_reference_export.py index 595939a..47026a0 100644 --- a/tests/test_camera_action_reference_export.py +++ b/tests/test_camera_action_reference_export.py @@ -40,7 +40,13 @@ def native_trace(previous, target): and isinstance(n.body[0], ast.AugAssign) and isinstance(n.body[0].target, ast.Attribute) and n.body[0].target.attr == 'command_targets') module = ast.Module(body=loop.body[:2], type_ignores=[]) - if sha256(ast.dump(module, include_attributes=False).encode()).hexdigest() != ref.CONTRACT['limiter_ast_sha256']: + # Python 3.13+ omits empty AST fields by default; the original digest uses + # Python 3.12's explicit empty lists. Preserve that representation only. + try: + serialized = ast.dump(module, include_attributes=False, show_empty=True) + except TypeError: # Python 3.10–3.12 have no show_empty keyword. + serialized = ast.dump(module, include_attributes=False) + if sha256(serialized.encode()).hexdigest() != ref.CONTRACT['limiter_ast_sha256']: raise AssertionError('Native numerical oracle changed') code = compile(ast.fix_missing_locations(module), '', 'exec') state = SimpleNamespace(command_targets=np.asarray(previous[:6], dtype=np.float64).copy(), @@ -190,6 +196,23 @@ def test_all_twenty_steps_and_endpoint_reissue_match_original_numeric_oracle(sel decoded_trace = np.stack(list(ref._reference_updates(previous, decoded)), axis=1) np.testing.assert_allclose(decoded_trace, original, rtol=0., atol=1e-12) + def test_oracle_requests_empty_ast_fields_on_newer_python(self): + original = ast.dump + calls = [] + def newer_dump(node, *, include_attributes=False, show_empty=False): + calls.append(show_empty) + if not show_empty: + return 'new default representation intentionally omits empty fields' + try: + return original(node, include_attributes=include_attributes, show_empty=True) + except TypeError: + return original(node, include_attributes=include_attributes) + with patch.object(ast, 'dump', side_effect=newer_dump): + trace = native_trace(np.asarray([0.,1.57,-1.3485,0.,0.,0.,.035]), + np.asarray([.1,1.57,-1.3485,0.,0.,0.,.03])) + self.assertEqual(calls, [True]) + self.assertEqual(trace.shape, (20,7)) + def test_queries_change_labels_not_inputs_or_reference_authority(self): left = self.parent(mixed=True, query=.8); l = self.load(left, self.build(left)) right = self.parent(mixed=True, query=-.8); r = self.load(right, self.build(right)) From f2676d3176f6a8cd1a05833d461ba40562f283f1 Mon Sep 17 00:00:00 2001 From: DVIDIA Date: Mon, 9 Nov 2026 10:37:27 -0500 Subject: [PATCH 6/6] Publish exact reference export validation across full training metadata --- .../README.md | 54 ++ .../full-training-results.json | 504 ++++++++++++++++++ .../script-provenance.json | 32 ++ .../validate_full_training_references.py | 246 +++++++++ docs/camera-action-reference-export-v01.md | 50 +- 5 files changed, 883 insertions(+), 3 deletions(-) create mode 100644 benchmarks/camera-action-reference-export-v01/README.md create mode 100644 benchmarks/camera-action-reference-export-v01/full-training-results.json create mode 100644 benchmarks/camera-action-reference-export-v01/script-provenance.json create mode 100644 benchmarks/camera-action-reference-export-v01/validate_full_training_references.py diff --git a/benchmarks/camera-action-reference-export-v01/README.md b/benchmarks/camera-action-reference-export-v01/README.md new file mode 100644 index 0000000..4f3cd18 --- /dev/null +++ b/benchmarks/camera-action-reference-export-v01/README.md @@ -0,0 +1,54 @@ +# Exact reference export: full training metadata validation + +One bounded run validated the 96,000 rows from 64 teacher demonstrations and +32 mixed-control corrections. It built exact float64 prior-reference and +feasible-label artifacts without reading raw images, depth, teacher-query +bodies, native traces, held-out recordings or trained models. No policy was +fitted or executed. The original candidate remains unqualified. + +- [Exact result receipt](full-training-results.json) +- [Portable reproduction helper](validate_full_training_references.py) +- [Executed versus portable script provenance](script-provenance.json) +- [Contract, metrics and remaining integration work](../../docs/camera-action-reference-export-v01.md) + +Reproduction requires the pinned source checkout at or containing `a9340b7`, +the unchanged v0.1 study metadata, and both independently verified parent caches +from the [full training cache validation](../camera-action-export-cache-v01/). +The reference helper reuses their strict source/data pins; it cannot create +trusted inputs from arbitrary metadata. Parent-cache creation performs the +separate raw verification step. Preserve those source bytes after verification. + +Use an existing NumPy environment and a fresh output outside the study/cache. +The measured run used Python 3.12.9 and NumPy 2.5.3 on arm64 macOS, one worker, +with at least 30 GiB free space retained. Example using absolute paths: + +```sh +cd /absolute/work-directory-outside-source +PYTHONPATH=/absolute/source/src OPENBLAS_NUM_THREADS=1 OMP_NUM_THREADS=1 \ +VECLIB_MAXIMUM_THREADS=1 /absolute/environment/bin/python -B \ + /absolute/source/benchmarks/camera-action-reference-export-v01/validate_full_training_references.py \ + --source-root /absolute/source \ + --study-root /absolute/sealed-study \ + --parent-cache-root /absolute/parent-cache-root \ + --output /absolute/fresh-reference-validation \ + --python-env /absolute/environment \ + --execution-cwd /absolute/work-directory-outside-source +``` + +The parent root must contain `demonstrations-cache` and `corrections-cache` with +the exact pinned manifests. The script builds each derived artifact once and +loads each three times. It refuses existing output and retains interrupted +prefixes. It makes no network request. The portable variant changes path +bindings and normalizes platform-specific RSS reporting only; its numerical +and validation operations are unchanged. RSS is null where unavailable. +The portable variant has not run the real benchmark again. + +The receipt is the exact original result, SHA-256 +`68908bb9111ca92c4d672c25aa58c55417b4197f60a50d89bc96cd4e46bd799e`. +Original script SHA-256: +`3eb816e1145a9e3ad24bda0468ef9312e9cae9f08325948ead8c7d41981b7e45`. +The measured run verifies normal reference endpoints after twenty updates, +not a new replay of each original native microstep. Mixed feasible labels are +counterfactual normal endpoints toward teacher suggestions, not proof that +those suggestions controlled the arm. These are data-preparation measurements; +there is no inference, training-speed or placement-success comparison. diff --git a/benchmarks/camera-action-reference-export-v01/full-training-results.json b/benchmarks/camera-action-reference-export-v01/full-training-results.json new file mode 100644 index 0000000..6863274 --- /dev/null +++ b/benchmarks/camera-action-reference-export-v01/full-training-results.json @@ -0,0 +1,504 @@ +{ + "builds": { + "corrections": { + "bytes": 3612882, + "files": { + "feasible-targets.npy": { + "bytes": 1792128, + "sha256": "c845a7e50949b10b4b5a2ac60725443b864563017be53e924a0a608012d5b96c" + }, + "manifest.json": { + "bytes": 28626, + "sha256": "dfbb096632e30527cf53bcf9e2627f31e94ad7a669f1820e295cda1b49546334" + }, + "previous-references.npy": { + "bytes": 1792128, + "sha256": "6a150b791c01b79210319b4e9bf45b6c541c3b5ea0955e1318be56f7b260199d" + } + }, + "pins": { + "manifest_sha256": "dfbb096632e30527cf53bcf9e2627f31e94ad7a669f1820e295cda1b49546334", + 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"episodes/corrections/train-26-goal0-mixed/integrity.json", + "episodes/corrections/train-26-goal0-mixed/recording.json", + "episodes/corrections/train-26-goal0-mixed/rollout.json", + "episodes/corrections/train-27-goal1-mixed/integrity.json", + "episodes/corrections/train-27-goal1-mixed/recording.json", + "episodes/corrections/train-27-goal1-mixed/rollout.json", + "episodes/corrections/train-28-goal0-mixed/integrity.json", + "episodes/corrections/train-28-goal0-mixed/recording.json", + "episodes/corrections/train-28-goal0-mixed/rollout.json", + "episodes/corrections/train-29-goal1-mixed/integrity.json", + "episodes/corrections/train-29-goal1-mixed/recording.json", + "episodes/corrections/train-29-goal1-mixed/rollout.json", + "episodes/corrections/train-30-goal0-mixed/integrity.json", + "episodes/corrections/train-30-goal0-mixed/recording.json", + "episodes/corrections/train-30-goal0-mixed/rollout.json", + "episodes/corrections/train-31-goal1-mixed/integrity.json", + "episodes/corrections/train-31-goal1-mixed/recording.json", + "episodes/corrections/train-31-goal1-mixed/rollout.json", + "episodes/demonstrations/train-00-goal0-teacher/integrity.json", + "episodes/demonstrations/train-00-goal0-teacher/recording.json", + "episodes/demonstrations/train-00-goal0-teacher/rollout.json", + "episodes/demonstrations/train-00-goal1-teacher/integrity.json", + "episodes/demonstrations/train-00-goal1-teacher/recording.json", + "episodes/demonstrations/train-00-goal1-teacher/rollout.json", + "episodes/demonstrations/train-01-goal0-teacher/integrity.json", + "episodes/demonstrations/train-01-goal0-teacher/recording.json", + "episodes/demonstrations/train-01-goal0-teacher/rollout.json", + "episodes/demonstrations/train-01-goal1-teacher/integrity.json", + "episodes/demonstrations/train-01-goal1-teacher/recording.json", + "episodes/demonstrations/train-01-goal1-teacher/rollout.json", + "episodes/demonstrations/train-02-goal0-teacher/integrity.json", + "episodes/demonstrations/train-02-goal0-teacher/recording.json", + "episodes/demonstrations/train-02-goal0-teacher/rollout.json", + "episodes/demonstrations/train-02-goal1-teacher/integrity.json", + "episodes/demonstrations/train-02-goal1-teacher/recording.json", + "episodes/demonstrations/train-02-goal1-teacher/rollout.json", + "episodes/demonstrations/train-03-goal0-teacher/integrity.json", + "episodes/demonstrations/train-03-goal0-teacher/recording.json", + "episodes/demonstrations/train-03-goal0-teacher/rollout.json", + "episodes/demonstrations/train-03-goal1-teacher/integrity.json", + "episodes/demonstrations/train-03-goal1-teacher/recording.json", + "episodes/demonstrations/train-03-goal1-teacher/rollout.json", + "episodes/demonstrations/train-04-goal0-teacher/integrity.json", + "episodes/demonstrations/train-04-goal0-teacher/recording.json", + "episodes/demonstrations/train-04-goal0-teacher/rollout.json", + "episodes/demonstrations/train-04-goal1-teacher/integrity.json", + "episodes/demonstrations/train-04-goal1-teacher/recording.json", + "episodes/demonstrations/train-04-goal1-teacher/rollout.json", + "episodes/demonstrations/train-05-goal0-teacher/integrity.json", + "episodes/demonstrations/train-05-goal0-teacher/recording.json", + "episodes/demonstrations/train-05-goal0-teacher/rollout.json", + "episodes/demonstrations/train-05-goal1-teacher/integrity.json", + "episodes/demonstrations/train-05-goal1-teacher/recording.json", + "episodes/demonstrations/train-05-goal1-teacher/rollout.json", + "episodes/demonstrations/train-06-goal0-teacher/integrity.json", + "episodes/demonstrations/train-06-goal0-teacher/recording.json", + "episodes/demonstrations/train-06-goal0-teacher/rollout.json", + "episodes/demonstrations/train-06-goal1-teacher/integrity.json", + "episodes/demonstrations/train-06-goal1-teacher/recording.json", + "episodes/demonstrations/train-06-goal1-teacher/rollout.json", + "episodes/demonstrations/train-07-goal0-teacher/integrity.json", + "episodes/demonstrations/train-07-goal0-teacher/recording.json", + "episodes/demonstrations/train-07-goal0-teacher/rollout.json", + "episodes/demonstrations/train-07-goal1-teacher/integrity.json", + "episodes/demonstrations/train-07-goal1-teacher/recording.json", + "episodes/demonstrations/train-07-goal1-teacher/rollout.json", + "episodes/demonstrations/train-08-goal0-teacher/integrity.json", + "episodes/demonstrations/train-08-goal0-teacher/recording.json", + "episodes/demonstrations/train-08-goal0-teacher/rollout.json", + "episodes/demonstrations/train-08-goal1-teacher/integrity.json", + "episodes/demonstrations/train-08-goal1-teacher/recording.json", + "episodes/demonstrations/train-08-goal1-teacher/rollout.json", + "episodes/demonstrations/train-09-goal0-teacher/integrity.json", + "episodes/demonstrations/train-09-goal0-teacher/recording.json", + "episodes/demonstrations/train-09-goal0-teacher/rollout.json", + "episodes/demonstrations/train-09-goal1-teacher/integrity.json", + "episodes/demonstrations/train-09-goal1-teacher/recording.json", + "episodes/demonstrations/train-09-goal1-teacher/rollout.json", + "episodes/demonstrations/train-10-goal0-teacher/integrity.json", + "episodes/demonstrations/train-10-goal0-teacher/recording.json", + "episodes/demonstrations/train-10-goal0-teacher/rollout.json", + "episodes/demonstrations/train-10-goal1-teacher/integrity.json", + "episodes/demonstrations/train-10-goal1-teacher/recording.json", + "episodes/demonstrations/train-10-goal1-teacher/rollout.json", + "episodes/demonstrations/train-11-goal0-teacher/integrity.json", + "episodes/demonstrations/train-11-goal0-teacher/recording.json", + "episodes/demonstrations/train-11-goal0-teacher/rollout.json", + "episodes/demonstrations/train-11-goal1-teacher/integrity.json", + "episodes/demonstrations/train-11-goal1-teacher/recording.json", + "episodes/demonstrations/train-11-goal1-teacher/rollout.json", + "episodes/demonstrations/train-12-goal0-teacher/integrity.json", + "episodes/demonstrations/train-12-goal0-teacher/recording.json", + "episodes/demonstrations/train-12-goal0-teacher/rollout.json", + "episodes/demonstrations/train-12-goal1-teacher/integrity.json", + "episodes/demonstrations/train-12-goal1-teacher/recording.json", + "episodes/demonstrations/train-12-goal1-teacher/rollout.json", + "episodes/demonstrations/train-13-goal0-teacher/integrity.json", + "episodes/demonstrations/train-13-goal0-teacher/recording.json", + "episodes/demonstrations/train-13-goal0-teacher/rollout.json", + "episodes/demonstrations/train-13-goal1-teacher/integrity.json", + "episodes/demonstrations/train-13-goal1-teacher/recording.json", + "episodes/demonstrations/train-13-goal1-teacher/rollout.json", + "episodes/demonstrations/train-14-goal0-teacher/integrity.json", + "episodes/demonstrations/train-14-goal0-teacher/recording.json", + "episodes/demonstrations/train-14-goal0-teacher/rollout.json", + "episodes/demonstrations/train-14-goal1-teacher/integrity.json", + "episodes/demonstrations/train-14-goal1-teacher/recording.json", + "episodes/demonstrations/train-14-goal1-teacher/rollout.json", + "episodes/demonstrations/train-15-goal0-teacher/integrity.json", + "episodes/demonstrations/train-15-goal0-teacher/recording.json", + "episodes/demonstrations/train-15-goal0-teacher/rollout.json", + "episodes/demonstrations/train-15-goal1-teacher/integrity.json", + "episodes/demonstrations/train-15-goal1-teacher/recording.json", + "episodes/demonstrations/train-15-goal1-teacher/rollout.json", + "episodes/demonstrations/train-16-goal0-teacher/integrity.json", + "episodes/demonstrations/train-16-goal0-teacher/recording.json", + "episodes/demonstrations/train-16-goal0-teacher/rollout.json", + "episodes/demonstrations/train-16-goal1-teacher/integrity.json", + "episodes/demonstrations/train-16-goal1-teacher/recording.json", + "episodes/demonstrations/train-16-goal1-teacher/rollout.json", + "episodes/demonstrations/train-17-goal0-teacher/integrity.json", + "episodes/demonstrations/train-17-goal0-teacher/recording.json", + "episodes/demonstrations/train-17-goal0-teacher/rollout.json", + "episodes/demonstrations/train-17-goal1-teacher/integrity.json", + "episodes/demonstrations/train-17-goal1-teacher/recording.json", + "episodes/demonstrations/train-17-goal1-teacher/rollout.json", + "episodes/demonstrations/train-18-goal0-teacher/integrity.json", + "episodes/demonstrations/train-18-goal0-teacher/recording.json", + "episodes/demonstrations/train-18-goal0-teacher/rollout.json", + "episodes/demonstrations/train-18-goal1-teacher/integrity.json", + "episodes/demonstrations/train-18-goal1-teacher/recording.json", + "episodes/demonstrations/train-18-goal1-teacher/rollout.json", + "episodes/demonstrations/train-19-goal0-teacher/integrity.json", + "episodes/demonstrations/train-19-goal0-teacher/recording.json", + "episodes/demonstrations/train-19-goal0-teacher/rollout.json", + "episodes/demonstrations/train-19-goal1-teacher/integrity.json", + "episodes/demonstrations/train-19-goal1-teacher/recording.json", + "episodes/demonstrations/train-19-goal1-teacher/rollout.json", + "episodes/demonstrations/train-20-goal0-teacher/integrity.json", + "episodes/demonstrations/train-20-goal0-teacher/recording.json", + "episodes/demonstrations/train-20-goal0-teacher/rollout.json", + "episodes/demonstrations/train-20-goal1-teacher/integrity.json", + "episodes/demonstrations/train-20-goal1-teacher/recording.json", + "episodes/demonstrations/train-20-goal1-teacher/rollout.json", + "episodes/demonstrations/train-21-goal0-teacher/integrity.json", + "episodes/demonstrations/train-21-goal0-teacher/recording.json", + "episodes/demonstrations/train-21-goal0-teacher/rollout.json", + "episodes/demonstrations/train-21-goal1-teacher/integrity.json", + "episodes/demonstrations/train-21-goal1-teacher/recording.json", + "episodes/demonstrations/train-21-goal1-teacher/rollout.json", + "episodes/demonstrations/train-22-goal0-teacher/integrity.json", + "episodes/demonstrations/train-22-goal0-teacher/recording.json", + "episodes/demonstrations/train-22-goal0-teacher/rollout.json", + "episodes/demonstrations/train-22-goal1-teacher/integrity.json", + "episodes/demonstrations/train-22-goal1-teacher/recording.json", + "episodes/demonstrations/train-22-goal1-teacher/rollout.json", + "episodes/demonstrations/train-23-goal0-teacher/integrity.json", + "episodes/demonstrations/train-23-goal0-teacher/recording.json", + "episodes/demonstrations/train-23-goal0-teacher/rollout.json", + "episodes/demonstrations/train-23-goal1-teacher/integrity.json", + "episodes/demonstrations/train-23-goal1-teacher/recording.json", + "episodes/demonstrations/train-23-goal1-teacher/rollout.json", + "episodes/demonstrations/train-24-goal0-teacher/integrity.json", + "episodes/demonstrations/train-24-goal0-teacher/recording.json", + "episodes/demonstrations/train-24-goal0-teacher/rollout.json", + "episodes/demonstrations/train-24-goal1-teacher/integrity.json", + "episodes/demonstrations/train-24-goal1-teacher/recording.json", + "episodes/demonstrations/train-24-goal1-teacher/rollout.json", + "episodes/demonstrations/train-25-goal0-teacher/integrity.json", + "episodes/demonstrations/train-25-goal0-teacher/recording.json", + "episodes/demonstrations/train-25-goal0-teacher/rollout.json", + "episodes/demonstrations/train-25-goal1-teacher/integrity.json", + "episodes/demonstrations/train-25-goal1-teacher/recording.json", + "episodes/demonstrations/train-25-goal1-teacher/rollout.json", + "episodes/demonstrations/train-26-goal0-teacher/integrity.json", + "episodes/demonstrations/train-26-goal0-teacher/recording.json", + "episodes/demonstrations/train-26-goal0-teacher/rollout.json", + "episodes/demonstrations/train-26-goal1-teacher/integrity.json", + "episodes/demonstrations/train-26-goal1-teacher/recording.json", + "episodes/demonstrations/train-26-goal1-teacher/rollout.json", + "episodes/demonstrations/train-27-goal0-teacher/integrity.json", + "episodes/demonstrations/train-27-goal0-teacher/recording.json", + "episodes/demonstrations/train-27-goal0-teacher/rollout.json", + "episodes/demonstrations/train-27-goal1-teacher/integrity.json", + "episodes/demonstrations/train-27-goal1-teacher/recording.json", + "episodes/demonstrations/train-27-goal1-teacher/rollout.json", + "episodes/demonstrations/train-28-goal0-teacher/integrity.json", + "episodes/demonstrations/train-28-goal0-teacher/recording.json", + "episodes/demonstrations/train-28-goal0-teacher/rollout.json", + "episodes/demonstrations/train-28-goal1-teacher/integrity.json", + "episodes/demonstrations/train-28-goal1-teacher/recording.json", + "episodes/demonstrations/train-28-goal1-teacher/rollout.json", + "episodes/demonstrations/train-29-goal0-teacher/integrity.json", + "episodes/demonstrations/train-29-goal0-teacher/recording.json", + "episodes/demonstrations/train-29-goal0-teacher/rollout.json", + "episodes/demonstrations/train-29-goal1-teacher/integrity.json", + "episodes/demonstrations/train-29-goal1-teacher/recording.json", + "episodes/demonstrations/train-29-goal1-teacher/rollout.json", + "episodes/demonstrations/train-30-goal0-teacher/integrity.json", + "episodes/demonstrations/train-30-goal0-teacher/recording.json", + "episodes/demonstrations/train-30-goal0-teacher/rollout.json", + "episodes/demonstrations/train-30-goal1-teacher/integrity.json", + "episodes/demonstrations/train-30-goal1-teacher/recording.json", + "episodes/demonstrations/train-30-goal1-teacher/rollout.json", + "episodes/demonstrations/train-31-goal0-teacher/integrity.json", + "episodes/demonstrations/train-31-goal0-teacher/recording.json", + "episodes/demonstrations/train-31-goal0-teacher/rollout.json", + "episodes/demonstrations/train-31-goal1-teacher/integrity.json", + "episodes/demonstrations/train-31-goal1-teacher/recording.json", + "episodes/demonstrations/train-31-goal1-teacher/rollout.json", + "protocol.json", + "registration.json", + "stages/corrections.integrity.json", + "stages/corrections.json", + "stages/demonstrations.integrity.json", + "stages/demonstrations.json" + ], + "original_metadata_files_read_count": 294, + "passed": true, + "peak_process_rss_bytes": 1238597632, + "qualified": false, + "raw_source_reverified": false, + "rows": 96000, + "schema": "dvidia.reference-export-full-training-validation/v1", + "scope": "Exact float64 reset/prior normal-reference ancestry and all96k twenty-update recorded normal endpoints verified against sealed metadata. Full original native microstep trajectories are not reread. Mixed feasible labels are counterfactual normal-reference endpoints toward teacher suggestions, not claims of executed teacher control.", + "script": { + "bytes": 14365, + "sha256": "3eb816e1145a9e3ad24bda0468ef9312e9cae9f08325948ead8c7d41981b7e45" + }, + "source_sha256": "e5b26c86013732007c483a23ad7218271980f0f03563c4ffd95c01ad87fd3041", + "timing_scope": "Metadata/source/parent validation and label derivation, plus three derived loads. Load timings include parent-cache validation and endpoint recomputation; parent identity checks, combination and combined golden checks are separate. No strict raw export comparator, training, inference or simulation timing.", + "wall_seconds": 12.57468479097588 +} diff --git a/benchmarks/camera-action-reference-export-v01/script-provenance.json b/benchmarks/camera-action-reference-export-v01/script-provenance.json new file mode 100644 index 0000000..7456e49 --- /dev/null +++ b/benchmarks/camera-action-reference-export-v01/script-provenance.json @@ -0,0 +1,32 @@ +{ + "executed_script": { + "bytes": 14365, + "sha256": "3eb816e1145a9e3ad24bda0468ef9312e9cae9f08325948ead8c7d41981b7e45" + }, + "helper_sha256": "ccf6f74f6100721868ccece67e5b27dae066c1b644c8297efe111125d9517753", + "portable_script": { + "bytes": 15089, + "path": "validate_full_training_references.py", + "sha256": "6367f894c299045d2bf98372af51a2c1394c3274d2a3a852985c268f3333f952" + }, + "portable_script_executed": false, + "publication_state": "locally_validated_peer_reviewed_result_and_portable_helper_reviewed", + "qualified": false, + "real_validation_runs": 1, + "result": { + "bytes": 28311, + "copy": "exact executed result bytes; no normalization", + "path": "full-training-results.json", + "sha256": "68908bb9111ca92c4d672c25aa58c55417b4197f60a50d89bc96cd4e46bd799e" + }, + "schema": "dvidia.reference-export-portable-evidence/v1", + "source_commit": "a9340b7d00bdd0618421027807faad247f9be99d", + "transformation": [ + "Host-specific paths become six required absolute CLI inputs.", + "Fresh output parent replaces host-specific proof directory for reserve/log placement.", + "Working-directory check uses required execution-cwd and additionally refuses a source-checkout cwd.", + "All functions preserve their AST after normalizing the execution-directory binding and the RSS reporting call; numerical, build/load, identity, authority and audit logic are unchanged.", + "All protocol/source/stage/parent/combined dataset pins and budgets remain unchanged.", + "RSS telemetry retains macOS bytes, converts Linux KiB to bytes, and reports null where resource telemetry is unavailable; no new measurement was run." + ] +} diff --git a/benchmarks/camera-action-reference-export-v01/validate_full_training_references.py b/benchmarks/camera-action-reference-export-v01/validate_full_training_references.py new file mode 100644 index 0000000..b1abfa5 --- /dev/null +++ b/benchmarks/camera-action-reference-export-v01/validate_full_training_references.py @@ -0,0 +1,246 @@ +"""One bounded metadata-only training reference validation; no fitting/physics. + +Build two exact-reference artifacts once, validate each three times, preserve +parent dataset identities. Original frames, query bodies, native arrays and +trained models are prohibited. Original data integrity is inherited from the +independently pinned parent cache; metadata-only checks are not raw revalidation. +""" +from datetime import datetime, timezone +import argparse +from hashlib import sha256 +import gc +import json +import os +from pathlib import Path +import platform +try: + import resource +except ImportError: # Windows has no resource module. + resource = None +import shutil +import subprocess +import sys +import time + +import numpy as np +from dvidia_training import camera_action_cache as cache +from dvidia_training import camera_action_export as export +from dvidia_training import camera_action_model as model +from dvidia_training import camera_action_reference_export as ref + +parser = argparse.ArgumentParser(description=__doc__) +for name in ('source-root', 'study-root', 'parent-cache-root', 'output', 'python-env', 'execution-cwd'): + parser.add_argument('--'+name, required=True, type=Path) +locations = parser.parse_args() +if any(not path.is_absolute() for path in vars(locations).values()): + parser.error('Every path must be absolute.') +WORKTREE = locations.source_root.resolve() +STUDY = locations.study_root.resolve() +PARENTS = locations.parent_cache_root.resolve() +OUTPUT = locations.output.resolve() +VENV = locations.python_env.resolve() +RUN_CWD = locations.execution_cwd.resolve() +PROOFS = OUTPUT.parent +if RUN_CWD == WORKTREE or WORKTREE in RUN_CWD.parents: + parser.error('Use an execution directory outside the source checkout.') +COMMIT = 'a9340b7d00bdd0618421027807faad247f9be99d' +HELPER_SHA = 'ccf6f74f6100721868ccece67e5b27dae066c1b644c8297efe111125d9517753' +SOURCE_SHA = 'e5b26c86013732007c483a23ad7218271980f0f03563c4ffd95c01ad87fd3041' +PARENT_SOURCE_SHA = '0ab01145c66d651eaca96d763b4bec1706327f2cdd4bd8665d05056cbdd6f677' +PROTOCOL_SHA = '576851e321034a0f6d3cb4d0818b3a5ca97975fcc6f2c7fa30b07ffd203a2d76' +PINS = { + 'demonstrations': {'manifest_sha256': '8acd728fcc8ed637b58138c3bd7466432a588fa439acefde4b3c90fa1adfdbaf', + 'dataset_sha256': '07b175f78e4e77cbdde9a461a4bcae4dcb0db7d389ee4f2e702ff28db8bb3dfc', + 'stage_sha256': '5d57eac599f1686d2bdb15bb53ceebe09e899ec71dfe87039aa85de7f853c06b', + 'episodes': 64, 'samples': 64000, 'label_source': 'issued'}, + 'corrections': {'manifest_sha256': '0997805831dfaacfe38d87468587f58c4e0b3f748165816e2167c4376676b96b', + 'dataset_sha256': '0561f8793ac6f68318d28c99e15ee8755c85412f3e34c990e1c4f0da4a5c1789', + 'stage_sha256': 'ae0a5653f728f147f929325c60318cb3d164c6d97d846fb96ac07ee9d27ad5cb', + 'episodes': 32, 'samples': 32000, 'label_source': 'teacher_query'}, +} +COMBINED_DATASET_SHA = 'b500b3ba348bba44cc79e377266f92910bd7e0165c36cd8b2fe260909b30a2f9' +COMBINED_PROVENANCE_SHA = '52cbeda62e3aa50e8cd6a34688fba7583f9fcec927cb0eb434a6907c99695f4f' +RESERVE = 30*1024**3 +MAX_OUTPUT = 32*1024**2 +ALLOWED_STUDY_READS = {STUDY/p for p in ('protocol.json', 'registration.json', + 'stages/demonstrations.json', 'stages/demonstrations.integrity.json', + 'stages/corrections.json', 'stages/corrections.integrity.json')} +OBSERVED_STUDY_READS = set() + + +def peak_rss_bytes(): + if resource is None or (sys.platform != 'darwin' and not sys.platform.startswith('linux')): + return None # Unavailable telemetry, never a fabricated zero. + observed = resource.getrusage(resource.RUSAGE_SELF).ru_maxrss + return observed if sys.platform == 'darwin' else observed * 1024 + + +def now(): return datetime.now(timezone.utc).isoformat() + + +def identity(path): + body=path.read_bytes() + return {'bytes':len(body), 'sha256':sha256(body).hexdigest()} + + +def write(path, document): + with path.open('x') as stream: + json.dump(document,stream,sort_keys=True,indent=2,allow_nan=False);stream.write('\n') + + +def status(state): + pending=OUTPUT/'status.pending.json' + pending.write_text(json.dumps(state,sort_keys=True,indent=2)+'\n') + pending.replace(OUTPUT/'status.json') + + +def progress(state,stage,**fields): + row={'at':now(),'stage':stage,**fields} + with (OUTPUT/'progress.jsonl').open('a') as stream: + stream.write(json.dumps(row,sort_keys=True,allow_nan=False)+'\n') + state.update(updated_at=row['at'],last_stage=stage,free_bytes=shutil.disk_usage(OUTPUT).free) + if state['free_bytes']MAX_OUTPUT: raise ValueError('Reference outputs exceed declared bound.') + rounds=[] + for index in range(3): + datasets=[]; loads=[] + for stage,pin in PINS.items(): + began=time.perf_counter() + loaded=ref.load_reference_export(OUTPUT/(stage+'-references'),PARENTS/(stage+'-cache'), + expected_manifest_sha256=builds[stage]['pins']['manifest_sha256'],**args_for(stage)) + seconds=time.perf_counter()-began + if loaded['previous_references'].shape!=(pin['samples'],7): raise ValueError('Reference row count changed.') + datasets.append(loaded['parent_dataset']) + began=time.perf_counter(); parent_check=match(datasets[-1],pin['dataset_sha256'],pin['samples']) + loads.append(dict(stage=stage,seconds=seconds,reference_rows=pin['samples'], + parent_identity=parent_check,parent_identity_check_seconds=time.perf_counter()-began)) + del loaded + began=time.perf_counter(); combined=export.combine_datasets(datasets);combine_seconds=time.perf_counter()-began + began=time.perf_counter(); check=match(combined,COMBINED_DATASET_SHA,96000);golden_seconds=time.perf_counter()-began + if check['provenance_sha256']!=COMBINED_PROVENANCE_SHA: raise ValueError('Combined parent provenance differs.') + row=dict(index=index+1,loads=loads,parent_combine_seconds=combine_seconds, + combined_parent_identity=check,combined_parent_golden_check_seconds=golden_seconds) + rounds.append(row);progress(state,'validated_load',**row) + del combined,datasets;gc.collect() + elapsed=time.perf_counter()-started + result=dict(schema='dvidia.reference-export-full-training-validation/v1',passed=True,qualified=False, + commit=COMMIT,source_sha256=SOURCE_SHA,script=identity(Path(__file__)),builds=builds,load_rounds=rounds, + rows=96000,episodes=96,native_runs=0,fitting_runs=0,raw_source_reverified=False, + original_metadata_files_read=sorted(OBSERVED_STUDY_READS),original_metadata_files_read_count=len(OBSERVED_STUDY_READS), + wall_seconds=elapsed,peak_process_rss_bytes=peak_rss_bytes(), + hardware=dict(platform=platform.platform(),machine=platform.machine(),python=platform.python_version(),numpy=np.__version__,shared_host=True), + timing_scope='Metadata/source/parent validation and label derivation, plus three derived loads. Load timings include parent-cache validation and endpoint recomputation; parent identity checks, combination and combined golden checks are separate. No strict raw export comparator, training, inference or simulation timing.', + scope='Exact float64 reset/prior normal-reference ancestry and all96k twenty-update recorded normal endpoints verified against sealed metadata. Full original native microstep trajectories are not reread. Mixed feasible labels are counterfactual normal-reference endpoints toward teacher suggestions, not claims of executed teacher control.', + limitations=['Original raw verification inherited from independently pinned parent caches; source trust/exclusive-access assumptions retained.', + 'No original images, depth, teacher-query bodies, native traces/NPZ, held-out episodes or trained models read.', + 'No model-head/inference integration, fitting, physical execution, manipulation improvement or new qualification.']) + write(OUTPUT/'result.json',result) + state.update(state='complete',finished_at=now(),exit_code=0,result=identity(OUTPUT/'result.json')) + status(state);(OUTPUT/'worker.lock').unlink() + print(json.dumps({'state':'complete','result':state['result']},sort_keys=True),flush=True) + except BaseException as error: + state.update(state='failed',finished_at=now(),exit_code=1,error_type=type(error).__name__,error=str(error)) + status(state) + if (OUTPUT/'worker.lock').exists(): (OUTPUT/'worker.lock').unlink() + raise + + +if __name__=='__main__': main() diff --git a/docs/camera-action-reference-export-v01.md b/docs/camera-action-reference-export-v01.md index 321e323..75545ea 100644 --- a/docs/camera-action-reference-export-v01.md +++ b/docs/camera-action-reference-export-v01.md @@ -4,8 +4,10 @@ This additive Python API preserves the exact prior servo reference needed to compare future absolute and reference-relative action heads. It writes two float64 arrays beside a caller-pinned v0.1 training cache. It does not change v0.1 features, targets, models, CLI, runtime, released wheel or qualification. -Only synthetic fixtures have exercised this new exporter; no original study -recording or trained model was read for this milestone. +Synthetic tests and one bounded run on all 96,000 training metadata rows have +now exercised this exporter. Original recording JSON metadata was read; raw +frames, native traces and trained models were not. This validates preparation, +not a learned policy. The existing feature cache stores normalized command history as float32. That history cannot recover the exact float64 servo state. For row zero of each @@ -107,9 +109,51 @@ collapse to the same float32 feature, and check mixed-label separation, future/truth exclusion, before-seal mutation, stale pins, broken ancestry, file tampering, split isolation, reserve enforcement and interrupted writes. +## Recorded training metadata validation + +On 9 November 2026, one run built both artifacts from the previously verified +training caches: 64 teacher episodes and 32 mixed-control episodes, each with +1,000 rows. Exact float64 reset/prior-reference ancestry and every recorded +normal endpoint after the twenty updates passed. All six per-stage loads and +three combined-parent checks retained the independently pinned dataset and +provenance identities. Exactly 294 original metadata files were read: six +study/stage files and three files per training episode. An audit guard refused +other original-study reads and writes and native physics imports. + +| Measurement | Observed value | +|---|---:| +| Rows / training episodes | 96,000 / 96 | +| One-time teacher reference construction | 7.253 s | +| One-time correction reference construction | 3.545 s | +| Total construction | 10.798 s | +| Total derived artifact size | 10,832,870 bytes | +| Both validated loads, three successive rounds | 0.303 / 0.258 / 0.233 s | +| Parent combination, separately measured | 0.107 / 0.097 / 0.096 s | +| Parent identity checks, separately measured | 0.254 / 0.207 / 0.183 s | +| Whole validation wall time | 12.575 s | +| Peak process RSS | 1,238,597,632 bytes | + +These shared-host measurements used arm64 macOS 26.5.2, Python 3.12.9 and NumPy +2.5.3 with one worker. Construction includes metadata, source and parent-cache +validation. Load timings include derived-byte and parent-cache validation plus +endpoint recomputation. The separately listed identity checks include both +stage datasets and their combination. Whole wall time includes preflight and +validation orchestration, excluding imports, initial output setup and the final +report write. There is no repeated raw export comparator, inference +latency, fitting time or placement-success measurement here. + +The [exact receipt](../benchmarks/camera-action-reference-export-v01/full-training-results.json) +and [reproduction instructions](../benchmarks/camera-action-reference-export-v01/) +retain the full scope and source pins. Source helper commit is `a9340b7`; later +CI and test portability changes preserve those helper bytes. The original +per-microstep native traces were not reread. Mixed feasible endpoints describe +what the normal reference would reach toward the teacher suggestion, while +reference ancestry follows the actual executed action. No teacher-control or +physical-truth claim is inferred from those counterfactual labels. + The separate [head initialization preflight](camera-action-v02-head-preflight.md) checks a proposed common-scale absolute/delta parameterization. Integration -still requires a registered learning experiment, real metadata admission, +still requires a registered learning experiment, new-data admission, serialization/inference tests and a runtime path that supplies the actual retained limiter state. Neither this exporter nor that numerical preflight fits or executes a policy. There is no new evidence of placement improvement,