README.md

---
pretty_name: Sharpa Artifacts
tags:
- robotics
- dexterous-manipulation
- reinforcement-learning
- retargeting
- hdf5
- mano
---

# Sharpa Artifacts

Public, versioned machine artifacts for the Sharpa functional-reorientation
pipeline. Source code and download validators live in
[`ai4ce/dex_retarget`](https://github.com/ai4ce/dex_retarget).

## Start here: Astra trajectory augmentation

The repository now includes eight Sharpa Stage3 AutoDR residual-teacher
checkpoint **candidates** for generating physics-executed recovery trajectories.
Give an Astra agent the following guide as its execution handoff:

- [Astra guide: use the Phone8 teachers for trajectory augmentation](https://huggingface.co/datasets/FlappyHimself/sharpa-artifacts/blob/main/guides/phone8-stage3-autodr-candidates-v1/ASTRA_GUIDE.md)
- [Immutable Phone8 checkpoint release](https://huggingface.co/datasets/FlappyHimself/sharpa-artifacts/tree/942f7cd025ae050823a817c9aff6cb7cb810d009/objects/phone/releases/phone8-stage3-autodr-candidates-v1)

The intended loop is:

```text
matching Stage2 reference
  -> bounded hand/object tweak
  -> residual-teacher recovery in Isaac/PhysX
  -> functional-pose evaluation
  -> immutable rollout + action chain + diagnostics + 2x3 video
  -> optional accepted child tweak
```

This release contains the teachers and collection contract. It does **not**
claim that the proposed augmented rollout dataset has already been collected.

## Layout

Artifacts are organized by object and immutable release:

```text
objects/<object>/releases/<release-id>/
objects/<object>/reviews/<review-id>/
guides/<release-id>/
```

## Releases

### `phone8-stage3-autodr-candidates-v1`

- Eight per-phone Stage3 residual-teacher checkpoint candidates: `phone_02`,
  `phone_03`, `phone_05`, `phone_07`, `phone_10`, `phone_14`, `phone_17`, and
  `phone_18`.
- Each episode includes its checkpoint, Training Card, checkpoint receipt and
  evaluation summary.
- The release also includes a Data Card, collection specification, manifest and
  SHA256 inventory.
- Status: `CHECKPOINT_RELEASE_READY_CANDIDATES_NOT_PROMOTED`.

### `phone20-stage12-v2`

- Current Stage3-compatible Stage1/Stage2 release.
- Contains 20 accepted Stage1 NPZ files, 20 final Sharpa
  `retargeted_moving28_60fps.h5` trajectories, human/canonical H5 files,
  GoalContracts, QA videos, manifests and handoffs.
- [Open the 20-phone exact H5-to-video review index](https://huggingface.co/datasets/FlappyHimself/sharpa-artifacts/blob/main/objects/phone/reviews/phone20-stage12-v2-exact-render-v1/README.md).
  These fresh renders read the final V2 moving28 H5 bytes directly; human
  review remains pending.

### `phone20-stage12-v1`

- Historical first upload.
- Superseded for Stage3 because it renamed `inputs/` to `stage1/` and omitted
  the handoff-bound QA video.

## Consumer contract

Pin an exact Hugging Face revision and verify `release_manifest.json` plus
`checksums.sha256` before use. A checkpoint must be paired with the matching
episode's Stage2 H5, GoalContract, Training Card and runtime identity; similar
filenames are not interchangeable provenance.

Checkpoint availability is not policy promotion. These candidates have not
completed the full P2 robustness bank, automatic drop detection and human video
review required for a robust-teacher claim. See the per-episode evaluation
summary before selecting a source.

## Data boundary

This repository contains derived research artifacts and selected checkpoint
candidates. It does not contain raw Vicon/MANUS capture, the proposed new
augmentation rollout bytes, full training logs, a self-contained Isaac image,
or unrelated third-party assets. Public access does not grant rights to
third-party assets; consumers remain responsible for applicable licenses.

## Pinned identities

| Release | Artifact revision | Manifest SHA256 | Status |
|---|---|---|---|
| `phone8-stage3-autodr-candidates-v1` | `942f7cd025ae050823a817c9aff6cb7cb810d009` | `d8b0c52ebb5155eef17b033167b600114efd7bca22278e966e0136c80036b277` | checkpoint candidates published; rollouts not materialized |
| `phone20-stage12-v2` | `7c3a60460e2c953c929fbfffdc1ab5a9a8607851` | `84bd39b42ba3cdd0f9985fb4d6e1c002654d051dd7666b9fe9350b049b9b4149` | Stage3-compatible Stage1/Stage2 release |

## Review packages

| Review | Source release | Status |
|---|---|---|
| [`phone20-stage12-v2-exact-render-v1`](https://huggingface.co/datasets/FlappyHimself/sharpa-artifacts/blob/main/objects/phone/reviews/phone20-stage12-v2-exact-render-v1/README.md) | `phone20-stage12-v2` | 20 exact renders machine-verified; human review pending |