| --- |
| 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 | |
|
|
