Publish Sharpa Phone8 Stage3 AutoDR checkpoint candidates v1

objects/phone/releases/phone8-stage3-autodr-candidates-v1/README.md

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+# Sharpa Phone8 Stage3 AutoDR checkpoint candidates v1
+
+This create-only release packages eight reference-conditioned Sharpa residual-teacher
+checkpoint candidates for mentor-side rollout generation. It does not duplicate the
+large Stage1/Stage2 payload: every checkpoint is bound to the public
+`phone20-stage12-v2` release in this same dataset repository.
+
+## Claim boundary
+
+- `CHECKPOINT_CANDIDATE` means that checkpoint bytes, SHA256, Training Card, W&B run,
+  and Stage2 lineage are materialized.
+- It does **not** mean robust teacher, P2 pass, human visual pass, cross-demo
+  generalization, or real-robot readiness.
+- `phone_03` and `phone_10` are the last complete candidates from crashed W&B runs.
+- `phone_04` is deliberately excluded because the current dashboard records a human
+  rejection. `phone_07` is the newer completed replacement candidate.
+
+## Layout
+
+```text
+episodes/<phone_id>/
+  checkpoint/model_<step>.pt
+  training_card.md
+  checkpoint_receipt.json
+  evaluation_summary.json
+release_manifest.json
+checksums.sha256
+mentor_trajectory_generation_spec.md
+data_card.md
+```
+
+## Consumer prerequisites
+
+- Isaac Sim 5.1.0.0, Torch 2.7.0, physics 120 Hz, control 30 Hz.
+- Task `Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-v1`.
+- Actor observation 162D, critic observation 199D, action 28D residual, history 3.
+- Load checkpoint model weights under the exact per-episode Training Card and matching
+  `phone20-stage12-v2` H5/GoalContract lineage.
+
+See `mentor_trajectory_generation_spec.md` for the proposed repeated
+`tweak -> teacher recovery -> functional pose` collection loop. The corresponding
+Data Card remains DRAFT until fresh rollout bytes and split manifests exist.

objects/phone/releases/phone8-stage3-autodr-candidates-v1/checksums.sha256

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objects/phone/releases/phone8-stage3-autodr-candidates-v1/data_card.md

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+# Data Card: SHARPA-BC-DATA-038 / phone8_mentor_tweak_recovery_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | `SHARPA-BC-DATA-038` |
+| Dataset ID | `phone8_mentor_tweak_recovery_v1` |
+| Status | `DRAFT / CHECKPOINT_RELEASE_READY / ROLLOUTS_NOT_YET_MATERIALIZED` |
+| Purpose | Collect diverse teacher-executed tweak-and-recovery trajectories for later BC/student training. |
+| Source mode | `teacher_rollout` |
+| Source lineage | `phone8-stage3-autodr-candidates-v1` checkpoints + `phone20-stage12-v2` Stage1/Stage2/GoalContract. |
+| Episodes / splits | Eight teachers; default 128 attempts each = 96 train + 32 heldout, frozen before collection. |
+| Sampling | Episode-balanced across teachers; tweak IDs and seeds preregistered. |
+| Observation | Teacher actor 162D plus separately persisted actual/privileged/diagnostic simulator state. |
+| Action / label | Persist the five-layer action chain; default BC label is final executed controller target, not raw residual. |
+| Normalization | `NOT_YET_MATERIALIZED`; compute from train only, episode-balanced, then freeze. |
+| Producer | Fresh Isaac/PhysX rollout under `mentor_trajectory_generation_spec.md`. |
+| Artifact / manifest | `NOT_YET_MATERIALIZED`; every attempt is create-only and SHA-bound. |
+| Claim boundary | Proposed same-distribution teacher-rollout dataset; no held-out result, robustness, generalization, or real-robot claim yet. |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher release | `phone8-stage3-autodr-candidates-v1` | `release_manifest.json` |
+| Stage1/Stage2 release | `phone20-stage12-v2` | exact release ID and revision in release manifest |
+| Checkpoints | Eight per-phone candidates | per-episode `checkpoint_receipt.json` |
+| Tweak contract | bounded RefAug/reset-only envelope | `mentor_trajectory_generation_spec.md` |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| `obs_actor` | `(T,162) float32` | Reference-conditioned teacher actor input; ordered as bound by Training Card. |
+| `obs_critic` | `(T,199) float32` | Privileged training-only critic input. |
+| `raw_residual` | `(T-1,28) float32` | Raw 6D wrist + 22D finger residual. |
+| `processed_residual` | `(T-1,28) float32` | Clipped/scaled residual. |
+| `reference_base_target_wxyz` | `(T-1,29) float32` | Reference wrist xyz+quat and 22 joints. |
+| `composed_target_preconstraint_wxyz` | `(T-1,29) float32` | Reference plus processed residual before final constraints. |
+| `final_applied_target_wxyz` | `(T-1,29) float32` | Controller target actually applied; default BC label. |
+| `actual_state` | structured float32 arrays | Wrist/joints/object pose and velocities before/after physics. |
+| `contact_diagnostics` | structured float32/bool arrays | Filtered contact, penetration, controller and safety diagnostics; not actor input by default. |
+| `attempt_metadata` | JSON | Source identities, split, seed, tweak and parent attempt. |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Physics / control | 120 Hz / 30 Hz, decimation 4. |
+| Transition | `obs_t -> policy/raw residual -> processed/composed/applied target_t -> 4 physics steps -> state_t+1`. |
+| History | Current plus two preceding control frames; start padding follows the frozen teacher runtime. |
+| Terminal | Complete episode plus 15 control-step / 0.5 s hold. |
+| Windows | Never cross attempt or episode boundaries. |
+
+## Splits, Sampling, and Leakage
+
+| Split | Episodes / rows | Purpose |
+|---|---|---|
+| Train | 96 preregistered attempts per teacher | Optimization and normalization only. |
+| Heldout | 32 preregistered attempts per teacher | One-shot same-distribution audit only; no selection or repair. |
+| Reflection / infra | Failed attempts retain original split ID | Debugging only; excluded from primary train rows. |
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Statistics source | Train split only. |
+| Weighting | Episode/teacher-balanced; do not let long trajectories dominate. |
+| Evaluation | Reuse frozen train statistics; never recompute on heldout. |
+| Status | `NOT_YET_MATERIALIZED`. |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Checkpoint SHA and source lineage | `PASS` | Stage3 release manifest and receipts. |
+| Attempt IDs and frozen splits | `NOT_YET_MATERIALIZED` | Future attempt ledger. |
+| Finite schema/timing/action-chain audit | `NOT_YET_MATERIALIZED` | Future validation receipt. |
+| P1/P2/video acceptance per attempt | `NOT_YET_MATERIALIZED` | Future evaluation suite cards. |
+| Dataset readiness | `DRAFT` | No rollout bytes are claimed by this release. |

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_02/checkpoint/model_7499.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3e622102b946d22bcaf076d8ca8c7e8ad8d8c81e623a84563cba2a2d80f807d5
+size 21074741

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_02/checkpoint_receipt.json

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+{
+  "checkpoint": {
+    "iteration": 7499,
+    "path": "checkpoint/model_7499.pt",
+    "sha256": "3e622102b946d22bcaf076d8ca8c7e8ad8d8c81e623a84563cba2a2d80f807d5",
+    "size_bytes": 21074741
+  },
+  "claim_boundary": "Checkpoint bytes and lineage are verified. Policy promotion requires the current automatic gates, human visual review, and any requested P2.",
+  "episode_id": "phone_02",
+  "evaluation": {
+    "automatic_drop_detection": "NOT_EVALUATED",
+    "automatic_pass_count": 1,
+    "case_count": 1,
+    "e4_pass_count": 1,
+    "e4_rms_max_mm": 6.179795886100257,
+    "e4_rms_min_mm": 6.179795886100257,
+    "e5_pass_count": 1,
+    "e6_pass_count": 1,
+    "e9_pass_count": 1,
+    "human_visual_review": "NOT_RUN",
+    "mode": "nominal_seed0",
+    "p2": "NOT_RUN",
+    "promotion": "NON_PROMOTABLE",
+    "status": "EVALUATED_AUTOMATIC_ONLY"
+  },
+  "policy_kind": "reference_conditioned_residual_teacher",
+  "run_state": "finished",
+  "schema": "sharpa_stage3_checkpoint_candidate_receipt_v1",
+  "source_stage12": {
+    "canonical_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2/canonical_retarget.h5",
+      "sha256": "6339a4c11cf221a4d3e6df71e242bc92c0f8fd4c3485a8a72a089152022b4ee6",
+      "size_bytes": 12153157
+    },
+    "goal_contract": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/contracts/goal_region_contract.json",
+      "sha256": "9fbd73fc09438aa85d2e889e29a123ccee21a5b46a340c8a36f0fd73963c72ea",
+      "size_bytes": 9874
+    },
+    "human_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2/human_demo_60hz.h5",
+      "sha256": "d278f3356c55e8ed37afb61f5d6d7cf98309456c384873f01caf1ca571739589",
+      "size_bytes": 415560
+    },
+    "moving28_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2/retargeted_moving28_60fps.h5",
+      "sha256": "0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717",
+      "size_bytes": 12473701
+    },
+    "reference_manifest": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2/reference_manifest.json",
+      "sha256": "843c8cc6b638687472f9f194e53399c8532a2ab2c8b0f88f1e05eb8ab1eae65f",
+      "size_bytes": 4039
+    },
+    "stage1_npz": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/inputs/stage1.npz",
+      "sha256": "40772c5680e325eb1d8278050093f78774a56be28faa9795e7cd460bf4c61f1e",
+      "size_bytes": 12448030
+    },
+    "stage2_handoff": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_02/stage2_handoff.json",
+      "sha256": "4b2c7bb02bfa7d87a8e0d82f68d67f193f0aea02890afd7ab4c6a6ec8eb6ef69",
+      "size_bytes": 2209
+    }
+  },
+  "status": "CHECKPOINT_CANDIDATE",
+  "task_id": "SHARPA-AC-P02-001",
+  "training_card": {
+    "path": "training_card.md",
+    "sha256": "5ffe7c315372cbacb1e27073446409130fa291832b0eacfab5b1138014b1695b"
+  },
+  "wandb": "https://wandb.ai/dfnet/dex-retarget/runs/sharpa-phone_02-autocurriculum-s1-v1"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_02/evaluation_summary.json

@@ -0,0 +1,16 @@
+{
+  "automatic_drop_detection": "NOT_EVALUATED",
+  "automatic_pass_count": 1,
+  "case_count": 1,
+  "e4_pass_count": 1,
+  "e4_rms_max_mm": 6.179795886100257,
+  "e4_rms_min_mm": 6.179795886100257,
+  "e5_pass_count": 1,
+  "e6_pass_count": 1,
+  "e9_pass_count": 1,
+  "human_visual_review": "NOT_RUN",
+  "mode": "nominal_seed0",
+  "p2": "NOT_RUN",
+  "promotion": "NON_PROMOTABLE",
+  "status": "EVALUATED_AUTOMATIC_ONLY"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_02/training_card.md

@@ -0,0 +1,108 @@
+# Training Card: phone_02_autocurriculum_v1
+
+| Field | Value |
+|---|---|
+| Description | [SHARPA-AC-P02-001] accepted phone_02 Stage2 reference的`No-DR plateau → RefAug/reset-only DR plateau → 8-seed 2×3 → W&B artifact/readback`正式teacher候选。 |
+| Role | T0 residual-teacher Auto-Curriculum mentor batch candidate |
+| Policy | Asymmetric MLP residual PPO；actor/critic `[1024,512,256,128]`；ELU；S0 fresh；S1 model-only warm start、fresh optimizer |
+| Policy input | 162D actor；199D asymmetric critic；history total 3 frames |
+| Hidden state | false |
+| Action | 28D normalized residual：6D floating root + 22D Sharpa fingers；no chunk `(1/1)` |
+| Data | accepted phone_02 handoff SHA256 `4b2c7bb02bfa7d87a8e0d82f68d67f193f0aea02890afd7ab4c6a6ec8eb6ef69`；moving28 H5 SHA256 `0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717` |
+| Training | S0 `Regrind-Sharpa-Wuji2ActuatorParity-RouteA-v0`后S1 `Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-v1`；各4096 env、24 steps/env、seed1、最多5000 iterations；checkpoint interval 500 |
+| Reward profile | exact T0-153/WUJI2 RouteA reward、termination与PPO；S1只开启冻结RefAug/reset-only DR |
+| Claim | 训练和发布完成只证明单episode remote reproduction；8-seed为diagnostic；P2仍`NOT_RUN`，不得声称robust teacher或真机成功。 |
+| Metric | matching 16-env gate；S0/S1 plateau selected checkpoint；8/8 rollout与2×3；W&B checkpoint/video artifact下载SHA回读 |
+| W&B | entity `dfnet`；project `dex-retarget`；group `sharpa-phone_02-autocurriculum-v1`；run IDs `sharpa-phone_02-autocurriculum-s0-v1`、`sharpa-phone_02-autocurriculum-s1-v1`、`sharpa-phone_02-autocurriculum-evaluation-seed0-7-v1` |
+
+## Policy Inputs
+
+| Field | Dim | Description |
+|---|---:|---|
+| object_position_world | 3 | 当前手机世界位置 |
+| object_rotation_6d_world | 6 | 当前手机世界朝向连续 6D 表示 |
+| wrist_position_history_3 | 9 | 当前及前两控制步 root 位置 |
+| wrist_rotation_6d_history_3 | 18 | 当前及前两控制步 root 朝向 |
+| joint_position_history_3 | 66 | 当前及前两控制步 22D Sharpa 关节角 |
+| previous_raw_action | 28 | 上一控制步 raw residual action |
+| demonstration_phase | 1 | 当前 reference index 的归一化 phase |
+| action_base_wrist_position_rotation_6d | 9 | 当前 reference root target |
+| action_base_joint_position | 22 | 当前 22D reference joint target |
+
+Critic 在 actor 162D 上增加五个语义 fingertip world positions（15D）和 22D joint velocity，共 199D；这些 privileged 量不进入 actor。
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Source config | `sharpa/configs/sharpa_managerbased_pipeline/dr_contract_refaug_reset_only_v1.json` |
+| Source config SHA256 | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8` |
+| Runtime readback | 每次gate/formal另写create-only readback；必须17/17 matching |
+| Runtime readback SHA256 | 冻结reference `21fbe1950c87fd029ce03827f204f70190845286ac7dd7d0d61165c2c307a804`；本次执行另写真实SHA |
+| Activation | S0关闭randomization；S1全部4096 env开启；nominal fraction `0.0` |
+| Schedule | S0独立plateau后切S1；S1重新初始化stage-local EMA；reference fade `.135→.292` |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围 |
+| Seed | 两阶段seed1 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reset | S0 reset | fixed；保留uniform RSI | No-DR nominal stage |
+| Reset | S1 phone relative XYZ | each `U[-0.006,0.006] m` | every reset |
+| Reset | S1 phone relative rotation | axis-angle `U[-3°,3°]` | every reset |
+| Reset | S1 finger wrap | `U[0,0.06] rad` | 只增加包握 |
+| Reset | S1 four-finger rub | `U[-0.025,0.025] rad` | 四指沿手机小范围扰动 |
+| Reference augmentation | common XY | each `U[-0.05,0.05] m` | hand与phone共用 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | hand与phone共用 |
+| Reference augmentation | phase fade | full through `.135`；zero at `.292` | 平滑退火回原reference |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass/COM/inertia/friction/drive固定；full gravity `-9.81 m/s²` |
+| Observation/noise/lag | disabled | clean、zero-lag observation |
+| Disturbance/push | disabled | 无external push |
+
+## Rewards
+
+| Reward | Weight | Description |
+|---|---:|---|
+| object_keypoints_pos_error_exp | 3.0 | 100 个手机表面点跟随 augmented reference |
+| object_lin_vel_error_exp | 1.0 | 手机线速度跟随 augmented reference |
+| object_ang_vel_error_exp | 1.0 | 手机角速度跟随 augmented reference |
+| hand_wrist_pos_error_exp | 0.1 | root 位置软约束 |
+| hand_wrist_rot_error_exp | 0.1 | root 朝向软约束 |
+| action_l2_exp | 0.5 | residual 幅度约束 |
+| action_rate_l2_exp | 1.0 | residual 平滑约束 |
+| action_out_of_bounds_exp | 1.0 | raw action `[-1,1]` 越界惩罚 |
+| early_terminated_penalty | -10.0 | 非 timeout 提前终止惩罚 |
+| fingertip_object_graph_error_exp | 0.75 | 五指尖—手机相对几何跟随 augmented reference |
+
+## Stage2 Reference Acceptance
+
+| Field | Frozen evidence |
+|---|---|
+| Stage1 source | SHA256 `40772c5680e325eb1d8278050093f78774a56be28faa9795e7cd460bf4c61f1e` |
+| Stage1 manifest | SHA256 `bc9f812397b58201b84bdd50c4a261eb0ebef9d7ffe74dcefa7a910d8698fb6a` |
+| Runtime human H5 | SHA256 `d278f3356c55e8ed37afb61f5d6d7cf98309456c384873f01caf1ca571739589` |
+| Canonical retarget H5 | SHA256 `6339a4c11cf221a4d3e6df71e242bc92c0f8fd4c3485a8a72a089152022b4ee6` |
+| Runtime retarget H5 | SHA256 `0c3efa5e3edcf27f45e31965927bd841dc4a7f11e6480aedcb552eeb93d9d717` |
+| Reference manifest | SHA256 `843c8cc6b638687472f9f194e53399c8532a2ab2c8b0f88f1e05eb8ab1eae65f` |
+| Handoff | SHA256 `4b2c7bb02bfa7d87a8e0d82f68d67f193f0aea02890afd7ab4c6a6ec8eb6ef69`；strict loader `STAGE2_HANDOFF_ACCEPTED` |
+| Timeline | 636 frames @ 60 Hz → 318 policy targets @ 30 Hz |
+| Stage2 QA | validation receipt SHA256 `a5a0484eda81480425ab7cede003dc6df162e38b39d0b77f3f92d9292b60521e`；T0-147-aligned nonpenetration/joint-limit/coupling/continuity gate PASS |
+| Full review | Stage1 MANO / Stage2 Sharpa 2×3 SHA256 `48bea39d525cafbcfd7817159498406992cd134116c630a346df140c2821c58b` |
+
+## Auto-Curriculum and Evaluation Contract
+
+| Field | Frozen value |
+|---|---|
+| Task ID | `SHARPA-AC-P02-001` |
+| Stop rule | 每stage独立EMA `.95`；min `1500`；meaningful improvement `2%`；patience `1000`；max local `4999` |
+| Transition | S0 selected checkpoint model-only warm start S1；fresh optimizer |
+| GoalContract | SHA256 `9fbd73fc09438aa85d2e889e29a123ccee21a5b46a340c8a36f0fd73963c72ea` |
+| Evaluation | selected S1；fresh Isaac；`refaug_reset_dr`；seed `0..7`；完整trajectory + 15-step hold |
+| Videos | 每seed一条Stage1 MANO top row / policy actual bottom row的H.264 2×3 |
+| Publication | S0/S1 selected checkpoint Artifact；evaluation bundle；W&B API下载回读与SHA/ffprobe |
+| P2 / Promotion | `NOT_RUN / NON_PROMOTABLE` |

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_03/checkpoint/model_9500.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17f193bc87a7fc7a0206240a9b3eb4b3de46d4a393d9a97b961af8442d4b3ae9
+size 21074741

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_03/checkpoint_receipt.json

@@ -0,0 +1,63 @@
+{
+  "checkpoint": {
+    "iteration": 9500,
+    "path": "checkpoint/model_9500.pt",
+    "sha256": "17f193bc87a7fc7a0206240a9b3eb4b3de46d4a393d9a97b961af8442d4b3ae9",
+    "size_bytes": 21074741
+  },
+  "claim_boundary": "Checkpoint bytes and lineage are verified. Policy promotion requires the current automatic gates, human visual review, and any requested P2.",
+  "episode_id": "phone_03",
+  "evaluation": {
+    "human_visual_review": "NOT_RUN",
+    "mode": "NOT_RUN",
+    "p2": "NOT_RUN",
+    "status": "NOT_RUN"
+  },
+  "policy_kind": "reference_conditioned_residual_teacher",
+  "run_state": "crashed_last_complete_candidate",
+  "schema": "sharpa_stage3_checkpoint_candidate_receipt_v1",
+  "source_stage12": {
+    "canonical_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2/canonical_retarget.h5",
+      "sha256": "9ded20ed79ed67c5aac01641aa6731ddd8ac258a90ee3610e1b10e7df6caca19",
+      "size_bytes": 954040
+    },
+    "goal_contract": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/contracts/goal_region_contract.json",
+      "sha256": "b270e9294e45524f2c630220d6ebfad3c98a3732c5ef30ed54ca0cb23dcd9281",
+      "size_bytes": 9874
+    },
+    "human_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2/human_demo_60hz.h5",
+      "sha256": "bd76bbdf9f62af38c0afc6ad6db7325b4315de3bfe715c784074cf448228b2de",
+      "size_bytes": 466120
+    },
+    "moving28_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2/retargeted_moving28_60fps.h5",
+      "sha256": "e01893ae13f59c7d974dd8e3ea44a926fc6099deb8795d936dfbc86df3ae6898",
+      "size_bytes": 958736
+    },
+    "reference_manifest": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2/reference_manifest.json",
+      "sha256": "014d7dd2d96cd36b723973490569c2ad443ddf6f3fdc60a4c787944c2f04f77d",
+      "size_bytes": 5150
+    },
+    "stage1_npz": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/inputs/stage1.npz",
+      "sha256": "65cf001964f7bdc9f462795dfd977cbf79d022674a93abba38a68f89a9f670c9",
+      "size_bytes": 14028732
+    },
+    "stage2_handoff": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_03/stage2_handoff.json",
+      "sha256": "beaa3033ad07dd214bca5766a20ec7c436d6e8ec62b03a129d33bc635f9467b2",
+      "size_bytes": 2205
+    }
+  },
+  "status": "CHECKPOINT_CANDIDATE",
+  "task_id": "SHARPA-AC-P03-001",
+  "training_card": {
+    "path": "training_card.md",
+    "sha256": "869c60753bc618296c19ac5f808b9eaeeb945bafd44a4baede3d7e8ee0695c94"
+  },
+  "wandb": "https://wandb.ai/dfnet/dex-retarget/runs/sharpa-phone_03-autocurriculum-s1-v1"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_03/evaluation_summary.json

@@ -0,0 +1,6 @@
+{
+  "human_visual_review": "NOT_RUN",
+  "mode": "NOT_RUN",
+  "p2": "NOT_RUN",
+  "status": "NOT_RUN"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_03/training_card.md

@@ -0,0 +1,108 @@
+# Training Card: phone_03_autocurriculum_v1
+
+| Field | Value |
+|---|---|
+| Description | [SHARPA-AC-P03-001] accepted phone_03 Stage2 reference的`No-DR plateau → RefAug/reset-only DR plateau → 8-seed 2×3 → W&B artifact/readback`正式teacher候选。 |
+| Role | T0 residual-teacher Auto-Curriculum mentor batch candidate |
+| Policy | Asymmetric MLP residual PPO；actor/critic `[1024,512,256,128]`；ELU；S0 fresh；S1 model-only warm start、fresh optimizer |
+| Policy input | 162D actor；199D asymmetric critic；history total 3 frames |
+| Hidden state | false |
+| Action | 28D normalized residual：6D floating root + 22D Sharpa fingers；no chunk `(1/1)` |
+| Data | accepted phone_03 handoff SHA256 `beaa3033ad07dd214bca5766a20ec7c436d6e8ec62b03a129d33bc635f9467b2`；moving28 H5 SHA256 `e01893ae13f59c7d974dd8e3ea44a926fc6099deb8795d936dfbc86df3ae6898` |
+| Training | S0 `Regrind-Sharpa-Wuji2ActuatorParity-RouteA-v0`后S1 `Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-v1`；各4096 env、24 steps/env、seed1、最多5000 iterations；checkpoint interval 500 |
+| Reward profile | exact T0-153/WUJI2 RouteA reward、termination与PPO；S1只开启冻结RefAug/reset-only DR |
+| Claim | 训练和发布完成只证明单episode remote reproduction；8-seed为diagnostic；P2仍`NOT_RUN`，不得声称robust teacher或真机成功。 |
+| Metric | matching 16-env gate；S0/S1 plateau selected checkpoint；8/8 rollout与2×3；W&B checkpoint/video artifact下载SHA回读 |
+| W&B | entity `dfnet`；project `dex-retarget`；group `sharpa-phone_03-autocurriculum-v1`；run IDs `sharpa-phone_03-autocurriculum-s0-v1`、`sharpa-phone_03-autocurriculum-s1-v1`、`sharpa-phone_03-autocurriculum-evaluation-seed0-7-v1` |
+
+## Policy Inputs
+
+| Field | Dim | Description |
+|---|---:|---|
+| object_position_world | 3 | 当前手机世界位置 |
+| object_rotation_6d_world | 6 | 当前手机世界朝向连续 6D 表示 |
+| wrist_position_history_3 | 9 | 当前及前两控制步 root 位置 |
+| wrist_rotation_6d_history_3 | 18 | 当前及前两控制步 root 朝向 |
+| joint_position_history_3 | 66 | 当前及前两控制步 22D Sharpa 关节角 |
+| previous_raw_action | 28 | 上一控制步 raw residual action |
+| demonstration_phase | 1 | 当前 reference index 的归一化 phase |
+| action_base_wrist_position_rotation_6d | 9 | 当前 reference root target |
+| action_base_joint_position | 22 | 当前 22D reference joint target |
+
+Critic 在 actor 162D 上增加五个语义 fingertip world positions（15D）和 22D joint velocity，共 199D；这些 privileged 量不进入 actor。
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Source config | `sharpa/configs/sharpa_managerbased_pipeline/dr_contract_refaug_reset_only_v1.json` |
+| Source config SHA256 | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8` |
+| Runtime readback | 每次gate/formal另写create-only readback；必须17/17 matching |
+| Runtime readback SHA256 | 冻结reference `21fbe1950c87fd029ce03827f204f70190845286ac7dd7d0d61165c2c307a804`；本次执行另写真实SHA |
+| Activation | S0关闭randomization；S1全部4096 env开启；nominal fraction `0.0` |
+| Schedule | S0独立plateau后切S1；S1重新初始化stage-local EMA；reference fade `.135→.292` |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围 |
+| Seed | 两阶段seed1 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reset | S0 reset | fixed；保留uniform RSI | No-DR nominal stage |
+| Reset | S1 phone relative XYZ | each `U[-0.006,0.006] m` | every reset |
+| Reset | S1 phone relative rotation | axis-angle `U[-3°,3°]` | every reset |
+| Reset | S1 finger wrap | `U[0,0.06] rad` | 只增加包握 |
+| Reset | S1 four-finger rub | `U[-0.025,0.025] rad` | 四指沿手机小范围扰动 |
+| Reference augmentation | common XY | each `U[-0.05,0.05] m` | hand与phone共用 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | hand与phone共用 |
+| Reference augmentation | phase fade | full through `.135`；zero at `.292` | 平滑退火回原reference |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass/COM/inertia/friction/drive固定；full gravity `-9.81 m/s²` |
+| Observation/noise/lag | disabled | clean、zero-lag observation |
+| Disturbance/push | disabled | 无external push |
+
+## Rewards
+
+| Reward | Weight | Description |
+|---|---:|---|
+| object_keypoints_pos_error_exp | 3.0 | 100 个手机表面点跟随 augmented reference |
+| object_lin_vel_error_exp | 1.0 | 手机线速度跟随 augmented reference |
+| object_ang_vel_error_exp | 1.0 | 手机角速度跟随 augmented reference |
+| hand_wrist_pos_error_exp | 0.1 | root 位置软约束 |
+| hand_wrist_rot_error_exp | 0.1 | root 朝向软约束 |
+| action_l2_exp | 0.5 | residual 幅度约束 |
+| action_rate_l2_exp | 1.0 | residual 平滑约束 |
+| action_out_of_bounds_exp | 1.0 | raw action `[-1,1]` 越界惩罚 |
+| early_terminated_penalty | -10.0 | 非 timeout 提前终止惩罚 |
+| fingertip_object_graph_error_exp | 0.75 | 五指尖—手机相对几何跟随 augmented reference |
+
+## Stage2 Reference Acceptance
+
+| Field | Frozen evidence |
+|---|---|
+| Stage1 source | SHA256 `65cf001964f7bdc9f462795dfd977cbf79d022674a93abba38a68f89a9f670c9` |
+| Stage1 manifest | SHA256 `c6bad88fc48b0a81ec4f59a0a729e055b9bae609b58a9669871f5ef4b81308fb` |
+| Runtime human H5 | SHA256 `bd76bbdf9f62af38c0afc6ad6db7325b4315de3bfe715c784074cf448228b2de` |
+| Canonical retarget H5 | SHA256 `9ded20ed79ed67c5aac01641aa6731ddd8ac258a90ee3610e1b10e7df6caca19` |
+| Runtime retarget H5 | SHA256 `e01893ae13f59c7d974dd8e3ea44a926fc6099deb8795d936dfbc86df3ae6898` |
+| Reference manifest | SHA256 `014d7dd2d96cd36b723973490569c2ad443ddf6f3fdc60a4c787944c2f04f77d` |
+| Handoff | SHA256 `beaa3033ad07dd214bca5766a20ec7c436d6e8ec62b03a129d33bc635f9467b2`；strict loader `STAGE2_HANDOFF_ACCEPTED` |
+| Timeline | 715 frames @ 60 Hz → 358 policy targets @ 30 Hz |
+| Stage2 QA | validation receipt SHA256 `29bfdb11b90095e08efefd38a528d99007b5c3d4b8c498436211e8ffd5279b5f`；T0-147-aligned nonpenetration/joint-limit/coupling/continuity gate PASS |
+| Full review | Stage1 MANO / Stage2 Sharpa 2×3 SHA256 `defb35b5167d176acfe6d28f69303abe9b0baefa8a548cac9443745b8198d9ba` |
+
+## Auto-Curriculum and Evaluation Contract
+
+| Field | Frozen value |
+|---|---|
+| Task ID | `SHARPA-AC-P03-001` |
+| Stop rule | 每stage独立EMA `.95`；min `1500`；meaningful improvement `2%`；patience `1000`；max local `4999` |
+| Transition | S0 selected checkpoint model-only warm start S1；fresh optimizer |
+| GoalContract | SHA256 `b270e9294e45524f2c630220d6ebfad3c98a3732c5ef30ed54ca0cb23dcd9281` |
+| Evaluation | selected S1；fresh Isaac；`refaug_reset_dr`；seed `0..7`；完整trajectory + 15-step hold |
+| Videos | 每seed一条Stage1 MANO top row / policy actual bottom row的H.264 2×3 |
+| Publication | S0/S1 selected checkpoint Artifact；evaluation bundle；W&B API下载回读与SHA/ffprobe |
+| P2 / Promotion | `NOT_RUN / NON_PROMOTABLE` |

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_05/checkpoint/model_7000.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4387769c731d96cc7a26580177664b431ce8ba361d1eed7a6ba17e9c71325283
+size 21074741

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_05/checkpoint_receipt.json

@@ -0,0 +1,73 @@
+{
+  "checkpoint": {
+    "iteration": 7000,
+    "path": "checkpoint/model_7000.pt",
+    "sha256": "4387769c731d96cc7a26580177664b431ce8ba361d1eed7a6ba17e9c71325283",
+    "size_bytes": 21074741
+  },
+  "claim_boundary": "Checkpoint bytes and lineage are verified. Policy promotion requires the current automatic gates, human visual review, and any requested P2.",
+  "episode_id": "phone_05",
+  "evaluation": {
+    "automatic_drop_detection": "NOT_EVALUATED",
+    "automatic_pass_count": 6,
+    "case_count": 8,
+    "e4_pass_count": 6,
+    "e4_rms_max_mm": 12.15544293471119,
+    "e4_rms_min_mm": 10.850174595134927,
+    "e5_pass_count": 8,
+    "e6_pass_count": 8,
+    "e9_pass_count": 8,
+    "human_visual_review": "NOT_RUN",
+    "mode": "refaug_reset_dr_seed0_7",
+    "p2": "NOT_RUN",
+    "promotion": "NON_PROMOTABLE",
+    "status": "EVALUATED_AUTOMATIC_ONLY"
+  },
+  "policy_kind": "reference_conditioned_residual_teacher",
+  "run_state": "finished",
+  "schema": "sharpa_stage3_checkpoint_candidate_receipt_v1",
+  "source_stage12": {
+    "canonical_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/stage2/canonical_retarget.h5",
+      "sha256": "edf6c33c9b966f9e172f6fe0295c958ebc5de1710c14ae6e99ffc04825eff80a",
+      "size_bytes": 885400
+    },
+    "goal_contract": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/contracts/goal_region_contract.json",
+      "sha256": "2d2b0d99b4f93e76e1e6ca3ae1552980fa3ea807b0c63857313b48ad256746c1",
+      "size_bytes": 9874
+    },
+    "human_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/stage2/human_demo_60hz.h5",
+      "sha256": "d1489d0612041d1837a120f2d8babb4ae06550d23f3ac0bc6789e553e27a4336",
+      "size_bytes": 432840
+    },
+    "moving28_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/stage2/retargeted_moving28_60fps.h5",
+      "sha256": "9fe13a0aae246b2e727fedb0c03e54a69b3ca8ad28f1982e046beaf810a3d1fd",
+      "size_bytes": 890096
+    },
+    "reference_manifest": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/stage2/reference_manifest.json",
+      "sha256": "322c7be195ad458c2bdadd0d9303fc56c46977e56e9c86089bb59c5449670f0f",
+      "size_bytes": 10957
+    },
+    "stage1_npz": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/inputs/stage1.npz",
+      "sha256": "871063aabcad4abf5b13e728f7c3cb3b02e6d6c439902ddef826024a5b936e1a",
+      "size_bytes": 12976916
+    },
+    "stage2_handoff": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_05/stage2_handoff.json",
+      "sha256": "1f6f486535bef9cbd0c947dc0208be42e551c0ddeb007237c8a45e501111eeb9",
+      "size_bytes": 2207
+    }
+  },
+  "status": "CHECKPOINT_CANDIDATE",
+  "task_id": "SHARPA-AC-P05-001",
+  "training_card": {
+    "path": "training_card.md",
+    "sha256": "394c778edd2d31fcddb93c3bf26a4e30c87ff3afc0d4ada0e6570246df0df2bc"
+  },
+  "wandb": "https://wandb.ai/dfnet/dex-retarget/runs/sharpa-phone_05-autocurriculum-s1-v1"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_05/evaluation_summary.json

@@ -0,0 +1,16 @@
+{
+  "automatic_drop_detection": "NOT_EVALUATED",
+  "automatic_pass_count": 6,
+  "case_count": 8,
+  "e4_pass_count": 6,
+  "e4_rms_max_mm": 12.15544293471119,
+  "e4_rms_min_mm": 10.850174595134927,
+  "e5_pass_count": 8,
+  "e6_pass_count": 8,
+  "e9_pass_count": 8,
+  "human_visual_review": "NOT_RUN",
+  "mode": "refaug_reset_dr_seed0_7",
+  "p2": "NOT_RUN",
+  "promotion": "NON_PROMOTABLE",
+  "status": "EVALUATED_AUTOMATIC_ONLY"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_05/training_card.md

@@ -0,0 +1,108 @@
+# Training Card: phone_05_autocurriculum_v1
+
+| Field | Value |
+|---|---|
+| Description | [SHARPA-AC-P05-001] accepted phone_05 Stage2 reference的`No-DR plateau → RefAug/reset-only DR plateau → 8-seed 2×3 → W&B artifact/readback`正式teacher候选。 |
+| Role | T0 residual-teacher Auto-Curriculum mentor batch candidate |
+| Policy | Asymmetric MLP residual PPO；actor/critic `[1024,512,256,128]`；ELU；S0 fresh；S1 model-only warm start、fresh optimizer |
+| Policy input | 162D actor；199D asymmetric critic；history total 3 frames |
+| Hidden state | false |
+| Action | 28D normalized residual：6D floating root + 22D Sharpa fingers；no chunk `(1/1)` |
+| Data | accepted phone_05 handoff SHA256 `1f6f486535bef9cbd0c947dc0208be42e551c0ddeb007237c8a45e501111eeb9`；moving28 H5 SHA256 `9fe13a0aae246b2e727fedb0c03e54a69b3ca8ad28f1982e046beaf810a3d1fd` |
+| Training | S0 `Regrind-Sharpa-Wuji2ActuatorParity-RouteA-v0`后S1 `Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-v1`；各4096 env、24 steps/env、seed1、最多5000 iterations；checkpoint interval 500 |
+| Reward profile | exact T0-153/WUJI2 RouteA reward、termination与PPO；S1只开启冻结RefAug/reset-only DR |
+| Claim | 训练和发布完成只证明单episode remote reproduction；8-seed为diagnostic；P2仍`NOT_RUN`，不得声称robust teacher或真机成功。 |
+| Metric | matching 16-env gate；S0/S1 plateau selected checkpoint；8/8 rollout与2×3；W&B checkpoint/video artifact下载SHA回读 |
+| W&B | entity `dfnet`；project `dex-retarget`；group `sharpa-phone_05-autocurriculum-v1`；run IDs `sharpa-phone_05-autocurriculum-s0-v1`、`sharpa-phone_05-autocurriculum-s1-v1`、`sharpa-phone_05-autocurriculum-evaluation-seed0-7-v1` |
+
+## Policy Inputs
+
+| Field | Dim | Description |
+|---|---:|---|
+| object_position_world | 3 | 当前手机世界位置 |
+| object_rotation_6d_world | 6 | 当前手机世界朝向连续 6D 表示 |
+| wrist_position_history_3 | 9 | 当前及前两控制步 root 位置 |
+| wrist_rotation_6d_history_3 | 18 | 当前及前两控制步 root 朝向 |
+| joint_position_history_3 | 66 | 当前及前两控制步 22D Sharpa 关节角 |
+| previous_raw_action | 28 | 上一控制步 raw residual action |
+| demonstration_phase | 1 | 当前 reference index 的归一化 phase |
+| action_base_wrist_position_rotation_6d | 9 | 当前 reference root target |
+| action_base_joint_position | 22 | 当前 22D reference joint target |
+
+Critic 在 actor 162D 上增加五个语义 fingertip world positions（15D）和 22D joint velocity，共 199D；这些 privileged 量不进入 actor。
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Source config | `sharpa/configs/sharpa_managerbased_pipeline/dr_contract_refaug_reset_only_v1.json` |
+| Source config SHA256 | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8` |
+| Runtime readback | 每次gate/formal另写create-only readback；必须17/17 matching |
+| Runtime readback SHA256 | 冻结reference `21fbe1950c87fd029ce03827f204f70190845286ac7dd7d0d61165c2c307a804`；本次执行另写真实SHA |
+| Activation | S0关闭randomization；S1全部4096 env开启；nominal fraction `0.0` |
+| Schedule | S0独立plateau后切S1；S1重新初始化stage-local EMA；reference fade `.135→.292` |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围 |
+| Seed | 两阶段seed1 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reset | S0 reset | fixed；保留uniform RSI | No-DR nominal stage |
+| Reset | S1 phone relative XYZ | each `U[-0.006,0.006] m` | every reset |
+| Reset | S1 phone relative rotation | axis-angle `U[-3°,3°]` | every reset |
+| Reset | S1 finger wrap | `U[0,0.06] rad` | 只增加包握 |
+| Reset | S1 four-finger rub | `U[-0.025,0.025] rad` | 四指沿手机小范围扰动 |
+| Reference augmentation | common XY | each `U[-0.05,0.05] m` | hand与phone共用 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | hand与phone共用 |
+| Reference augmentation | phase fade | full through `.135`；zero at `.292` | 平滑退火回原reference |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass/COM/inertia/friction/drive固定；full gravity `-9.81 m/s²` |
+| Observation/noise/lag | disabled | clean、zero-lag observation |
+| Disturbance/push | disabled | 无external push |
+
+## Rewards
+
+| Reward | Weight | Description |
+|---|---:|---|
+| object_keypoints_pos_error_exp | 3.0 | 100 个手机表面点跟随 augmented reference |
+| object_lin_vel_error_exp | 1.0 | 手机线速度跟随 augmented reference |
+| object_ang_vel_error_exp | 1.0 | 手机角速度跟随 augmented reference |
+| hand_wrist_pos_error_exp | 0.1 | root 位置软约束 |
+| hand_wrist_rot_error_exp | 0.1 | root 朝向软约束 |
+| action_l2_exp | 0.5 | residual 幅度约束 |
+| action_rate_l2_exp | 1.0 | residual 平滑约束 |
+| action_out_of_bounds_exp | 1.0 | raw action `[-1,1]` 越界惩罚 |
+| early_terminated_penalty | -10.0 | 非 timeout 提前终止惩罚 |
+| fingertip_object_graph_error_exp | 0.75 | 五指尖—手机相对几何跟随 augmented reference |
+
+## Stage2 Reference Acceptance
+
+| Field | Frozen evidence |
+|---|---|
+| Stage1 source | SHA256 `871063aabcad4abf5b13e728f7c3cb3b02e6d6c439902ddef826024a5b936e1a` |
+| Stage1 manifest | SHA256 `2799f1a05e82d22b2fb370780c828d70e6bb88eb59223a050aaaa1cc8f9f0ae5` |
+| Runtime human H5 | SHA256 `d1489d0612041d1837a120f2d8babb4ae06550d23f3ac0bc6789e553e27a4336` |
+| Canonical retarget H5 | SHA256 `edf6c33c9b966f9e172f6fe0295c958ebc5de1710c14ae6e99ffc04825eff80a` |
+| Runtime retarget H5 | SHA256 `9fe13a0aae246b2e727fedb0c03e54a69b3ca8ad28f1982e046beaf810a3d1fd` |
+| Reference manifest | SHA256 `322c7be195ad458c2bdadd0d9303fc56c46977e56e9c86089bb59c5449670f0f` |
+| Handoff | SHA256 `1f6f486535bef9cbd0c947dc0208be42e551c0ddeb007237c8a45e501111eeb9`；strict loader `STAGE2_HANDOFF_ACCEPTED` |
+| Timeline | 663 frames @ 60 Hz → 332 policy targets @ 30 Hz |
+| Stage2 QA | validation receipt SHA256 `bf567e59acae6e2b0227d8297a23349725d1aa50a335eb8c6b645e992583f6c9`；T0-147-aligned nonpenetration/joint-limit/coupling/continuity gate PASS |
+| Full review | Stage1 MANO / Stage2 Sharpa 2×3 SHA256 `9e71b627e427e62e5c834bc6059f1b3882f01f2c446d7b75a65d7f446f403d32` |
+
+## Auto-Curriculum and Evaluation Contract
+
+| Field | Frozen value |
+|---|---|
+| Task ID | `SHARPA-AC-P05-001` |
+| Stop rule | 每stage独立EMA `.95`；min `1500`；meaningful improvement `2%`；patience `1000`；max local `4999` |
+| Transition | S0 selected checkpoint model-only warm start S1；fresh optimizer |
+| GoalContract | SHA256 `2d2b0d99b4f93e76e1e6ca3ae1552980fa3ea807b0c63857313b48ad256746c1` |
+| Evaluation | selected S1；fresh Isaac；`refaug_reset_dr`；seed `0..7`；完整trajectory + 15-step hold |
+| Videos | 每seed一条Stage1 MANO top row / policy actual bottom row的H.264 2×3 |
+| Publication | S0/S1 selected checkpoint Artifact；evaluation bundle；W&B API下载回读与SHA/ffprobe |
+| P2 / Promotion | `NOT_RUN / NON_PROMOTABLE` |

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_07/checkpoint/model_7499.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2226b5e6abd3deebd907931dfbcced0512e5ee00a5415e2a826c2df6649db88
+size 21074741

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_07/checkpoint_receipt.json

@@ -0,0 +1,73 @@
+{
+  "checkpoint": {
+    "iteration": 7499,
+    "path": "checkpoint/model_7499.pt",
+    "sha256": "f2226b5e6abd3deebd907931dfbcced0512e5ee00a5415e2a826c2df6649db88",
+    "size_bytes": 21074741
+  },
+  "claim_boundary": "Checkpoint bytes and lineage are verified. Policy promotion requires the current automatic gates, human visual review, and any requested P2.",
+  "episode_id": "phone_07",
+  "evaluation": {
+    "automatic_drop_detection": "NOT_EVALUATED",
+    "automatic_pass_count": 8,
+    "case_count": 8,
+    "e4_pass_count": 8,
+    "e4_rms_max_mm": 8.664227937921769,
+    "e4_rms_min_mm": 8.313958520220703,
+    "e5_pass_count": 8,
+    "e6_pass_count": 8,
+    "e9_pass_count": 8,
+    "human_visual_review": "NOT_RUN",
+    "mode": "refaug_reset_dr_seed0_7",
+    "p2": "NOT_RUN",
+    "promotion": "NON_PROMOTABLE",
+    "status": "EVALUATED_AUTOMATIC_ONLY"
+  },
+  "policy_kind": "reference_conditioned_residual_teacher",
+  "run_state": "finished",
+  "schema": "sharpa_stage3_checkpoint_candidate_receipt_v1",
+  "source_stage12": {
+    "canonical_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_07/stage2/canonical_retarget.h5",
+      "sha256": "5159d7db4ce9009cf50ebcfc1ea5a9ac964d8263c27c4d7d98a35ba5020a98c0",
+      "size_bytes": 954040
+    },
+    "goal_contract": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_07/contracts/goal_region_contract.json",
+      "sha256": "1df45ecd2dc7ade42b0cdfe63a4afe4a32a6c1e541317cfdebe1590f796b236d",
+      "size_bytes": 9874
+    },
+    "human_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_07/stage2/human_demo_60hz.h5",
+      "sha256": "75e4b51674ce3320f25ae2f7b4756f2c424fccdf55daa4d7e5af570e325fc4af",
+      "size_bytes": 466120
+    },
+    "moving28_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_07/stage2/retargeted_moving28_60fps.h5",
+      "sha256": "c4c470a3aab6a25db2217a84b5f83fefeb6aa894784ee4c488eab8740b89fcf5",
+      "size_bytes": 958736
+    },
+    "reference_manifest": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_07/stage2/reference_manifest.json",
+      "sha256": "5e278dbf0a2d37d3e085ff4389c46a66b341a34f94c0d13052f51f989e51d9bd",
+      "size_bytes": 4039
+    },
+    "stage1_npz": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_07/inputs/stage1.npz",
+      "sha256": "319b656c073aaf63fb16d689009493d325714626efbdcfaf096dc6029909cff5",
+      "size_bytes": 14019055
+    },
+    "stage2_handoff": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_07/stage2_handoff.json",
+      "sha256": "9236f646b476feaaf91c25077ff7e7e31503ddf7af9e30444d6e7c748c12906c",
+      "size_bytes": 2205
+    }
+  },
+  "status": "CHECKPOINT_CANDIDATE",
+  "task_id": "SHARPA-AC-P07-001",
+  "training_card": {
+    "path": "training_card.md",
+    "sha256": "066f866298c60db210beee519fe8a74259ee98e5377f62ca74d78adaf9bb9049"
+  },
+  "wandb": "https://wandb.ai/dfnet/dex-retarget/runs/sharpa-phone_07-autocurriculum-s1-v1"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_07/evaluation_summary.json

@@ -0,0 +1,16 @@
+{
+  "automatic_drop_detection": "NOT_EVALUATED",
+  "automatic_pass_count": 8,
+  "case_count": 8,
+  "e4_pass_count": 8,
+  "e4_rms_max_mm": 8.664227937921769,
+  "e4_rms_min_mm": 8.313958520220703,
+  "e5_pass_count": 8,
+  "e6_pass_count": 8,
+  "e9_pass_count": 8,
+  "human_visual_review": "NOT_RUN",
+  "mode": "refaug_reset_dr_seed0_7",
+  "p2": "NOT_RUN",
+  "promotion": "NON_PROMOTABLE",
+  "status": "EVALUATED_AUTOMATIC_ONLY"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_07/training_card.md

@@ -0,0 +1,108 @@
+# Training Card: phone_07_autocurriculum_v1
+
+| Field | Value |
+|---|---|
+| Description | [SHARPA-AC-P07-001] accepted phone_07 Stage2 reference的`No-DR plateau → RefAug/reset-only DR plateau → 8-seed 2×3 → W&B artifact/readback`正式teacher候选。 |
+| Role | T0 residual-teacher Auto-Curriculum mentor batch candidate |
+| Policy | Asymmetric MLP residual PPO；actor/critic `[1024,512,256,128]`；ELU；S0 fresh；S1 model-only warm start、fresh optimizer |
+| Policy input | 162D actor；199D asymmetric critic；history total 3 frames |
+| Hidden state | false |
+| Action | 28D normalized residual：6D floating root + 22D Sharpa fingers；no chunk `(1/1)` |
+| Data | accepted phone_07 handoff SHA256 `9236f646b476feaaf91c25077ff7e7e31503ddf7af9e30444d6e7c748c12906c`；moving28 H5 SHA256 `c4c470a3aab6a25db2217a84b5f83fefeb6aa894784ee4c488eab8740b89fcf5` |
+| Training | S0 `Regrind-Sharpa-Wuji2ActuatorParity-RouteA-v0`后S1 `Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-v1`；各4096 env、24 steps/env、seed1、最多5000 iterations；checkpoint interval 500 |
+| Reward profile | exact T0-153/WUJI2 RouteA reward、termination与PPO；S1只开启冻结RefAug/reset-only DR |
+| Claim | 训练和发布完成只证明单episode remote reproduction；8-seed为diagnostic；P2仍`NOT_RUN`，不得声称robust teacher或真机成功。 |
+| Metric | matching 16-env gate；S0/S1 plateau selected checkpoint；8/8 rollout与2×3；W&B checkpoint/video artifact下载SHA回读 |
+| W&B | entity `dfnet`；project `dex-retarget`；group `sharpa-phone_07-autocurriculum-v1`；run IDs `sharpa-phone_07-autocurriculum-s0-v1`、`sharpa-phone_07-autocurriculum-s1-v1`、`sharpa-phone_07-autocurriculum-evaluation-seed0-7-v1` |
+
+## Policy Inputs
+
+| Field | Dim | Description |
+|---|---:|---|
+| object_position_world | 3 | 当前手机世界位置 |
+| object_rotation_6d_world | 6 | 当前手机世界朝向连续 6D 表示 |
+| wrist_position_history_3 | 9 | 当前及前两控制步 root 位置 |
+| wrist_rotation_6d_history_3 | 18 | 当前及前两控制步 root 朝向 |
+| joint_position_history_3 | 66 | 当前及前两控制步 22D Sharpa 关节角 |
+| previous_raw_action | 28 | 上一控制步 raw residual action |
+| demonstration_phase | 1 | 当前 reference index 的归一化 phase |
+| action_base_wrist_position_rotation_6d | 9 | 当前 reference root target |
+| action_base_joint_position | 22 | 当前 22D reference joint target |
+
+Critic 在 actor 162D 上增加五个语义 fingertip world positions（15D）和 22D joint velocity，共 199D；这些 privileged 量不进入 actor。
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Source config | `sharpa/configs/sharpa_managerbased_pipeline/dr_contract_refaug_reset_only_v1.json` |
+| Source config SHA256 | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8` |
+| Runtime readback | 每次gate/formal另写create-only readback；必须17/17 matching |
+| Runtime readback SHA256 | 冻结reference `21fbe1950c87fd029ce03827f204f70190845286ac7dd7d0d61165c2c307a804`；本次执行另写真实SHA |
+| Activation | S0关闭randomization；S1全部4096 env开启；nominal fraction `0.0` |
+| Schedule | S0独立plateau后切S1；S1重新初始化stage-local EMA；reference fade `.135→.292` |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围 |
+| Seed | 两阶段seed1 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reset | S0 reset | fixed；保留uniform RSI | No-DR nominal stage |
+| Reset | S1 phone relative XYZ | each `U[-0.006,0.006] m` | every reset |
+| Reset | S1 phone relative rotation | axis-angle `U[-3°,3°]` | every reset |
+| Reset | S1 finger wrap | `U[0,0.06] rad` | 只增加包握 |
+| Reset | S1 four-finger rub | `U[-0.025,0.025] rad` | 四指沿手机小范围扰动 |
+| Reference augmentation | common XY | each `U[-0.05,0.05] m` | hand与phone共用 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | hand与phone共用 |
+| Reference augmentation | phase fade | full through `.135`；zero at `.292` | 平滑退火回原reference |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass/COM/inertia/friction/drive固定；full gravity `-9.81 m/s²` |
+| Observation/noise/lag | disabled | clean、zero-lag observation |
+| Disturbance/push | disabled | 无external push |
+
+## Rewards
+
+| Reward | Weight | Description |
+|---|---:|---|
+| object_keypoints_pos_error_exp | 3.0 | 100 个手机表面点跟随 augmented reference |
+| object_lin_vel_error_exp | 1.0 | 手机线速度跟随 augmented reference |
+| object_ang_vel_error_exp | 1.0 | 手机角速度跟随 augmented reference |
+| hand_wrist_pos_error_exp | 0.1 | root 位置软约束 |
+| hand_wrist_rot_error_exp | 0.1 | root 朝向软约束 |
+| action_l2_exp | 0.5 | residual 幅度约束 |
+| action_rate_l2_exp | 1.0 | residual 平滑约束 |
+| action_out_of_bounds_exp | 1.0 | raw action `[-1,1]` 越界惩罚 |
+| early_terminated_penalty | -10.0 | 非 timeout 提前终止惩罚 |
+| fingertip_object_graph_error_exp | 0.75 | 五指尖—手机相对几何跟随 augmented reference |
+
+## Stage2 Reference Acceptance
+
+| Field | Frozen evidence |
+|---|---|
+| Stage1 source | SHA256 `319b656c073aaf63fb16d689009493d325714626efbdcfaf096dc6029909cff5` |
+| Stage1 manifest | SHA256 `d656c5e448c68031a26c8d9345a1989a905f0cd8a19b8999ba6d274b88639500` |
+| Runtime human H5 | SHA256 `75e4b51674ce3320f25ae2f7b4756f2c424fccdf55daa4d7e5af570e325fc4af` |
+| Canonical retarget H5 | SHA256 `5159d7db4ce9009cf50ebcfc1ea5a9ac964d8263c27c4d7d98a35ba5020a98c0` |
+| Runtime retarget H5 | SHA256 `c4c470a3aab6a25db2217a84b5f83fefeb6aa894784ee4c488eab8740b89fcf5` |
+| Reference manifest | SHA256 `5e278dbf0a2d37d3e085ff4389c46a66b341a34f94c0d13052f51f989e51d9bd` |
+| Handoff | SHA256 `9236f646b476feaaf91c25077ff7e7e31503ddf7af9e30444d6e7c748c12906c`；strict loader `STAGE2_HANDOFF_ACCEPTED` |
+| Timeline | 715 frames @ 60 Hz → 358 policy targets @ 30 Hz |
+| Stage2 QA | validation receipt SHA256 `14496de765d379dba4b8555bb93f9ed4b06580c501c2e64131a5267a13367383`；T0-147-aligned nonpenetration/joint-limit/coupling/continuity gate PASS |
+| Full review | Stage1 MANO / Stage2 Sharpa 2×3 SHA256 `ba585b4926f8cd47163265138113428e133c85dd3e4e819022af56b7e35d7f09` |
+
+## Auto-Curriculum and Evaluation Contract
+
+| Field | Frozen value |
+|---|---|
+| Task ID | `SHARPA-AC-P07-001` |
+| Stop rule | 每stage独立EMA `.95`；min `1500`；meaningful improvement `2%`；patience `1000`；max local `4999` |
+| Transition | S0 selected checkpoint model-only warm start S1；fresh optimizer |
+| GoalContract | SHA256 `1df45ecd2dc7ade42b0cdfe63a4afe4a32a6c1e541317cfdebe1590f796b236d` |
+| Evaluation | selected S1；fresh Isaac；`refaug_reset_dr`；seed `0..7`；完整trajectory + 15-step hold |
+| Videos | 每seed一条Stage1 MANO top row / policy actual bottom row的H.264 2×3 |
+| Publication | S0/S1 selected checkpoint Artifact；evaluation bundle；W&B API下载回读与SHA/ffprobe |
+| P2 / Promotion | `NOT_RUN / NON_PROMOTABLE` |

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_10/checkpoint/model_9000.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e1d2239408a3c0d99e4fa807f2a3824b5c2ccc0fd2533992f6bb454a6a025c4a
+size 21074741

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_10/checkpoint_receipt.json

@@ -0,0 +1,63 @@
+{
+  "checkpoint": {
+    "iteration": 9000,
+    "path": "checkpoint/model_9000.pt",
+    "sha256": "e1d2239408a3c0d99e4fa807f2a3824b5c2ccc0fd2533992f6bb454a6a025c4a",
+    "size_bytes": 21074741
+  },
+  "claim_boundary": "Checkpoint bytes and lineage are verified. Policy promotion requires the current automatic gates, human visual review, and any requested P2.",
+  "episode_id": "phone_10",
+  "evaluation": {
+    "human_visual_review": "NOT_RUN",
+    "mode": "NOT_RUN",
+    "p2": "NOT_RUN",
+    "status": "NOT_RUN"
+  },
+  "policy_kind": "reference_conditioned_residual_teacher",
+  "run_state": "crashed_last_complete_candidate",
+  "schema": "sharpa_stage3_checkpoint_candidate_receipt_v1",
+  "source_stage12": {
+    "canonical_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_10/stage2/canonical_retarget.h5",
+      "sha256": "79c003e190c0ddf620c5b5316d083a8393298dd796cca7fef1154b731e039577",
+      "size_bytes": 1361920
+    },
+    "goal_contract": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_10/contracts/goal_region_contract.json",
+      "sha256": "e62e36de9d3bccc29d6cfeddb23be2c6901e9551dfcaa6a44a12c68b5949298d",
+      "size_bytes": 9874
+    },
+    "human_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_10/stage2/human_demo_60hz.h5",
+      "sha256": "e549218e8c1a74ec634a8a71841a3a0403016e69a01904710c714a3da465eff3",
+      "size_bytes": 663880
+    },
+    "moving28_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_10/stage2/retargeted_moving28_60fps.h5",
+      "sha256": "be246f5e9a3c9aa343d26cfe09a24eee1c6899e91b34f48fc7d171b1a01a4f08",
+      "size_bytes": 1366616
+    },
+    "reference_manifest": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_10/stage2/reference_manifest.json",
+      "sha256": "13730d72257a86b163013b22a7e9b13c87055ca48f872132f71a182d26ff2699",
+      "size_bytes": 24800
+    },
+    "stage1_npz": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_10/inputs/stage1.npz",
+      "sha256": "7e7a63b5a0ce135e0bdfbc79bb57034c13efda4bf5675658cf7da80612dcc46e",
+      "size_bytes": 20092802
+    },
+    "stage2_handoff": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_10/stage2_handoff.json",
+      "sha256": "e268579a38c351b99147b53c074833e71f4e679486a61a9d7b09ff6138270203",
+      "size_bytes": 2210
+    }
+  },
+  "status": "CHECKPOINT_CANDIDATE",
+  "task_id": "SHARPA-AC-P10-001",
+  "training_card": {
+    "path": "training_card.md",
+    "sha256": "0e2c854df8c6d826a1fd4dbcaed80f08d9c0df9c0df9fe5312073f926c668499"
+  },
+  "wandb": "https://wandb.ai/dfnet/dex-retarget/runs/sharpa-phone_10-autocurriculum-s1-v1"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_10/evaluation_summary.json

@@ -0,0 +1,6 @@
+{
+  "human_visual_review": "NOT_RUN",
+  "mode": "NOT_RUN",
+  "p2": "NOT_RUN",
+  "status": "NOT_RUN"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_10/training_card.md

@@ -0,0 +1,108 @@
+# Training Card: phone_10_autocurriculum_v1
+
+| Field | Value |
+|---|---|
+| Description | [SHARPA-AC-P10-001] accepted phone_10 Stage2 reference的`No-DR plateau → RefAug/reset-only DR plateau → 8-seed 2×3 → W&B artifact/readback`正式teacher候选。 |
+| Role | T0 residual-teacher Auto-Curriculum mentor batch candidate |
+| Policy | Asymmetric MLP residual PPO；actor/critic `[1024,512,256,128]`；ELU；S0 fresh；S1 model-only warm start、fresh optimizer |
+| Policy input | 162D actor；199D asymmetric critic；history total 3 frames |
+| Hidden state | false |
+| Action | 28D normalized residual：6D floating root + 22D Sharpa fingers；no chunk `(1/1)` |
+| Data | accepted phone_10 handoff SHA256 `e268579a38c351b99147b53c074833e71f4e679486a61a9d7b09ff6138270203`；moving28 H5 SHA256 `be246f5e9a3c9aa343d26cfe09a24eee1c6899e91b34f48fc7d171b1a01a4f08` |
+| Training | S0 `Regrind-Sharpa-Wuji2ActuatorParity-RouteA-v0`后S1 `Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-v1`；各4096 env、24 steps/env、seed1、最多5000 iterations；checkpoint interval 500 |
+| Reward profile | exact T0-153/WUJI2 RouteA reward、termination与PPO；S1只开启冻结RefAug/reset-only DR |
+| Claim | 训练和发布完成只证明单episode remote reproduction；8-seed为diagnostic；P2仍`NOT_RUN`，不得声称robust teacher或真机成功。 |
+| Metric | matching 16-env gate；S0/S1 plateau selected checkpoint；8/8 rollout与2×3；W&B checkpoint/video artifact下载SHA回读 |
+| W&B | entity `dfnet`；project `dex-retarget`；group `sharpa-phone_10-autocurriculum-v1`；run IDs `sharpa-phone_10-autocurriculum-s0-v1`、`sharpa-phone_10-autocurriculum-s1-v1`、`sharpa-phone_10-autocurriculum-evaluation-seed0-7-v1` |
+
+## Policy Inputs
+
+| Field | Dim | Description |
+|---|---:|---|
+| object_position_world | 3 | 当前手机世界位置 |
+| object_rotation_6d_world | 6 | 当前手机世界朝向连续 6D 表示 |
+| wrist_position_history_3 | 9 | 当前及前两控制步 root 位置 |
+| wrist_rotation_6d_history_3 | 18 | 当前及前两控制步 root 朝向 |
+| joint_position_history_3 | 66 | 当前及前两控制步 22D Sharpa 关节角 |
+| previous_raw_action | 28 | 上一控制步 raw residual action |
+| demonstration_phase | 1 | 当前 reference index 的归一化 phase |
+| action_base_wrist_position_rotation_6d | 9 | 当前 reference root target |
+| action_base_joint_position | 22 | 当前 22D reference joint target |
+
+Critic 在 actor 162D 上增加五个语义 fingertip world positions（15D）和 22D joint velocity，共 199D；这些 privileged 量不进入 actor。
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Source config | `sharpa/configs/sharpa_managerbased_pipeline/dr_contract_refaug_reset_only_v1.json` |
+| Source config SHA256 | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8` |
+| Runtime readback | 每次gate/formal另写create-only readback；必须17/17 matching |
+| Runtime readback SHA256 | 冻结reference `21fbe1950c87fd029ce03827f204f70190845286ac7dd7d0d61165c2c307a804`；本次执行另写真实SHA |
+| Activation | S0关闭randomization；S1全部4096 env开启；nominal fraction `0.0` |
+| Schedule | S0独立plateau后切S1；S1重新初始化stage-local EMA；reference fade `.135→.292` |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围 |
+| Seed | 两阶段seed1 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reset | S0 reset | fixed；保留uniform RSI | No-DR nominal stage |
+| Reset | S1 phone relative XYZ | each `U[-0.006,0.006] m` | every reset |
+| Reset | S1 phone relative rotation | axis-angle `U[-3°,3°]` | every reset |
+| Reset | S1 finger wrap | `U[0,0.06] rad` | 只增加包握 |
+| Reset | S1 four-finger rub | `U[-0.025,0.025] rad` | 四指沿手机小范围扰动 |
+| Reference augmentation | common XY | each `U[-0.05,0.05] m` | hand与phone共用 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | hand与phone共用 |
+| Reference augmentation | phase fade | full through `.135`；zero at `.292` | 平滑退火回原reference |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass/COM/inertia/friction/drive固定；full gravity `-9.81 m/s²` |
+| Observation/noise/lag | disabled | clean、zero-lag observation |
+| Disturbance/push | disabled | 无external push |
+
+## Rewards
+
+| Reward | Weight | Description |
+|---|---:|---|
+| object_keypoints_pos_error_exp | 3.0 | 100 个手机表面点跟随 augmented reference |
+| object_lin_vel_error_exp | 1.0 | 手机线速度跟随 augmented reference |
+| object_ang_vel_error_exp | 1.0 | 手机角速度跟随 augmented reference |
+| hand_wrist_pos_error_exp | 0.1 | root 位置软约束 |
+| hand_wrist_rot_error_exp | 0.1 | root 朝向软约束 |
+| action_l2_exp | 0.5 | residual 幅度约束 |
+| action_rate_l2_exp | 1.0 | residual 平滑约束 |
+| action_out_of_bounds_exp | 1.0 | raw action `[-1,1]` 越界惩罚 |
+| early_terminated_penalty | -10.0 | 非 timeout 提前终止惩罚 |
+| fingertip_object_graph_error_exp | 0.75 | 五指尖—手机相对几何跟随 augmented reference |
+
+## Stage2 Reference Acceptance
+
+| Field | Frozen evidence |
+|---|---|
+| Stage1 source | SHA256 `7e7a63b5a0ce135e0bdfbc79bb57034c13efda4bf5675658cf7da80612dcc46e` |
+| Stage1 manifest | SHA256 `0a6c27c18d559a04b80d1a1e0d1bc2b6f8c41ab3f8192fe5b282c6f52b371306` |
+| Runtime human H5 | SHA256 `e549218e8c1a74ec634a8a71841a3a0403016e69a01904710c714a3da465eff3` |
+| Canonical retarget H5 | SHA256 `79c003e190c0ddf620c5b5316d083a8393298dd796cca7fef1154b731e039577` |
+| Runtime retarget H5 | SHA256 `be246f5e9a3c9aa343d26cfe09a24eee1c6899e91b34f48fc7d171b1a01a4f08` |
+| Reference manifest | SHA256 `13730d72257a86b163013b22a7e9b13c87055ca48f872132f71a182d26ff2699` |
+| Handoff | SHA256 `e268579a38c351b99147b53c074833e71f4e679486a61a9d7b09ff6138270203`；strict loader `STAGE2_HANDOFF_ACCEPTED` |
+| Timeline | 1024 frames @ 60 Hz → 512 policy targets @ 30 Hz |
+| Stage2 QA | validation receipt SHA256 `db49ba4d6030ae70996a8e8e17678d78443bec43f33b0816602d2363eb1070c9`；T0-147-aligned nonpenetration/joint-limit/coupling/continuity gate PASS |
+| Full review | Stage1 MANO / Stage2 Sharpa 2×3 SHA256 `95e80226d646cf2bed8770fb2ab438551907741e4ee4271cd105c0413bce2aa1` |
+
+## Auto-Curriculum and Evaluation Contract
+
+| Field | Frozen value |
+|---|---|
+| Task ID | `SHARPA-AC-P10-001` |
+| Stop rule | 每stage独立EMA `.95`；min `1500`；meaningful improvement `2%`；patience `1000`；max local `4999` |
+| Transition | S0 selected checkpoint model-only warm start S1；fresh optimizer |
+| GoalContract | SHA256 `e62e36de9d3bccc29d6cfeddb23be2c6901e9551dfcaa6a44a12c68b5949298d` |
+| Evaluation | selected S1；fresh Isaac；`refaug_reset_dr`；seed `0..7`；完整trajectory + 15-step hold |
+| Videos | 每seed一条Stage1 MANO top row / policy actual bottom row的H.264 2×3 |
+| Publication | S0/S1 selected checkpoint Artifact；evaluation bundle；W&B API下载回读与SHA/ffprobe |
+| P2 / Promotion | `NOT_RUN / NON_PROMOTABLE` |

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_14/checkpoint/model_8500.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:644117cb1a26eb145e5598a8b3148fd0a2261c02a9e2bf728f414a5ee57684fa
+size 21074741

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_14/checkpoint_receipt.json

@@ -0,0 +1,73 @@
+{
+  "checkpoint": {
+    "iteration": 8500,
+    "path": "checkpoint/model_8500.pt",
+    "sha256": "644117cb1a26eb145e5598a8b3148fd0a2261c02a9e2bf728f414a5ee57684fa",
+    "size_bytes": 21074741
+  },
+  "claim_boundary": "Checkpoint bytes and lineage are verified. Policy promotion requires the current automatic gates, human visual review, and any requested P2.",
+  "episode_id": "phone_14",
+  "evaluation": {
+    "automatic_drop_detection": "NOT_EVALUATED",
+    "automatic_pass_count": 7,
+    "case_count": 8,
+    "e4_pass_count": 8,
+    "e4_rms_max_mm": 5.2838509923129315,
+    "e4_rms_min_mm": 4.775196763893198,
+    "e5_pass_count": 7,
+    "e6_pass_count": 8,
+    "e9_pass_count": 8,
+    "human_visual_review": "NOT_RUN",
+    "mode": "refaug_reset_dr_seed0_7",
+    "p2": "NOT_RUN",
+    "promotion": "NON_PROMOTABLE",
+    "status": "EVALUATED_AUTOMATIC_ONLY"
+  },
+  "policy_kind": "reference_conditioned_residual_teacher",
+  "run_state": "finished",
+  "schema": "sharpa_stage3_checkpoint_candidate_receipt_v1",
+  "source_stage12": {
+    "canonical_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_14/stage2/canonical_retarget.h5",
+      "sha256": "c6e5677482903b7e99928b0059b15dc746f61e6ccb370fcb1459efd53f060098",
+      "size_bytes": 1014760
+    },
+    "goal_contract": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_14/contracts/goal_region_contract.json",
+      "sha256": "e56d52dfeec1eefa341981543ce0f4b3a6dc25e1b01179f00bf12383aaf6e14d",
+      "size_bytes": 9874
+    },
+    "human_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_14/stage2/human_demo_60hz.h5",
+      "sha256": "70c630916707dc64be6cd16fa8118f27047c2564e225c44affe49d62d258f67c",
+      "size_bytes": 495560
+    },
+    "moving28_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_14/stage2/retargeted_moving28_60fps.h5",
+      "sha256": "60930f5f686c41ab295ae15ea43f566d9fe6e3da47e02435349eb6e6756177d3",
+      "size_bytes": 1019456
+    },
+    "reference_manifest": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_14/stage2/reference_manifest.json",
+      "sha256": "844ebeb308da5f95ba9d4c349f3fd3ddc57cae538463deea119d977ed58cf770",
+      "size_bytes": 7684
+    },
+    "stage1_npz": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_14/inputs/stage1.npz",
+      "sha256": "23e3c361420a5bc791ba9985d0b4a9123d6035d1c4684aaf1e6cf1003b8e6137",
+      "size_bytes": 14908301
+    },
+    "stage2_handoff": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_14/stage2_handoff.json",
+      "sha256": "1ac48397b8a998847567fbbe2b63c7e4ca47a898c796c27680a0ba1e01726fc0",
+      "size_bytes": 2207
+    }
+  },
+  "status": "CHECKPOINT_CANDIDATE",
+  "task_id": "SHARPA-AC-P14-001",
+  "training_card": {
+    "path": "training_card.md",
+    "sha256": "74c2259856114f7453b8efc1cabf8c923ff4e0bf04e19868493235fc762160d6"
+  },
+  "wandb": "https://wandb.ai/dfnet/dex-retarget/runs/sharpa-phone_14-autocurriculum-s1-v1"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_14/evaluation_summary.json

@@ -0,0 +1,16 @@
+{
+  "automatic_drop_detection": "NOT_EVALUATED",
+  "automatic_pass_count": 7,
+  "case_count": 8,
+  "e4_pass_count": 8,
+  "e4_rms_max_mm": 5.2838509923129315,
+  "e4_rms_min_mm": 4.775196763893198,
+  "e5_pass_count": 7,
+  "e6_pass_count": 8,
+  "e9_pass_count": 8,
+  "human_visual_review": "NOT_RUN",
+  "mode": "refaug_reset_dr_seed0_7",
+  "p2": "NOT_RUN",
+  "promotion": "NON_PROMOTABLE",
+  "status": "EVALUATED_AUTOMATIC_ONLY"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_14/training_card.md

@@ -0,0 +1,108 @@
+# Training Card: phone_14_autocurriculum_v1
+
+| Field | Value |
+|---|---|
+| Description | [SHARPA-AC-P14-001] accepted phone_14 Stage2 reference的`No-DR plateau → RefAug/reset-only DR plateau → 8-seed 2×3 → W&B artifact/readback`正式teacher候选。 |
+| Role | T0 residual-teacher Auto-Curriculum mentor batch candidate |
+| Policy | Asymmetric MLP residual PPO；actor/critic `[1024,512,256,128]`；ELU；S0 fresh；S1 model-only warm start、fresh optimizer |
+| Policy input | 162D actor；199D asymmetric critic；history total 3 frames |
+| Hidden state | false |
+| Action | 28D normalized residual：6D floating root + 22D Sharpa fingers；no chunk `(1/1)` |
+| Data | accepted phone_14 handoff SHA256 `1ac48397b8a998847567fbbe2b63c7e4ca47a898c796c27680a0ba1e01726fc0`；moving28 H5 SHA256 `60930f5f686c41ab295ae15ea43f566d9fe6e3da47e02435349eb6e6756177d3` |
+| Training | S0 `Regrind-Sharpa-Wuji2ActuatorParity-RouteA-v0`后S1 `Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-v1`；各4096 env、24 steps/env、seed1、最多5000 iterations；checkpoint interval 500 |
+| Reward profile | exact T0-153/WUJI2 RouteA reward、termination与PPO；S1只开启冻结RefAug/reset-only DR |
+| Claim | 训练和发布完成只证明单episode remote reproduction；8-seed为diagnostic；P2仍`NOT_RUN`，不得声称robust teacher或真机成功。 |
+| Metric | matching 16-env gate；S0/S1 plateau selected checkpoint；8/8 rollout与2×3；W&B checkpoint/video artifact下载SHA回读 |
+| W&B | entity `dfnet`；project `dex-retarget`；group `sharpa-phone_14-autocurriculum-v1`；run IDs `sharpa-phone_14-autocurriculum-s0-v1`、`sharpa-phone_14-autocurriculum-s1-v1`、`sharpa-phone_14-autocurriculum-evaluation-seed0-7-v1` |
+
+## Policy Inputs
+
+| Field | Dim | Description |
+|---|---:|---|
+| object_position_world | 3 | 当前手机世界位置 |
+| object_rotation_6d_world | 6 | 当前手机世界朝向连续 6D 表示 |
+| wrist_position_history_3 | 9 | 当前及前两控制步 root 位置 |
+| wrist_rotation_6d_history_3 | 18 | 当前及前两控制步 root 朝向 |
+| joint_position_history_3 | 66 | 当前及前两控制步 22D Sharpa 关节角 |
+| previous_raw_action | 28 | 上一控制步 raw residual action |
+| demonstration_phase | 1 | 当前 reference index 的归一化 phase |
+| action_base_wrist_position_rotation_6d | 9 | 当前 reference root target |
+| action_base_joint_position | 22 | 当前 22D reference joint target |
+
+Critic 在 actor 162D 上增加五个语义 fingertip world positions（15D）和 22D joint velocity，共 199D；这些 privileged 量不进入 actor。
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Source config | `sharpa/configs/sharpa_managerbased_pipeline/dr_contract_refaug_reset_only_v1.json` |
+| Source config SHA256 | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8` |
+| Runtime readback | 每次gate/formal另写create-only readback；必须17/17 matching |
+| Runtime readback SHA256 | 冻结reference `21fbe1950c87fd029ce03827f204f70190845286ac7dd7d0d61165c2c307a804`；本次执行另写真实SHA |
+| Activation | S0关闭randomization；S1全部4096 env开启；nominal fraction `0.0` |
+| Schedule | S0独立plateau后切S1；S1重新初始化stage-local EMA；reference fade `.135→.292` |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围 |
+| Seed | 两阶段seed1 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reset | S0 reset | fixed；保留uniform RSI | No-DR nominal stage |
+| Reset | S1 phone relative XYZ | each `U[-0.006,0.006] m` | every reset |
+| Reset | S1 phone relative rotation | axis-angle `U[-3°,3°]` | every reset |
+| Reset | S1 finger wrap | `U[0,0.06] rad` | 只增加包握 |
+| Reset | S1 four-finger rub | `U[-0.025,0.025] rad` | 四指沿手机小范围扰动 |
+| Reference augmentation | common XY | each `U[-0.05,0.05] m` | hand与phone共用 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | hand与phone共用 |
+| Reference augmentation | phase fade | full through `.135`；zero at `.292` | 平滑退火回原reference |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass/COM/inertia/friction/drive固定；full gravity `-9.81 m/s²` |
+| Observation/noise/lag | disabled | clean、zero-lag observation |
+| Disturbance/push | disabled | 无external push |
+
+## Rewards
+
+| Reward | Weight | Description |
+|---|---:|---|
+| object_keypoints_pos_error_exp | 3.0 | 100 个手机表面点跟随 augmented reference |
+| object_lin_vel_error_exp | 1.0 | 手机线速度跟随 augmented reference |
+| object_ang_vel_error_exp | 1.0 | 手机角速度跟随 augmented reference |
+| hand_wrist_pos_error_exp | 0.1 | root 位置软约束 |
+| hand_wrist_rot_error_exp | 0.1 | root 朝向软约束 |
+| action_l2_exp | 0.5 | residual 幅度约束 |
+| action_rate_l2_exp | 1.0 | residual 平滑约束 |
+| action_out_of_bounds_exp | 1.0 | raw action `[-1,1]` 越界惩罚 |
+| early_terminated_penalty | -10.0 | 非 timeout 提前终止惩罚 |
+| fingertip_object_graph_error_exp | 0.75 | 五指尖—手机相对几何跟随 augmented reference |
+
+## Stage2 Reference Acceptance
+
+| Field | Frozen evidence |
+|---|---|
+| Stage1 source | SHA256 `23e3c361420a5bc791ba9985d0b4a9123d6035d1c4684aaf1e6cf1003b8e6137` |
+| Stage1 manifest | SHA256 `0623efb0bcb332e95a2453e5fe51fa1b933469f04ea226f2b9db59c0b9a4743b` |
+| Runtime human H5 | SHA256 `70c630916707dc64be6cd16fa8118f27047c2564e225c44affe49d62d258f67c` |
+| Canonical retarget H5 | SHA256 `c6e5677482903b7e99928b0059b15dc746f61e6ccb370fcb1459efd53f060098` |
+| Runtime retarget H5 | SHA256 `60930f5f686c41ab295ae15ea43f566d9fe6e3da47e02435349eb6e6756177d3` |
+| Reference manifest | SHA256 `844ebeb308da5f95ba9d4c349f3fd3ddc57cae538463deea119d977ed58cf770` |
+| Handoff | SHA256 `1ac48397b8a998847567fbbe2b63c7e4ca47a898c796c27680a0ba1e01726fc0`；strict loader `STAGE2_HANDOFF_ACCEPTED` |
+| Timeline | 761 frames @ 60 Hz → 381 policy targets @ 30 Hz |
+| Stage2 QA | validation receipt SHA256 `455c75167b0587f3d136058ce9f0c21b7daaf917b3a468bffc20b0ffab09d245`；T0-147-aligned nonpenetration/joint-limit/coupling/continuity gate PASS |
+| Full review | Stage1 MANO / Stage2 Sharpa 2×3 SHA256 `c7cfc3e34614563c3078bafa8f08c6469b7f7f5b86c5d088bc0b3b117b2a57d2` |
+
+## Auto-Curriculum and Evaluation Contract
+
+| Field | Frozen value |
+|---|---|
+| Task ID | `SHARPA-AC-P14-001` |
+| Stop rule | 每stage独立EMA `.95`；min `1500`；meaningful improvement `2%`；patience `1000`；max local `4999` |
+| Transition | S0 selected checkpoint model-only warm start S1；fresh optimizer |
+| GoalContract | SHA256 `e56d52dfeec1eefa341981543ce0f4b3a6dc25e1b01179f00bf12383aaf6e14d` |
+| Evaluation | selected S1；fresh Isaac；`refaug_reset_dr`；seed `0..7`；完整trajectory + 15-step hold |
+| Videos | 每seed一条Stage1 MANO top row / policy actual bottom row的H.264 2×3 |
+| Publication | S0/S1 selected checkpoint Artifact；evaluation bundle；W&B API下载回读与SHA/ffprobe |
+| P2 / Promotion | `NOT_RUN / NON_PROMOTABLE` |

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_17/checkpoint/model_7999.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:675b27da543631c11da1c8b1b7736ee6cb12dcd89893b4d7ac9867fa2dfcf5d5
+size 21074741

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_17/checkpoint_receipt.json

@@ -0,0 +1,73 @@
+{
+  "checkpoint": {
+    "iteration": 7999,
+    "path": "checkpoint/model_7999.pt",
+    "sha256": "675b27da543631c11da1c8b1b7736ee6cb12dcd89893b4d7ac9867fa2dfcf5d5",
+    "size_bytes": 21074741
+  },
+  "claim_boundary": "Checkpoint bytes and lineage are verified. Policy promotion requires the current automatic gates, human visual review, and any requested P2.",
+  "episode_id": "phone_17",
+  "evaluation": {
+    "automatic_drop_detection": "NOT_EVALUATED",
+    "automatic_pass_count": 8,
+    "case_count": 8,
+    "e4_pass_count": 8,
+    "e4_rms_max_mm": 8.097533136271426,
+    "e4_rms_min_mm": 7.390446586049231,
+    "e5_pass_count": 8,
+    "e6_pass_count": 8,
+    "e9_pass_count": 8,
+    "human_visual_review": "NOT_RUN",
+    "mode": "refaug_reset_dr_seed0_7",
+    "p2": "NOT_RUN",
+    "promotion": "NON_PROMOTABLE",
+    "status": "EVALUATED_AUTOMATIC_ONLY"
+  },
+  "policy_kind": "reference_conditioned_residual_teacher",
+  "run_state": "finished",
+  "schema": "sharpa_stage3_checkpoint_candidate_receipt_v1",
+  "source_stage12": {
+    "canonical_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_17/stage2/canonical_retarget.h5",
+      "sha256": "9926983ec62a07b218d1c063775082a0bf524466cb1e4936ca5c564e3a64bf33",
+      "size_bytes": 1041160
+    },
+    "goal_contract": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_17/contracts/goal_region_contract.json",
+      "sha256": "f5f7ac14999b655413e910a151a1fc159cc2b851506f2e6250e82e68f188a342",
+      "size_bytes": 9874
+    },
+    "human_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_17/stage2/human_demo_60hz.h5",
+      "sha256": "48cb345eaaa2e3a2ab0fe6c3b6addf6010aba5b8953ac0f5028964dbd4937632",
+      "size_bytes": 508360
+    },
+    "moving28_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_17/stage2/retargeted_moving28_60fps.h5",
+      "sha256": "75db34aeacfb38d934a5a83d2ee4d7742fc67ddfef27ac66e394154641e5f643",
+      "size_bytes": 1045856
+    },
+    "reference_manifest": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_17/stage2/reference_manifest.json",
+      "sha256": "985f6aae457e8ee60f27ac08b6c60c88cde20d5bd191857489648bba57eb5084",
+      "size_bytes": 5496
+    },
+    "stage1_npz": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_17/inputs/stage1.npz",
+      "sha256": "06b1358a53b9d8ec1e17e7c48ce60e8782344e65e8443be4721c721bbff68176",
+      "size_bytes": 15326888
+    },
+    "stage2_handoff": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_17/stage2_handoff.json",
+      "sha256": "d2ff7390e22f8701b38f739bcb1333d398123a872349e6fbb17a09baee69e4eb",
+      "size_bytes": 2207
+    }
+  },
+  "status": "CHECKPOINT_CANDIDATE",
+  "task_id": "SHARPA-AC-P17-001",
+  "training_card": {
+    "path": "training_card.md",
+    "sha256": "04fdca8ab41229a84ad3f73887486b9dd63f9aad30b1b8c1e1509fdb0d445fae"
+  },
+  "wandb": "https://wandb.ai/dfnet/dex-retarget/runs/sharpa-phone_17-autocurriculum-s1-v1"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_17/evaluation_summary.json

@@ -0,0 +1,16 @@
+{
+  "automatic_drop_detection": "NOT_EVALUATED",
+  "automatic_pass_count": 8,
+  "case_count": 8,
+  "e4_pass_count": 8,
+  "e4_rms_max_mm": 8.097533136271426,
+  "e4_rms_min_mm": 7.390446586049231,
+  "e5_pass_count": 8,
+  "e6_pass_count": 8,
+  "e9_pass_count": 8,
+  "human_visual_review": "NOT_RUN",
+  "mode": "refaug_reset_dr_seed0_7",
+  "p2": "NOT_RUN",
+  "promotion": "NON_PROMOTABLE",
+  "status": "EVALUATED_AUTOMATIC_ONLY"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_17/training_card.md

@@ -0,0 +1,108 @@
+# Training Card: phone_17_autocurriculum_v1
+
+| Field | Value |
+|---|---|
+| Description | [SHARPA-AC-P17-001] accepted phone_17 Stage2 reference的`No-DR plateau → RefAug/reset-only DR plateau → 8-seed 2×3 → W&B artifact/readback`正式teacher候选。 |
+| Role | T0 residual-teacher Auto-Curriculum mentor batch candidate |
+| Policy | Asymmetric MLP residual PPO；actor/critic `[1024,512,256,128]`；ELU；S0 fresh；S1 model-only warm start、fresh optimizer |
+| Policy input | 162D actor；199D asymmetric critic；history total 3 frames |
+| Hidden state | false |
+| Action | 28D normalized residual：6D floating root + 22D Sharpa fingers；no chunk `(1/1)` |
+| Data | accepted phone_17 handoff SHA256 `d2ff7390e22f8701b38f739bcb1333d398123a872349e6fbb17a09baee69e4eb`；moving28 H5 SHA256 `75db34aeacfb38d934a5a83d2ee4d7742fc67ddfef27ac66e394154641e5f643` |
+| Training | S0 `Regrind-Sharpa-Wuji2ActuatorParity-RouteA-v0`后S1 `Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-v1`；各4096 env、24 steps/env、seed1、最多5000 iterations；checkpoint interval 500 |
+| Reward profile | exact T0-153/WUJI2 RouteA reward、termination与PPO；S1只开启冻结RefAug/reset-only DR |
+| Claim | 训练和发布完成只证明单episode remote reproduction；8-seed为diagnostic；P2仍`NOT_RUN`，不得声称robust teacher或真机成功。 |
+| Metric | matching 16-env gate；S0/S1 plateau selected checkpoint；8/8 rollout与2×3；W&B checkpoint/video artifact下载SHA回读 |
+| W&B | entity `dfnet`；project `dex-retarget`；group `sharpa-phone_17-autocurriculum-v1`；run IDs `sharpa-phone_17-autocurriculum-s0-v1`、`sharpa-phone_17-autocurriculum-s1-v1`、`sharpa-phone_17-autocurriculum-evaluation-seed0-7-v1` |
+
+## Policy Inputs
+
+| Field | Dim | Description |
+|---|---:|---|
+| object_position_world | 3 | 当前手机世界位置 |
+| object_rotation_6d_world | 6 | 当前手机世界朝向连续 6D 表示 |
+| wrist_position_history_3 | 9 | 当前及前两控制步 root 位置 |
+| wrist_rotation_6d_history_3 | 18 | 当前及前两控制步 root 朝向 |
+| joint_position_history_3 | 66 | 当前及前两控制步 22D Sharpa 关节角 |
+| previous_raw_action | 28 | 上一控制步 raw residual action |
+| demonstration_phase | 1 | 当前 reference index 的归一化 phase |
+| action_base_wrist_position_rotation_6d | 9 | 当前 reference root target |
+| action_base_joint_position | 22 | 当前 22D reference joint target |
+
+Critic 在 actor 162D 上增加五个语义 fingertip world positions（15D）和 22D joint velocity，共 199D；这些 privileged 量不进入 actor。
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Source config | `sharpa/configs/sharpa_managerbased_pipeline/dr_contract_refaug_reset_only_v1.json` |
+| Source config SHA256 | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8` |
+| Runtime readback | 每次gate/formal另写create-only readback；必须17/17 matching |
+| Runtime readback SHA256 | 冻结reference `21fbe1950c87fd029ce03827f204f70190845286ac7dd7d0d61165c2c307a804`；本次执行另写真实SHA |
+| Activation | S0关闭randomization；S1全部4096 env开启；nominal fraction `0.0` |
+| Schedule | S0独立plateau后切S1；S1重新初始化stage-local EMA；reference fade `.135→.292` |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围 |
+| Seed | 两阶段seed1 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reset | S0 reset | fixed；保留uniform RSI | No-DR nominal stage |
+| Reset | S1 phone relative XYZ | each `U[-0.006,0.006] m` | every reset |
+| Reset | S1 phone relative rotation | axis-angle `U[-3°,3°]` | every reset |
+| Reset | S1 finger wrap | `U[0,0.06] rad` | 只增加包握 |
+| Reset | S1 four-finger rub | `U[-0.025,0.025] rad` | 四指沿手机小范围扰动 |
+| Reference augmentation | common XY | each `U[-0.05,0.05] m` | hand与phone共用 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | hand与phone共用 |
+| Reference augmentation | phase fade | full through `.135`；zero at `.292` | 平滑退火回原reference |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass/COM/inertia/friction/drive固定；full gravity `-9.81 m/s²` |
+| Observation/noise/lag | disabled | clean、zero-lag observation |
+| Disturbance/push | disabled | 无external push |
+
+## Rewards
+
+| Reward | Weight | Description |
+|---|---:|---|
+| object_keypoints_pos_error_exp | 3.0 | 100 个手机表面点跟随 augmented reference |
+| object_lin_vel_error_exp | 1.0 | 手机线速度跟随 augmented reference |
+| object_ang_vel_error_exp | 1.0 | 手机角速度跟随 augmented reference |
+| hand_wrist_pos_error_exp | 0.1 | root 位置软约束 |
+| hand_wrist_rot_error_exp | 0.1 | root 朝向软约束 |
+| action_l2_exp | 0.5 | residual 幅度约束 |
+| action_rate_l2_exp | 1.0 | residual 平滑约束 |
+| action_out_of_bounds_exp | 1.0 | raw action `[-1,1]` 越界惩罚 |
+| early_terminated_penalty | -10.0 | 非 timeout 提前终止惩罚 |
+| fingertip_object_graph_error_exp | 0.75 | 五指尖—手机相对几何跟随 augmented reference |
+
+## Stage2 Reference Acceptance
+
+| Field | Frozen evidence |
+|---|---|
+| Stage1 source | SHA256 `06b1358a53b9d8ec1e17e7c48ce60e8782344e65e8443be4721c721bbff68176` |
+| Stage1 manifest | SHA256 `4b3a2d8582b3a1e2464d38a454e5387fa2878d9feb550a6e07d64a1c4354852c` |
+| Runtime human H5 | SHA256 `48cb345eaaa2e3a2ab0fe6c3b6addf6010aba5b8953ac0f5028964dbd4937632` |
+| Canonical retarget H5 | SHA256 `9926983ec62a07b218d1c063775082a0bf524466cb1e4936ca5c564e3a64bf33` |
+| Runtime retarget H5 | SHA256 `75db34aeacfb38d934a5a83d2ee4d7742fc67ddfef27ac66e394154641e5f643` |
+| Reference manifest | SHA256 `985f6aae457e8ee60f27ac08b6c60c88cde20d5bd191857489648bba57eb5084` |
+| Handoff | SHA256 `d2ff7390e22f8701b38f739bcb1333d398123a872349e6fbb17a09baee69e4eb`；strict loader `STAGE2_HANDOFF_ACCEPTED` |
+| Timeline | 781 frames @ 60 Hz → 391 policy targets @ 30 Hz |
+| Stage2 QA | validation receipt SHA256 `c9f020e8a4d0160348c98417190235cb8c8ce16f3f352b7ae4624c56ea08055a`；T0-147-aligned nonpenetration/joint-limit/coupling/continuity gate PASS |
+| Full review | Stage1 MANO / Stage2 Sharpa 2×3 SHA256 `bc5f454eb1c3378bb2150614492d77088df10347f274b77e0ba0cde95f39ccd7` |
+
+## Auto-Curriculum and Evaluation Contract
+
+| Field | Frozen value |
+|---|---|
+| Task ID | `SHARPA-AC-P17-001` |
+| Stop rule | 每stage独立EMA `.95`；min `1500`；meaningful improvement `2%`；patience `1000`；max local `4999` |
+| Transition | S0 selected checkpoint model-only warm start S1；fresh optimizer |
+| GoalContract | SHA256 `f5f7ac14999b655413e910a151a1fc159cc2b851506f2e6250e82e68f188a342` |
+| Evaluation | selected S1；fresh Isaac；`refaug_reset_dr`；seed `0..7`；完整trajectory + 15-step hold |
+| Videos | 每seed一条Stage1 MANO top row / policy actual bottom row的H.264 2×3 |
+| Publication | S0/S1 selected checkpoint Artifact；evaluation bundle；W&B API下载回读与SHA/ffprobe |
+| P2 / Promotion | `NOT_RUN / NON_PROMOTABLE` |

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_18/checkpoint/model_9998.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ab4006e1f7f94037243a81012dcb58d6bbf498576e4d86eefa9290929db99a4
+size 21074741

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_18/checkpoint_receipt.json

@@ -0,0 +1,73 @@
+{
+  "checkpoint": {
+    "iteration": 9998,
+    "path": "checkpoint/model_9998.pt",
+    "sha256": "4ab4006e1f7f94037243a81012dcb58d6bbf498576e4d86eefa9290929db99a4",
+    "size_bytes": 21074741
+  },
+  "claim_boundary": "Checkpoint bytes and lineage are verified. Policy promotion requires the current automatic gates, human visual review, and any requested P2.",
+  "episode_id": "phone_18",
+  "evaluation": {
+    "automatic_drop_detection": "NOT_EVALUATED",
+    "automatic_pass_count": 1,
+    "case_count": 1,
+    "e4_pass_count": 1,
+    "e4_rms_max_mm": 6.737432611224653,
+    "e4_rms_min_mm": 6.737432611224653,
+    "e5_pass_count": 1,
+    "e6_pass_count": 1,
+    "e9_pass_count": 1,
+    "human_visual_review": "NOT_RUN",
+    "mode": "nominal_seed0",
+    "p2": "NOT_RUN",
+    "promotion": "NON_PROMOTABLE",
+    "status": "EVALUATED_AUTOMATIC_ONLY"
+  },
+  "policy_kind": "reference_conditioned_residual_teacher",
+  "run_state": "finished",
+  "schema": "sharpa_stage3_checkpoint_candidate_receipt_v1",
+  "source_stage12": {
+    "canonical_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_18/stage2/canonical_retarget.h5",
+      "sha256": "3a9d23a95037088a488fd395b6f28ec2473df1576db36bc9c7db9e34a46cc42c",
+      "size_bytes": 1278760
+    },
+    "goal_contract": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_18/contracts/goal_region_contract.json",
+      "sha256": "4042296ebc9920013de6ad502ae6b4b372af77755873896962457bbdc55630cb",
+      "size_bytes": 9874
+    },
+    "human_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_18/stage2/human_demo_60hz.h5",
+      "sha256": "e8dc5e5b03a3b3c49bae9c7c130760e823163438cfa08b87e3650a04915d5801",
+      "size_bytes": 623560
+    },
+    "moving28_h5": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_18/stage2/retargeted_moving28_60fps.h5",
+      "sha256": "9214db2e1e312b2bcb6ca99dd048803f32da38dcfec04c7562a9fc5419d13e3e",
+      "size_bytes": 1283456
+    },
+    "reference_manifest": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_18/stage2/reference_manifest.json",
+      "sha256": "1e198107731df5ba20ff0d93dfe3863f5b7bd7ee3781b50f1f41917c26333b9d",
+      "size_bytes": 5517
+    },
+    "stage1_npz": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_18/inputs/stage1.npz",
+      "sha256": "3d2be9aa9701c654f1ed85cba3af593858e2df02eb4d40bb710b67266b4c2682",
+      "size_bytes": 18839214
+    },
+    "stage2_handoff": {
+      "repo_path": "objects/phone/releases/phone20-stage12-v2/episodes/phone_18/stage2_handoff.json",
+      "sha256": "7635edd1f2583285a325850c5cf22494dff09b5409ef2f0fff7c3b0aa3b08823",
+      "size_bytes": 2207
+    }
+  },
+  "status": "CHECKPOINT_CANDIDATE",
+  "task_id": "SHARPA-AC-P18-001",
+  "training_card": {
+    "path": "training_card.md",
+    "sha256": "c417da2a38f4ced9ec9e124e1d2a1fdc2abbc274081fcbeb67f91a7421f2cd1c"
+  },
+  "wandb": "https://wandb.ai/dfnet/dex-retarget/runs/sharpa-phone_18-autocurriculum-s1-v1"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_18/evaluation_summary.json

@@ -0,0 +1,16 @@
+{
+  "automatic_drop_detection": "NOT_EVALUATED",
+  "automatic_pass_count": 1,
+  "case_count": 1,
+  "e4_pass_count": 1,
+  "e4_rms_max_mm": 6.737432611224653,
+  "e4_rms_min_mm": 6.737432611224653,
+  "e5_pass_count": 1,
+  "e6_pass_count": 1,
+  "e9_pass_count": 1,
+  "human_visual_review": "NOT_RUN",
+  "mode": "nominal_seed0",
+  "p2": "NOT_RUN",
+  "promotion": "NON_PROMOTABLE",
+  "status": "EVALUATED_AUTOMATIC_ONLY"
+}

objects/phone/releases/phone8-stage3-autodr-candidates-v1/episodes/phone_18/training_card.md

@@ -0,0 +1,108 @@
+# Training Card: phone_18_autocurriculum_v1
+
+| Field | Value |
+|---|---|
+| Description | [SHARPA-AC-P18-001] accepted phone_18 Stage2 reference的`No-DR plateau → RefAug/reset-only DR plateau → 8-seed 2×3 → W&B artifact/readback`正式teacher候选。 |
+| Role | T0 residual-teacher Auto-Curriculum mentor batch candidate |
+| Policy | Asymmetric MLP residual PPO；actor/critic `[1024,512,256,128]`；ELU；S0 fresh；S1 model-only warm start、fresh optimizer |
+| Policy input | 162D actor；199D asymmetric critic；history total 3 frames |
+| Hidden state | false |
+| Action | 28D normalized residual：6D floating root + 22D Sharpa fingers；no chunk `(1/1)` |
+| Data | accepted phone_18 handoff SHA256 `7635edd1f2583285a325850c5cf22494dff09b5409ef2f0fff7c3b0aa3b08823`；moving28 H5 SHA256 `9214db2e1e312b2bcb6ca99dd048803f32da38dcfec04c7562a9fc5419d13e3e` |
+| Training | S0 `Regrind-Sharpa-Wuji2ActuatorParity-RouteA-v0`后S1 `Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-v1`；各4096 env、24 steps/env、seed1、最多5000 iterations；checkpoint interval 500 |
+| Reward profile | exact T0-153/WUJI2 RouteA reward、termination与PPO；S1只开启冻结RefAug/reset-only DR |
+| Claim | 训练和发布完成只证明单episode remote reproduction；8-seed为diagnostic；P2仍`NOT_RUN`，不得声称robust teacher或真机成功。 |
+| Metric | matching 16-env gate；S0/S1 plateau selected checkpoint；8/8 rollout与2×3；W&B checkpoint/video artifact下载SHA回读 |
+| W&B | entity `dfnet`；project `dex-retarget`；group `sharpa-phone_18-autocurriculum-v1`；run IDs `sharpa-phone_18-autocurriculum-s0-v1`、`sharpa-phone_18-autocurriculum-s1-v1`、`sharpa-phone_18-autocurriculum-evaluation-seed0-7-v1` |
+
+## Policy Inputs
+
+| Field | Dim | Description |
+|---|---:|---|
+| object_position_world | 3 | 当前手机世界位置 |
+| object_rotation_6d_world | 6 | 当前手机世界朝向连续 6D 表示 |
+| wrist_position_history_3 | 9 | 当前及前两控制步 root 位置 |
+| wrist_rotation_6d_history_3 | 18 | 当前及前两控制步 root 朝向 |
+| joint_position_history_3 | 66 | 当前及前两控制步 22D Sharpa 关节角 |
+| previous_raw_action | 28 | 上一控制步 raw residual action |
+| demonstration_phase | 1 | 当前 reference index 的归一化 phase |
+| action_base_wrist_position_rotation_6d | 9 | 当前 reference root target |
+| action_base_joint_position | 22 | 当前 22D reference joint target |
+
+Critic 在 actor 162D 上增加五个语义 fingertip world positions（15D）和 22D joint velocity，共 199D；这些 privileged 量不进入 actor。
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Source config | `sharpa/configs/sharpa_managerbased_pipeline/dr_contract_refaug_reset_only_v1.json` |
+| Source config SHA256 | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8` |
+| Runtime readback | 每次gate/formal另写create-only readback；必须17/17 matching |
+| Runtime readback SHA256 | 冻结reference `21fbe1950c87fd029ce03827f204f70190845286ac7dd7d0d61165c2c307a804`；本次执行另写真实SHA |
+| Activation | S0关闭randomization；S1全部4096 env开启；nominal fraction `0.0` |
+| Schedule | S0独立plateau后切S1；S1重新初始化stage-local EMA；reference fade `.135→.292` |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围 |
+| Seed | 两阶段seed1 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reset | S0 reset | fixed；保留uniform RSI | No-DR nominal stage |
+| Reset | S1 phone relative XYZ | each `U[-0.006,0.006] m` | every reset |
+| Reset | S1 phone relative rotation | axis-angle `U[-3°,3°]` | every reset |
+| Reset | S1 finger wrap | `U[0,0.06] rad` | 只增加包握 |
+| Reset | S1 four-finger rub | `U[-0.025,0.025] rad` | 四指沿手机小范围扰动 |
+| Reference augmentation | common XY | each `U[-0.05,0.05] m` | hand与phone共用 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | hand与phone共用 |
+| Reference augmentation | phase fade | full through `.135`；zero at `.292` | 平滑退火回原reference |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass/COM/inertia/friction/drive固定；full gravity `-9.81 m/s²` |
+| Observation/noise/lag | disabled | clean、zero-lag observation |
+| Disturbance/push | disabled | 无external push |
+
+## Rewards
+
+| Reward | Weight | Description |
+|---|---:|---|
+| object_keypoints_pos_error_exp | 3.0 | 100 个手机表面点跟随 augmented reference |
+| object_lin_vel_error_exp | 1.0 | 手机线速度跟随 augmented reference |
+| object_ang_vel_error_exp | 1.0 | 手机角速度跟随 augmented reference |
+| hand_wrist_pos_error_exp | 0.1 | root 位置软约束 |
+| hand_wrist_rot_error_exp | 0.1 | root 朝向软约束 |
+| action_l2_exp | 0.5 | residual 幅度约束 |
+| action_rate_l2_exp | 1.0 | residual 平滑约束 |
+| action_out_of_bounds_exp | 1.0 | raw action `[-1,1]` 越界惩罚 |
+| early_terminated_penalty | -10.0 | 非 timeout 提前终止惩罚 |
+| fingertip_object_graph_error_exp | 0.75 | 五指尖—手机相对几何跟随 augmented reference |
+
+## Stage2 Reference Acceptance
+
+| Field | Frozen evidence |
+|---|---|
+| Stage1 source | SHA256 `3d2be9aa9701c654f1ed85cba3af593858e2df02eb4d40bb710b67266b4c2682` |
+| Stage1 manifest | SHA256 `f40ba3f7ac050513319f88e8c6c7b1a93d55e90b30ea43708549e48a2e74c94f` |
+| Runtime human H5 | SHA256 `e8dc5e5b03a3b3c49bae9c7c130760e823163438cfa08b87e3650a04915d5801` |
+| Canonical retarget H5 | SHA256 `3a9d23a95037088a488fd395b6f28ec2473df1576db36bc9c7db9e34a46cc42c` |
+| Runtime retarget H5 | SHA256 `9214db2e1e312b2bcb6ca99dd048803f32da38dcfec04c7562a9fc5419d13e3e` |
+| Reference manifest | SHA256 `1e198107731df5ba20ff0d93dfe3863f5b7bd7ee3781b50f1f41917c26333b9d` |
+| Handoff | SHA256 `7635edd1f2583285a325850c5cf22494dff09b5409ef2f0fff7c3b0aa3b08823`；strict loader `STAGE2_HANDOFF_ACCEPTED` |
+| Timeline | 961 frames @ 60 Hz → 481 policy targets @ 30 Hz |
+| Stage2 QA | validation receipt SHA256 `364aa3003217443c9e3180ebf799309ab2394f2bd881dc6301000cc8a9d8037a`；T0-147-aligned nonpenetration/joint-limit/coupling/continuity gate PASS |
+| Full review | Stage1 MANO / Stage2 Sharpa 2×3 SHA256 `fa6f6ad05bd6a0f8e76236761e8594f7c3bbd2b62280b0d2f53f9002e0eb3ff5` |
+
+## Auto-Curriculum and Evaluation Contract
+
+| Field | Frozen value |
+|---|---|
+| Task ID | `SHARPA-AC-P18-001` |
+| Stop rule | 每stage独立EMA `.95`；min `1500`；meaningful improvement `2%`；patience `1000`；max local `4999` |
+| Transition | S0 selected checkpoint model-only warm start S1；fresh optimizer |
+| GoalContract | SHA256 `4042296ebc9920013de6ad502ae6b4b372af77755873896962457bbdc55630cb` |
+| Evaluation | selected S1；fresh Isaac；`refaug_reset_dr`；seed `0..7`；完整trajectory + 15-step hold |
+| Videos | 每seed一条Stage1 MANO top row / policy actual bottom row的H.264 2×3 |
+| Publication | S0/S1 selected checkpoint Artifact；evaluation bundle；W&B API下载回读与SHA/ffprobe |
+| P2 / Promotion | `NOT_RUN / NON_PROMOTABLE` |

objects/phone/releases/phone8-stage3-autodr-candidates-v1/mentor_trajectory_generation_spec.md

@@ -0,0 +1,76 @@
+# Mentor trajectory generation specification
+
+## Objective
+
+Use each frozen per-phone residual teacher to generate diverse physically executed
+trajectories. A case begins from the matching Stage2 reference, applies a preregistered
+tweak, then lets the reference-conditioned teacher recover toward the approved
+functional terminal goal. Accepted outcomes can seed another bounded tweak; every
+generation remains linked to its immutable parent attempt.
+
+## Frozen identity per attempt
+
+Every attempt must record: release ID and immutable HF revision, episode ID, Training
+Card SHA, checkpoint path/SHA/step, source Stage1/Stage2/GoalContract SHAs, simulator
+and code identity, seed, tweak specification, environment profile, reset ledger,
+parent attempt ID, and output manifest SHA.
+
+## Initial perturbation envelope
+
+The first release stays within the teacher's training distribution:
+
+- common hand+phone XY translation: each axis `U[-0.05, 0.05] m`;
+- common yaw: `U[-30, 30] deg`;
+- phone-in-hand reset translation: each axis `U[-0.006, 0.006] m`;
+- phone-in-hand reset rotation: axis-angle `U[-3, 3] deg`;
+- positive finger wrap: `U[0, 0.06] rad`;
+- four-finger rub: `U[-0.025, 0.025] rad`.
+
+Larger perturbations, physics randomization, pushes, observation noise, or new tweak
+families require a new versioned case bank rather than silently expanding this one.
+
+## Rollout loop
+
+1. Load the matching episode checkpoint and `phone20-stage12-v2` reference.
+2. Reset to phase 0 and apply exactly one registered tweak ledger.
+3. Run a fresh Isaac process for the full trajectory plus 15 control-step hold.
+4. Persist `obs_t`, raw residual, processed residual, reference base,
+   pre-constraint target, final applied target, actual state before/after physics,
+   contact/penetration diagnostics, termination ledger, and randomization ledger.
+5. Score current RMS12 E4, E5 full-trajectory safety, E6 hold, and E9 controller safety;
+   render the canonical Stage1-MANO-over-policy-actual 2x3.
+6. Only an automatically valid, visually reviewed attempt may be used as the parent
+   of a subsequent tweak. Failed attempts remain immutable reflection/diagnostic data.
+7. Repeat with a new child attempt ID; never overwrite or relabel the parent.
+
+## Acceptance and labels
+
+- Primary automatic conjunction: `E4 AND E5 AND E6 AND E9`.
+- Automatic wrist-distance drop is `NOT_EVALUATED`; human video review remains
+  required to assess actual loss of grasp.
+- A rollout used for BC must store the final executed controller target as the label;
+  raw teacher residual remains a separate diagnostic/training field.
+- A checkpoint with `NOT_RUN`, failed automatic cases, or pending visual review may be
+  used for research generation, but its outputs are not promoted training data until
+  the attempt-level gates pass.
+
+## Collection topology
+
+Default: 128 attempts per independent teacher, frozen before outcomes are observed:
+96 train and 32 heldout. Eight teachers therefore define 1024 primary attempts.
+Failed cases keep their original split membership and enter reflection/infra indexes;
+they are never moved into train. Train alone supplies optimization and normalization.
+
+## Required deliverable per attempt
+
+```text
+attempt_<id>/
+  attempt_contract.json
+  metrics.json
+  rollout.npz
+  action_chain.npz
+  randomization_ledger.json
+  evaluation_suite_card.json
+  reference_vs_policy_2x3.mp4
+  render_manifest.json
+```

objects/phone/releases/phone8-stage3-autodr-candidates-v1/release_manifest.json

@@ -0,0 +1,415 @@
+{
+  "checkpoint_count": 8,
+  "episodes": [
+    {
+      "checkpoint": {
+        "iteration": 7499,
+        "path": "checkpoint/model_7499.pt",
+        "sha256": "3e622102b946d22bcaf076d8ca8c7e8ad8d8c81e623a84563cba2a2d80f807d5",
+        "size_bytes": 21074741
+      },
+      "episode_id": "phone_02",
+      "evaluation": {
+        "automatic_drop_detection": "NOT_EVALUATED",
+        "automatic_pass_count": 1,
+        "case_count": 1,
+        "e4_pass_count": 1,
+        "e4_rms_max_mm": 6.179795886100257,
+        "e4_rms_min_mm": 6.179795886100257,
+        "e5_pass_count": 1,
+        "e6_pass_count": 1,
+        "e9_pass_count": 1,
+        "human_visual_review": "NOT_RUN",
+        "mode": "nominal_seed0",
+        "p2": "NOT_RUN",
+        "promotion": "NON_PROMOTABLE",
+        "status": "EVALUATED_AUTOMATIC_ONLY"
+      },
+      "run_state": "finished",
+      "stage2_handoff_sha256": "4b2c7bb02bfa7d87a8e0d82f68d67f193f0aea02890afd7ab4c6a6ec8eb6ef69",
+      "task_id": "SHARPA-AC-P02-001",
+      "training_card_sha256": "5ffe7c315372cbacb1e27073446409130fa291832b0eacfab5b1138014b1695b"
+    },
+    {
+      "checkpoint": {
+        "iteration": 9500,
+        "path": "checkpoint/model_9500.pt",
+        "sha256": "17f193bc87a7fc7a0206240a9b3eb4b3de46d4a393d9a97b961af8442d4b3ae9",
+        "size_bytes": 21074741
+      },
+      "episode_id": "phone_03",
+      "evaluation": {
+        "human_visual_review": "NOT_RUN",
+        "mode": "NOT_RUN",
+        "p2": "NOT_RUN",
+        "status": "NOT_RUN"
+      },
+      "run_state": "crashed_last_complete_candidate",
+      "stage2_handoff_sha256": "beaa3033ad07dd214bca5766a20ec7c436d6e8ec62b03a129d33bc635f9467b2",
+      "task_id": "SHARPA-AC-P03-001",
+      "training_card_sha256": "869c60753bc618296c19ac5f808b9eaeeb945bafd44a4baede3d7e8ee0695c94"
+    },
+    {
+      "checkpoint": {
+        "iteration": 7000,
+        "path": "checkpoint/model_7000.pt",
+        "sha256": "4387769c731d96cc7a26580177664b431ce8ba361d1eed7a6ba17e9c71325283",
+        "size_bytes": 21074741
+      },
+      "episode_id": "phone_05",
+      "evaluation": {
+        "automatic_drop_detection": "NOT_EVALUATED",
+        "automatic_pass_count": 6,
+        "case_count": 8,
+        "e4_pass_count": 6,
+        "e4_rms_max_mm": 12.15544293471119,
+        "e4_rms_min_mm": 10.850174595134927,
+        "e5_pass_count": 8,
+        "e6_pass_count": 8,
+        "e9_pass_count": 8,
+        "human_visual_review": "NOT_RUN",
+        "mode": "refaug_reset_dr_seed0_7",
+        "p2": "NOT_RUN",
+        "promotion": "NON_PROMOTABLE",
+        "status": "EVALUATED_AUTOMATIC_ONLY"
+      },
+      "run_state": "finished",
+      "stage2_handoff_sha256": "1f6f486535bef9cbd0c947dc0208be42e551c0ddeb007237c8a45e501111eeb9",
+      "task_id": "SHARPA-AC-P05-001",
+      "training_card_sha256": "394c778edd2d31fcddb93c3bf26a4e30c87ff3afc0d4ada0e6570246df0df2bc"
+    },
+    {
+      "checkpoint": {
+        "iteration": 7499,
+        "path": "checkpoint/model_7499.pt",
+        "sha256": "f2226b5e6abd3deebd907931dfbcced0512e5ee00a5415e2a826c2df6649db88",
+        "size_bytes": 21074741
+      },
+      "episode_id": "phone_07",
+      "evaluation": {
+        "automatic_drop_detection": "NOT_EVALUATED",
+        "automatic_pass_count": 8,
+        "case_count": 8,
+        "e4_pass_count": 8,
+        "e4_rms_max_mm": 8.664227937921769,
+        "e4_rms_min_mm": 8.313958520220703,
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+        "e6_pass_count": 8,
+        "e9_pass_count": 8,
+        "human_visual_review": "NOT_RUN",
+        "mode": "refaug_reset_dr_seed0_7",
+        "p2": "NOT_RUN",
+        "promotion": "NON_PROMOTABLE",
+        "status": "EVALUATED_AUTOMATIC_ONLY"
+      },
+      "run_state": "finished",
+      "stage2_handoff_sha256": "9236f646b476feaaf91c25077ff7e7e31503ddf7af9e30444d6e7c748c12906c",
+      "task_id": "SHARPA-AC-P07-001",
+      "training_card_sha256": "066f866298c60db210beee519fe8a74259ee98e5377f62ca74d78adaf9bb9049"
+    },
+    {
+      "checkpoint": {
+        "iteration": 9000,
+        "path": "checkpoint/model_9000.pt",
+        "sha256": "e1d2239408a3c0d99e4fa807f2a3824b5c2ccc0fd2533992f6bb454a6a025c4a",
+        "size_bytes": 21074741
+      },
+      "episode_id": "phone_10",
+      "evaluation": {
+        "human_visual_review": "NOT_RUN",
+        "mode": "NOT_RUN",
+        "p2": "NOT_RUN",
+        "status": "NOT_RUN"
+      },
+      "run_state": "crashed_last_complete_candidate",
+      "stage2_handoff_sha256": "e268579a38c351b99147b53c074833e71f4e679486a61a9d7b09ff6138270203",
+      "task_id": "SHARPA-AC-P10-001",
+      "training_card_sha256": "0e2c854df8c6d826a1fd4dbcaed80f08d9c0df9c0df9fe5312073f926c668499"
+    },
+    {
+      "checkpoint": {
+        "iteration": 8500,
+        "path": "checkpoint/model_8500.pt",
+        "sha256": "644117cb1a26eb145e5598a8b3148fd0a2261c02a9e2bf728f414a5ee57684fa",
+        "size_bytes": 21074741
+      },
+      "episode_id": "phone_14",
+      "evaluation": {
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+        "automatic_pass_count": 7,
+        "case_count": 8,
+        "e4_pass_count": 8,
+        "e4_rms_max_mm": 5.2838509923129315,
+        "e4_rms_min_mm": 4.775196763893198,
+        "e5_pass_count": 7,
+        "e6_pass_count": 8,
+        "e9_pass_count": 8,
+        "human_visual_review": "NOT_RUN",
+        "mode": "refaug_reset_dr_seed0_7",
+        "p2": "NOT_RUN",
+        "promotion": "NON_PROMOTABLE",
+        "status": "EVALUATED_AUTOMATIC_ONLY"
+      },
+      "run_state": "finished",
+      "stage2_handoff_sha256": "1ac48397b8a998847567fbbe2b63c7e4ca47a898c796c27680a0ba1e01726fc0",
+      "task_id": "SHARPA-AC-P14-001",
+      "training_card_sha256": "74c2259856114f7453b8efc1cabf8c923ff4e0bf04e19868493235fc762160d6"
+    },
+    {
+      "checkpoint": {
+        "iteration": 7999,
+        "path": "checkpoint/model_7999.pt",
+        "sha256": "675b27da543631c11da1c8b1b7736ee6cb12dcd89893b4d7ac9867fa2dfcf5d5",
+        "size_bytes": 21074741
+      },
+      "episode_id": "phone_17",
+      "evaluation": {
+        "automatic_drop_detection": "NOT_EVALUATED",
+        "automatic_pass_count": 8,
+        "case_count": 8,
+        "e4_pass_count": 8,
+        "e4_rms_max_mm": 8.097533136271426,
+        "e4_rms_min_mm": 7.390446586049231,
+        "e5_pass_count": 8,
+        "e6_pass_count": 8,
+        "e9_pass_count": 8,
+        "human_visual_review": "NOT_RUN",
+        "mode": "refaug_reset_dr_seed0_7",
+        "p2": "NOT_RUN",
+        "promotion": "NON_PROMOTABLE",
+        "status": "EVALUATED_AUTOMATIC_ONLY"
+      },
+      "run_state": "finished",
+      "stage2_handoff_sha256": "d2ff7390e22f8701b38f739bcb1333d398123a872349e6fbb17a09baee69e4eb",
+      "task_id": "SHARPA-AC-P17-001",
+      "training_card_sha256": "04fdca8ab41229a84ad3f73887486b9dd63f9aad30b1b8c1e1509fdb0d445fae"
+    },
+    {
+      "checkpoint": {
+        "iteration": 9998,
+        "path": "checkpoint/model_9998.pt",
+        "sha256": "4ab4006e1f7f94037243a81012dcb58d6bbf498576e4d86eefa9290929db99a4",
+        "size_bytes": 21074741
+      },
+      "episode_id": "phone_18",
+      "evaluation": {
+        "automatic_drop_detection": "NOT_EVALUATED",
+        "automatic_pass_count": 1,
+        "case_count": 1,
+        "e4_pass_count": 1,
+        "e4_rms_max_mm": 6.737432611224653,
+        "e4_rms_min_mm": 6.737432611224653,
+        "e5_pass_count": 1,
+        "e6_pass_count": 1,
+        "e9_pass_count": 1,
+        "human_visual_review": "NOT_RUN",
+        "mode": "nominal_seed0",
+        "p2": "NOT_RUN",
+        "promotion": "NON_PROMOTABLE",
+        "status": "EVALUATED_AUTOMATIC_ONLY"
+      },
+      "run_state": "finished",
+      "stage2_handoff_sha256": "7635edd1f2583285a325850c5cf22494dff09b5409ef2f0fff7c3b0aa3b08823",
+      "task_id": "SHARPA-AC-P18-001",
+      "training_card_sha256": "c417da2a38f4ced9ec9e124e1d2a1fdc2abbc274081fcbeb67f91a7421f2cd1c"
+    }
+  ],
+  "excluded": {
+    "phone_04": "human-rejected checkpoint candidate",
+    "rollout_bytes": "future collection; specification only in this release",
+    "training_logs": "not needed by mentor consumer"
+  },
+  "members": [
+    {
+      "path": "README.md",
+      "sha256": "278190c29472ecd3874b002d25550c9b5ccedf81df45ff5dfc892ba33954de81",
+      "size_bytes": 1699
+    },
+    {
+      "path": "data_card.md",
+      "sha256": "f8241c136e824803c2f8529ffdc278bbe57ecd0aec4655b459689ba2769eaed3",
+      "size_bytes": 4620
+    },
+    {
+      "path": "episodes/phone_02/checkpoint/model_7499.pt",
+      "sha256": "3e622102b946d22bcaf076d8ca8c7e8ad8d8c81e623a84563cba2a2d80f807d5",
+      "size_bytes": 21074741
+    },
+    {
+      "path": "episodes/phone_02/checkpoint_receipt.json",
+      "sha256": "008ca3c02230d588c58cd0e1e5148a69628bde0422c7acbbc4533b7d40b3da95",
+      "size_bytes": 3080
+    },
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+}