{
 "$schema": "https://botlandscape.com/policy-dna.schema.json",
 "schema_version": 1,
 "method": {
  "version": "policy-dna/1",
  "strip_columns": 48,
  "strip_levels": 16,
  "curve_points": 32,
  "roughness": "Mean over interior steps of the root-mean-square, across active action channels, of (a[t+1] - 2a[t] + a[t-1]) divided by that channel's range in the episode. Unitless and per control step.",
  "active_share": "Share of action channels whose range in the episode exceeds 1e-9 and 1e-6 times the channel's largest magnitude (at least 1).",
  "t50": "Fraction of recorded reward steps after which cumulative reward first reaches half of a positive episode return. Null when reward is absent or the return is not positive.",
  "scope": "One fingerprint per recorded episode. Not a suite score, a policy ranking, or a claim about generalization. Compare roughness and channel use only within one action family."
 },
 "inputs_digest": {
  "alg": "sha256",
  "hex": "aebca2c4253c9032a909b47c1a4e4e93d0127612db7437cb3d445aab5b95d297"
 },
 "policy_classes": [
  {
   "id": "rl",
   "label": "Reinforcement learning",
   "description": "A learned policy trained from reward, executed from its checkpoint."
  },
  {
   "id": "vla",
   "label": "Vision-language-action model",
   "description": "A learned image- and language-conditioned policy executed from its checkpoint."
  },
  {
   "id": "human-teleop",
   "label": "Human teleoperation",
   "description": "Actions a person issued through a teleoperation rig, replayed or recorded."
  },
  {
   "id": "scripted-expert",
   "label": "Scripted expert",
   "description": "A hand-written per-task controller shipped with the benchmark."
  },
  {
   "id": "planner",
   "label": "Planner or IK",
   "description": "Motion planning, inverse kinematics, oracle or navigation-stack control."
  },
  {
   "id": "random",
   "label": "Random actions",
   "description": "Uniformly sampled actions; a floor for roughness, not a controller."
  }
 ],
 "action_families": [
  {
   "id": "joint-absolute",
   "label": "Absolute joint targets",
   "description": "Each channel is a joint position target."
  },
  {
   "id": "joint-delta",
   "label": "Joint deltas",
   "description": "Each channel is a joint position offset from the current or default pose."
  },
  {
   "id": "ee-delta",
   "label": "End-effector deltas",
   "description": "Operational-space or mocap pose deltas plus gripper (and base, where present)."
  },
  {
   "id": "ee-absolute",
   "label": "Absolute end-effector pose",
   "description": "Each step sets a tool pose and gripper command."
  },
  {
   "id": "whole-body",
   "label": "Whole-body commands",
   "description": "Normalized actuator controls or mixed base, torso, arm and hand commands."
  },
  {
   "id": "base",
   "label": "Base navigation",
   "description": "Planar base targets or navigation modes."
  },
  {
   "id": "none",
   "label": "No action channel",
   "description": "The recording keeps no aligned per-step applied action."
  }
 ],
 "class_summaries": [
  {
   "id": "rl",
   "episodes": 2,
   "with_actions": 2,
   "successes": 2,
   "failures": 0,
   "median_roughness": 0.0814,
   "median_active_share": 1.0
  },
  {
   "id": "vla",
   "episodes": 1,
   "with_actions": 1,
   "successes": 1,
   "failures": 0,
   "median_roughness": 0.0524,
   "median_active_share": 1.0
  },
  {
   "id": "human-teleop",
   "episodes": 7,
   "with_actions": 7,
   "successes": 4,
   "failures": 2,
   "median_roughness": 0.0233,
   "median_active_share": 1.0
  },
  {
   "id": "scripted-expert",
   "episodes": 19,
   "with_actions": 18,
   "successes": 18,
   "failures": 1,
   "median_roughness": 0.0549,
   "median_active_share": 1.0
  },
  {
   "id": "planner",
   "episodes": 7,
   "with_actions": 5,
   "successes": 5,
   "failures": 2,
   "median_roughness": 0.0112,
   "median_active_share": 1.0
  },
  {
   "id": "random",
   "episodes": 1,
   "with_actions": 1,
   "successes": 0,
   "failures": 1,
   "median_roughness": 0.7113,
   "median_active_share": 1.0
  }
 ],
 "episodes": [
  {
   "id": "behavior.turning-on-radio.episode0",
   "label": "Turn on the radio · BEHAVIOR R1Pro",
   "suite": "behavior",
   "kind": "recorded-demo",
   "origin": "upstream",
   "policy_class": "human-teleop",
   "action_family": "whole-body",
   "success": null,
   "dataset_reported_success": null,
   "steps": 1956,
   "sample_hz": 30,
   "duration_s": 65.2,
   "action": {
    "channels": 23,
    "active_channels": 22,
    "active_share": 0.957,
    "roughness": 0.0029,
    "space": "Source 23-channel R1Pro commands; exact historical limits not established"
   },
   "reward": {
    "recorded": false,
    "return_sum": null,
    "t50": null,
    "curve": []
   },
   "events": [
    {
     "at": 0.697,
     "kind": "note",
     "label": "Source transition next_terminated=true (after this action)"
    }
   ],
   "strip": [
    {
     "name": "action[0]",
     "active": true,
     "cells": "8bba9988888888b8a8888888888888888888888844888888"
    },
    {
     "name": "action[1]",
     "active": true,
     "cells": "fffb1befffffffffffffffffffffffffffffffffffffffff"
    },
    {
     "name": "action[2]",
     "active": true,
     "cells": "32dd8c7777777777777777a8777777777777777778777777"
    },
    {
     "name": "action[3]",
     "active": true,
     "cells": "fffffffb6100000000000000000000000000000000000000"
    },
    {
     "name": "action[4]",
     "active": true,
     "cells": "000000049effffffffffffffffffffffffffffffffffffff"
    },
    {
     "name": "action[5]",
     "active": true,
     "cells": "8888777bdfeca865420000000000000000000000002468ab"
    },
    {
     "name": "action[6]",
     "active": false,
     "cells": ""
    },
    {
     "name": "action[7]",
     "active": true,
     "cells": "ffffffffffffffffffffccccccccb65200000000002adddd"
    },
    {
     "name": "action[8]",
     "active": true,
     "cells": "11111111111111111113444444445623105aaabbbbd93333"
    },
    {
     "name": "action[9]",
     "active": true,
     "cells": "ffffffffffffffffffffffffffffffedaab9999999720000"
    },
    {
     "name": "action[10]",
     "active": true,
     "cells": "fffffffffffffffffff801111111100123011222112affff"
    },
    {
     "name": "action[11]",
     "active": true,
     "cells": "00000000000011111111222222222569eeffffffffd99999"
    },
    {
     "name": "action[12]",
     "active": true,
     "cells": "11111111111100000004bbbbbbbbcffffffffffffff60000"
    },
    {
     "name": "action[13]",
     "active": true,
     "cells": "33333333333333333333222222222027ffffffffffd40000"
    },
    {
     "name": "action[14]",
     "active": true,
     "cells": "ffffffffffffffffffffffffffffff000000000000000000"
    },
    {
     "name": "action[15]",
     "active": true,
     "cells": "ffffffffffffffffffff630000002566666555555559dddd"
    },
    {
     "name": "action[16]",
     "active": true,
     "cells": "cccccccccccccccccccadffffffdbeffffebbccdcc36cddd"
    },
    {
     "name": "action[17]",
     "active": true,
     "cells": "14444444444444444444333334435effffb5555555444445"
    },
    {
     "name": "action[18]",
     "active": true,
     "cells": "fffffffffffffffffff814779ab6079999513454003effff"
    },
    {
     "name": "action[19]",
     "active": true,
     "cells": "75555555555555555555552200004feeeeeeeedddd855444"
    },
    {
     "name": "action[20]",
     "active": true,
     "cells": "00000000000000000005ffddba9cfa9999cffcabffd30001"
    },
    {
     "name": "action[21]",
     "active": true,
     "cells": "cccccccccccccccccccba99888897100005fffddeeeecccc"
    },
    {
     "name": "action[22]",
     "active": true,
     "cells": "ffffffffffffffffffffffffffe000000000000cffffffff"
    }
   ],
   "manifest_href": "/worlds/episodes/behavior.turning-on-radio.episode0.json",
   "replay_href": "/?episode=behavior.turning-on-radio.episode0",
   "manifest_digest": "a30305f771c265b3adcb5f10877e8a55408d6a1d40c60177c6b7b330b3e77bb5"
  },
  {
   "id": "calvin.lift-place.validation554046-554145",
   "label": "Lift and place the red block · CALVIN scene D",
   "suite": "calvin",
   "kind": "recorded-rollout",
   "origin": "site-generated",
   "policy_class": "human-teleop",
   "action_family": "ee-absolute",
   "success": true,
   "dataset_reported_success": null,
   "steps": 101,
   "sample_hz": 30,
   "duration_s": 3.37,
   "action": {
    "channels": 7,
    "active_channels": 7,
    "active_share": 1.0,
    "roughness": 0.0379,
    "space": "Absolute TCP XYZ (m), XYZ Euler orientation (rad), gripper sign. Source wrapper splits 3/3/1 and normalizes the gripper sign. No Gym Box bounds are declared for this source replay."
   },
   "reward": {
    "recorded": true,
    "return_sum": 0,
    "t50": null,
    "curve": []
   },
   "events": [
    {
     "at": 0.0,
     "kind": "subtask",
     "label": "Lift the red block from the table"
    },
    {
     "at": 0.564,
     "kind": "subtask",
     "label": "Native lift predicate first satisfied"
    },
    {
     "at": 0.634,
     "kind": "subtask",
     "label": "Placement phase reference · no reset"
    },
    {
     "at": 0.891,
     "kind": "subtask",
     "label": "Native placement predicate first satisfied"
    },
    {
     "at": 0.99,
     "kind": "subtask",
     "label": "Selected two-phase source-action replay complete"
    }
   ],
   "strip": [
    {
     "name": "tcp_x",
     "active": true,
     "cells": "ffedcba98764332110000000001123456678889999999999"
    },
    {
     "name": "tcp_y",
     "active": true,
     "cells": "0001123445667778899999aa9999899aabbccdeeffffffed"
    },
    {
     "name": "tcp_z",
     "active": true,
     "cells": "024578acdeffffecb96532224679abcddddca98654345689"
    },
    {
     "name": "euler_x",
     "active": true,
     "cells": "ffffffffffffffffffffffff000000ffffffffffffffffff"
    },
    {
     "name": "euler_y",
     "active": true,
     "cells": "fdcba98753100013479bdeedb98754211001457889986432"
    },
    {
     "name": "euler_z",
     "active": true,
     "cells": "0012245678abdeefffffeefffffffedcba98766655555555"
    },
    {
     "name": "gripper",
     "active": true,
     "cells": "ffffffffffffffffffffff00000000000000000000ffffff"
    }
   ],
   "manifest_href": "/worlds/episodes/calvin.lift-place.validation554046-554145.json",
   "replay_href": "/?episode=calvin.lift-place.validation554046-554145",
   "manifest_digest": "4af43492e03f37496997a916f80b8e5b267c5a86115464c532c3f26f6fdc26d5"
  },
  {
   "id": "carla.town01-lincoln-turn.basic-agent",
   "label": "Town01 left turn · CARLA BasicAgent",
   "suite": "carla",
   "kind": "recorded-rollout",
   "origin": "site-generated",
   "policy_class": "planner",
   "action_family": "none",
   "success": true,
   "dataset_reported_success": null,
   "steps": 801,
   "sample_hz": 20.0,
   "duration_s": 40.05,
   "action": {
    "channels": 0,
    "active_channels": 0,
    "active_share": null,
    "roughness": null,
    "space": "Requested and applied CARLA controls retained as named native telemetry; no joint action vector."
   },
   "reward": {
    "recorded": false,
    "return_sum": null,
    "t50": null,
    "curve": []
   },
   "events": [
    {
     "at": 0.528,
     "kind": "note",
     "label": "Authored arrival held for one second"
    },
    {
     "at": 0.999,
     "kind": "note",
     "label": "Authored 40-second horizon"
    }
   ],
   "strip": [],
   "manifest_href": "/worlds/episodes/carla.town01-lincoln-turn.basic-agent.json",
   "replay_href": "/?episode=carla.town01-lincoln-turn.basic-agent",
   "manifest_digest": "719a36f15a71aa693cbaa628df7deaaa5bfe8164b5bc5fdd3de52fea20754ac8"
  },
  {
   "id": "droid.rail-80edfcb1-2023-04-17-14h-48m-05s",
   "label": "Put the marker in the pot",
   "suite": "droid",
   "kind": "physical-recording",
   "origin": "upstream",
   "policy_class": "human-teleop",
   "action_family": "joint-absolute",
   "success": false,
   "dataset_reported_success": true,
   "steps": 166,
   "sample_hz": 14.085,
   "duration_s": 11.79,
   "action": {
    "channels": 8,
    "active_channels": 8,
    "active_share": 1.0,
    "roughness": 0.008,
    "space": "commanded joint position + gripper (RLDS action_dict, Float32)"
   },
   "reward": {
    "recorded": false,
    "return_sum": null,
    "t50": null,
    "curve": []
   },
   "events": [
    {
     "at": 0.0,
     "kind": "note",
     "label": "Physical human demonstration. Task instruction: Put the marker in the pot"
    },
    {
     "at": 0.0,
     "kind": "note",
     "label": "Dataset-reported outcome success=true from raw metadata RAIL+80edfcb1+2023-04-17-14h-48m-05s. This is not native task scoring and not a suite score."
    },
    {
     "at": 0.994,
     "kind": "note",
     "label": "Selected 166 RLDS samples omit the final raw state (167). UI duration is the last selected step-start (11.742 s), not the raw span (11.812 s) and not the 60 fps encoded duration (2.7667 s)."
    },
    {
     "at": 0.0,
     "kind": "note",
     "label": "Wrist (13062452): no published sidecar. Index mapping only; parent image checks do not claim verified per-frame correspondence beyond sampled evidence. Exterior 1 (20521388): no published sidecar. Index mapping only; parent image checks do not claim verified per-frame correspondence beyond sampled evidence. Exterior 2 (24259877): no published sidecar. Index mapping only; parent image checks do not claim verified per-frame correspondence beyond sampled evidence."
    },
    {
     "at": 0.0,
     "kind": "note",
     "label": "Neither selected UUID exists in KarlP/droid cam2base_extrinsics.json at bcb840c3b496533e0adf548a54b51f2f00057837. Raw metadata extrinsics are unvalidated and are not applied. Registered 3D overlay is an unmet follow-up."
    },
    {
     "at": 0.398,
     "kind": "note",
     "label": "Measured gripper crossed 0.5 at sample 66 (schema path observation/robot_state/gripper_position)"
    },
    {
     "at": 0.837,
     "kind": "note",
     "label": "Measured gripper crossed 0.5 at sample 139 (schema path observation/robot_state/gripper_position)"
    }
   ],
   "strip": [
    {
     "name": "Franka joint 1",
     "active": true,
     "cells": "100000122344556667777777679bdefffffeeeeeeedccddc"
    },
    {
     "name": "Franka joint 2",
     "active": true,
     "cells": "0002468abccdeeefffffffedcbbbaaaaaaaaabbbbaa98888"
    },
    {
     "name": "Franka joint 3",
     "active": true,
     "cells": "ccdefffeddccccbbbbbbbbbba97421000000000111123333"
    },
    {
     "name": "Franka joint 4",
     "active": true,
     "cells": "32223468abbccdeeffffffeca86543322222222222110000"
    },
    {
     "name": "Franka joint 5",
     "active": true,
     "cells": "ffffeca99999999999999988764221100000000000001000"
    },
    {
     "name": "Franka joint 6",
     "active": true,
     "cells": "0024566666555444444444578bdfffffffffffffffffefff"
    },
    {
     "name": "Franka joint 7",
     "active": true,
     "cells": "001358bcdddddddddddddcccddeffffffeeeeeeeddddcddd"
    },
    {
     "name": "Franka gripper",
     "active": true,
     "cells": "000000000000000026bfffffffffffffffffffa510000000"
    }
   ],
   "manifest_href": "/worlds/episodes/droid.rail-80edfcb1-2023-04-17-14h-48m-05s.json",
   "replay_href": "/?episode=droid.rail-80edfcb1-2023-04-17-14h-48m-05s",
   "manifest_digest": "b0525d51b514a6d818bfb62c84c81e8f9658155f1fc973998fe39fdaa09ce0c9"
  },
  {
   "id": "droid.rpl-cb4f6842-2023-06-05-20h-15m-38s",
   "label": "Put the candy bar on the left side of the first shelf",
   "suite": "droid",
   "kind": "physical-recording",
   "origin": "upstream",
   "policy_class": "human-teleop",
   "action_family": "joint-absolute",
   "success": false,
   "dataset_reported_success": true,
   "steps": 238,
   "sample_hz": 13.889,
   "duration_s": 17.14,
   "action": {
    "channels": 8,
    "active_channels": 8,
    "active_share": 1.0,
    "roughness": 0.0075,
    "space": "commanded joint position + gripper (RLDS action_dict, Float32)"
   },
   "reward": {
    "recorded": false,
    "return_sum": null,
    "t50": null,
    "curve": []
   },
   "events": [
    {
     "at": 0.0,
     "kind": "note",
     "label": "Physical human demonstration. Task instruction: Put the candy bar on the left side of the first shelf"
    },
    {
     "at": 0.0,
     "kind": "note",
     "label": "Dataset-reported outcome success=true from raw metadata RPL+cb4f6842+2023-06-05-20h-15m-38s. This is not native task scoring and not a suite score."
    },
    {
     "at": 0.996,
     "kind": "note",
     "label": "Selected 238 RLDS samples omit the final raw state (239). UI duration is the last selected step-start (17.05 s), not the raw span (17.122 s) and not the 60 fps encoded duration (3.9667 s)."
    },
    {
     "at": 0.0,
     "kind": "note",
     "label": "Wrist (17225336): sidecar timestamps equal raw frame_received for the selected 238 samples. Exterior 1 (24013089): sidecar timestamps equal raw frame_received for the selected 238 samples. Exterior 2 (25047636): sidecar timestamps equal raw frame_received for the selected 238 samples."
    },
    {
     "at": 0.0,
     "kind": "note",
     "label": "Neither selected UUID exists in KarlP/droid cam2base_extrinsics.json at bcb840c3b496533e0adf548a54b51f2f00057837. Raw metadata extrinsics are unvalidated and are not applied. Registered 3D overlay is an unmet follow-up."
    },
    {
     "at": 0.315,
     "kind": "note",
     "label": "Measured gripper crossed 0.5 at sample 75 (schema path observation/robot_state/gripper_position)"
    },
    {
     "at": 0.727,
     "kind": "note",
     "label": "Measured gripper crossed 0.5 at sample 173 (schema path observation/robot_state/gripper_position)"
    }
   ],
   "strip": [
    {
     "name": "Franka joint 1",
     "active": true,
     "cells": "46666665555554445689a98510158bbbbbccdeffffba8777"
    },
    {
     "name": "Franka joint 2",
     "active": true,
     "cells": "23469accdeeeeeefedb952001358abcdeffffeca75333344"
    },
    {
     "name": "Franka joint 3",
     "active": true,
     "cells": "fddc954455666666666899bdeffd84322111122220332233"
    },
    {
     "name": "Franka joint 4",
     "active": true,
     "cells": "2211111111122222221000024679bcdeffffffec97432111"
    },
    {
     "name": "Franka joint 5",
     "active": true,
     "cells": "aba9788899999aabbcceffec952000000100111357888aaa"
    },
    {
     "name": "Franka joint 6",
     "active": true,
     "cells": "4689cefffffffffffeecb976666543322211110001357888"
    },
    {
     "name": "Franka joint 7",
     "active": true,
     "cells": "8777653210000000011347aceeeeeddddddeeeefffdb9888"
    },
    {
     "name": "Franka gripper",
     "active": true,
     "cells": "000000000000029ffffffffffffffffffd50000000000000"
    }
   ],
   "manifest_href": "/worlds/episodes/droid.rpl-cb4f6842-2023-06-05-20h-15m-38s.json",
   "replay_href": "/?episode=droid.rpl-cb4f6842-2023-06-05-20h-15m-38s",
   "manifest_digest": "843a86b32575bd74f325ee8af88ab93c7daaba329b211ffc7782cd1a09b8fe87"
  },
  {
   "id": "forest3d.woodland-navigation.authored.seed42",
   "label": "Forest3D woodland · authored Husky navigation",
   "suite": "forest3d",
   "kind": "recorded-rollout",
   "origin": "site-generated",
   "policy_class": "scripted-expert",
   "action_family": "none",
   "success": true,
   "dataset_reported_success": null,
   "steps": 1163,
   "sample_hz": 18.473,
   "duration_s": 62.96,
   "action": {
    "channels": 0,
    "active_channels": 0,
    "active_share": null,
    "roughness": null,
    "space": "Separately timestamped differential-drive Twist observations; no aligned applied-action channel."
   },
   "reward": {
    "recorded": false,
    "return_sum": null,
    "t50": null,
    "curve": []
   },
   "events": [
    {
     "at": 0.999,
     "kind": "termination",
     "label": "Declared goal held"
    }
   ],
   "strip": [],
   "manifest_href": "/worlds/episodes/forest3d.woodland-navigation.authored.seed42.json",
   "replay_href": "/?episode=forest3d.woodland-navigation.authored.seed42",
   "manifest_digest": "1eca7fed6c69c62a478b0ee701934bb7b1896debf62ef806e706aac430c748a9"
  },
  {
   "id": "genesis.panda-grasp.ik",
   "label": "Grasp and hold the cube · Genesis Panda",
   "suite": "genesis",
   "kind": "recorded-rollout",
   "origin": "site-generated",
   "policy_class": "planner",
   "action_family": "joint-absolute",
   "success": true,
   "dataset_reported_success": null,
   "steps": 701,
   "sample_hz": 100,
   "duration_s": 7.01,
   "action": {
    "channels": 9,
    "active_channels": 9,
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