{
 "schema": "lift.study-d.replay-provenance.v1",
 "panda_meshes": "grasp-center-20260921.json.gz",
 "panda_meshes_sha256": "f8929eb30b5bebcb006e692d86edcb559c97e06e761355e7fb024326aa0e4781",
 "bundles": {
  "lift-progress.json.gz": {
   "sha256": "34759bb94ecc2b90e5440f62e38b1cf5f82d0e88491552f5f788c237e726b4e7",
   "notice": "Newton-trained seed-0 policy at six training checkpoints, each run in Newton from the same start (episode 0 of 128, a 5 cm cube, Isaac Lab play-mode starts) with the curriculum at full difficulty. Success rates over the 128 episodes: 0% up to iteration 13,000, 2% at 13,500, 20% at 14,500, 47% at 14,999 and 86% at 19,998.",
   "sources": [
    {
     "recording": "progress-N0-on-N-recording.json.gz",
     "env": 0,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_0.pt",
     "condition": "play",
     "hydra": [
      "physics=newton_mjwarp"
     ],
     "seed": 1000,
     "recording_sha256": "6afdb717459e9d97dfe90dedd5f6f5d033ac3bddab50841a62d4071850751ce1",
     "outcome": {
      "success": false,
      "termination": "abnormal_robot",
      "first_success_s": null
     },
     "batch_success_rate": 0.0,
     "batch_n": 128
    },
    {
     "recording": "progress-N8000-on-N-recording.json.gz",
     "env": 0,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_8000.pt",
     "condition": "play",
     "hydra": [
      "physics=newton_mjwarp"
     ],
     "seed": 1000,
     "recording_sha256": "371aaa8e9445afb1ce5e2032c9fa6036b660d971ec8f0ab21b35248dfab94789",
     "outcome": {
      "success": false,
      "termination": "time_out",
      "first_success_s": null
     },
     "batch_success_rate": 0.0,
     "batch_n": 128
    },
    {
     "recording": "progress-N13500-on-N-recording.json.gz",
     "env": 0,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_13500.pt",
     "condition": "play",
     "hydra": [
      "physics=newton_mjwarp"
     ],
     "seed": 1000,
     "recording_sha256": "96bc6bc3808c409bb01d22224d9536c896f2ff253612cd7785956b6442f3a52b",
     "outcome": {
      "success": false,
      "termination": "time_out",
      "first_success_s": null
     },
     "batch_success_rate": 0.0234375,
     "batch_n": 128
    },
    {
     "recording": "progress-N14500-on-N-recording.json.gz",
     "env": 0,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_14500.pt",
     "condition": "play",
     "hydra": [
      "physics=newton_mjwarp"
     ],
     "seed": 1000,
     "recording_sha256": "a4ea6af67396901bf46c0144dc6bb61f7af7b0dc2650167b44a3f5a5f79dea90",
     "outcome": {
      "success": false,
      "termination": "time_out",
      "first_success_s": null
     },
     "batch_success_rate": 0.203125,
     "batch_n": 128
    },
    {
     "recording": "progress-N14999-on-N-recording.json.gz",
     "env": 0,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_14999.pt",
     "condition": "play",
     "hydra": [
      "physics=newton_mjwarp"
     ],
     "seed": 1000,
     "recording_sha256": "b08103866eaa05b44dd340c382e296464aabe003d91a55359200c712a0feebb7",
     "outcome": {
      "success": true,
      "termination": "time_out",
      "first_success_s": 3.9666666984558105
     },
     "batch_success_rate": 0.46875,
     "batch_n": 128
    },
    {
     "recording": "progress-N19998-on-N-recording.json.gz",
     "env": 0,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_18-40-05_newton_mjwarp-seed0-ext/model_19998.pt",
     "condition": "play",
     "hydra": [
      "physics=newton_mjwarp"
     ],
     "seed": 1000,
     "recording_sha256": "bc86527e19b122a3b245c2fccce7aaa479b36a1598fd87fe99e18cb774595271",
     "outcome": {
      "success": true,
      "termination": "time_out",
      "first_success_s": 1.899999976158142
     },
     "batch_success_rate": 0.859375,
     "batch_n": 128
    }
   ]
  },
  "lift-transfer.json.gz": {
   "sha256": "9cc445a164891c0d10119b7fa065e4f7e514712d7906d87a31a7077885474067",
   "notice": "Final policies trained in each engine, each run in both engines: episode 5 of 512 per run (a 15 cm capsule), Isaac Lab's validity-checked starts without spawn-in-hand. The starts are not identical across engines: from the same seed the backends draw different starting states, so the episode index fixes only the object. Selected after inspecting outcomes: both policies succeed at home; the Newton-trained policy fails in PhysX, while the PhysX-trained policy succeeds in Newton in this episode (it fails in 47% of Newton episodes overall).",
   "sources": [
    {
     "recording": "P19998-on-P-standard-recording.json.gz",
     "env": 5,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_19998.pt",
     "condition": "standard",
     "hydra": [
      "physics=isaacsim_physx"
     ],
     "seed": 1000,
     "recording_sha256": "129f4c1a549d7f6e243209cbd49c90dc8e1f81dcf6c36dc143598cc2a6208e2f",
     "outcome": {
      "success": true,
      "termination": "time_out",
      "first_success_s": 2.9000000953674316
     },
     "batch_success_rate": 0.81640625,
     "batch_n": 512
    },
    {
     "recording": "P19998-on-N-standard-recording.json.gz",
     "env": 5,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_19998.pt",
     "condition": "standard",
     "hydra": [
      "physics=newton_mjwarp"
     ],
     "seed": 1000,
     "recording_sha256": "731763b8430ba599665815a4e9bd98a8d75fe48e2e194cb2547df22a60773984",
     "outcome": {
      "success": true,
      "termination": "time_out",
      "first_success_s": 2.0333333015441895
     },
     "batch_success_rate": 0.525390625,
     "batch_n": 512
    },
    {
     "recording": "N19998-on-N-standard-recording.json.gz",
     "env": 5,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_18-40-05_newton_mjwarp-seed0-ext/model_19998.pt",
     "condition": "standard",
     "hydra": [
      "physics=newton_mjwarp"
     ],
     "seed": 1000,
     "recording_sha256": "9458984fd8b257ce5d4bad8a2a88cd2f046b198bcf49a6bffed5d31c1ce5e7f4",
     "outcome": {
      "success": true,
      "termination": "time_out",
      "first_success_s": 3.700000047683716
     },
     "batch_success_rate": 0.880859375,
     "batch_n": 512
    },
    {
     "recording": "N19998-on-P-standard-recording.json.gz",
     "env": 5,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_18-40-05_newton_mjwarp-seed0-ext/model_19998.pt",
     "condition": "standard",
     "hydra": [
      "physics=isaacsim_physx"
     ],
     "seed": 1000,
     "recording_sha256": "10430750b32f4d402790eaf85aad8b31127b372a316a02b766ad581ef8aa643e",
     "outcome": {
      "success": false,
      "termination": "abnormal_robot",
      "first_success_s": null
     },
     "batch_success_rate": 0.68359375,
     "batch_n": 512
    }
   ]
  },
  "lift-progress-physx.json.gz": {
   "sha256": "a146f992f7ee5cd5fab0a9bd388d47fdc4184768eef7f486858116a15baeb2fb",
   "notice": "PhysX-trained seed-0 policy at six training checkpoints, each run in PhysX from the same start (episode 1 of 128, a 2.5 x 5 x 5 cm slab, Isaac Lab play-mode starts) with the curriculum at full difficulty. Success rates over the 128 episodes: 0% up to iteration 14,000, 2% at 14,500, 48% at 16,000 and 81% at 19,998. Starts differ from the Newton progression: the backends draw different starts from the same seed.",
   "sources": [
    {
     "recording": "progress-P0-on-P-recording.json.gz",
     "env": 1,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_0.pt",
     "condition": "play",
     "hydra": [
      "physics=isaacsim_physx"
     ],
     "seed": 1000,
     "recording_sha256": "9ab80c72850585edfa0dbf8a7ababeacc13608e79e0c4be110362f02e30e0c28",
     "outcome": {
      "success": false,
      "termination": "time_out",
      "first_success_s": null
     },
     "batch_success_rate": 0.0,
     "batch_n": 128
    },
    {
     "recording": "progress-P8000-on-P-recording.json.gz",
     "env": 1,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_8000.pt",
     "condition": "play",
     "hydra": [
      "physics=isaacsim_physx"
     ],
     "seed": 1000,
     "recording_sha256": "4e6efb8f0e744c8bd2ffd73f573b9e86e119d7cb9153bd1d5810a480f89d4821",
     "outcome": {
      "success": false,
      "termination": "time_out",
      "first_success_s": null
     },
     "batch_success_rate": 0.0,
     "batch_n": 128
    },
    {
     "recording": "progress-P13000-on-P-recording.json.gz",
     "env": 1,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_13000.pt",
     "condition": "play",
     "hydra": [
      "physics=isaacsim_physx"
     ],
     "seed": 1000,
     "recording_sha256": "5a78dac8f63e1a60a6e95a66a16cd6db9eaa52cde69741a15ee1f8951913268f",
     "outcome": {
      "success": false,
      "termination": "time_out",
      "first_success_s": null
     },
     "batch_success_rate": 0.0,
     "batch_n": 128
    },
    {
     "recording": "progress-P14500-on-P-recording.json.gz",
     "env": 1,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_14500.pt",
     "condition": "play",
     "hydra": [
      "physics=isaacsim_physx"
     ],
     "seed": 1000,
     "recording_sha256": "ae3da266751729a871dd133bbe782876bdb120712d65ac042f22f377e7aec39b",
     "outcome": {
      "success": false,
      "termination": "time_out",
      "first_success_s": null
     },
     "batch_success_rate": 0.015625,
     "batch_n": 128
    },
    {
     "recording": "progress-P16000-on-P-recording.json.gz",
     "env": 1,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_16000.pt",
     "condition": "play",
     "hydra": [
      "physics=isaacsim_physx"
     ],
     "seed": 1000,
     "recording_sha256": "fabb662589bbeabf63cdfc9736b1a688d5615c36cd46bce48aeac5cd1f595115",
     "outcome": {
      "success": true,
      "termination": "time_out",
      "first_success_s": 1.7666666507720947
     },
     "batch_success_rate": 0.484375,
     "batch_n": 128
    },
    {
     "recording": "progress-P19998-on-P-recording.json.gz",
     "env": 1,
     "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_19998.pt",
     "condition": "play",
     "hydra": [
      "physics=isaacsim_physx"
     ],
     "seed": 1000,
     "recording_sha256": "566c1db1b60d6f429c31e7f3c508a811e7e379d281cb335e78ad19f092672aa9",
     "outcome": {
      "success": true,
      "termination": "time_out",
      "first_success_s": 1.9333332777023315
     },
     "batch_success_rate": 0.8125,
     "batch_n": 128
    }
   ]
  }
 }
}
