{ "schema_version": "1.0", "validation_status": "quarantined_historical", "publication_eligible": false, "validity_notice": "D-048 / 2026-07-18: this D-041 artifact did not pass Harness v2 qualification, adapter preflight, complete provenance, equal budget, or the strict transition-based validator. 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"domain_randomization", "variant": "position", "success": false, "collisions": 0, "drops": 0, "grasp_miss": true, "failure_type": "grasp_miss", "cycle_time_s": 81.576, "diag": { "n_close_cmds": 370, "max_obj_disp_m": 0.0, "min_ee_obj_dist_m": 0.309, "steps": 400 } }, { "episode": 63, "category": "domain_randomization", "variant": "position", "success": false, "collisions": 0, "drops": 0, "grasp_miss": true, "failure_type": "grasp_miss", "cycle_time_s": 88.09, "diag": { "n_close_cmds": 369, "max_obj_disp_m": 0.0, "min_ee_obj_dist_m": 0.383, "steps": 400 } }, { "episode": 64, "category": "domain_randomization", "variant": "position", "success": false, "collisions": 0, "drops": 0, "grasp_miss": true, "failure_type": "grasp_miss", "cycle_time_s": 88.424, "diag": { "n_close_cmds": 384, "max_obj_disp_m": 0.0, "min_ee_obj_dist_m": 0.205, "steps": 400 } }, { "episode": 65, "category": "domain_randomization", "variant": "camera", "success": false, "collisions": 0, "drops": 0, "grasp_miss": true, "failure_type": "grasp_miss", "cycle_time_s": 71.946, "diag": { "n_close_cmds": 376, "max_obj_disp_m": 0.0, "min_ee_obj_dist_m": 0.392, "steps": 400 } }, { "episode": 66, "category": "domain_randomization", "variant": "camera", "success": false, "collisions": 0, "drops": 0, "grasp_miss": true, "failure_type": "grasp_miss", "cycle_time_s": 52.118, "diag": { "n_close_cmds": 373, "max_obj_disp_m": 0.0, "min_ee_obj_dist_m": 0.241, "steps": 400 } }, { "episode": 67, "category": "domain_randomization", "variant": "camera", "success": false, "collisions": 0, "drops": 0, "grasp_miss": true, "failure_type": "grasp_miss", "cycle_time_s": 53.543, "diag": { "n_close_cmds": 371, "max_obj_disp_m": 0.0, "min_ee_obj_dist_m": 0.383, "steps": 400 } } ], "notes": [ "OFFICIAL openvla-oft decoder (VLA + L1 action head + proprio projector, action chunk 8, bounds_q99 un-norm, gripper inverted) on the D-041-fixed harness. Uniform kinematic grasp-assist applied to all agents.", "OBSERVATION CAVEAT: the server renders no wrist camera; the third-person RGB is duplicated into the wrist slot. Proprio is synthesized from the server EE pose. Both are honest approximations of LIBERO's obs space." ] }