{
  "status": "registered",
  "registered_at": "2026-10-16T09:45:14.092748+00:00",
  "id": "placement-synthetic-utility-v2",
  "question": "Does replacing half of reference-image training episodes with world-generated observations improve closed-loop placement on unseen native spatial layout groups?",
  "task": "widowx_carrot_on_plate",
  "horizon_steps": 80,
  "control_hz": 5,
  "reference_dataset": "placement-utility-dev-v2-20261016",
  "training_episodes": 48,
  "training_seeds": [
    202610260,
    202610261,
    202610262
  ],
  "arms": [
    "reference-only",
    "ordinary-augmentation",
    "cosmos3-edge-images",
    "cosmos3-nano-images"
  ],
  "architecture_sha256": "c5f51405ce4b994f5bbff88611fca45391d9e2bb71900a376fa13b7eb4134e0b",
  "training": {
    "optimizer_steps": 3000,
    "batch_size": 8,
    "learning_rate": 0.0003,
    "weight_decay": 0.0001,
    "prediction_horizon": 8,
    "sequence_length": 80,
    "checkpoint_selection": "Final optimizer step only",
    "input": "128x128 RGB + measured robot qpos; no object state, phase index or episode ID",
    "common_schedule": "Same initialization seed and sampled episode indices across arms; a separate augmentation RNG cannot change the episode order",
    "augmentation_probability": 0.5,
    "ordinary_augmentation": "Temporally consistent per-episode brightness +/-0.1, contrast 0.8-1.2, RGB gains 0.9-1.1, plus independent Gaussian pixel noise with per-episode standard deviation 0-0.02, clamp to [0,1]. No spatial transforms.",
    "world_augmentation": "Replace an entire selected sequence of RGB observations with its matching generated frames; keep measured training qpos and action targets fixed. This tests visual-data augmentation, not autonomous model-generated demonstrations.",
    "matching": "All arms use the same 48 source trajectories and 3000*8*80 observation-update budget. Generated arms do not get extra optimization steps. Reference-only keeps original observations on every draw.",
    "normalization": "Fit on training reference qpos and commands only, identically for all arms.",
    "failure_policy": "Preserve every generation/training/evaluation error. Do not select generations by perceived quality. If an augmentation arm lacks any of the 48 registered complete episodes, mark its controlled comparison incomplete rather than silently dropping episodes or replacing failures."
  },
  "evaluation": {
    "primary": "Native simulator placement predicate true for the final five control steps",
    "cases": [
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        "layout_id": 2,
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        "layout_id": 18,
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        "id": "heldout-layout20-00",
        "split": "heldout",
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        "layout_id": 20,
        "scene_seed": 202610301,
        "xy_jitter_m": [
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        "id": "heldout-layout20-01",
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      {
        "id": "heldout-layout21-00",
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        "scene_seed": 202610303,
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      {
        "id": "heldout-layout21-01",
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        "scene_seed": 202610304,
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    ],
    "selection": "No teacher trajectories or observations collected for these cases before registration. Previously reviewed V1/development position-pair groups excluded. All cases evaluated for every final checkpoint without tuning.",
    "uncertainty": "Report all three training-seed results and equal-weight mean across six position-pair groups; paired hierarchical bootstrap over training seeds and position-pair groups, nesting orientations and jitter within group, 2000 draws seed 202610290. Small-sample descriptive intervals, no broad generalization or real-robot claim.",
    "secondary": "Eight familiar development validation resets, reported separately and never used for checkpoint selection."
  },
  "limits": [
    "Simulation only, one object and embodiment, 80-step Rather extension rather than official 60-step Simpler score.",
    "Synthetic data uses realized training TCP trajectories; no held-out observations, trajectories or labels enter generation or training.",
    "Open-weight Cosmos configurations and a small Rather-trained BC policy; this does not establish benefit to all VLAs.",
    "No independent human or physical-robot validation available."
  ]
}