{ "claims": [ { "how": "summary.gains lists exactly these two program ids; both rows have current.success false and live.success true", "supported_by": [ "knav/artifacts/research-continuation-2026-09-09-v0.1/binary-live-2026-09-09.json", "knav/artifacts/terminal-binary-live-resume-audit-v0.1/result.json" ], "text": "KimoNav: two recorded task rescues by the live binary reference governor" }, { "how": "captures carry fps=50.0 and control_step_dt_s=0.02; poses are drawn by MuJoCo forward kinematics of the recorded G1 state (this script contains no stepping call, asserted statically); every displayed frame is a saved Isaac Lab state of the flat-ground G1 simulation", "supported_by": [ ".codex/sonic-m3j/gear_sonic/data/assets/robot_description/mjcf/g1_29dof_rev_1_0.xml", "knav/artifacts/terminal-binary-live-resume-v0.1/execution.jsonl", "/home/linjiw/kimodo/knav/scripts/render_binary_rescue_demo_v2.py" ], "text": "Replay of recorded Isaac Lab states \u00b7 simulated Unitree G1 on flat ground \u00b7 no new physics \u00b7 25 fps display of 50 Hz captures" }, { "how": "summary.current.allocated_programs = summary.live.allocated_programs = 24 and len(rows) = 24; summary.gains has exactly 2 entries and summary.retained_current = 22, and 22 + 2 = 24; exactly 2 of the 24 rows carry reference_changed true", "supported_by": [ "knav/artifacts/research-continuation-2026-09-09-v0.1/binary-live-2026-09-09.json" ], "text": "Selection: 2 of 24 inspected development programs \u2014 the only two whose outcome changed; the governor kept the current reference in the other 22" }, { "how": "summary.current.success = 8, summary.live.success = 10, summary.losses = [] over the same 24 allocated programs; registration.json records development_posthoc true and untouched_confirmation false (the confirmation family had already been inspected), so the rule is scored on its own development programs; final36_accessed is false in all three files, so the sealed set contributed no validation", "supported_by": [ "knav/artifacts/research-continuation-2026-09-09-v0.1/binary-live-2026-09-09.json", "knav/artifacts/terminal-binary-live-resume-v0.1/registration.json", "knav/artifacts/terminal-binary-live-resume-audit-v0.1/result.json" ], "text": "Complete-task success across the 24: 8/24 \u2192 10/24, 0 losses \u2014 but the rule was designed post-hoc on these same programs: no out-of-sample validation" }, { "how": "summary.preparation_wall_s_range is [11.300260781998077, 18.125260120999883], equal to the min and max of rows[].preparation_wall_s; registration.json records physics_paused_during_preparation true and real_time_claimed false; each live ledger row records evidence.updates[0].physics_paused_during_preparation true and asynchronous_computation false", "supported_by": [ "knav/artifacts/research-continuation-2026-09-09-v0.1/binary-live-2026-09-09.json", "knav/artifacts/terminal-binary-live-resume-v0.1/registration.json", "knav/artifacts/terminal-binary-live-resume-v0.1/execution.jsonl" ], "text": "\"Live\" = decided during the run from that run's own measured history; physics was PAUSED 11.30\u201318.13 s per decision \u2014 not real time, not asynchronous" }, { "how": "all four scored arms record fell false and full_duration true, max_timed_path_error_m <= 0.20 m, max_heading_error_deg <= 10 deg and speed_mae_mps <= 0.15 m/s; for both failing current arms the only false entry of requested_program.checks is ordered_phases, every phase before the final STOP is complete, and inside that STOP the captured dwell and the stopping overshoot both pass - the requested STOP speed is the sole failing condition", "supported_by": [ "knav/artifacts/research-continuation-2026-09-09-v0.1/binary-live-2026-09-09.json", "knav/artifacts/m3k-candidate-execution-v0.1/execution.jsonl", "knav/artifacts/terminal-binary-live-resume-v0.1/execution.jsonl" ], "text": "Neither robot falls, both track the path and both reach the stop marker: the only failed gate is the requested STOP speed" }, { "how": "duration from compile_program(NavigationProgram.from_dict(programs.jsonl row)); the live ledger row's candidate.program is asserted byte-identical to that record; both panels are indexed by the same state_time_s sample; markers are drawn from the same compiled trajectory", "supported_by": [ "knav/artifacts/m3k-program-bank-v0.1/programs.jsonl", "knav/artifacts/terminal-binary-live-resume-v0.1/execution.jsonl" ], "text": "{order}/2 {program_id} \u00b7 compiled duration {duration:.2f} s \u00b7 panels time-aligned on the original clock \u00b7 teal: requested path, amber: requested stop point" }, { "how": "the two peaks are rows[program_id][arm].STOP_peak_mps, each asserted equal to the maximum of |root_lin_vel_w[:, :2]| over the requested STOP interval of the matching capture and to requested_program.phases[-1].max_stop_speed_mps; the preparation time is evidence.updates[0].preparation_wall_s of the live ledger row, equal to rows[program_id].preparation_wall_s in the study report and the audit; the two end distances are requested_program.final_position_error_m of each scoring ledger row, asserted equal to this renderer's own |root - requested stop point| at the last scored sample; the repaired end distance is asserted to be the larger of the two", "supported_by": [ "knav/artifacts/research-continuation-2026-09-09-v0.1/binary-live-2026-09-09.json", "knav/artifacts/terminal-binary-live-resume-audit-v0.1/result.json", "knav/artifacts/m3k-candidate-execution-v0.1/execution.jsonl", "knav/artifacts/terminal-binary-live-resume-v0.1/execution.jsonl" ], "text": "STOP peak {current:.3f} \u2192 {live:.3f} m/s (limit 0.10) \u00b7 physics paused {prep:.2f} s for this decision \u00b7 repaired run ends FARTHER from the stop point: {current_end:.3f} \u2192 {live_end:.3f} m" }, { "how": "rows[program_id].current.success is false for both programs; the panel replays the hash-checked m3k-candidate-execution seed 1703 capture that the audit rescored as the current arm", "supported_by": [ "knav/artifacts/research-continuation-2026-09-09-v0.1/binary-live-2026-09-09.json", "knav/artifacts/terminal-binary-live-resume-audit-v0.1/result.json", "knav/artifacts/m3k-candidate-execution-v0.1/execution.jsonl" ], "text": "Current reference \u00b7 task fails" }, { "how": "rows[program_id].live.success is true; audit rows record reference_changed true and selected_index 0 (the repair candidate) for both programs", "supported_by": [ "knav/artifacts/research-continuation-2026-09-09-v0.1/binary-live-2026-09-09.json", "knav/artifacts/terminal-binary-live-resume-audit-v0.1/result.json", "knav/artifacts/terminal-binary-live-resume-v0.1/execution.jsonl" ], "text": "Repaired reference selected by the governor \u00b7 task succeeds" }, { "how": "t is state_time_s of the displayed sample; the error is |sonic_root_to_request(root_pos_w) - compiled target| at that time, and its maximum over the scored window is asserted equal to the ledger max_position_error_m for the same arm", "supported_by": [ "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_pivot_walk_stop_right_10s__1703/trajectories/000000.trajectory.pkl", "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_strafe_walk_stop_right_3s__1703/trajectories/000000.trajectory.pkl", "/home/linjiw/kimodo/knav/artifacts/terminal-binary-live-resume-v0.1/executions/binary__m3k_pivot_walk_stop_right_10s/trajectories/000000.trajectory.pkl", "/home/linjiw/kimodo/knav/artifacts/terminal-binary-live-resume-v0.1/executions/binary__m3k_strafe_walk_stop_right_3s/trajectories/000000.trajectory.pkl" ], "text": "Original clock {t:.2f} s \u00b7 path error {e:.3f} m" }, { "how": "the last scored frame of each program is repeated for 25 display frames and no state is extrapolated; at that frame the compiled target is the requested stop point, so the displayed path error is exactly the distance to the amber marker and is asserted equal to requested_program.final_position_error_m of the ledger row that scored this arm", "supported_by": [ "knav/artifacts/m3k-candidate-execution-v0.1/execution.jsonl", "knav/artifacts/terminal-binary-live-resume-v0.1/execution.jsonl", "/home/linjiw/kimodo/knav/scripts/render_binary_rescue_demo_v2.py" ], "text": "Final frame held at {t:.2f} s held \u00b7 ends {e:.3f} m from the stop marker" }, { "how": "compiled primitive_start_frames of the final STOP primitive, on the original clock; asserted equal to the governor decision record's original_stop_start_s", "supported_by": [ "knav/artifacts/m3k-program-bank-v0.1/programs.jsonl", "knav/artifacts/terminal-binary-live-resume-v0.1/execution.jsonl" ], "text": "STOP interval starts at {t:.2f} s" }, { "how": "running maximum of |root_lin_vel_w[:, :2]| over samples inside the requested STOP interval; the value at the last scored frame is asserted equal to the ledger STOP_peak_mps; the limit is knav.eval.executed_program.ProgramTolerances.stop_speed_mps", "supported_by": [ "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_pivot_walk_stop_right_10s__1703/trajectories/000000.trajectory.pkl", "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_strafe_walk_stop_right_3s__1703/trajectories/000000.trajectory.pkl", "/home/linjiw/kimodo/knav/artifacts/terminal-binary-live-resume-v0.1/executions/binary__m3k_pivot_walk_stop_right_10s/trajectories/000000.trajectory.pkl", "/home/linjiw/kimodo/knav/artifacts/terminal-binary-live-resume-v0.1/executions/binary__m3k_strafe_walk_stop_right_3s/trajectories/000000.trajectory.pkl", "knav/artifacts/research-continuation-2026-09-09-v0.1/binary-live-2026-09-09.json" ], "text": "STOP peak so far {v:.3f} m/s \u00b7 limit 0.10 m/s" }, { "how": "the word is 'complete' exactly when rows[program_id][arm].STOP_full_phase is true, which is asserted equal to requested_program.phases[-1].complete of the same scoring ledger row", "supported_by": [ "knav/artifacts/research-continuation-2026-09-09-v0.1/binary-live-2026-09-09.json", "knav/artifacts/terminal-binary-live-resume-audit-v0.1/result.json", "knav/artifacts/m3k-candidate-execution-v0.1/execution.jsonl", "knav/artifacts/terminal-binary-live-resume-v0.1/execution.jsonl" ], "text": "STOP peak {v:.3f} m/s \u00b7 limit 0.10 m/s \u00b7 phase {complete|incomplete}" }, { "how": "all 33 per-frame arrays of the two captures are asserted bit-identical over samples [0, measurement_tick); the audit records preterminal33_exact true", "supported_by": [ "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_pivot_walk_stop_right_10s__1703/trajectories/000000.trajectory.pkl", "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_strafe_walk_stop_right_3s__1703/trajectories/000000.trajectory.pkl", "/home/linjiw/kimodo/knav/artifacts/terminal-binary-live-resume-v0.1/executions/binary__m3k_pivot_walk_stop_right_10s/trajectories/000000.trajectory.pkl", "/home/linjiw/kimodo/knav/artifacts/terminal-binary-live-resume-v0.1/executions/binary__m3k_strafe_walk_stop_right_3s/trajectories/000000.trajectory.pkl", "knav/artifacts/terminal-binary-live-resume-audit-v0.1/result.json" ], "text": "Both panels: identical recorded arrays through {tick:.2f} s (33 of 33)" }, { "how": "the left panel replays the archived m3k-candidate-execution seed 1703 capture. That capture directory has no terminal/ subdirectory and contains exactly one update record and one generation record, both under feedback/: mode 'measured_history', transition_s 0.0, boundary_s 2.08, last_history_s 2.04, online_generation false. It therefore has no reference event at the 10.08 s or 3.12 s governor tick, which is why v0.1's string 'Current reference kept at the 10.08 s tick' was withdrawn", "supported_by": [ "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_pivot_walk_stop_right_10s__1703/feedback/generation.json", "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_pivot_walk_stop_right_10s__1703/feedback/update.json", "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_strafe_walk_stop_right_3s__1703/feedback/generation.json", "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_strafe_walk_stop_right_3s__1703/feedback/update.json" ], "text": "Archived current-reference capture \u2014 no reference event after 2.08 s" }, { "how": "measurement_tick from the live ledger row times control_step_dt_s, equal to the decision record's measurement_time_s; evidence.updates[0].physics_paused_during_preparation is true and asynchronous_computation is false, and registration.json declares real_time_claimed false", "supported_by": [ "knav/artifacts/terminal-binary-live-resume-v0.1/execution.jsonl", "knav/artifacts/terminal-binary-live-resume-v0.1/registration.json" ], "text": "Governor decision tick at {tick:.2f} s \u00b7 physics paused there" }, { "how": "audit rows record reference_changed true and terminal_reached true at that tick; the two captures are bit-identical over samples [0, measurement_tick) in all 33 arrays and their root_pos_w already differs at sample measurement_tick. state_time_s[i] is (i + 1) * 0.02 s, so the last state the decision reads is 10.08 s (sample measurement_tick - 1) and the first state it can change is 10.10 s (sample measurement_tick), the frame the marker is drawn on - the two clocks are one control step apart by construction, not in disagreement", "supported_by": [ "knav/artifacts/terminal-binary-live-resume-v0.1/execution.jsonl", "knav/artifacts/terminal-binary-live-resume-audit-v0.1/result.json", "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_pivot_walk_stop_right_10s__1703/trajectories/000000.trajectory.pkl", "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_strafe_walk_stop_right_3s__1703/trajectories/000000.trajectory.pkl", "/home/linjiw/kimodo/knav/artifacts/terminal-binary-live-resume-v0.1/executions/binary__m3k_pivot_walk_stop_right_10s/trajectories/000000.trajectory.pkl", "/home/linjiw/kimodo/knav/artifacts/terminal-binary-live-resume-v0.1/executions/binary__m3k_strafe_walk_stop_right_3s/trajectories/000000.trajectory.pkl" ], "text": "Reference replaced at the {tick:.2f} s tick \u00b7 first state it changes is {tick+0.02:.2f} s" }, { "how": "same ledger event; the replacement is activated immediately at the measurement tick", "supported_by": [ "knav/artifacts/terminal-binary-live-resume-v0.1/execution.jsonl", "knav/artifacts/terminal-binary-live-resume-audit-v0.1/result.json" ], "text": "Repaired reference active since the {tick:.2f} s tick" } ], "disclosure": { "development_posthoc": true, "final36_accessed": false, "governor_design_is_posthoc_development": true, "out_of_sample_validation": false, "physics_paused_during_preparation": true, "preparation_wall_s_range": [ 11.300260781998077, 18.125260120999883 ], "real_time_claimed": false, "untouched_confirmation": false }, "display_fps": 25, "final36_accessed": false, "fk_tolerance_m": 0.002, "frames": 481, "height": 720, "kind": "binary_live_governor_rescue_side_by_side_replay", "maximum_common_body_fk_error_m": 1.3252356176171323e-06, "new_physics": 0, "path_sanitisation": "Absolute local paths are rewritten relative to the repository root; hashes are unchanged from knav/artifacts/binary-rescue-demo-v0.2/manifest.json.", "per_program_strings": [ "1/2 m3k_pivot_walk_stop_right_10s \u00b7 compiled duration 12.08 s \u00b7 panels time-aligned on the original clock \u00b7 teal: requested path, amber: requested stop point", "STOP peak 0.217 \u2192 0.072 m/s (limit 0.10) \u00b7 physics paused 18.13 s for this decision \u00b7 repaired run ends FARTHER from the stop point: 0.029 \u2192 0.074 m", "2/2 m3k_strafe_walk_stop_right_3s \u00b7 compiled duration 5.08 s \u00b7 panels time-aligned on the original clock \u00b7 teal: requested path, amber: requested stop point", "STOP peak 0.118 \u2192 0.081 m/s (limit 0.10) \u00b7 physics paused 11.30 s for this decision \u00b7 repaired run ends FARTHER from the stop point: 0.093 \u2192 0.134 m" ], "persistent_strings": [ "KimoNav: two recorded task rescues by the live binary reference governor", "Replay of recorded Isaac Lab states \u00b7 simulated Unitree G1 on flat ground \u00b7 no new physics \u00b7 25 fps display of 50 Hz captures", "Selection: 2 of 24 inspected development programs \u2014 the only two whose outcome changed; the governor kept the current reference in the other 22", "Complete-task success across the 24: 8/24 \u2192 10/24, 0 losses \u2014 but the rule was designed post-hoc on these same programs: no out-of-sample validation", "\"Live\" = decided during the run from that run's own measured history; physics was PAUSED 11.30\u201318.13 s per decision \u2014 not real time, not asynchronous", "Neither robot falls, both track the path and both reach the stop marker: the only failed gate is the requested STOP speed", "Current reference \u00b7 task fails", "Repaired reference selected by the governor \u00b7 task succeeds" ], "programs": [ { "archived_baseline_only_reference_event_s": 2.08, "capture_frames": 605, "compiled_duration_s": 12.08, "compiled_frames": 303, "control_step_dt_s": 0.02, "current_failed_checks": [ "ordered_phases" ], "current_metrics": { "STOP_full_phase": false, "STOP_peak_mps": 0.21740466356277466, "STOP_speed_observed": true, "STOP_speed_only": false, "fell": false, "full_duration": true, "max_heading_error_deg": 3.9687146077968487, "max_position_error_m": 0.14370309030691564, "runtime_quality": true, "speed_MAE_mps": 0.10632243766507987, "success": false, "success_and_quality": false }, "current_trajectory_file": "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_pivot_walk_stop_right_10s__1703/trajectories/000000.trajectory.pkl", "current_trajectory_sha256": "f631ba3b7a6e30ddefc0d43101d0eb02117d1a150fd3172ecc88c727371bc55e", "display_frames": 303, "end_distance_from_requested_stop_m": { "current": 0.029416122839852756, "live": 0.07399346190665008 }, "first_changed_state_s": 10.1, "held_frames": 25, "identical_prefix_arrays": "33 of 33 over samples [0, 504)", "live_failed_checks": [], "live_metrics": { "STOP_full_phase": true, "STOP_peak_mps": 0.07156811654567719, "STOP_speed_observed": true, "STOP_speed_only": true, "fell": false, "full_duration": true, "max_heading_error_deg": 3.9687146077968487, "max_position_error_m": 0.14370309030691564, "runtime_quality": true, "speed_MAE_mps": 0.1056902715192556, "success": true, "success_and_quality": true }, "live_trajectory_file": "/home/linjiw/kimodo/knav/artifacts/terminal-binary-live-resume-v0.1/executions/binary__m3k_pivot_walk_stop_right_10s/trajectories/000000.trajectory.pkl", "live_trajectory_sha256": "650d5df75d19dbbd4145c214846071652bc22a2c99363904920223facc63b114", "measurement_tick_frame": 504, "measurement_tick_s": 10.08, "order": 1, "preparation_wall_s": 18.125260120999883, "program_id": "m3k_pivot_walk_stop_right_10s", "scored_frames": 604, "stop_interval_s": [ 11.08, 12.08 ], "stop_peak_mps": { "current": 0.21740466356277466, "live": 0.07156811654567719 } }, { "archived_baseline_only_reference_event_s": 2.08, "capture_frames": 255, "compiled_duration_s": 5.08, "compiled_frames": 128, "control_step_dt_s": 0.02, "current_failed_checks": [ "ordered_phases" ], "current_metrics": { "STOP_full_phase": false, "STOP_peak_mps": 0.11838102340698242, "STOP_speed_observed": true, "STOP_speed_only": false, "fell": false, "full_duration": true, "max_heading_error_deg": 3.8760531604305783, "max_position_error_m": 0.16529026079640086, "runtime_quality": true, "speed_MAE_mps": 0.0943028467824668, "success": false, "success_and_quality": false }, "current_trajectory_file": "/home/linjiw/kimodo/knav/artifacts/m3k-candidate-execution-v0.1/m3k_strafe_walk_stop_right_3s__1703/trajectories/000000.trajectory.pkl", "current_trajectory_sha256": "64642d62ac4234909f00b7549e0e6f9dd0f16747f1d96989a42ff78c371514ea", "display_frames": 128, "end_distance_from_requested_stop_m": { "current": 0.09311601932658957, "live": 0.13374138328544932 }, "first_changed_state_s": 3.14, "held_frames": 25, "identical_prefix_arrays": "33 of 33 over samples [0, 156)", "live_failed_checks": [], "live_metrics": { "STOP_full_phase": true, "STOP_peak_mps": 0.08139847964048386, "STOP_speed_observed": true, "STOP_speed_only": true, "fell": false, "full_duration": true, "max_heading_error_deg": 3.8760531604305783, "max_position_error_m": 0.16568871645641928, "runtime_quality": true, "speed_MAE_mps": 0.10402442495573284, "success": true, "success_and_quality": true }, "live_trajectory_file": "/home/linjiw/kimodo/knav/artifacts/terminal-binary-live-resume-v0.1/executions/binary__m3k_strafe_walk_stop_right_3s/trajectories/000000.trajectory.pkl", "live_trajectory_sha256": "3767c42cf04f46d30730d91eea481ffbb864cce26365442d99a4fd1dc6b83da6", "measurement_tick_frame": 156, "measurement_tick_s": 3.12, "order": 2, "preparation_wall_s": 11.300260781998077, "program_id": "m3k_strafe_walk_stop_right_3s", "scored_frames": 254, "stop_interval_s": [ 4.12, 5.08 ], "stop_peak_mps": { "current": 0.11838102340698242, "live": 0.08139847964048386 } } ], "renderer": "MuJoCo forward kinematics of recorded state; no stepping call in this script", "review_fixes": { "1_selection_denominator": "persistent header line names 2 of 24 inspected development programs, 22 retained current, 8/24 -> 10/24 complete-task success, 0 losses", "2_live_is_not_real_time": "persistent header line states physics was PAUSED 11.30-18.13 s per decision, not real time, not asynchronous; each program line carries its own paused seconds", "3_false_left_caption": "v0.1's 'Current reference kept at the {tick} s tick' replaced by 'Archived current-reference capture - no reference event after 2.08 s'", "4_posthoc_disclosure": "persistent header line states the rule was designed post-hoc on these same programs with no out-of-sample validation", "5_difference_is_invisible": "persistent header line names the requested STOP speed as the only failed gate; each program line shows both STOP peaks and both end distances, and says the repaired run ends FARTHER from the requested stop point", "6_poster_crop": "no cropped poster is produced; 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