Update inputs: engineering/humanoid_wbc_policy_evaluation/base

tasks/engineering/humanoid_wbc_policy_evaluation/base/input/output_schema.json

@@ -0,0 +1,113 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "title": "Humanoid whole-body-control policy evaluation report",
+  "type": "object",
+  "additionalProperties": false,
+  "required": [
+    "task_id",
+    "evaluations",
+    "summary"
+  ],
+  "properties": {
+    "task_id": {
+      "const": "humanoid_wbc_policy_evaluation"
+    },
+    "evaluations": {
+      "type": "array",
+      "minItems": 8,
+      "maxItems": 8,
+      "items": {
+        "type": "object",
+        "additionalProperties": false,
+        "required": [
+          "case_id",
+          "motion",
+          "mjlab_task",
+          "motion_file",
+          "checkpoint_file",
+          "verdict",
+          "confidence",
+          "evidence"
+        ],
+        "properties": {
+          "case_id": {
+            "type": "string"
+          },
+          "motion": {
+            "type": "string"
+          },
+          "mjlab_task": {
+            "type": "string"
+          },
+          "motion_file": {
+            "type": "string"
+          },
+          "checkpoint_file": {
+            "type": "string"
+          },
+          "verdict": {
+            "enum": [
+              "successful",
+              "nearly_successful",
+              "failed"
+            ]
+          },
+          "confidence": {
+            "type": "number",
+            "minimum": 0,
+            "maximum": 1
+          },
+          "evidence": {
+            "type": "object",
+            "additionalProperties": false,
+            "required": [
+              "observation",
+              "visual_demo_path"
+            ],
+            "properties": {
+              "observation": {
+                "type": "string",
+                "minLength": 20
+              },
+              "visual_demo_path": {
+                "type": "string",
+                "pattern": "^visual_demos/[A-Za-z0-9_\\-]+\\.(mp4|webm|gif|html)$"
+              },
+              "notes": {
+                "type": "string"
+              }
+            }
+          }
+        }
+      }
+    },
+    "summary": {
+      "type": "object",
+      "additionalProperties": false,
+      "required": [
+        "successful",
+        "nearly_successful",
+        "failed",
+        "overall_notes"
+      ],
+      "properties": {
+        "successful": {
+          "type": "integer",
+          "minimum": 0
+        },
+        "nearly_successful": {
+          "type": "integer",
+          "minimum": 0
+        },
+        "failed": {
+          "type": "integer",
+          "minimum": 0
+        },
+        "overall_notes": {
+          "type": "string",
+          "minLength": 20
+        }
+      }
+    }
+  }
+}

tasks/engineering/humanoid_wbc_policy_evaluation/base/input/policy_cases.json

@@ -0,0 +1,84 @@
+{
+  "cases": [
+    {
+      "case_id": "case_01_veo_walk_flat_kwxg9y8l",
+      "motion": "veo-test-2-walk",
+      "mjlab_task": "Mjlab-Tracking-Flat-Unitree-G1",
+      "motion_file": "motions/veo-test-2-walk.npz",
+      "checkpoint_file": "policies/1.veo-test-2-walk_kwxg9y8l.pt",
+      "play_command": "uv run play Mjlab-Tracking-Flat-Unitree-G1 --agent trained --motion-file motions/veo-test-2-walk.npz --checkpoint-file policies/1.veo-test-2-walk_kwxg9y8l.pt --no-terminations True --strict False --cpu",
+      "video_command": "uv run play Mjlab-Tracking-Flat-Unitree-G1 --agent trained --motion-file motions/veo-test-2-walk.npz --checkpoint-file policies/1.veo-test-2-walk_kwxg9y8l.pt --no-terminations True --strict False --cpu --video --video-length 200 --video-height 720 --video-width 1280",
+      "expected_demo_path": "visual_demos/case_01_veo_walk_flat_kwxg9y8l.mp4"
+    },
+    {
+      "case_id": "case_02_male_walk_hop_flat_em349tfj",
+      "motion": "male_walk_hop",
+      "mjlab_task": "Mjlab-Tracking-Flat-Unitree-G1",
+      "motion_file": "motions/male_walk_hop.npz",
+      "checkpoint_file": "policies/2.male_walk_hop_em349tfj.pt",
+      "play_command": "uv run play Mjlab-Tracking-Flat-Unitree-G1 --agent trained --motion-file motions/male_walk_hop.npz --checkpoint-file policies/2.male_walk_hop_em349tfj.pt --no-terminations True --strict False --cpu",
+      "video_command": "uv run play Mjlab-Tracking-Flat-Unitree-G1 --agent trained --motion-file motions/male_walk_hop.npz --checkpoint-file policies/2.male_walk_hop_em349tfj.pt --no-terminations True --strict False --cpu --video --video-length 200 --video-height 720 --video-width 1280",
+      "expected_demo_path": "visual_demos/case_02_male_walk_hop_flat_em349tfj.mp4"
+    },
+    {
+      "case_id": "case_03_sitting_chair_7zlbjqi4",
+      "motion": "sitting",
+      "mjlab_task": "Mjlab-Tracking-Chair-Unitree-G1",
+      "motion_file": "motions/sitting.npz",
+      "checkpoint_file": "policies/3.sitting_7zlbjqi4.pt",
+      "play_command": "uv run play Mjlab-Tracking-Chair-Unitree-G1 --agent trained --motion-file motions/sitting.npz --checkpoint-file policies/3.sitting_7zlbjqi4.pt --no-terminations True --strict False --cpu",
+      "video_command": "uv run play Mjlab-Tracking-Chair-Unitree-G1 --agent trained --motion-file motions/sitting.npz --checkpoint-file policies/3.sitting_7zlbjqi4.pt --no-terminations True --strict False --cpu --video --video-length 200 --video-height 720 --video-width 1280",
+      "expected_demo_path": "visual_demos/case_03_sitting_chair_7zlbjqi4.mp4"
+    },
+    {
+      "case_id": "case_04_gemini_chair_step_m1d7v37h",
+      "motion": "gemini_walk_and_sit",
+      "mjlab_task": "Mjlab-Tracking-ChairAndStep-Unitree-G1",
+      "motion_file": "motions/gemini_walk_and_sit_correct.npz",
+      "checkpoint_file": "policies/4.gemini_walk_and_sit_m1d7v37h.pt",
+      "play_command": "uv run play Mjlab-Tracking-ChairAndStep-Unitree-G1 --agent trained --motion-file motions/gemini_walk_and_sit_correct.npz --checkpoint-file policies/4.gemini_walk_and_sit_m1d7v37h.pt --no-terminations True --strict False --cpu",
+      "video_command": "uv run play Mjlab-Tracking-ChairAndStep-Unitree-G1 --agent trained --motion-file motions/gemini_walk_and_sit_correct.npz --checkpoint-file policies/4.gemini_walk_and_sit_m1d7v37h.pt --no-terminations True --strict False --cpu --video --video-length 200 --video-height 720 --video-width 1280",
+      "expected_demo_path": "visual_demos/case_04_gemini_chair_step_m1d7v37h.mp4"
+    },
+    {
+      "case_id": "case_05_lowstairs_0dk7n238",
+      "motion": "lowstairs",
+      "mjlab_task": "Mjlab-Tracking-lowstairs-Unitree-G1",
+      "motion_file": "motions/lowstairs.npz",
+      "checkpoint_file": "policies/5.lowstairs_0dk7n238.pt",
+      "play_command": "uv run play Mjlab-Tracking-lowstairs-Unitree-G1 --agent trained --motion-file motions/lowstairs.npz --checkpoint-file policies/5.lowstairs_0dk7n238.pt --no-terminations True --cpu",
+      "video_command": "uv run play Mjlab-Tracking-lowstairs-Unitree-G1 --agent trained --motion-file motions/lowstairs.npz --checkpoint-file policies/5.lowstairs_0dk7n238.pt --no-terminations True --cpu --video --video-length 200 --video-height 720 --video-width 1280",
+      "expected_demo_path": "visual_demos/case_05_lowstairs_0dk7n238.mp4"
+    },
+    {
+      "case_id": "case_06_lowstairs_vdd319dz",
+      "motion": "lowstairs",
+      "mjlab_task": "Mjlab-Tracking-lowstairs-Unitree-G1",
+      "motion_file": "motions/lowstairs.npz",
+      "checkpoint_file": "policies/6.lowstairs_vdd319dz.pt",
+      "play_command": "uv run play Mjlab-Tracking-lowstairs-Unitree-G1 --agent trained --motion-file motions/lowstairs.npz --checkpoint-file policies/6.lowstairs_vdd319dz.pt --no-terminations True --cpu",
+      "video_command": "uv run play Mjlab-Tracking-lowstairs-Unitree-G1 --agent trained --motion-file motions/lowstairs.npz --checkpoint-file policies/6.lowstairs_vdd319dz.pt --no-terminations True --cpu --video --video-length 200 --video-height 720 --video-width 1280",
+      "expected_demo_path": "visual_demos/case_06_lowstairs_vdd319dz.mp4"
+    },
+    {
+      "case_id": "case_07_lowstairs_cyyp71b5",
+      "motion": "lowstairs",
+      "mjlab_task": "Mjlab-Tracking-lowstairs-Unitree-G1",
+      "motion_file": "motions/lowstairs.npz",
+      "checkpoint_file": "policies/7.lowstairs_cyyp71b5.pt",
+      "play_command": "uv run play Mjlab-Tracking-lowstairs-Unitree-G1 --agent trained --motion-file motions/lowstairs.npz --checkpoint-file policies/7.lowstairs_cyyp71b5.pt --no-terminations True --cpu",
+      "video_command": "uv run play Mjlab-Tracking-lowstairs-Unitree-G1 --agent trained --motion-file motions/lowstairs.npz --checkpoint-file policies/7.lowstairs_cyyp71b5.pt --no-terminations True --cpu --video --video-length 200 --video-height 720 --video-width 1280",
+      "expected_demo_path": "visual_demos/case_07_lowstairs_cyyp71b5.mp4"
+    },
+    {
+      "case_id": "case_08_fall_getup_flat_os6wfu5w",
+      "motion": "fallAndGetUp1",
+      "mjlab_task": "Mjlab-Tracking-Flat-Unitree-G1",
+      "motion_file": "motions/fallAndGetUp1.npz",
+      "checkpoint_file": "policies/8.fallAndGetUp1_os6wfu5w.pt",
+      "play_command": "uv run play Mjlab-Tracking-Flat-Unitree-G1 --agent trained --motion-file motions/fallAndGetUp1.npz --checkpoint-file policies/8.fallAndGetUp1_os6wfu5w.pt --no-terminations True --cpu",
+      "video_command": "uv run play Mjlab-Tracking-Flat-Unitree-G1 --agent trained --motion-file motions/fallAndGetUp1.npz --checkpoint-file policies/8.fallAndGetUp1_os6wfu5w.pt --no-terminations True --cpu --video --video-length 200 --video-height 720 --video-width 1280",
+      "expected_demo_path": "visual_demos/case_08_fall_getup_flat_os6wfu5w.mp4"
+    }
+  ]
+}

tasks/engineering/humanoid_wbc_policy_evaluation/base/input/runtime_env/mjlab.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23f4d52df7fea3dcc33ddd55fab38d084704eea99c59e702203b9de88650ef0b
+size 217733393

tasks/engineering/humanoid_wbc_policy_evaluation/base/input/runtime_env/mjlab_env_export.txt

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+absl-py==2.3.1
+annotated-types==0.7.0
+anyio==4.11.0
+asttokens==3.0.0
+attrs==25.4.0
+bcrypt==5.0.0
+certifi==2025.10.5
+cffi==2.0.0
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+charset-normalizer==3.4.4
+click==8.3.0
+cloudpickle==3.1.1
+colorlog==6.10.1
+contourpy==1.3.3
+cryptography==46.0.3
+cycler==0.12.1
+decorator==5.2.1
+Deprecated==1.3.1
+distlib==0.4.0
+docstring_parser==0.17.0
+embreex==2.17.7.post6
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+fabric==3.2.2
+filelock==3.20.0
+fonttools==4.61.1
+fsspec==2025.9.0
+gitdb==4.0.12
+GitPython==3.1.45
+glfw==2.10.0
+grpcio==1.76.0
+h11==0.16.0
+httpcore==1.0.9
+httpx==0.28.1
+identify==2.6.15
+idna==3.11
+imageio==2.37.0
+imageio-ffmpeg==0.6.0
+importlib_metadata==8.7.0
+importlib_resources==6.5.2
+iniconfig==2.3.0
+invoke==2.2.1
+ipdb==0.13.13
+ipython==9.6.0
+ipython_pygments_lexers==1.1.1
+jedi==0.19.2
+Jinja2==3.1.6
+jsonschema==4.25.1
+jsonschema-specifications==2025.9.1
+kiwisolver==1.4.9
+lxml==6.0.2
+manifold3d==3.2.1
+mapbox_earcut==1.0.3
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+MarkupSafe==3.0.3
+matplotlib==3.10.8
+matplotlib-inline==0.1.7
+mdurl==0.1.2
+mediapy==1.2.6
+mjlab==1.1.1
+ml_dtypes==0.5.3
+mpmath==1.3.0
+msgspec==0.19.0
+mujoco==3.7.0.dev886334046
+mujoco-warp==3.5.0.2
+networkx==3.5
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+numpy==2.3.4
+nvidia-cublas-cu12==12.8.4.1
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+nvidia-cufile-cu12==1.13.1.3
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tasks/engineering/humanoid_wbc_policy_evaluation/base/input/runtime_env/motions-1.zip

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+oid sha256:4012516fca3335aa90b74aea90e52ef60c3e4492b1ccd2d73d61c8a4f6b3c623
+size 16163449

tasks/engineering/humanoid_wbc_policy_evaluation/base/input/runtime_env/policies.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8a65dee5594067198cbe82d80e5e7c89a7dc9e357284d9dff29bf82e38dc3660
+size 49752719

tasks/engineering/humanoid_wbc_policy_evaluation/base/input/task_brief.md

@@ -0,0 +1,28 @@
+# Humanoid Whole-Body-Control Policy Evaluation
+
+Evaluate the 8 Unitree G1 motion-tracking policy cases listed in
+`policy_cases.json`. The required motion files and policy checkpoints are
+provided locally in `input/runtime_env/motions-1.zip` and
+`input/runtime_env/policies.zip`; do not log in to W&B and do not fetch private
+W&B artifacts.
+
+For each case, unpack the mjlab runtime archive and the two asset zips into your
+working directory, run or inspect the listed `play_command`, watch the policy
+behavior against the reference motion, save a visible motion demo, and classify
+it as one of:
+
+- `successful`: smooth, stable, and close enough to the reference throughout the task
+- `nearly_successful`: mostly completes the motion but has visible instability,
+  delay, offset, or a late-stage tracking failure
+- `failed`: falls immediately, slides sideways, becomes unrecoverable, or cannot
+  execute the intended motion in any meaningful way
+
+If a command includes `--strict False`, keep that option exactly as written.
+The command paths in `policy_cases.json` are relative paths after extracting
+`motions-1.zip` and `policies.zip` into the mjlab working directory. If you
+extract them elsewhere, replace only the file paths with your local extracted
+paths while preserving the other command flags.
+
+Write one JSON file named `policy_evaluation_report.json` in the runtime output
+directory, plus a `visual_demos/` directory containing one visible demo artifact
+per case. The file must validate against `output_schema.json`.