{
  "schema_version": 1,
  "release": "so101_keyboard_typing_benchmark_20260731",
  "code": {
    "repository": "https://github.com/es-rl/so101_keyboard_task",
    "branch": "vignesh/physical-abc-5k",
    "commit": "1b8cb7e81"
  },
  "checkpoint_contract": {
    "task_family": "physical_calibrated_20260718_fixed_cartesian_p1d_transit15_letters6",
    "observation": "22-D fixed-Cartesian proprioceptive observation with frozen target XYZ",
    "action": "5-D native Beta policy action with persistent joint-rate command integration",
    "vision": false
  },
  "artifacts": [
    {
      "id": "mjwarp-anchorbench-19k",
      "checkpoint": "checkpoints/mjwarp-anchorbench-19k/model_19000.pt",
      "sha256": "239d93c99cd282e9add019f4ac952407c97fde2879821103a2aa7bd7a307a15f",
      "env_config": "configs/mjwarp-anchorbench-19k.env.yaml",
      "solver": "newton_mjwarp",
      "actuator_profile": "anchorbench",
      "ppo_updates": 19000,
      "evaluation": "evaluation/mjwarp-anchorbench-19k.corpus_100x6_seed1307.json"
    },
    {
      "id": "mjwarp-workshop-19k",
      "checkpoint": "checkpoints/mjwarp-workshop-19k/model_19000.pt",
      "sha256": "92cce575dad46f40f237060a509723d2c80a81c806f40dd1f6bfc41f44ce5910",
      "env_config": "configs/mjwarp-workshop-19k.env.yaml",
      "solver": "newton_mjwarp",
      "actuator_profile": "baseline",
      "ppo_updates": 19000,
      "evaluation": "evaluation/mjwarp-workshop-19k.strict_1024_seed1307.json"
    },
    {
      "id": "mjwarp-usd-19k",
      "checkpoint": "checkpoints/mjwarp-usd-19k/model_19000.pt",
      "sha256": "cc7f128e15a282a6f2fcc68e97f67c2e6f81bf6e03347b6a3cbf0b9a02d072a4",
      "env_config": "configs/mjwarp-usd-19k.env.yaml",
      "solver": "newton_mjwarp",
      "actuator_profile": "usd_drive",
      "ppo_updates": 19000,
      "evaluation": "evaluation/mjwarp-usd-19k.corpus_100x6_seed1307.json"
    },
    {
      "id": "sparse-vbd-anchorbench-20k",
      "checkpoint": "checkpoints/sparse-vbd-anchorbench-20k/model_19999.pt",
      "sha256": "d35c146f2bffcbb5f2dc91c8da560365e6ef64586e1e42f832932b9098a55487",
      "env_config": "configs/sparse-vbd-anchorbench-20k.env.yaml",
      "solver": "newton_sparse_vbd",
      "actuator_profile": "anchorbench",
      "ppo_updates": 20000,
      "evaluation": "evaluation/sparse-vbd-anchorbench-20k.corpus_100x6_seed1307.json"
    }
  ],
  "comparison_summary": "evaluation/three_way_mjwarp19k_vbd20k_usd19k_orange2.summary.json"
}