V4 — RGB-D robustness and reproducible checkpoint demo

GeoPolicy-Bench V4 — RGB-D robustness

Compact checkpoint and source bundle for a reproducible MuJoCo Panda placement demo.

• V3: 147/150 stable placements (98%) on a one-cube, one-tray, fixed-instruction task, across three training seeds.
• V4: fusion without augmentation achieves 483/540 (89.4%), versus fixed-only 272/540 (50.4%), over nine synthetic perturbation settings. Paired descriptive 95% interval for the difference: +39.07 pp [+35.00, +42.78].
• Negative result: the tested camera/depth augmentations show no demonstrated overall gain.

V3 and V4 use different reserved tests and are not a direct before/after comparison. V4 includes 12 matched behavior-cloning policies and 2,400 reserved-test rollouts; training used 79 successful demonstrations from 80 collections. No physical robot or real sim-to-real transfer was evaluated.

Download and replay

Download geopolicy-v4-demo.zip (1,602,161 bytes) and verify SHA-256:

c609fce309c21b9293cd868e90243d4c0815cf53e9a27b9f79479ce7422d9b05

Extract into a fresh directory. Validated setup: Windows, Python 3.11.9 and RTX 4060 Laptop 8 GB. The ZIP contains source, compact checkpoint with normalization, exact pins and expected observations/actions/physics. It needs no training HDF5 data. Inference uses CPU; NVIDIA rendering/resource checks are still required.

python -m venv .venv
.venv\Scripts\python.exe -m pip install -r requirements-lock.txt --extra-index-url https://download.pytorch.org/whl/cu128
.venv\Scripts\python.exe scripts/v4/demo.py replay

The 5.5-second demo is fusion with augmentation, seed 0, fixed camera absent, the first reserved scene 500000. This case was predeclared. It illustrates replay, rather than the unaugmented model's aggregate result. Exact replay was verified in a separate source copy and second pinned environment on the same PC; bitwise portability to other systems is untested.

Nine release files include the ZIP, separate checkpoint, MP4/GIF, dependency pins, runtime/checkpoint/package manifests and SHA256SUMS.txt. The package manifest describes the release files; the repository manifest records the current publication and verification status. SHA256SUMS.txt covers the other eight assets.

README · Release/reproduction guide · V3 report · V4 report

Manual color prior, known objects, ideal simulated calibration and perturbations applied to sampled points limit the findings. Initial QC matches both camera representations before view selection; it does not claim identical selected inputs or subsequent trajectories. All negative results and raw sensor exceptions remain documented. Historical V1/V2/V3 artifacts are preserved.