CLEAR-LeWM v0.3.0 makes benchmark success correspond to physical task completion across all four LeWM tasks.
Highlights:
- Two auditable protocols: Moderate for continuity and Strict for stronger task completion claims
- PushT object-only pose evaluation that excludes the pusher endpoint
- Cube position plus symmetry-aware orientation over all 24 proper cube rotations
- Reacher wrapped joint geometry with holding and terminal speed reported separately
- TwoRoom swept-circle collision, full-radius door clearance, and mandatory legal-route validation
- Deterministic versioned manifests with matched random-policy controls
- Historical Official, Moderate, and Strict outputs with checkpoint and runtime provenance
- Official high-epoch LeWM checkpoint registry and strict checkpoint preflight
- Rebuilt 1080p rule-comparison film, high-resolution task GIFs, and task-specific evaluation guides
Reference results (LeWM / random, 100 pairs, seed 42, 300 x 30 CEM, solver batch 1):
- PushT Strict: 79% / 2%
- Cube Strict: 18% / 3%
- Reacher Strict: 36% / 4%
- TwoRoom Strict: 24% / 0%, with 0/100 invalid routes
Compatibility:
- v0.1 and v0.2 artifacts remain executable and are not silently rewritten.
- v0.3 protocols, manifests, checkpoint registry, and results are versioned explicitly.
Validation:
- 37 tests passed; 2 optional-dependency tests skipped
- Ruff lint and repository-wide formatting checks passed
- README local links validated
- All release MP4/GIF media fully decoded successfully