docs(research-checkpoints): add 2026-05 baseline ecosystem checkpoint#151
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docs(research-checkpoints): add 2026-05 baseline ecosystem checkpoint#151MiaoDX wants to merge 2 commits into
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Per mithaq Mode A — first robowbc ecosystem checkpoint, anchored to the vectors card created 2026-05-21. Covers all six research vectors (WBC policy upstream, inference runtime, hardware/SDK, middleware, sim substrate, Python distribution) and audits all eight hidden assumptions (H1–H8) against Q1–Q2 2026 evidence. Key findings: - GR00T-WBC upstream rapidly closed gap with robowbc wrappers (GEAR-SONIC formal release 2026-02-19; SONIC training code + HF checkpoint 2026-04-10; N1.7 → SONIC end-to-end VLA workflow 2026-05-07) - LeRobot v0.5.0 (2026-03-09) added first humanoid (G1) and third-party policy plugins — validates H8, accelerates urgency on robowbc-py plugin shape - Sim substrate consolidated on MuJoCo-Warp via Newton + Isaac Lab 3.0 Beta during GTC 2026 (152x speedup vs MJX for locomotion); mjlab arrived as lighter alternative - ExecuTorch 1.0 GA (2025-10) is most credible H2 substitute path, no humanoid adoption observed yet - H5 and H8 strengthen; H6 needs revisit by 2026-08; H1/H2/H3/H4/H7 still betting-worthy Output location per mithaq SKILL.md: <repo>/docs/research-checkpoints/ (not in mithaq itself). Cross-references existing docs/ecosystem-strategy.md (strategy), docs/roadmap-2026-q2.md (priorities), and the deep technical docs/research/2026-05-merged-tech-report.md (implementation choices). 🤖 Generated with Claude Code Co-Authored-By: Claude <noreply@anthropic.com>
…arch) Replaces v1 (commit 680cd36) with deeper evidence after a full deep research pass over the Mar–May 2026 window. v1 was a single-pass sketch; v2 audits each of H1–H8 against multiple A-tier primaries. Major judgment changes vs v1: - H1 (one-contract WBC abstraction) — downgrades from "holds" to "holds only in joint-target codomain; falsified in latent / relative-EEF / Cartesian codomains". Concrete counter-examples: * GR00T N1.7 UNITREE_G1_SONIC outputs latent action tokens * GR00T N1.7 default cross-embodiment outputs relative EEF deltas * Psi-Zero (USC PSI, RSS 2026) Teleop outputs 14D wrist Cartesian Drives concrete trait redesign (predict_latent / predict_cartesian as first-class branches, not py_model black box). - H8 (LeRobot as distribution channel) — verdict stays validated but urgency drops. Two months after the third-party policy plugin mechanism shipped (v0.5.0, 2026-03-09), the ecosystem has produced exactly ONE third-party plugin (lerobot_policy_ditflow). Channel is public but largely unused. Recommend dual-path distribution (maturin standalone + lerobot_policy_robowbc) rather than single-path bet. - Strategic threat reordering — v1 framed LeRobot as the direct threat. v2 reorders to: gear_sonic_deploy cross-family reuse > LeRobot framework absorption > NVIDIA building robowbc-equivalent. gear_sonic_deploy already serves two policy families (SONIC + Decoupled WBC) and is one ONNX-config away from absorbing BFM-Zero or UnifoLM-VLA. - Hidden assumption audit, full table — every H1–H8 now has primary evidence delta and concrete action, not just "still betting". New A-tier evidence v1 lacked: - UnifoLM-VLA-0 primary repo + license (CC BY-NC-SA 4.0) - Newton 1.0 LF release + 252×/475× MuJoCo-Warp benchmarks (v1's 152× number is corrected — v1 was from a single search result, v2 cites NVIDIA Technical Blog primary) - Booster T1 SDK + booster_gym arXiv as concrete second-platform candidate (v1 had this as "could be useful") - AgiBot G2 wheeled architecture + AimRT C++20 middleware - Psi-Zero codomain split (Teleop = 14D Cartesian, MP = joint-space) - Pi0-FAST RTC latency benchmark (76ms baseline / 97ms RTC) - Unitree IPO A-tier confirmation via CNBC New vectors card proposals for 2026-08-21 quarterly audit: - V7: Real-time + safety certification (PREEMPT_RT, ISO 25785-1) - V8: License/IP + dataset schema tracking Concrete actions queued: 12 items across immediate (5–6 weeks), 6–12 weeks, and quarterly horizons. See §6. 🤖 Generated with Claude Code Co-Authored-By: Claude <noreply@anthropic.com>
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v2 update pushed (commit bf8bc39)Deeper research pass over Mar–May 2026 with full A-tier verification. Same file replaced with 520 lines of v2 content. Reviewer can see the v1 → v2 diff in the second commit if interested in the evolution; or just review the final state. Key judgment changes vs v1 (review-critical)
What v2 added that v1 missed
Still unresolved (carry to next checkpoint)
Ready for review. |
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What
First robowbc ecosystem-research checkpoint, per
mithaqMode A. Output isdocs/research-checkpoints/2026-05.md(492 lines).Anchored to the
mithaq/vectors/robowbc.mdcard created 2026-05-21 (one day before this checkpoint). Covers all six research vectors and audits all eight hidden assumptions (H1–H8) against Q1–Q2 2026 evidence.Why
The vectors card explicitly required a baseline checkpoint to anchor future comparisons: "When running the first checkpoint, verify two things: (1) all 6 vectors produce useful, distinct output; (2) the hidden assumptions actually get challenged." This PR delivers that baseline.
Key findings
gear_sonicwrapper is no longer ahead of upstream; it's catching up to a moving target with its own C++ deployment stack.robowbc-pyto ship as a competitive plugin (feat: LeRobot WBC backend integration (Do Later E) #41).Relationship to existing docs
This checkpoint operates at the ecosystem-snapshot level. It does not duplicate:
docs/ecosystem-strategy.md— strategy & positioningdocs/roadmap-2026-q2.md— technical prioritiesdocs/research/2026-05-merged-tech-report.md— deep DDS Rust binding + onboarding UX decisionsThese are cross-referenced in §0.4 and Appendix A.7.
Process notes
[未充分验证].Open questions for next checkpoint (full list in §7)
gear_sonic_deployC++ stack produce identical outputs to robowbc'sgear_sonicwrapper?robowbc-pyship as a LeRobot 3rd-party policy plugin or as a standalone package?🤖 Generated with Claude Code
Co-Authored-By: Claude noreply@anthropic.com