{
  "revision": "eef-output-0.2",
  "status": "full_contract_design_only; eef-smoke-1 subset implemented",
  "no_generated_text": true,
  "model_outputs": {
    "eef_ref": "index into request end-effector definitions",
    "frame_ref": "index into request frames, transforms and conventions",
    "time_s": "H strictly increasing times relative to request reference time",
    "position_m": "[E,H,3] absolute EEF targets in the declared frame",
    "orientation": "[E,H,…] valid rotations; representation and ordering fixed by schema",
    "valid_mask": "typed field and timestep validity; invalid fields are not zero-valued targets"
  },
  "request_contract": [
    "eef geometry / tool point definition",
    "robot/task/TCP frame definitions and timestamps; camera extrinsics optional",
    "orientation representation and units",
    "explicit orientation constraints for position-only tasks",
    "horizon length / padding and time convention"
  ],
  "sys0_contract": [
    "accept / reject requested frame and capability",
    "track and locally refine EEF targets at control rate",
    "return actual EEF states and outcome with matching plan version"
  ],
  "required_data": [
    "goal-conditioned validated EEF future trajectories",
    "orientation and time labels or explicit constraints",
    "aligned multimodal history and actual executed EEF states",
    "train/test held-out group definitions"
  ],
  "required_evaluation": [
    "metric 3D position and rotation error with multiple-valid-solution handling",
    "timing and physical constraint checks",
    "instruction and history interventions",
    "closed-loop task progress and success"
  ],
  "legacy_exclusion": "Existing 2D analytic benchmark, v3 path2d config and projection demo are diagnostic archives, not this contract.",
  "current_design": "/blog/embodied-sys1-jev-to-zero-shot",
  "runtime_sensors": {
    "rgb": "multi-view",
    "depth": false,
    "proprioception": true,
    "camera_calibration": "optional G1/G2; not required by G0"
  },
  "full_output_additions": {
    "status": [
      "execute",
      "observe",
      "complete",
      "escalate"
    ],
    "phase": [
      "approach",
      "align",
      "close",
      "lift",
      "verify"
    ],
    "gripper": "width_m or separately typed event",
    "modes": "select one entire path, never per-coordinate average",
    "H": 8,
    "initial_time_grid_s": [
      0.1,
      0.2,
      0.3,
      0.4,
      0.5,
      0.6,
      0.7,
      0.8
    ]
  },
  "frame_note": "Body/TCP output frame remains defined even when camera intrinsics/extrinsics are not supplied to Sys1.",
  "prototype_subset": {
    "schema": "eef-smoke-1",
    "input": "synthetic oracle memory tokens",
    "orientation": "top_down_tool_yaw",
    "status": [
      "execute",
      "need_observation"
    ],
    "not_implemented": [
      "RGB VLM",
      "phase lifecycle",
      "Flexiv",
      "IK",
      "collision"
    ],
    "execution_authorized": false
  },
  "research_plan": "/research/embodied-sys1-jev-to-zero-shot/research-plan.json",
  "minimal_research_schema": {
    "K_initial": 1,
    "H": 8,
    "E": 1,
    "frame": "robot_base",
    "tool": "explicit TCP",
    "position": "absolute xyz metres, normalized using training/predefined domain only",
    "orientation": "Rz(yaw) @ R_down; yaw cos/sin",
    "time_s": [
      0.1,
      0.2,
      0.3,
      0.4,
      0.5,
      0.6,
      0.7,
      0.8
    ],
    "time_origin": "plan_start",
    "gripper": "physical width or explicit open/close event",
    "schema": "eef_topdown_v1; proposed, not the synthetic prototype schema",
    "status": "design only; distinct from implemented eef-smoke-1"
  }
}