// Robotics Studio Open · Compare screen // Layout: reference vs candidate, stacked, with a divergence "stave" between them. function CompareScreen() { const Icon = window.ROIcon; return (
4 of 8 · policy diff

Reference vs candidate, in lockstep.

Side-by-side playback synced to the same world clock. The divergence stave below shows where joint state, end-effector pose, and gripper command drift apart.

{/* Selector strip */}
{/* Stacked playback */}
{/* Divergence stave */}
Divergence stave L2 distance · per channel · 30 Hz
{['joint_state', 'ee_pose', 'gripper_cmd'].map((c, i) => ( {c} ))}
max L2 0.241 at 06.4s (grasp) • area-under-curve 1.84 • 2 critical windows over 0.2 threshold play head 04.20s
); } function CompareLane({ kind, name, label, embod, status }) { const Icon = window.ROIcon; const isRef = kind === 'reference'; return (
{isRef ? '◇ REFERENCE' : '◇ CANDIDATE'} {name} · {label}
{embod}
); } function ComparePane({ variant }) { return (
{variant === 'ref' ? 'ground-truth trajectory' : 'policy_b trial 12'} 00:04.20 / 00:12.00
); } function DivergenceStave() { const pts = (seed, mag = 1) => Array.from({ length: 60 }).map((_, i) => { const x = (i / 59) * 600; const y = 25 + Math.sin(i * 0.4 + seed) * 8 * mag + (i > 28 && i < 38 ? 18 * mag : 0) + Math.cos(i * 0.25 + seed * 2) * 4; return `${i === 0 ? 'M' : 'L'} ${x.toFixed(1)} ${(50 - y * 0.4).toFixed(1)}`; }).join(' '); return ( {/* gridlines */} {[0, 0.25, 0.5, 0.75, 1].map((t, i) => ( ))} {[0.2, 0.5, 0.8].map((y, i) => ( ))} {/* threshold band */} {/* three channels */} {/* phase labels */} {['approach', 'align', 'grasp', 'transport', 'place'].map((p, i, arr) => { const x = ((i + 0.5) / arr.length) * 600; return {p}; })} {/* playhead */} ); } Object.assign(window, { CompareScreen });