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Use when navigating, reviewing, or changing the Sim2Real staged pipeline engine — stage map, preamble/inner/outer/finalize entrypoints, K8s sibling jobs, and S3 artifact contracts.
Codex 또는 Claude로 설치 이 Prompt를 복사해 Codex, Claude 또는 다른 어시스턴트에 붙여 넣으면 Skill 페이지를 검토하고 설치를 진행할 수 있습니다.
SOC 직업 분류 기준
Use when ingesting, validating, curating, or querying production sensor data as a versioned dataset-of-record, or wiring the dataset-ingest-curate workflow.
Use when generating adversarial scenarios via RL, ranking mined failures of a policy-under-test, or wiring the adversarial-scenario-hardening workflow.
Use when navigating the Cosmos3 integration in NPA or locating upstream Cosmos3 framework files, defaults, scripts, configs, recipes, and docs.
Use when Cosmos3 setup, fetch, inference, CUDA, uv, Docker, Hugging Face, GitHub, NGC, or checkpoint staging fails in NPA or in an upstream Cosmos framework checkout.
Use when setting up Cosmos3 access through NPA, checking source or Hugging Face reachability, staging the public Cosmos3 framework and checkpoint cache, or deciding which NPA workflow to use before inference.
Use for Claude Code reviews that need robotics, simulation, GPU-routing, sim-to-real, or BDD100K pipeline domain context.
| name | sim2real-engine |
| description | Use when navigating, reviewing, or changing the Sim2Real staged pipeline engine — stage map, preamble/inner/outer/finalize entrypoints, K8s sibling jobs, and S3 artifact contracts. |
Load this skill when you need the canonical 14-stage map for the VLM-to-RL
Sim2Real loop, not the older generic sim-to-real workflow YAMLs. Use it for
engine edits, monitor/status alignment, walkthrough docs, and debugging sibling
K8s jobs (s2r-*).
| File | Role |
|---|---|
npa/src/npa/workflows/sim2real/engine.py | Stage glue, K8s siblings, inner/outer/finalize |
npa/src/npa/workflows/sim2real_stages.py | Mandatory preamble stages 3–7 helpers |
npa/src/npa/workflows/sim2real/monitor.py | _STAGE_SPECS S3 marker rules for live status |
npa/src/npa/workflows/sim2real/runner.py | Sim2RealWorkflow orchestration CLI entry |
npa/src/npa/workflows/sim2real_assets.py | Stage 2 assets consumption |
| Stage | Monitor name | Entrypoint | Primary artifacts |
|---|---|---|---|
| 1 | stage_01_trigger | run_preamble | stage_01_trigger/trigger.json |
| 2 | stage_02_assets | run_preamble → run_assets_stage | stage_02_assets/consumed_*_spec.json |
| 3 | stage_03_augment | run_preamble → run_augment_stage | augment/manifest.json |
| 4 | stage_04_envs_raw | run_envgen_split_stage | envs/raw/ |
| 5 | stage_05_envs_train | run_envgen_split_stage | envs/train/envs.jsonl |
| 6 | stage_06_tokens | run_envgen_split_stage | tokens/manifest.json |
| 7 | stage_07_actions_train | run_inner_loop → run_policy_rollouts | actions/train/ |
| 8 | stage_08_vlm_eval_train | run_inner_loop → evaluate_rollout_with_vlm | vlm_eval/train/ |
| 9 | stage_09_training_signal | run_inner_loop (signal + trainer) | training_signal/train/ |
| 10 | stage_10_eval_heldout | run_single_outer_iteration → run_heldout_eval | eval/heldout/report.json |
| 11 | stage_11_outer_loop | run_single_outer_iteration → threshold_decision | outer_loop/decision.json |
| 12 | stage_12_external_validation_stub | run_finalize | stage_12_external_validation/external_stub.json |
| 13 | stage_13_retrigger | run_finalize | stage_13_retrigger/retrigger.json |
| 14 | stage_14_rerun_viz | run_finalize → _run_sim2real_viz_stage | reports/sim2real.rrd |
run_preamble — trigger, assets, augment, envgen split, tokens.run_single_outer_iteration — one inner loop (7–9),
held-out eval (10), threshold decision (11). Repeats for outer_iterations.run_finalize — external-validation stub,
loop-of-loops retrigger record, local Rerun .rrd, sim2real-report.json,
optional S3 upload.Stages 4–6 share one component name in monitor: stage_04_06_env_gen_split_tokens.
infer_from_later=True); early
stages may show PENDING while later stages succeed — trust current_stage.run_id.npa/.venv/bin/ruff check npa/src/npa/workflows/sim2real/engine.py
npa/.venv/bin/python -m pytest npa/tests/workflows/sim2real/ -q --tb=no