Refresh semantic baseline for factory peg-insert

Author: AIFlowML

scripts/benchmarks/mlx/baselines/semantic-baseline.json

@@ -1,5 +1,5 @@
 {
-  "generated_at": "2026-03-20T03:40:35Z",
+  "generated_at": "2026-03-20T06:39:43Z",
   "git_sha": null,
   "hardware_label": "darwin-arm64",
   "parameters": {
@@ -20,7 +20,7 @@
   },
   "run_id": null,
   "schema_version": 1,
-  "task_count": 32,
+  "task_count": 33,
   "task_group": "full",
   "tasks": {
     "agibot-place-toy2box": {
@@ -261,6 +261,34 @@
         "sim_backend": "mac-sim"
       }
     },
+    "factory-peg-insert": {
+      "contract": {
+        "action_dim": 6,
+        "hotpath": "mlx-compiled",
+        "observation_dim": 19,
+        "output_signature": {
+          "final_assembled_ratio": 0.0,
+          "final_ee_height_mean": 0.41429030895233154,
+          "final_joint_pos_abs_mean": 1.0599894523620605,
+          "final_joint_vel_abs_mean": 0.0,
+          "final_orientation_error_mean": 0.9389723539352417,
+          "final_peg_insert_depth_mean": 0.0,
+          "final_peg_variant_mean": 1.125,
+          "final_policy_mean": -0.06648749858140945,
+          "final_policy_std": 0.7846049070358276,
+          "final_reward_mean": 0.015260584652423859,
+          "final_target_distance_mean": 0.3959442377090454
+        },
+        "semantic_contract": "reduced-analytic-peg-insert",
+        "upstream_alias_semantics_preserved": false
+      },
+      "cpu_fallback": false,
+      "runtime": {
+        "compute_backend": "mlx",
+        "kernel_backend": "metal",
+        "sim_backend": "mac-sim"
+      }
+    },
     "franka-bin-stack": {
       "contract": {
         "action_dim": 8,

source/isaaclab/test/backends/test_mac_semantic_drift.py

@@ -62,7 +62,7 @@ def test_semantic_drift_snapshot_covers_rollout_contracts(tmp_path: Path):
 
     assert snapshot["hardware_label"] == "m5-ultra"
     assert "train-cartpole" not in snapshot["tasks"]
-    assert snapshot["task_count"] == 32
+    assert snapshot["task_count"] == 33
     assert snapshot["tasks"]["cartpole"]["contract"]["observation_dim"] == 4
     assert snapshot["tasks"]["cartpole-rgb-camera"]["contract"]["camera_mode"] == "rgb"
     assert snapshot["tasks"]["cartpole-depth-camera"]["contract"]["image_shape"] == [100, 100, 1]
@@ -96,6 +96,12 @@ def test_semantic_drift_snapshot_covers_rollout_contracts(tmp_path: Path):
     assert snapshot["tasks"]["ur10e-gear-assembly-2f85"]["contract"]["output_signature"]["final_insert_depth_mean"] >= 0.0
     assert 0.0 <= snapshot["tasks"]["ur10e-gear-assembly-2f85"]["contract"]["output_signature"]["final_assembled_ratio"] <= 1.0
     assert snapshot["tasks"]["ur10e-gear-assembly-2f85"]["contract"]["output_signature"]["final_gear_type_mean"] >= 0.0
+    assert snapshot["tasks"]["factory-peg-insert"]["contract"]["action_dim"] == 6
+    assert snapshot["tasks"]["factory-peg-insert"]["contract"]["semantic_contract"] == "reduced-analytic-peg-insert"
+    assert snapshot["tasks"]["factory-peg-insert"]["contract"]["upstream_alias_semantics_preserved"] is False
+    assert snapshot["tasks"]["factory-peg-insert"]["contract"]["output_signature"]["final_peg_insert_depth_mean"] >= 0.0
+    assert snapshot["tasks"]["factory-peg-insert"]["contract"]["output_signature"]["final_peg_variant_mean"] >= 0.0
+    assert 0.0 <= snapshot["tasks"]["factory-peg-insert"]["contract"]["output_signature"]["final_assembled_ratio"] <= 1.0
     assert snapshot["tasks"]["ur10-long-suction-stack"]["contract"]["action_dim"] == 7
     assert snapshot["tasks"]["ur10-long-suction-stack"]["contract"]["hotpath"] == expected_ur10e_hotpath
     assert snapshot["tasks"]["ur10-long-suction-stack"]["contract"]["semantic_contract"] == "reduced-analytic-suction-stack"