Hardware-in-the-Loop Evaluation

Validate the HiL scheduling and policy boundary without physical motion. The implemented ur10e-no-command adapter uses deterministic six-axis observations and contains no robot command transport.

Prerequisites

Requirement	Purpose
Ubuntu K3s edge plane	Runs OSMO workflows
Online HiL OSMO backend	Selects the edge pool
Completed CPU smoke	Proves CPU scheduling before HiL
Connection receipt	Binds backend, pool, local node, K3s target, and OSMO profile

Complete Ubuntu HiL OSMO Backend through the CPU gate first.

Safety Contract

Boundary	Implemented behavior
Adapter	apply_action() always raises NO_COMMAND_TRANSPORT
Applied actions	Must remain zero
Robot endpoint	Not accepted by configuration
Host devices	None
Host mounts	None
Host network	Disabled
Privileged containers	Disabled
Physical mode	No CLI option or implementation exists

The deterministic policy proposes a small zero-seeking action for each fixture observation. The proposal exercises the same boundary a real policy would use without importing any command-capable robot library.

Run CPU Scheduling Proof

Preview and run the CPU-only workflow:

data-pipeline/setup/hil/03-run-cpu-smoke.sh \
  --connection-file <connection-receipt> \
  --config-preview

data-pipeline/setup/hil/03-run-cpu-smoke.sh \
  --connection-file <connection-receipt>

The stage creates a unique workflow, requests zero GPUs, validates the result identity, and verifies the matching completed Pod ran on the owned local K3s node.

Run No-Command Proof

Preview and run the independently non-commanding workload:

data-pipeline/setup/hil/04-run-no-command-check.sh \
  --connection-file <connection-receipt> \
  --config-preview

data-pipeline/setup/hil/04-run-no-command-check.sh \
  --connection-file <connection-receipt>

Expected remote result:

{
  "status": "passed",
  "proposed_actions": 10,
  "applied_actions": 0,
  "negative_command_probe": "passed",
  "command_transport": "none",
  "rejection_code": "NO_COMMAND_TRANSPORT"
}

Payload Assets

The public stage packages these tracked assets for the OSMO workflow:

Artifact	Content
evaluation/hil/no_command_runner.py	Focused standalone no-command runtime
evaluation/hil/config/ur10e-no-command.json	Safety and fixture contract
evaluation/hil/config/ur10e-observations.jsonl	Deterministic observations
evaluation/hil/workflows/osmo/hil-evaluation.yaml	CPU-only remote workflow

The stage also verifies the matching completed Pod ran on the owned local node. Stop when either proof fails. No physical-motion path follows this validation.

Result Durability

The no-command workflow declares a unique output URI below the configured OSMO workflow-data endpoint and writes artifacts to OSMO's {{output}} directory. The local Arc K3s runtime controller uses the existing OSMO user-assigned managed identity through the osmo-workflow ServiceAccount.

The check requires a completed task upload timestamp, retrieves the declared URI through osmo data download, verifies the exact five-file result set and manifest integrity, confirms the no-command summary, and rejects credential-shaped content.

Static validation covers the workflow template, publisher/consumer contracts, and output verifier. Live Arc federation, managed-identity upload, and OSMO retrieval remain required environment validation. Do not add a SAS, storage key, direct uploader, or alternate output path.

🤖 Crafted with precision by ✨Copilot following brilliant human instruction, then carefully refined by our team of discerning human reviewers.