# Using the Two Snapshots

Code repository: https://github.com/NEBULIS-Lab/MimicX

All preparation commands below are CPU-only. Use Python 3.10+; install the
MimicX code and its core dependencies before gate replay. Actual rollout commands
require the pinned simulation/tracking environment and allocated compute.

## Verify Downloaded Files

Run from the parent of both downloaded snapshot directories:

```bash
python MimicX-Policies/prepare.py verify --root MimicX-Policies
python MimicX-Assets/prepare.py verify --root MimicX-Assets
```

## Recreate the Exact Core Inputs

```bash
python MimicX-Policies/prepare.py core-inputs   --policies MimicX-Policies --assets MimicX-Assets --output paper-core-inputs
python /path/to/MimicX/scripts/reproduction/configure_core.py   --assets paper-core-inputs --spec paper-core-inputs/manifest.json   --backend /path/to/MimicX/third_party/unitree_rl_mjlab   --runtime-python /path/to/tracking/bin/python --output paper-config
```

Supply the emitted `manifest.json` explicitly so parameter files resolve to
their portable public paths. Policies and references are unchanged. This command recreates all 22 required core assets across the two
snapshots without duplicate weight storage. Continue with the matrix/HLoop
instructions in the code repository's reproduction guide.

## Evaluate a Released Final Policy Without Retraining

```bash
python MimicX-Policies/prepare.py prepare-eval   --policies MimicX-Policies --assets MimicX-Assets   --code /path/to/MimicX --backend /path/to/MimicX/third_party/unitree_rl_mjlab   --runtime-python /path/to/tracking/bin/python   --trial core__tennis__m3_full_mimicx__seed101 --output tennis-evaluation
```

Add `--video` to prepare 1080p video and screenshot output alongside telemetry.
Inspect `tennis-evaluation/evaluate.sh`, then execute that script inside your
compute allocation. Preparation does not execute it. All trial IDs are listed
in `MimicX-Policies/policy_index.json`; method names are given alongside internal
join IDs. Use `--external-motion` for breadth references that are not distributed.
The supplied file must be the reference used for that experiment.

## Replay the Core Execution Gate on Recorded Telemetry

```bash
python MimicX-Assets/prepare.py verify-gates   --assets MimicX-Assets --code /path/to/MimicX
```

This temporarily decompresses the recorded per-step CSVs, recomputes rollout
aggregates with the released metric loader and replays the actual gate. It does
not simulate a robot, claim a new performance measurement or perform PPO updates.
Expected: all 12 historical decisions match, with six acceptances and six
incumbent protections. For HLoop, use the core configuration's generated fixed
workload and compare it with archived timing/selection records under `evidence/hloop`.

## Artifact URIs

- `policies://path`: resolve relative to MimicX-Policies.
- `assets://path`: resolve relative to MimicX-Assets.
- `external-reference://sha256`: acquire the identified licensed motion separately.
- `unbundled://id/name`: historical metadata pointer to a file intentionally omitted.

Do not execute archived command strings or Python-tagged configuration dumps.
Use the portable code-repository launchers and this preparation helper.