Troubleshooting

Symptom	Likely cause	Correction
No first reply	Missing initial echo or fewer than four complete camera sets	Send `{"step": 0}` after valid state; publish all three views
First reply only	Execution count did not increase	Update observations, then send a larger integer echo
Echo advances but no reply	Missing video receipts or invalid state	Check four complete sets per accepted echo and four finite equal-width state rows
Valid JSON but poor actions	Incorrect 14-value layout	Use EE pose, two gripper positions, and base pose; schema prose mislabels this as two arms
History appears stale or shifted	Video repeated at wall-clock cadence or one track dropped frames	Compare capture indices across tracks and state; replace the synthetic publisher with an aligned adapter
Temporal spacing is wrong	Client and server both sampled history	Publish consecutive observations for default server sampling; verify actual selected indices
Simulator rejects actions	Full 60-wide row passed to controller	Take the first 12 values and use RoboCasa `convert_action`
Mode or base behavior is wrong	Incorrect action-column mapping	Use RoboCasa’s base/torso/mode mapping and matching controller configuration
Old episode influences new one	Queued media or stored input survived reset	Clear client queues and reconnect with the new task and history

Malformed state/history JSON is ignored by the model’s readiness gate. An accepted command does not prove that its values form a valid observation. Validate shape and finiteness before sending and respect the string-length limits. For diagnosis, log the release, prediction counter, executed-action count, camera capture indices, sampled state indices, and command/reply timestamps. The server pairs arrival order, not capture metadata. A network connection with no errors can still carry temporally misaligned observations. For a minimal support case, start with the synthetic example. If it passes while a rollout fails, inspect the observation/history adapter before changing the policy or its normalization.

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Troubleshooting