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    "video_feedback": "Fixed episode-start RGB anchor; later history selects most recent generated RGB at or before requested 25Hz tick",
    "proprio_feedback": "Previous chunk final normalized predicted EE16; no clipping or quaternion projection",
    "seeds": "Prior actual seed + 10000*chunk_index, paired across variants/checkpoints",
    "inputs": "Only initial observed RGB/proprio; no future GT images or states",
    "interpretation": "Generated-feedback rollout; not environment execution or semantic success. Same-task stage alternatives may have unmet preconditions at episode start."
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  "limitations": [
    "Both branches keep their initial prompt fixed; not normal task-stage progression.",
    "No future GT input, environment execution or success predicate.",
    "Alternatives are exact seen training texts, but initial-state preconditions may not hold.",
    "Long-horizon divergence includes generated RGB and state drift; it is not proof of following the command.",
    "Predicted states are fed back without clamping or quaternion projection, matching prior rollout convention.",
    "16 MimicGen validation episodes; donor ancestry unknown."
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