{
  "closed_loop": false,
  "predictions": 2232,
  "repeat_exact": 496,
  "factual": [
    {
      "checkpoint": 2500,
      "windows": 54,
      "normalized_action_rmse": 0.20185984256946665,
      "video_psnr": 22.331195650277316
    },
    {
      "checkpoint": 5000,
      "windows": 54,
      "normalized_action_rmse": 0.13962644437308072,
      "video_psnr": 22.591998290132594
    }
  ],
  "text_sensitivity": [
    {
      "checkpoint": 2500,
      "cohort": "episode_start",
      "history": "true_history",
      "count": 76,
      "xyz_mean_mm_median": 9.849345777183771,
      "gripper_mean_abs_median": 0.02261874359101057
    },
    {
      "checkpoint": 2500,
      "cohort": "stage",
      "history": "current_repeat",
      "count": 272,
      "xyz_mean_mm_median": 9.409037418663502,
      "gripper_mean_abs_median": 0.029152072966098785
    },
    {
      "checkpoint": 2500,
      "cohort": "stage",
      "history": "true_history",
      "count": 272,
      "xyz_mean_mm_median": 8.459307253360748,
      "gripper_mean_abs_median": 0.028351418673992157
    },
    {
      "checkpoint": 5000,
      "cohort": "episode_start",
      "history": "true_history",
      "count": 76,
      "xyz_mean_mm_median": 10.266489814966917,
      "gripper_mean_abs_median": 0.022761015221476555
    },
    {
      "checkpoint": 5000,
      "cohort": "stage",
      "history": "current_repeat",
      "count": 272,
      "xyz_mean_mm_median": 9.593342430889606,
      "gripper_mean_abs_median": 0.02968275174498558
    },
    {
      "checkpoint": 5000,
      "cohort": "stage",
      "history": "true_history",
      "count": 272,
      "xyz_mean_mm_median": 8.725826162844896,
      "gripper_mean_abs_median": 0.029998254030942917
    }
  ],
  "seed_sensitivity": [
    {
      "checkpoint": 2500,
      "cohort": "episode_start",
      "history": "true_history",
      "count": 16,
      "xyz_mean_mm_median": 12.798848561942577,
      "gripper_mean_abs_median": 0.00632302975282073
    },
    {
      "checkpoint": 2500,
      "cohort": "stage",
      "history": "current_repeat",
      "count": 54,
      "xyz_mean_mm_median": 13.145176693797112,
      "gripper_mean_abs_median": 0.010562276467680931
    },
    {
      "checkpoint": 2500,
      "cohort": "stage",
      "history": "true_history",
      "count": 54,
      "xyz_mean_mm_median": 13.03900871425867,
      "gripper_mean_abs_median": 0.010032875463366508
    },
    {
      "checkpoint": 5000,
      "cohort": "episode_start",
      "history": "true_history",
      "count": 16,
      "xyz_mean_mm_median": 10.835095308721066,
      "gripper_mean_abs_median": 0.003030933905392885
    },
    {
      "checkpoint": 5000,
      "cohort": "stage",
      "history": "current_repeat",
      "count": 54,
      "xyz_mean_mm_median": 11.222006753087044,
      "gripper_mean_abs_median": 0.0036793514154851437
    },
    {
      "checkpoint": 5000,
      "cohort": "stage",
      "history": "true_history",
      "count": 54,
      "xyz_mean_mm_median": 9.47878323495388,
      "gripper_mean_abs_median": 0.0032835756428539753
    }
  ],
  "history_sensitivity": [
    {
      "checkpoint": 2500,
      "cohort": "stage",
      "history": "true_vs_current_repeat",
      "count": 108,
      "xyz_mean_mm_median": 11.426728684455156,
      "gripper_mean_abs_median": 0.004513689316809177
    },
    {
      "checkpoint": 5000,
      "cohort": "stage",
      "history": "true_vs_current_repeat",
      "count": 108,
      "xyz_mean_mm_median": 13.014855794608593,
      "gripper_mean_abs_median": 0.0027320096269249916
    }
  ],
  "interpretation": "Sensitivity is a change in predicted actions, NOT counterfactual correctness or task success. All alternative full prompts occurred in training, but physical state applicability is not established. Gripper-closed labels alone do not prove grasp contact.",
  "image_reviewed_release_withdraw_candidates": [
    {
      "checkpoint": 2500,
      "case": "ep000431-t000232",
      "task_index": 3,
      "history": "true_history",
      "seed_base": 42,
      "original_right_gripper_mean": 0.0351470485329628,
      "intervention_right_gripper_mean": 0.18819737434387207,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 6.715878844261169,
      "xyz_endpoint_mm": 8.409691043198109,
      "left_xyz_mean_mm": 2.1413275972008705,
      "right_xyz_mean_mm": 11.290430091321468,
      "gripper_mean_abs": 0.08014052361249924,
      "left_gripper_delta": 0.007230713963508606,
      "right_gripper_delta": 0.15305033326148987
    },
    {
      "checkpoint": 2500,
      "case": "ep000431-t000232",
      "task_index": 3,
      "history": "true_history",
      "seed_base": 314,
      "original_right_gripper_mean": 0.03923618048429489,
      "intervention_right_gripper_mean": 0.19947171211242676,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 8.797594346106052,
      "xyz_endpoint_mm": 13.807522132992744,
      "left_xyz_mean_mm": 2.3353670258075,
      "right_xyz_mean_mm": 15.259821899235249,
      "gripper_mean_abs": 0.08353177458047867,
      "left_gripper_delta": 0.006828039884567261,
      "right_gripper_delta": 0.16023552417755127
    },
    {
      "checkpoint": 2500,
      "case": "ep000431-t000232",
      "task_index": 3,
      "history": "current_repeat",
      "seed_base": 42,
      "original_right_gripper_mean": 0.04496096074581146,
      "intervention_right_gripper_mean": 0.19993902742862701,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 10.411220602691174,
      "xyz_endpoint_mm": 15.521867200732231,
      "left_xyz_mean_mm": 2.094223629683256,
      "right_xyz_mean_mm": 18.728218972682953,
      "gripper_mean_abs": 0.0809118002653122,
      "left_gripper_delta": 0.006845541298389435,
      "right_gripper_delta": 0.15497806668281555
    },
    {
      "checkpoint": 2500,
      "case": "ep000431-t000232",
      "task_index": 3,
      "history": "current_repeat",
      "seed_base": 314,
      "original_right_gripper_mean": 0.046947114169597626,
      "intervention_right_gripper_mean": 0.23475505411624908,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 19.408725202083588,
      "xyz_endpoint_mm": 34.6653051674366,
      "left_xyz_mean_mm": 2.4118234869092703,
      "right_xyz_mean_mm": 36.40562295913696,
      "gripper_mean_abs": 0.09746681153774261,
      "left_gripper_delta": 0.007125679403543472,
      "right_gripper_delta": 0.18780794739723206
    },
    {
      "checkpoint": 2500,
      "case": "ep000447-t000216",
      "task_index": 3,
      "history": "true_history",
      "seed_base": 42,
      "original_right_gripper_mean": 0.01937469281256199,
      "intervention_right_gripper_mean": 0.16611607372760773,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 6.881743669509888,
      "xyz_endpoint_mm": 10.271302424371243,
      "left_xyz_mean_mm": 1.8980441382154822,
      "right_xyz_mean_mm": 11.865442618727684,
      "gripper_mean_abs": 0.07655711472034454,
      "left_gripper_delta": 0.006372842937707901,
      "right_gripper_delta": 0.14674139022827148
    },
    {
      "checkpoint": 2500,
      "case": "ep000447-t000216",
      "task_index": 3,
      "history": "true_history",
      "seed_base": 314,
      "original_right_gripper_mean": 0.029071759432554245,
      "intervention_right_gripper_mean": 0.3055700361728668,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.15625,
      "xyz_mean_mm": 9.447467513382435,
      "xyz_endpoint_mm": 15.239328145980835,
      "left_xyz_mean_mm": 2.184895798563957,
      "right_xyz_mean_mm": 16.710039228200912,
      "gripper_mean_abs": 0.14131300151348114,
      "left_gripper_delta": 0.006127720698714256,
      "right_gripper_delta": 0.2764982581138611
    },
    {
      "checkpoint": 2500,
      "case": "ep000447-t000216",
      "task_index": 3,
      "history": "current_repeat",
      "seed_base": 42,
      "original_right_gripper_mean": 0.027552945539355278,
      "intervention_right_gripper_mean": 0.1730675995349884,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 7.234737742692232,
      "xyz_endpoint_mm": 8.448667824268341,
      "left_xyz_mean_mm": 1.7340986523777246,
      "right_xyz_mean_mm": 12.735376134514809,
      "gripper_mean_abs": 0.07616259157657623,
      "left_gripper_delta": 0.006810532882809639,
      "right_gripper_delta": 0.14551465213298798
    },
    {
      "checkpoint": 2500,
      "case": "ep000447-t000216",
      "task_index": 3,
      "history": "current_repeat",
      "seed_base": 314,
      "original_right_gripper_mean": 0.03876885771751404,
      "intervention_right_gripper_mean": 0.18492606282234192,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 7.014078088104725,
      "xyz_endpoint_mm": 9.473297744989395,
      "left_xyz_mean_mm": 2.0329896360635757,
      "right_xyz_mean_mm": 11.995166540145874,
      "gripper_mean_abs": 0.0768427699804306,
      "left_gripper_delta": 0.007528334856033325,
      "right_gripper_delta": 0.14615722000598907
    },
    {
      "checkpoint": 2500,
      "case": "ep000757-t000200",
      "task_index": 6,
      "history": "true_history",
      "seed_base": 42,
      "original_right_gripper_mean": 0.05617685616016388,
      "intervention_right_gripper_mean": 0.17084777355194092,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 6.324517074972391,
      "xyz_endpoint_mm": 6.91343005746603,
      "left_xyz_mean_mm": 1.8059838330373168,
      "right_xyz_mean_mm": 10.843049734830856,
      "gripper_mean_abs": 0.058604784309864044,
      "left_gripper_delta": 0.0025386419147253036,
      "right_gripper_delta": 0.11467093229293823
    },
    {
      "checkpoint": 2500,
      "case": "ep000757-t000200",
      "task_index": 6,
      "history": "true_history",
      "seed_base": 314,
      "original_right_gripper_mean": 0.06762643158435822,
      "intervention_right_gripper_mean": 0.200727641582489,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.03125,
      "xyz_mean_mm": 6.802263669669628,
      "xyz_endpoint_mm": 9.738252498209476,
      "left_xyz_mean_mm": 1.8794378265738487,
      "right_xyz_mean_mm": 11.725090444087982,
      "gripper_mean_abs": 0.06835391372442245,
      "left_gripper_delta": 0.003606606274843216,
      "right_gripper_delta": 0.133101224899292
    },
    {
      "checkpoint": 2500,
      "case": "ep000757-t000200",
      "task_index": 6,
      "history": "current_repeat",
      "seed_base": 42,
      "original_right_gripper_mean": 0.06762643158435822,
      "intervention_right_gripper_mean": 0.7462177276611328,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.78125,
      "xyz_mean_mm": 11.858091689646244,
      "xyz_endpoint_mm": 15.262676402926445,
      "left_xyz_mean_mm": 1.209963345900178,
      "right_xyz_mean_mm": 22.506218403577805,
      "gripper_mean_abs": 0.3405299186706543,
      "left_gripper_delta": 0.0020484216511249542,
      "right_gripper_delta": 0.678591251373291
    },
    {
      "checkpoint": 2500,
      "case": "ep000757-t000200",
      "task_index": 6,
      "history": "current_repeat",
      "seed_base": 314,
      "original_right_gripper_mean": 0.10875140875577927,
      "intervention_right_gripper_mean": 0.7861013412475586,
      "original_right_open_fraction": 0.03125,
      "intervention_right_open_fraction": 0.875,
      "xyz_mean_mm": 10.211223736405373,
      "xyz_endpoint_mm": 7.031272631138563,
      "left_xyz_mean_mm": 1.627498073503375,
      "right_xyz_mean_mm": 18.7949500977993,
      "gripper_mean_abs": 0.34028568863868713,
      "left_gripper_delta": 0.003116382285952568,
      "right_gripper_delta": 0.6773499250411987
    },
    {
      "checkpoint": 2500,
      "case": "ep000795-t000192",
      "task_index": 6,
      "history": "true_history",
      "seed_base": 42,
      "original_right_gripper_mean": 0.0249826367944479,
      "intervention_right_gripper_mean": 0.14981797337532043,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 4.313556011766195,
      "xyz_endpoint_mm": 3.8085952401161194,
      "left_xyz_mean_mm": 1.9268933683633804,
      "right_xyz_mean_mm": 6.70021865516901,
      "gripper_mean_abs": 0.06580542027950287,
      "left_gripper_delta": 0.0067755188792943954,
      "right_gripper_delta": 0.12483532726764679
    },
    {
      "checkpoint": 2500,
      "case": "ep000795-t000192",
      "task_index": 6,
      "history": "true_history",
      "seed_base": 314,
      "original_right_gripper_mean": 0.00430331751704216,
      "intervention_right_gripper_mean": 0.13725849986076355,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 5.592597648501396,
      "xyz_endpoint_mm": 7.348249666392803,
      "left_xyz_mean_mm": 2.161448122933507,
      "right_xyz_mean_mm": 9.023746475577354,
      "gripper_mean_abs": 0.07019799202680588,
      "left_gripper_delta": 0.0074408091604709625,
      "right_gripper_delta": 0.1329551786184311
    },
    {
      "checkpoint": 2500,
      "case": "ep000795-t000192",
      "task_index": 6,
      "history": "current_repeat",
      "seed_base": 42,
      "original_right_gripper_mean": 0.037016361951828,
      "intervention_right_gripper_mean": 0.40030646324157715,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.3125,
      "xyz_mean_mm": 6.463604047894478,
      "xyz_endpoint_mm": 10.461232624948025,
      "left_xyz_mean_mm": 2.0219285506755114,
      "right_xyz_mean_mm": 10.905278846621513,
      "gripper_mean_abs": 0.184201180934906,
      "left_gripper_delta": 0.0038867294788360596,
      "right_gripper_delta": 0.36329007148742676
    },
    {
      "checkpoint": 2500,
      "case": "ep000795-t000192",
      "task_index": 6,
      "history": "current_repeat",
      "seed_base": 314,
      "original_right_gripper_mean": 0.019374685361981392,
      "intervention_right_gripper_mean": 0.21927478909492493,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.125,
      "xyz_mean_mm": 7.4052102863788605,
      "xyz_endpoint_mm": 14.713036827743053,
      "left_xyz_mean_mm": 2.7993302792310715,
      "right_xyz_mean_mm": 12.011091224849224,
      "gripper_mean_abs": 0.10367044061422348,
      "left_gripper_delta": 0.007160672917962074,
      "right_gripper_delta": 0.1999000906944275
    },
    {
      "checkpoint": 5000,
      "case": "ep000431-t000232",
      "task_index": 3,
      "history": "true_history",
      "seed_base": 42,
      "original_right_gripper_mean": -0.00013632327318191528,
      "intervention_right_gripper_mean": 0.13258521258831024,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 6.836454384028912,
      "xyz_endpoint_mm": 8.377171121537685,
      "left_xyz_mean_mm": 1.1474182829260826,
      "right_xyz_mean_mm": 12.52549048513174,
      "gripper_mean_abs": 0.07038755714893341,
      "left_gripper_delta": 0.008053580299019814,
      "right_gripper_delta": 0.13272152841091156
    },
    {
      "checkpoint": 5000,
      "case": "ep000431-t000232",
      "task_index": 3,
      "history": "true_history",
      "seed_base": 314,
      "original_right_gripper_mean": -0.0003699883818626404,
      "intervention_right_gripper_mean": 0.13720007240772247,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 8.02368950098753,
      "xyz_endpoint_mm": 11.970380321145058,
      "left_xyz_mean_mm": 1.2773300986737013,
      "right_xyz_mean_mm": 14.77004773914814,
      "gripper_mean_abs": 0.07301316410303116,
      "left_gripper_delta": 0.008456261828541756,
      "right_gripper_delta": 0.1375700682401657
    },
    {
      "checkpoint": 5000,
      "case": "ep000431-t000232",
      "task_index": 3,
      "history": "current_repeat",
      "seed_base": 42,
      "original_right_gripper_mean": 0.0023171603679656982,
      "intervention_right_gripper_mean": 0.13620701432228088,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 9.593520313501358,
      "xyz_endpoint_mm": 12.594599276781082,
      "left_xyz_mean_mm": 1.1592796072363853,
      "right_xyz_mean_mm": 18.027760088443756,
      "gripper_mean_abs": 0.07084040343761444,
      "left_gripper_delta": 0.007790960371494293,
      "right_gripper_delta": 0.133889839053154
    },
    {
      "checkpoint": 5000,
      "case": "ep000431-t000232",
      "task_index": 3,
      "history": "current_repeat",
      "seed_base": 314,
      "original_right_gripper_mean": 0.0034854859113693237,
      "intervention_right_gripper_mean": 0.38589227199554443,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.28125,
      "xyz_mean_mm": 20.02432569861412,
      "xyz_endpoint_mm": 33.10191258788109,
      "left_xyz_mean_mm": 1.8505007028579712,
      "right_xyz_mean_mm": 38.19815069437027,
      "gripper_mean_abs": 0.19570288062095642,
      "left_gripper_delta": 0.008998984470963478,
      "right_gripper_delta": 0.3824067711830139
    },
    {
      "checkpoint": 5000,
      "case": "ep000447-t000216",
      "task_index": 3,
      "history": "true_history",
      "seed_base": 42,
      "original_right_gripper_mean": 0.00044783949851989746,
      "intervention_right_gripper_mean": 0.12405643612146378,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 6.38995599001646,
      "xyz_endpoint_mm": 10.55239886045456,
      "left_xyz_mean_mm": 1.142578199505806,
      "right_xyz_mean_mm": 11.63733471184969,
      "gripper_mean_abs": 0.06548094004392624,
      "left_gripper_delta": 0.007353285327553749,
      "right_gripper_delta": 0.12360859662294388
    },
    {
      "checkpoint": 5000,
      "case": "ep000447-t000216",
      "task_index": 3,
      "history": "true_history",
      "seed_base": 314,
      "original_right_gripper_mean": 0.0022003278136253357,
      "intervention_right_gripper_mean": 0.7208359241485596,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.65625,
      "xyz_mean_mm": 10.568349622189999,
      "xyz_endpoint_mm": 17.033908516168594,
      "left_xyz_mean_mm": 1.826263265684247,
      "right_xyz_mean_mm": 19.31043714284897,
      "gripper_mean_abs": 0.3631432354450226,
      "left_gripper_delta": 0.007650906220078468,
      "right_gripper_delta": 0.7186355590820312
    },
    {
      "checkpoint": 5000,
      "case": "ep000447-t000216",
      "task_index": 3,
      "history": "current_repeat",
      "seed_base": 42,
      "original_right_gripper_mean": 0.004186481237411499,
      "intervention_right_gripper_mean": 0.12972280383110046,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 12.41904404014349,
      "xyz_endpoint_mm": 24.62276816368103,
      "left_xyz_mean_mm": 1.3791956007480621,
      "right_xyz_mean_mm": 23.45889061689377,
      "gripper_mean_abs": 0.06629598885774612,
      "left_gripper_delta": 0.007055643945932388,
      "right_gripper_delta": 0.12553632259368896
    },
    {
      "checkpoint": 5000,
      "case": "ep000447-t000216",
      "task_index": 3,
      "history": "current_repeat",
      "seed_base": 314,
      "original_right_gripper_mean": 0.0069904625415802,
      "intervention_right_gripper_mean": 1.0334208011627197,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 1.0,
      "xyz_mean_mm": 7.671277970075607,
      "xyz_endpoint_mm": 14.978873543441296,
      "left_xyz_mean_mm": 1.8907581688836217,
      "right_xyz_mean_mm": 13.451797887682915,
      "gripper_mean_abs": 0.5167429447174072,
      "left_gripper_delta": 0.00705564022064209,
      "right_gripper_delta": 1.026430368423462
    },
    {
      "checkpoint": 5000,
      "case": "ep000757-t000200",
      "task_index": 6,
      "history": "true_history",
      "seed_base": 42,
      "original_right_gripper_mean": 0.0022003352642059326,
      "intervention_right_gripper_mean": 0.10851773619651794,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 9.790629148483276,
      "xyz_endpoint_mm": 12.635616585612297,
      "left_xyz_mean_mm": 2.6064151898026466,
      "right_xyz_mean_mm": 16.97484403848648,
      "gripper_mean_abs": 0.05392904579639435,
      "left_gripper_delta": 0.001015443354845047,
      "right_gripper_delta": 0.10631740093231201
    },
    {
      "checkpoint": 5000,
      "case": "ep000757-t000200",
      "task_index": 6,
      "history": "true_history",
      "seed_base": 314,
      "original_right_gripper_mean": 0.0017329994589090347,
      "intervention_right_gripper_mean": 0.11611183732748032,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 10.188322514295578,
      "xyz_endpoint_mm": 15.350615605711937,
      "left_xyz_mean_mm": 2.809964120388031,
      "right_xyz_mean_mm": 17.566680908203125,
      "gripper_mean_abs": 0.058196116238832474,
      "left_gripper_delta": 0.0013481080532073975,
      "right_gripper_delta": 0.11437883973121643
    },
    {
      "checkpoint": 5000,
      "case": "ep000757-t000200",
      "task_index": 6,
      "history": "current_repeat",
      "seed_base": 42,
      "original_right_gripper_mean": 0.014000408351421356,
      "intervention_right_gripper_mean": 1.0344138145446777,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 1.0,
      "xyz_mean_mm": 11.998964473605156,
      "xyz_endpoint_mm": 15.32744336873293,
      "left_xyz_mean_mm": 2.290545031428337,
      "right_xyz_mean_mm": 21.707385778427124,
      "gripper_mean_abs": 0.5116686224937439,
      "left_gripper_delta": 0.0029237978160381317,
      "right_gripper_delta": 1.0204133987426758
    },
    {
      "checkpoint": 5000,
      "case": "ep000757-t000200",
      "task_index": 6,
      "history": "current_repeat",
      "seed_base": 314,
      "original_right_gripper_mean": 0.027669785544276237,
      "intervention_right_gripper_mean": 1.0295069217681885,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 1.0,
      "xyz_mean_mm": 11.816446669399738,
      "xyz_endpoint_mm": 10.894423350691795,
      "left_xyz_mean_mm": 3.1429268419742584,
      "right_xyz_mean_mm": 20.48996463418007,
      "gripper_mean_abs": 0.5024592280387878,
      "left_gripper_delta": 0.0030463524162769318,
      "right_gripper_delta": 1.001837134361267
    },
    {
      "checkpoint": 5000,
      "case": "ep000795-t000192",
      "task_index": 6,
      "history": "true_history",
      "seed_base": 42,
      "original_right_gripper_mean": 0.0009151697158813477,
      "intervention_right_gripper_mean": 0.1067652553319931,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.0,
      "xyz_mean_mm": 5.830096546560526,
      "xyz_endpoint_mm": 7.513736840337515,
      "left_xyz_mean_mm": 2.485700650140643,
      "right_xyz_mean_mm": 9.17449314147234,
      "gripper_mean_abs": 0.05632156506180763,
      "left_gripper_delta": 0.006793035194277763,
      "right_gripper_delta": 0.10585008561611176
    },
    {
      "checkpoint": 5000,
      "case": "ep000795-t000192",
      "task_index": 6,
      "history": "true_history",
      "seed_base": 314,
      "original_right_gripper_mean": 0.0009151734411716461,
      "intervention_right_gripper_mean": 0.18206366896629333,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.09375,
      "xyz_mean_mm": 7.915975525975227,
      "xyz_endpoint_mm": 13.011742383241653,
      "left_xyz_mean_mm": 2.3112650960683823,
      "right_xyz_mean_mm": 13.520685955882072,
      "gripper_mean_abs": 0.09402328729629517,
      "left_gripper_delta": 0.0068980734795331955,
      "right_gripper_delta": 0.181148499250412
    },
    {
      "checkpoint": 5000,
      "case": "ep000795-t000192",
      "task_index": 6,
      "history": "current_repeat",
      "seed_base": 42,
      "original_right_gripper_mean": 0.011663762852549553,
      "intervention_right_gripper_mean": 0.8459048271179199,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.8125,
      "xyz_mean_mm": 6.967787630856037,
      "xyz_endpoint_mm": 5.3260112181305885,
      "left_xyz_mean_mm": 2.9456051997840405,
      "right_xyz_mean_mm": 10.989969596266747,
      "gripper_mean_abs": 0.41941410303115845,
      "left_gripper_delta": 0.004587048664689064,
      "right_gripper_delta": 0.8342411518096924
    },
    {
      "checkpoint": 5000,
      "case": "ep000795-t000192",
      "task_index": 6,
      "history": "current_repeat",
      "seed_base": 314,
      "original_right_gripper_mean": 0.01844003051519394,
      "intervention_right_gripper_mean": 0.38602373003959656,
      "original_right_open_fraction": 0.0,
      "intervention_right_open_fraction": 0.3125,
      "xyz_mean_mm": 10.400427505373955,
      "xyz_endpoint_mm": 18.487554043531418,
      "left_xyz_mean_mm": 2.8979352209717035,
      "right_xyz_mean_mm": 17.902921885252,
      "gripper_mean_abs": 0.18709205090999603,
      "left_gripper_delta": 0.006600437685847282,
      "right_gripper_delta": 0.367583692073822
    }
  ],
  "candidate_caveat": "Brush stage1->disengage and laptop stage1->withdraw selected from current-image review before bulk inference, not selected by prediction outcomes. Image evidence supports relevance, but no simulator contact/success predicate exists. Gripper >0.5 is an output-command description only.",
  "validation_scope": "16 held-out MimicGen episodes, two per task. Donor ancestry is unavailable; this is a generated-episode monitoring split, not independent real/source generalization."
}