{
 "npz": "reports/eval__grasp_sft_v2_joint_1gpu_pdnorm_onerig__step_003000__panel_v2_k4l2_euler10_draws1_stable.npz",
 "checkpoint": "/home/ubuntu/checkpoints/finetune/grasp_sft_v2_joint_1gpu_pdnorm_onerig/step_003000",
 "wear_facts": {
  "leg_molmo_norm": "checkpoint",
  "scheme": "q01q99_per_dataset",
  "native_row_source": "/home/ubuntu/datasets/mcobzarenco/community_curated_v0/<repo>/meta/stats.json",
  "checkpoint_per_dataset_stats_keys": [
   "grasp_demos_v2/merged",
   "mcobzarenco/so101_pick_place_v2"
  ],
  "verdict": "the leg wore each panel item's NATIVE per-dataset training-table row (contract path of the per-dataset scheme); this re-expression moves the OUTPUT side onto the panel-truth-fit per-repo rows the ladder anchors wear \u2014 estimator-consistent endpoint-vs-ladder"
 },
 "caveats": [
  "output-side only: state stayed merged-table when the model ran \u2014 this bounds the estimator-seam share, it does not re-run the model",
  "truth-fit rows are oracle-ish (fit on the panel's own truth, duplicate-weighted chunk elements) \u2014 identical estimator and panel as the disc-1000/released audits, which is the point: same estimator on both sides of the ladder",
  "the NATIVE row is the deployment-honest number (a served rig wears recorded tables, not truth-fit rows); the truth-fit row exists to read the ladder like for like, not to replace it"
 ],
 "anchors_reproduced": {
  "pred:bijou@3000": 28.808281272522628,
  "state-copy": 8.367757873526733
 },
 "round_trip_worst_abs_deg": 1.52587890625e-05,
 "degenerate_joints": [
  {
   "repo": "BobBobbson/so100_test_FIRST_DATA",
   "joint": "wrist_roll",
   "worst_abs_off_constant_deg": 0.0
  },
  {
   "repo": "roboticshack/team2-guess_who_so100_edge_case",
   "joint": "gripper",
   "worst_abs_off_constant_deg": 8.059281242367433e-09
  },
  {
   "repo": "sattgle/clean-test",
   "joint": "wrist_roll",
   "worst_abs_off_constant_deg": 0.0
  },
  {
   "repo": "sattgle/clean2-test",
   "joint": "wrist_roll",
   "worst_abs_off_constant_deg": 0.0
  },
  {
   "repo": "sattgle/record-test",
   "joint": "wrist_roll",
   "worst_abs_off_constant_deg": 0.0
  }
 ],
 "native_wear_chunk_mae": 28.808281272522628,
 "truthfit_wear_chunk_mae": 27.2603439233763,
 "estimator_seam_delta_native_minus_truthfit": 1.547937349146327,
 "native_wear_per_joint": {
  "shoulder_pan": 20.996112823486328,
  "shoulder_lift": 49.77458953857422,
  "elbow_flex": 36.83526611328125,
  "wrist_flex": 22.136903762817383,
  "wrist_roll": 24.243391036987305,
  "gripper": 18.85962677001953
 },
 "truthfit_wear_per_joint": {
  "shoulder_pan": 20.040437698364258,
  "shoulder_lift": 48.684547424316406,
  "elbow_flex": 34.552207946777344,
  "wrist_flex": 21.611478805541992,
  "wrist_roll": 21.457853317260742,
  "gripper": 17.211109161376953
 },
 "null_repo_midpoint_chunk_mae": 25.154475696265422,
 "n_repo_rows": 838,
 "per_repo_worst10_by_abs_delta": [
  {
   "repo": "pietroom/second_task",
   "elements": 96,
   "native_wear_mae": 48.21868896484375,
   "truthfit_wear_mae": 9.341559410095215,
   "delta_native_minus_truthfit": 38.877129554748535
  },
  {
   "repo": "bnarin/so100_tic_tac_toe_move_2_1",
   "elements": 120,
   "native_wear_mae": 43.3181037902832,
   "truthfit_wear_mae": 8.656905174255371,
   "delta_native_minus_truthfit": 34.66119861602783
  },
  {
   "repo": "liyitenga/so100_pick_taffy4",
   "elements": 236,
   "native_wear_mae": 63.255126953125,
   "truthfit_wear_mae": 33.54537582397461,
   "delta_native_minus_truthfit": 29.70975112915039
  },
  {
   "repo": "Gano007/so100_lolo",
   "elements": 120,
   "native_wear_mae": 37.01092529296875,
   "truthfit_wear_mae": 9.101021766662598,
   "delta_native_minus_truthfit": 27.909903526306152
  },
  {
   "repo": "kantine/flip_A1",
   "elements": 120,
   "native_wear_mae": 43.98260498046875,
   "truthfit_wear_mae": 17.33388328552246,
   "delta_native_minus_truthfit": 26.64872169494629
  },
  {
   "repo": "FeiYjf/Hold_Pieces",
   "elements": 102,
   "native_wear_mae": 33.31482696533203,
   "truthfit_wear_mae": 7.467891693115234,
   "delta_native_minus_truthfit": 25.846935272216797
  },
  {
   "repo": "yuz1wan/so100_pour_cup",
   "elements": 99,
   "native_wear_mae": 35.97148132324219,
   "truthfit_wear_mae": 12.938496589660645,
   "delta_native_minus_truthfit": 23.032984733581543
  },
  {
   "repo": "bjb7/so101_pen_touch_test_1",
   "elements": 1143,
   "native_wear_mae": 44.338966369628906,
   "truthfit_wear_mae": 21.814964294433594,
   "delta_native_minus_truthfit": 22.524002075195312
  },
  {
   "repo": "bjb7/so101_pen_mug_10_13",
   "elements": 120,
   "native_wear_mae": 36.88197326660156,
   "truthfit_wear_mae": 14.918771743774414,
   "delta_native_minus_truthfit": 21.96320152282715
  },
  {
   "repo": "ganker5/so100_action_20250403",
   "elements": 228,
   "native_wear_mae": 40.005252838134766,
   "truthfit_wear_mae": 19.90981674194336,
   "delta_native_minus_truthfit": 20.095436096191406
  }
 ],
 "ladder_read": {
  "endpoint_native": 28.808281272522628,
  "endpoint_truthfit": 27.2603439233763,
  "estimator_seam_delta": 1.547937349146327,
  "sft_disc1000_truthfit": 27.395334001919885,
  "null_repo_midpoint": 25.154475696265422,
  "released_truthfit": 27.135121955707675
 }
}