{
 "npz": "reports/eval__grasp_sft_v2_joint_1gpu_pdnorm__step_003000__panel_v2_k4l2_euler10_draws1_stable.npz",
 "checkpoint": "/home/ubuntu/checkpoints/finetune/grasp_sft_v2_joint_1gpu_pdnorm/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_clean",
   "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": 29.179849782709372,
  "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": 9.34063759672199e-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": 29.179849782709372,
 "truthfit_wear_chunk_mae": 27.442036919472123,
 "estimator_seam_delta_native_minus_truthfit": 1.7378128632372487,
 "native_wear_per_joint": {
  "shoulder_pan": 21.845857620239258,
  "shoulder_lift": 49.640830993652344,
  "elbow_flex": 39.3587760925293,
  "wrist_flex": 21.007118225097656,
  "wrist_roll": 25.513280868530273,
  "gripper": 17.70868682861328
 },
 "truthfit_wear_per_joint": {
  "shoulder_pan": 20.68914794921875,
  "shoulder_lift": 48.57782745361328,
  "elbow_flex": 36.40922927856445,
  "wrist_flex": 20.540695190429688,
  "wrist_roll": 22.292787551879883,
  "gripper": 16.138771057128906
 },
 "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": 46.05622863769531,
   "truthfit_wear_mae": 8.594562530517578,
   "delta_native_minus_truthfit": 37.461666107177734
  },
  {
   "repo": "bnarin/so100_tic_tac_toe_move_2_1",
   "elements": 120,
   "native_wear_mae": 41.90971755981445,
   "truthfit_wear_mae": 8.384544372558594,
   "delta_native_minus_truthfit": 33.52517318725586
  },
  {
   "repo": "liyitenga/so100_pick_taffy4",
   "elements": 236,
   "native_wear_mae": 65.2884521484375,
   "truthfit_wear_mae": 34.357383728027344,
   "delta_native_minus_truthfit": 30.931068420410156
  },
  {
   "repo": "FeiYjf/Hold_Pieces",
   "elements": 102,
   "native_wear_mae": 37.613136291503906,
   "truthfit_wear_mae": 7.212012767791748,
   "delta_native_minus_truthfit": 30.401123523712158
  },
  {
   "repo": "bjb7/so101_pen_mug_10_13",
   "elements": 120,
   "native_wear_mae": 43.0098762512207,
   "truthfit_wear_mae": 15.87879467010498,
   "delta_native_minus_truthfit": 27.131081581115723
  },
  {
   "repo": "samanthalhy/so100_herding_2",
   "elements": 120,
   "native_wear_mae": 30.04402732849121,
   "truthfit_wear_mae": 4.182778358459473,
   "delta_native_minus_truthfit": 25.86124897003174
  },
  {
   "repo": "samanthalhy/so100_herding_3",
   "elements": 120,
   "native_wear_mae": 27.606277465820312,
   "truthfit_wear_mae": 3.431044101715088,
   "delta_native_minus_truthfit": 24.175233364105225
  },
  {
   "repo": "kantine/flip_A1",
   "elements": 120,
   "native_wear_mae": 40.087032318115234,
   "truthfit_wear_mae": 17.665817260742188,
   "delta_native_minus_truthfit": 22.421215057373047
  },
  {
   "repo": "Gano007/so100_lolo",
   "elements": 120,
   "native_wear_mae": 31.806442260742188,
   "truthfit_wear_mae": 9.612897872924805,
   "delta_native_minus_truthfit": 22.193544387817383
  },
  {
   "repo": "bjb7/so101_pen_touch_test_1",
   "elements": 1143,
   "native_wear_mae": 42.73650360107422,
   "truthfit_wear_mae": 21.266864776611328,
   "delta_native_minus_truthfit": 21.46963882446289
  }
 ],
 "ladder_read": {
  "endpoint_native": 29.179849782709372,
  "endpoint_truthfit": 27.442036919472123,
  "estimator_seam_delta": 1.7378128632372487,
  "sft_disc1000_truthfit": 27.395334001919885,
  "null_repo_midpoint": 25.154475696265422,
  "released_truthfit": 27.135121955707675
 }
}