{
  "prereg": "posts/2026-08-18-prereg-grasp-sft-v2-joint-pdnorm.md",
  "rule": "FAIL iff endpoint worse than baseline by > +0.05 pooled chunk MAE with paired bootstrap CI95 excluding 0",
  "guard": "PASS",
  "pooled": {
    "endpoint": {
      "chunk_mae": 29.17985,
      "first_mae": 28.62494
    },
    "baseline": {
      "chunk_mae": 58.14338,
      "first_mae": 57.61157
    }
  },
  "paired": {
    "delta_pooled": -28.96353,
    "delta_frame_mean": -29.37009,
    "ci95": [
      -29.69557,
      -29.0452
    ],
    "ci_excludes_zero": true,
    "n_frames": 15056
  },
  "per_motor_chunk_mae": {
    "shoulder_pan": {
      "endpoint": 21.8459,
      "baseline": 23.4622,
      "delta": -1.6163
    },
    "shoulder_lift": {
      "endpoint": 49.6408,
      "baseline": 104.435,
      "delta": -54.7941
    },
    "elbow_flex": {
      "endpoint": 39.3588,
      "baseline": 99.3006,
      "delta": -59.9418
    },
    "wrist_flex": {
      "endpoint": 21.0071,
      "baseline": 27.1068,
      "delta": -6.0997
    },
    "wrist_roll": {
      "endpoint": 25.5133,
      "baseline": 71.1701,
      "delta": -45.6568
    },
    "gripper": {
      "endpoint": 17.7087,
      "baseline": 23.3813,
      "delta": -5.6726
    }
  },
  "state_copy": "byte-match"
}