{
 "prereg": "posts/2026-08-xx-prereg-grasp-sft-v2-joint-pdnorm.md",
 "role": "recorded non-gating read (rides alongside the frozen absolute bands)",
 "arms": {
  "a": {
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   "path": "outputs/sim/grasp_sft/onerig_endpoint/flow_unseen.json",
   "config": {
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    "hold": false,
    "seed": 0,
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    "episode_seconds": 30.0,
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    "sample_steps": 10,
    "method": "euler",
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    "ar_temperature": null,
    "sde_noise_level": null,
    "flow_decoder_dtype": "bfloat16",
    "serve_head": null,
    "wrist_transform": "none",
    "control_hz": 30,
    "task": "Pick up the toy boat and place it on the wooden disk.",
    "stats_repo_id": "grasp_demos_v2/merged",
    "worn_row": "grasp_demos_v2/merged",
    "commit": "5e73979"
   }
  },
  "b": {
   "label": "pdnorm3000_convicted",
   "path": "outputs/sim/grasp_sft/pdnorm_endpoint/flow_unseen.json",
   "config": {
    "checkpoint": "/home/ubuntu/checkpoints/finetune/grasp_sft_v2_joint_1gpu_pdnorm/step_003000",
    "hold": false,
    "seed": 0,
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    "episode_seconds": 30.0,
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    "ar_temperature": null,
    "sde_noise_level": null,
    "flow_decoder_dtype": "bfloat16",
    "serve_head": null,
    "wrist_transform": "none",
    "control_hz": 30,
    "task": "Pick up the toy boat and place it on the wooden disk.",
    "stats_repo_id": "grasp_demos_v2/merged",
    "worn_row": "grasp_demos_v2/merged",
    "commit": "e34aea2"
   }
  }
 },
 "read": {
  "n_seeds": 100,
  "success": {
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   "count_b": 1,
   "count_delta": 27,
   "count_delta_ci95": [
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   ],
   "ci_excludes_zero": true
  },
  "discordant": {
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   "b_only": 0,
   "both_fail": 72,
   "mcnemar_exact_p_two_sided": 1.4901161193847656e-08
  },
  "progress": {
   "mean_delta_cm": 3.2217,
   "ci95": [
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    4.7208
   ],
   "ci_excludes_zero": true,
   "win_rate": 0.67,
   "tie_rate": 0.0
  },
  "reset_strikes": {
   "a": 0,
   "b": 0
  }
 }
}