{
 "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": {
   "label": "probe_joint_corrected_2000",
   "path": "outputs/sim/grasp_sft/joint_probes/flow_unseen.json",
   "config": {
    "checkpoint": "/home/ubuntu/checkpoints/finetune/fontaine_grasp_sft_joint_corrected/step_002000",
    "hold": false,
    "seed": 0,
    "num_seeds": 100,
    "replans": 30,
    "episode_seconds": 30.0,
    "execute_horizon": 30,
    "sample_steps": 10,
    "method": "euler",
    "draws": 1,
    "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": "mcobzarenco/so101_pick_place_v2",
    "commit": "c3b0af1"
   }
  },
  "b": {
   "label": "disc1000_demosonly",
   "path": "outputs/sim/grasp_sft/disc1000_baseline/flow_unseen.json",
   "config": {
    "checkpoint": "/home/ubuntu/checkpoints/finetune/grasp_sft_v2_demosonly_1gpu_disc/step_001000",
    "hold": false,
    "seed": 0,
    "num_seeds": 100,
    "replans": 30,
    "episode_seconds": 30.0,
    "execute_horizon": 30,
    "sample_steps": 10,
    "method": "euler",
    "draws": 1,
    "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": "mcobzarenco/so101_pick_place_v2",
    "commit": "bba4a45"
   }
  }
 },
 "read": {
  "n_seeds": 100,
  "success": {
   "count_a": 44,
   "count_b": 11,
   "count_delta": 33,
   "count_delta_ci95": [
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    44.0
   ],
   "ci_excludes_zero": true
  },
  "discordant": {
   "both_succeed": 7,
   "a_only": 37,
   "b_only": 4,
   "both_fail": 52,
   "mcnemar_exact_p_two_sided": 1.0258372640237212e-07
  },
  "progress": {
   "mean_delta_cm": 3.5661,
   "ci95": [
    2.6593,
    4.4646
   ],
   "ci_excludes_zero": true,
   "win_rate": 0.8,
   "tie_rate": 0.0
  },
  "reset_strikes": {
   "a": 0,
   "b": 0
  }
 }
}