Grasp-SFT route C — joint step 2000, token (AR) head on unseen seeds
Checkpoint fontaine_grasp_sft_joint_corrected/step_002000 (the flow-leg page's checkpoint, served through the token head: grammar-constrained greedy decode, no temperature) · execute-horizon 30, seeds 0–99, 30 s episodes · leg 3 re-run finished 06:17Z 08-19 (first attempt owner-paused at seed 24 on 08-16), leg 4 token-base finished 09:01:18Z 08-19, ~2.2–2.4 GPU-h each · verdict surface B §3: 7/100 — OWNER_DECISION band (5–19); SFT delta over the token base +7 (0 → 7), real but ~5× below the flow sibling's +35 (9 → 44) · decode diagnosis (08-19, CPU): greedy magnitude attenuation, not calibration — recommendation posted: activate R2 from the 7% checkpoint (R2 samples at T=1.0)
7/100
successes (≤3 cm, held)
0 / 44
anchors: token base / flow sibling
26/100
moved the boat >0.5 cm
0.92 cm
mean progress toward disk
0
reset strikes
Against the anchors
Decode diagnosis: greedy magnitude attenuation
Frozen token_decode_diagnosis.py read (08-19, CPU-only, computed from the banked probe episodes + videos). SFT bought reach (touch 7 → 60) but greedy decode under-commands amplitude everywhere past contact: touch collapses with spawn distance, grasped carries move at 40% of flow's speed, and 15 pinch-failures split 6 wrong-way / 7 stalled-carry / 2 timeout-holding (flow, n=16: 12/4/0). Zero frozen episodes in any arm (motion instrument over all 300 videos) — the 08-13 no-op-chunk class is retired; this is the ar-draws mean-collapse shape in closed loop.
flow-overlap success — seed 35, final 3.9 cm, success at tick 120flow-overlap success — seed 96, final 3.9 cm, success at tick 151timeout-holding carry (clock runs out, boat in hand) — seed 29, final 2.3 cmtimeout-holding carry (clock runs out, boat in hand) — seed 41, final 6.1 cmfar-spawn no-touch — seed 72, final 12.1 cm
Per-seed table
seed
spawn cm
min cm
final cm
progress cm
success
0
10.5
10.5
10.5
0.0
—
1
7.3
6.8
7.1
0.6
—
2
10.2
10.2
10.2
0.0
—
3
10.6
10.6
10.6
0.0
—
4
10.3
10.3
13.5
0.0
—
5
8.6
8.5
8.5
0.1
—
6
10.1
7.0
7.1
3.1
—
7
7.8
6.1
6.4
1.7
—
8
7.1
7.1
8.0
0.0
—
9
11.0
11.0
11.0
0.0
—
10
11.6
11.6
11.6
0.0
—
11
9.4
8.8
8.8
0.6
—
12
7.3
7.3
9.8
0.0
—
13
8.6
8.6
8.6
0.0
—
14
10.6
10.6
10.6
0.0
—
15
8.3
8.3
14.0
0.0
—
16
9.7
9.7
9.7
0.0
—
17
11.4
11.4
11.4
0.0
—
18
8.3
6.1
6.1
2.2
—
19
7.4
7.4
8.0
0.0
—
20
9.4
9.2
9.2
0.3
—
21
9.4
9.4
9.4
0.0
—
22
10.6
10.6
10.6
0.0
—
23
9.0
9.0
18.3
0.0
—
24
9.7
9.7
9.7
0.0
—
25
11.6
11.6
11.6
0.0
—
26
10.5
10.5
11.4
0.0
—
27
10.5
10.5
10.5
0.0
—
28
8.5
8.5
12.6
0.0
—
29
9.5
2.3
2.3
7.2
—
30
9.6
9.6
11.5
0.0
—
31
12.0
12.0
12.0
0.0
—
32
9.0
8.8
11.0
0.2
—
33
9.0
4.4
14.3
4.6
—
34
8.0
2.5
2.5
5.5
✓ @ 644
35
9.4
3.9
3.9
5.5
✓ @ 120
36
9.8
9.8
11.4
0.0
—
37
9.0
8.8
11.3
0.2
—
38
10.4
10.4
10.4
0.0
—
39
9.2
8.0
11.0
1.2
—
40
8.9
8.6
13.0
0.3
—
41
9.3
6.1
6.1
3.2
—
42
10.1
10.1
10.1
0.0
—
43
11.6
11.6
11.6
0.0
—
44
10.5
5.4
17.1
5.0
—
45
9.3
9.3
9.3
0.0
—
46
11.9
11.9
11.9
0.0
—
47
8.7
8.3
8.3
0.4
—
48
8.8
2.5
6.0
6.3
—
49
8.8
4.2
4.8
4.6
—
50
8.5
5.1
5.3
3.4
—
51
11.1
11.1
11.1
0.0
—
52
9.2
7.7
9.5
1.4
—
53
8.6
8.6
9.2
0.0
—
54
9.2
9.2
9.2
0.0
—
55
8.5
8.5
10.5
0.0
—
56
11.8
11.8
11.8
0.0
—
57
9.8
9.8
9.8
0.0
—
58
7.5
7.3
8.9
0.2
—
59
8.0
5.8
7.0
2.2
—
60
11.4
11.4
11.4
0.0
—
61
8.0
8.0
8.6
0.0
—
62
8.4
8.4
11.8
0.0
—
63
7.2
3.7
3.7
3.5
✓ @ 120
64
10.2
10.2
19.3
0.0
—
65
9.4
9.1
9.2
0.3
—
66
9.5
9.5
15.6
0.0
—
67
10.9
10.9
10.9
0.0
—
68
7.8
3.9
4.0
3.9
✓ @ 348
69
9.3
9.3
11.1
0.0
—
70
8.3
8.0
8.2
0.3
—
71
9.1
3.9
3.9
5.2
✓ @ 151
72
12.1
12.1
12.1
0.0
—
73
10.2
10.0
13.2
0.3
—
74
10.1
10.1
10.1
0.0
—
75
10.8
10.8
12.7
0.0
—
76
7.9
7.9
9.0
0.0
—
77
9.6
9.6
9.6
0.0
—
78
7.4
7.0
7.2
0.4
—
79
12.0
12.0
12.0
0.0
—
80
11.8
11.8
11.8
0.0
—
81
10.6
10.6
10.6
0.0
—
82
9.1
9.1
12.4
0.0
—
83
11.3
9.9
10.0
1.4
—
84
8.0
8.0
8.0
0.0
—
85
9.6
9.5
9.6
0.1
—
86
10.9
10.9
10.9
0.0
—
87
8.2
7.4
7.4
0.8
—
88
8.4
8.1
8.1
0.3
—
89
8.2
8.2
8.2
0.0
—
90
8.4
8.4
13.9
0.0
—
91
7.4
3.1
3.1
4.3
✓ @ 118
92
11.3
11.3
11.3
0.0
—
93
10.3
9.9
9.9
0.4
—
94
8.0
8.0
9.9
0.0
—
95
7.6
4.7
4.9
2.8
—
96
8.7
3.9
3.9
4.8
✓ @ 151
97
9.9
9.9
9.9
0.0
—
98
8.9
5.6
8.3
3.3
—
99
9.1
9.1
9.1
0.0
—
Token base (no SFT) — leg 4 anchor
0/100 successes · 7/100 made contact · 6/100 moved the boat >0.5 cm · 0 reset strikes — the no-SFT token head barely reaches the boat; the +7 delta above is real signal.
per-seed table (token base)
seed
spawn cm
min cm
final cm
progress cm
success
0
10.5
10.5
10.5
0.0
—
1
7.3
7.3
7.3
0.0
—
2
10.2
10.2
10.2
0.0
—
3
10.6
10.6
10.6
0.0
—
4
10.3
10.3
10.3
0.0
—
5
8.6
8.6
8.6
0.0
—
6
10.1
10.1
10.1
0.0
—
7
7.8
7.8
7.8
0.0
—
8
7.1
7.1
7.1
0.0
—
9
11.0
11.0
11.0
0.0
—
10
11.6
11.6
11.6
0.0
—
11
9.4
8.6
8.6
0.8
—
12
7.3
7.3
7.3
0.0
—
13
8.6
8.6
8.6
0.0
—
14
10.6
10.6
10.6
0.0
—
15
8.3
8.3
8.3
0.0
—
16
9.7
9.7
9.7
0.0
—
17
11.4
11.4
11.4
0.0
—
18
8.3
8.3
8.3
0.0
—
19
7.4
7.4
7.4
0.0
—
20
9.4
9.4
9.4
0.0
—
21
9.4
9.4
9.4
0.0
—
22
10.6
10.6
10.6
0.0
—
23
9.0
9.0
9.0
0.0
—
24
9.7
9.7
9.7
0.0
—
25
11.6
11.6
11.6
0.0
—
26
10.5
10.5
10.5
0.0
—
27
10.5
10.5
10.5
0.0
—
28
8.5
8.5
8.9
0.0
—
29
9.5
9.5
9.5
0.0
—
30
9.6
8.8
8.8
0.8
—
31
12.0
12.0
12.0
0.0
—
32
9.0
9.0
9.0
0.0
—
33
9.0
9.0
9.0
0.0
—
34
8.0
8.0
8.0
0.0
—
35
9.4
9.4
9.4
0.0
—
36
9.8
9.8
9.8
0.0
—
37
9.0
9.0
9.0
0.0
—
38
10.4
10.4
10.4
0.0
—
39
9.2
9.2
9.2
0.0
—
40
8.9
8.9
8.9
0.0
—
41
9.3
9.3
9.3
0.0
—
42
10.1
10.1
10.1
0.0
—
43
11.6
11.6
11.6
0.0
—
44
10.5
10.5
10.5
0.0
—
45
9.3
9.3
9.3
0.0
—
46
11.9
11.9
11.9
0.0
—
47
8.7
8.7
8.7
0.0
—
48
8.8
8.8
8.8
0.0
—
49
8.8
8.8
8.8
0.0
—
50
8.5
7.9
7.9
0.5
—
51
11.1
11.1
11.1
0.0
—
52
9.2
9.2
9.2
0.0
—
53
8.6
8.6
8.6
0.0
—
54
9.2
9.2
9.2
0.0
—
55
8.5
8.5
8.5
0.0
—
56
11.8
5.7
6.4
6.1
—
57
9.8
9.8
9.8
0.0
—
58
7.5
7.5
7.5
0.0
—
59
8.0
8.0
8.0
0.0
—
60
11.4
11.4
11.4
0.0
—
61
8.0
8.0
8.0
0.0
—
62
8.4
8.4
8.4
0.0
—
63
7.2
7.2
7.2
0.0
—
64
10.2
10.2
10.2
0.0
—
65
9.4
9.4
9.4
0.0
—
66
9.5
9.5
9.5
0.0
—
67
10.9
10.9
10.9
0.0
—
68
7.8
7.8
7.8
0.0
—
69
9.3
9.3
9.3
0.0
—
70
8.3
8.3
8.3
0.0
—
71
9.1
9.1
9.1
0.0
—
72
12.1
12.1
12.1
0.0
—
73
10.2
10.2
10.2
0.0
—
74
10.1
10.1
10.1
0.0
—
75
10.8
10.8
10.8
0.0
—
76
7.9
7.9
7.9
0.0
—
77
9.6
9.6
9.6
0.0
—
78
7.4
7.4
7.4
0.0
—
79
12.0
12.0
12.0
0.0
—
80
11.8
11.8
11.8
0.0
—
81
10.6
10.6
10.6
0.0
—
82
9.1
9.1
9.1
0.0
—
83
11.3
11.3
11.3
0.0
—
84
8.0
8.0
8.0
0.0
—
85
9.6
9.6
9.6
0.0
—
86
10.9
10.9
10.9
0.0
—
87
8.2
8.2
8.2
0.0
—
88
8.4
8.4
8.4
0.0
—
89
8.2
8.2
8.2
0.0
—
90
8.4
8.4
8.4
0.0
—
91
7.4
5.6
5.7
1.8
—
92
11.3
11.3
11.3
0.0
—
93
10.3
10.3
10.3
0.0
—
94
8.0
7.5
7.5
0.5
—
95
7.6
7.6
7.6
0.0
—
96
8.7
7.2
7.2
1.5
—
97
9.9
9.9
9.9
0.0
—
98
8.9
8.9
8.9
0.0
—
99
9.1
9.1
9.1
0.0
—
Regenerate:
fontaine/scripts/grasp_sft_joint_unseen_report.py
from the banked token_unseen.json only.
