{
  "schema": "dvidia.skill-prerequisites/v1",
  "scope": "Authored PiPER policies in native MuJoCo with synthetic rigid objects and privileged simulator observations. Browser replay uses recorded poses; no learned policy, hardware safety qualification or real-world transfer result.",
  "split": "heldout",
  "attempts": [
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      "id": "hinged-box-open-medium-baseline",
      "task": "hinged-box",
      "policy": "baseline",
      "case": {
        "id": "open-medium",
        "lid_angle_deg": 105.0,
        "lid_velocity_rad_s": 0.0,
        "lid_mass_kg": 0.18,
        "hinge_damping": 0.04,
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      "task": "hinged-box",
      "policy": "recovery",
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        "lid_angle_deg": 105.0,
        "lid_velocity_rad_s": 0.0,
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        "hinge_damping": 0.04,
        "split": "heldout"
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    },
    {
      "id": "hinged-box-falling-medium-baseline",
      "task": "hinged-box",
      "policy": "baseline",
      "case": {
        "id": "falling-medium",
        "lid_angle_deg": 78.0,
        "lid_velocity_rad_s": -0.15,
        "lid_mass_kg": 0.18,
        "hinge_damping": 0.04,
        "split": "heldout"
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    },
    {
      "id": "hinged-box-falling-medium-recovery",
      "task": "hinged-box",
      "policy": "recovery",
      "case": {
        "id": "falling-medium",
        "lid_angle_deg": 78.0,
        "lid_velocity_rad_s": -0.15,
        "lid_mass_kg": 0.18,
        "hinge_damping": 0.04,
        "split": "heldout"
      }
    },
    {
      "id": "hinged-box-falling-low-baseline",
      "task": "hinged-box",
      "policy": "baseline",
      "case": {
        "id": "falling-low",
        "lid_angle_deg": 58.0,
        "lid_velocity_rad_s": -0.25,
        "lid_mass_kg": 0.1,
        "hinge_damping": 0.02,
        "split": "heldout"
      }
    },
    {
      "id": "hinged-box-falling-low-recovery",
      "task": "hinged-box",
      "policy": "recovery",
      "case": {
        "id": "falling-low",
        "lid_angle_deg": 58.0,
        "lid_velocity_rad_s": -0.25,
        "lid_mass_kg": 0.1,
        "hinge_damping": 0.02,
        "split": "heldout"
      }
    },
    {
      "id": "hinged-box-transient-damped-baseline",
      "task": "hinged-box",
      "policy": "baseline",
      "case": {
        "id": "transient-damped",
        "lid_angle_deg": 110.0,
        "lid_velocity_rad_s": -0.35,
        "lid_mass_kg": 0.2,
        "hinge_damping": 0.06,
        "split": "heldout"
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    },
    {
      "id": "hinged-box-transient-damped-recovery",
      "task": "hinged-box",
      "policy": "recovery",
      "case": {
        "id": "transient-damped",
        "lid_angle_deg": 110.0,
        "lid_velocity_rad_s": -0.35,
        "lid_mass_kg": 0.2,
        "hinge_damping": 0.06,
        "split": "heldout"
      }
    },
    {
      "id": "tool-reach-reach-heldout-light-baseline",
      "task": "tool-reach",
      "policy": "baseline",
      "case": {
        "id": "reach-heldout-light",
        "shoe_x": 0.705,
        "shoe_y": -0.09,
        "mass": 0.22,
        "friction": 0.45,
        "tool_length": 0.34,
        "lateral_error": 0.025,
        "split": "heldout"
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    },
    {
      "id": "tool-reach-reach-heldout-light-recovery",
      "task": "tool-reach",
      "policy": "recovery",
      "case": {
        "id": "reach-heldout-light",
        "shoe_x": 0.705,
        "shoe_y": -0.09,
        "mass": 0.22,
        "friction": 0.45,
        "tool_length": 0.34,
        "lateral_error": 0.025,
        "split": "heldout"
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    },
    {
      "id": "tool-reach-reach-heldout-offset-baseline",
      "task": "tool-reach",
      "policy": "baseline",
      "case": {
        "id": "reach-heldout-offset",
        "shoe_x": 0.725,
        "shoe_y": -0.115,
        "mass": 0.38,
        "friction": 0.8,
        "tool_length": 0.36,
        "lateral_error": -0.075,
        "split": "heldout"
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    },
    {
      "id": "tool-reach-reach-heldout-offset-recovery",
      "task": "tool-reach",
      "policy": "recovery",
      "case": {
        "id": "reach-heldout-offset",
        "shoe_x": 0.725,
        "shoe_y": -0.115,
        "mass": 0.38,
        "friction": 0.8,
        "tool_length": 0.36,
        "lateral_error": -0.075,
        "split": "heldout"
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    },
    {
      "id": "tool-reach-reach-heldout-heavy-baseline",
      "task": "tool-reach",
      "policy": "baseline",
      "case": {
        "id": "reach-heldout-heavy",
        "shoe_x": 0.735,
        "shoe_y": -0.075,
        "mass": 0.55,
        "friction": 1.05,
        "tool_length": 0.37,
        "lateral_error": 0.035,
        "split": "heldout"
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    },
    {
      "id": "tool-reach-reach-heldout-heavy-recovery",
      "task": "tool-reach",
      "policy": "recovery",
      "case": {
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        "shoe_x": 0.735,
        "shoe_y": -0.075,
        "mass": 0.55,
        "friction": 1.05,
        "tool_length": 0.37,
        "lateral_error": 0.035,
        "split": "heldout"
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      "id": "tool-reach-reach-heldout-short-baseline",
      "task": "tool-reach",
      "policy": "baseline",
      "case": {
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        "shoe_x": 0.72,
        "shoe_y": -0.105,
        "mass": 0.27,
        "friction": 0.55,
        "tool_length": 0.18,
        "lateral_error": 0.015,
        "split": "heldout"
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    },
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      "id": "tool-reach-reach-heldout-short-recovery",
      "task": "tool-reach",
      "policy": "recovery",
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        "shoe_y": -0.105,
        "mass": 0.27,
        "friction": 0.55,
        "tool_length": 0.18,
        "lateral_error": 0.015,
        "split": "heldout"
      }
    }
  ],
  "comparison": "Matched declared scene conditions. Tool baseline is a no-tool capability control; it is not a policy-only ablation.",
  "split_scope": "Explicit parameter holdouts, not independent real-world reliability trials. No held-out tuning.",
  "success_scope": "Task-specific completion. Safe abort, retrieval, and retained lift are reported separately.",
  "timing_scope": "CPU wall time for native execution including initialization and recording; rendering, downloads and real sensor latency excluded.",
  "source_commit": "756306a2beda60ac54567971626080a56227e781",
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