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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-00-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.1281286664323786, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 80, "max_object_lift_m": 6.22998874710845e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.1281286664323786, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-00-goal1-nominal", "condition": "nominal", "variant": "blind", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.58, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.011222978058988402, "trace_lift_dwell_s": 2.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09486307172476106, "max_pad_normal_force_n": 0.8020016060546395, "dwell_seconds": 4.591999999999868, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.657999999996761 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.5920000000000005, "terminal_xy_error_m": 0.011222978058988402, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-00-goal1-nominal", "condition": "nominal", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 4.58, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.011187727523632384, "trace_lift_dwell_s": 2.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": true, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09495262118793159, "max_pad_normal_force_n": 0.819806694227299, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.06800000000000005, "carry_contact_loss_events": 1, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.5920000000000005, "terminal_xy_error_m": 0.011187727523632384, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [ { "loss_onset_s": 14.03699999999766, "loss_qualified_s": 14.055999999997649, "kind": "airborne_contact_loss", "supported_at_onset": false, "restored": false, "restoration_onset_s": null, "restoration_qualified_s": null, "onset_to_restoration_s": null, "onset_to_qualified_restoration_s": null, "relative_motion_since_loss_m": 0.003558124046600197, "censored_reason": "supported_destination_reached_before_qualification" } ], "grip_summary": { "loss_events": 1, "restored_events": 0, "unresolved_events": 1, "supported_events": 0, "airborne_events": 1, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 1, "total_s": 0.058, "maximum_s": 0.058, "intervals": [ { "start_s": 14.046000000000001, "end_s": 14.104000000000001, "duration_s": 0.058 } ] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-00-goal1-nominal", "condition": "nominal", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.6, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.010244785374618356, "trace_lift_dwell_s": 1.9800000000000004, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.0979933210270394, "max_pad_normal_force_n": 1.0711069304200593, "dwell_seconds": 4.6109999999998745, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.638999999996772 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.611, "terminal_xy_error_m": 0.010244785374618356, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-00-goal1-nominal", "condition": "nominal", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.12408468727271851, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 6.22998874710845e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.1240846872727185, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-00-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.12399848146096014, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.00038777973870267324, "max_pad_normal_force_n": 0.4587679874248036, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.12399848146096014, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-00-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "blind", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.12379670554137545, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.00043088135820079643, "max_pad_normal_force_n": 0.38831054554308353, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.12379670554137545, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-00-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.12390987053273698, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.00041545973634227185, "max_pad_normal_force_n": 0.4658812523506775, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.12390987053273698, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-00-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.299999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.015433649941362999, "trace_lift_dwell_s": 0.7999999999999989, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.07889909930013615, "max_pad_normal_force_n": 1.2743018920743416, "dwell_seconds": 4.310999999999774, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.938999999996605 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.311, "terminal_xy_error_m": 0.015433649941363, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-00-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.12408468727271851, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 6.22998874710845e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.1240846872727185, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal0-nominal", "condition": "nominal", "variant": "blind", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 5.68, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.005703904285085584, "trace_lift_dwell_s": 1.3800000000000008, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 135, "max_object_lift_m": 0.09687876657823281, "max_pad_normal_force_n": 0.9450581022302259, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.692, "terminal_xy_error_m": 0.005703904285085584, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal0-nominal", "condition": "nominal", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 5.68, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.005465416594325443, "trace_lift_dwell_s": 1.4399999999999995, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09759625324753456, "max_pad_normal_force_n": 1.0630952669761728, "dwell_seconds": 5.6980000000002375, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 14.551999999997374 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.698, "terminal_xy_error_m": 0.005465416594325443, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11301752372315568, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 115, "max_object_lift_m": 6.22998874710845e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11301752372315568, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11304392568426637, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 129, "max_object_lift_m": 1.2219547699393596e-06, "max_pad_normal_force_n": 0.2527854663285669, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11304392568426637, "scope": "Terminal-only geometry/release/settling/dwell; 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does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 5.299999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.0070751731374714116, "trace_lift_dwell_s": 1.2400000000000002, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.07864819525018722, "max_pad_normal_force_n": 1.3657853617709776, "dwell_seconds": 5.31700000000011, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 14.932999999997163 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.317, "terminal_xy_error_m": 0.0070751731374714116, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11301752372315568, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal1-nominal", "condition": "nominal", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 5.199999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.01130711742158682, "trace_lift_dwell_s": 1.8000000000000007, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 45, "max_object_lift_m": 0.08877975081535593, "max_pad_normal_force_n": 0.9138775311766727, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.214, "terminal_xy_error_m": 0.01130711742158682, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal1-nominal", "condition": "nominal", "variant": "blind", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 5.199999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.009453636377211215, "trace_lift_dwell_s": 1.9000000000000004, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 4, "max_object_lift_m": 0.09556257789281182, "max_pad_normal_force_n": 0.8554111440674514, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.214, "terminal_xy_error_m": 0.009453636377211215, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal1-nominal", "condition": "nominal", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 5.199999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.00965833380199816, "trace_lift_dwell_s": 1.9000000000000004, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": true, "unexpected_contact_native_ticks": 82, "max_object_lift_m": 0.09552152100839541, "max_pad_normal_force_n": 0.566722264916657, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.04100000000000003, "carry_contact_loss_events": 1, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.214, "terminal_xy_error_m": 0.00965833380199816, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal1-nominal", "condition": "nominal", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 5.18, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.010037560749742037, "trace_lift_dwell_s": 1.92, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09777089249070446, "max_pad_normal_force_n": 1.0773504525835707, "dwell_seconds": 5.192000000000069, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.057999999997094 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.192, "terminal_xy_error_m": 0.010037560749742037, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal1-nominal", "condition": "nominal", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.12503205637697404, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 88, "max_object_lift_m": 6.22998874710845e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.12503205637697404, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.12503205637697404, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 77, "max_object_lift_m": 6.22998874710845e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.12503205637697404, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "blind", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.12503723696410296, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 77, "max_object_lift_m": 1.368406816054657e-07, "max_pad_normal_force_n": 0.2604218679878704, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.12503723696410296, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [ { "loss_onset_s": 10.488999999999626, "loss_qualified_s": 10.507999999999615, "kind": "supported_grip_interruption", "supported_at_onset": true, "restored": false, "restoration_onset_s": null, "restoration_qualified_s": null, "onset_to_restoration_s": null, "onset_to_qualified_restoration_s": null, "relative_motion_since_loss_m": 0.176972935890015 } ], "grip_summary": { "loss_events": 1, "restored_events": 0, "unresolved_events": 1, "supported_events": 1, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.1250474889890854, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 82, "max_object_lift_m": 1.2219549419267839e-06, "max_pad_normal_force_n": 0.25278546640349575, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.1250474889890854, "scope": "Terminal-only geometry/release/settling/dwell; 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does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.82, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.014140640217211642, "trace_lift_dwell_s": 1.7200000000000006, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.07879571314799698, "max_pad_normal_force_n": 1.2626997023535542, "dwell_seconds": 4.831999999999948, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.417999999996894 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.832, "terminal_xy_error_m": 0.014140640217211642, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-01-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.12503205637697404, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 88, "max_object_lift_m": 6.22998874710845e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.12503205637697404, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal0-nominal", "condition": "nominal", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 4.799999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.006164441401295717, "trace_lift_dwell_s": 0.7400000000000002, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 19, "max_object_lift_m": 0.10065216961748255, "max_pad_normal_force_n": 0.7904333499010534, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.002, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.805, "terminal_xy_error_m": 0.006164441401295717, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal0-nominal", "condition": "nominal", "variant": "blind", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 4.799999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.007991392493386902, "trace_lift_dwell_s": 1.5200000000000014, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 38, "max_object_lift_m": 0.10640263628052746, "max_pad_normal_force_n": 0.798410632933114, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.806, "terminal_xy_error_m": 0.007991392493386902, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal0-nominal", "condition": "nominal", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 4.799999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.0036595747887478466, "trace_lift_dwell_s": 1.5200000000000014, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 103, "max_object_lift_m": 0.10651453976346936, "max_pad_normal_force_n": 0.8404458353561366, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.03200000000000002, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.806, "terminal_xy_error_m": 0.0036595747887478466, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [ { "loss_onset_s": 13.862999999997756, "loss_qualified_s": 13.881999999997745, "kind": "airborne_contact_loss", "supported_at_onset": false, "restored": false, "restoration_onset_s": null, "restoration_qualified_s": null, "onset_to_restoration_s": null, "onset_to_qualified_restoration_s": null, "relative_motion_since_loss_m": 0.015197818131746612, "censored_reason": "supported_destination_reached_before_qualification" } ], "grip_summary": { "loss_events": 1, "restored_events": 0, "unresolved_events": 1, "supported_events": 0, "airborne_events": 1, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 1, "total_s": 0.004, "maximum_s": 0.004, "intervals": [ { "start_s": 13.929, "end_s": 13.933, "duration_s": 0.004 } ] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal0-nominal", "condition": "nominal", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.76, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.004350124683617285, "trace_lift_dwell_s": 1.5, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09786552134970838, "max_pad_normal_force_n": 1.0484061692518705, "dwell_seconds": 4.778999999999931, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.470999999996865 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.779, "terminal_xy_error_m": 0.0043501246836172855, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal0-nominal", "condition": "nominal", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.1326198674471434, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 128, "max_object_lift_m": 6.22998874710845e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.1326198674471434, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 4.799999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.006164441401295717, "trace_lift_dwell_s": 0.7400000000000002, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 19, "max_object_lift_m": 0.10065216961748255, "max_pad_normal_force_n": 0.7904333499010534, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.002, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.805, "terminal_xy_error_m": 0.006164441401295717, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "blind", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 4.799999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.008256492238536235, "trace_lift_dwell_s": 1.5200000000000014, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 41, "max_object_lift_m": 0.10655845310563547, "max_pad_normal_force_n": 0.665229458386891, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.806, "terminal_xy_error_m": 0.008256492238536235, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 4.799999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.002919963847472078, "trace_lift_dwell_s": 1.5200000000000014, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": false, "retention_lost": true, "unexpected_contact_native_ticks": 103, "max_object_lift_m": 0.10653010213882164, "max_pad_normal_force_n": 0.7952083186924024, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 6.080000000000365, "carry_contact_loss_events": 1, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.806, "terminal_xy_error_m": 0.0029199638474720776, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.76, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.004350124683617285, "trace_lift_dwell_s": 1.5, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09786552134970838, "max_pad_normal_force_n": 1.0484061692518705, "dwell_seconds": 4.778999999999931, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.470999999996865 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.779, "terminal_xy_error_m": 0.0043501246836172855, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal1-nominal", "condition": "nominal", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 4.4399999999999995, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.011946620359207101, "trace_lift_dwell_s": 1.8199999999999985, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 38, "max_object_lift_m": 0.09855182685644848, "max_pad_normal_force_n": 0.6987654787921258, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.447, "terminal_xy_error_m": 0.011946620359207101, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal1-nominal", "condition": "nominal", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 4.4399999999999995, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.011921254279950637, "trace_lift_dwell_s": 1.9000000000000004, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": false, "retention_lost": true, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.10368035947149529, "max_pad_normal_force_n": 0.7019995907785278, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 5.733000000000249, "carry_contact_loss_events": 1, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.447, "terminal_xy_error_m": 0.011921254279950638, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal1-nominal", "condition": "nominal", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.4, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.010408631237220226, "trace_lift_dwell_s": 1.8399999999999999, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09792739072609666, "max_pad_normal_force_n": 1.0830485092698372, "dwell_seconds": 4.411999999999808, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.837999999996661 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.412, "terminal_xy_error_m": 0.010408631237220226, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 4.4399999999999995, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.011946620359207101, "trace_lift_dwell_s": 1.8199999999999985, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 38, "max_object_lift_m": 0.09855182685644848, "max_pad_normal_force_n": 0.6987654787921258, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.447, "terminal_xy_error_m": 0.011946620359207101, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.4399999999999995, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.010593987120856652, "trace_lift_dwell_s": 1.9000000000000004, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.10380243468139058, "max_pad_normal_force_n": 0.9520236078095966, "dwell_seconds": 4.44699999999982, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.015000000000000006, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.80299999999668 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.447, "terminal_xy_error_m": 0.010593987120856652, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-02-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.10884840064223547, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 26, "max_object_lift_m": 6.22998874710845e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.10884840064223547, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-03-goal0-nominal", "condition": "nominal", "variant": "blind", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 5.359999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.005921852408741753, "trace_lift_dwell_s": 1.4000000000000004, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09958569898000133, "max_pad_normal_force_n": 0.6587622799541551, "dwell_seconds": 5.369000000000128, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 14.880999999997192 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.369, "terminal_xy_error_m": 0.005921852408741753, "scope": "Terminal-only geometry/release/settling/dwell; 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not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09946734714599134, "max_pad_normal_force_n": 0.6697221173219168, "dwell_seconds": 5.369000000000128, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 14.880999999997192 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.369, "terminal_xy_error_m": 0.005959769573335677, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-03-goal0-nominal", "condition": "nominal", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 5.359999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.004947919935709153, "trace_lift_dwell_s": 1.42, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09771432280123951, "max_pad_normal_force_n": 1.0411942140741672, "dwell_seconds": 5.378000000000131, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 14.871999999997197 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.378, "terminal_xy_error_m": 0.004947919935709153, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-03-goal0-nominal", "condition": "nominal", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11727325940901104, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 6.229994298223573e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11727325940901104, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-03-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11727325940901104, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 6.229994298223573e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11727325940901104, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-03-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11729077303550631, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 6.229994298223573e-11, "max_pad_normal_force_n": 0.258062357301501, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11729077303550631, "scope": "Terminal-only geometry/release/settling/dwell; 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does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-03-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.9, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.0065263315935430175, "trace_lift_dwell_s": 1.2200000000000006, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.07839413846269236, "max_pad_normal_force_n": 1.3766654167029944, "dwell_seconds": 4.917999999999977, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.331999999996942 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.918, "terminal_xy_error_m": 0.0065263315935430175, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-03-goal1-nominal", "condition": "nominal", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.959999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.009233878693425302, "trace_lift_dwell_s": 1.8000000000000007, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09973135067717936, "max_pad_normal_force_n": 0.8299107962467838, "dwell_seconds": 4.965999999999993, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.283999999996968 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.966, "terminal_xy_error_m": 0.009233878693425302, "scope": "Terminal-only geometry/release/settling/dwell; 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not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09955232143409662, "max_pad_normal_force_n": 0.7912924831395947, "dwell_seconds": 4.964999999999993, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.284999999996968 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.965, "terminal_xy_error_m": 0.00889733468827029, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-03-goal1-nominal", "condition": "nominal", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.959999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.009235961614211467, "trace_lift_dwell_s": 1.8000000000000007, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09942876563249642, "max_pad_normal_force_n": 0.7478620332809488, "dwell_seconds": 4.965999999999993, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.283999999996968 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.966, "terminal_xy_error_m": 0.009235961614211467, "scope": "Terminal-only geometry/release/settling/dwell; 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not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09772051147040253, "max_pad_normal_force_n": 1.0697859552155053, "dwell_seconds": 4.971999999999995, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.277999999996972 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.972, "terminal_xy_error_m": 0.009768748354463784, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-03-goal1-nominal", "condition": "nominal", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11141371507349984, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 6.229994298223573e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11141371507349983, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-03-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "blind", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11141401684468749, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 6.229994298223573e-11, "max_pad_normal_force_n": 0.258370660932984, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11141401684468749, "scope": "Terminal-only geometry/release/settling/dwell; 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does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-03-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11141739130489174, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 6.229994298223573e-11, "max_pad_normal_force_n": 0.25806236145029876, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11141739130489174, "scope": "Terminal-only geometry/release/settling/dwell; 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does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-03-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.5, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.013740532905211041, "trace_lift_dwell_s": 1.620000000000001, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.0786299023251339, "max_pad_normal_force_n": 1.2726997663022825, "dwell_seconds": 4.5119999999998415, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.737999999996717 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.5120000000000005, "terminal_xy_error_m": 0.01374053290521104, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-04-goal0-nominal", "condition": "nominal", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 5.119999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.003946698306279528, "trace_lift_dwell_s": 1.42, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.10137846971421915, "max_pad_normal_force_n": 0.8494699794674032, "dwell_seconds": 5.125000000000046, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.001, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.124999999997057 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.125, "terminal_xy_error_m": 0.003946698306279529, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-04-goal0-nominal", "condition": "nominal", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 5.119999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.004494091931689148, "trace_lift_dwell_s": 1.42, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.10213496518468315, "max_pad_normal_force_n": 0.8284189589320907, "dwell_seconds": 5.125000000000046, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.124999999997057 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.125, "terminal_xy_error_m": 0.004494091931689148, "scope": "Terminal-only geometry/release/settling/dwell; 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does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-04-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.619999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.006005007818762602, "trace_lift_dwell_s": 1.2199999999999989, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.0791261653131215, "max_pad_normal_force_n": 1.3738831090791201, "dwell_seconds": 4.6379999999998835, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.611999999996787 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.638, "terminal_xy_error_m": 0.006005007818762602, "scope": "Terminal-only geometry/release/settling/dwell; 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does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-04-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.09797548319136526, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 5.454721585712585e-05, "max_pad_normal_force_n": 0.24119099134205046, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.09797548319136526, "scope": "Terminal-only geometry/release/settling/dwell; 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does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-04-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.34, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.01388424714502526, "trace_lift_dwell_s": 1.5, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.07925571562943678, "max_pad_normal_force_n": 1.3637621814734233, "dwell_seconds": 4.352999999999788, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.896999999996629 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.353, "terminal_xy_error_m": 0.01388424714502526, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal0-nominal", "condition": "nominal", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 5.5600000000000005, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.0020288945244487573, "trace_lift_dwell_s": 1.4000000000000004, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 93, "max_object_lift_m": 0.10013836446417759, "max_pad_normal_force_n": 1.045206929875414, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.006, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.579, "terminal_xy_error_m": 0.0020288945244487573, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal0-nominal", "condition": "nominal", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11016812667386355, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 100, "max_object_lift_m": 6.229994298223573e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11016812667386355, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "blind", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.10970481325111636, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 84, "max_object_lift_m": 0.0005246193839423818, "max_pad_normal_force_n": 0.45562714735547816, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.10970481325111636, "scope": "Terminal-only geometry/release/settling/dwell; 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not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 90, "max_object_lift_m": 0.0005348095477301779, "max_pad_normal_force_n": 0.5011009012286208, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.10962224277472522, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal0-jaw_interruption", "condition": "jaw_interruption", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.35, 0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 5.299999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.006120995126586946, "trace_lift_dwell_s": 1.1600000000000001, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.07956992689369244, "max_pad_normal_force_n": 1.4148255114428419, "dwell_seconds": 5.31700000000011, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 14.932999999997163 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.317, "terminal_xy_error_m": 0.006120995126586946, "scope": "Terminal-only geometry/release/settling/dwell; 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no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal1-nominal", "condition": "nominal", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 5.16, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.012504295931291163, "trace_lift_dwell_s": 1.7200000000000006, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 56, "max_object_lift_m": 0.09474862494494454, "max_pad_normal_force_n": 1.2656222986817955, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.167, "terminal_xy_error_m": 0.012504295931291163, "scope": "Terminal-only geometry/release/settling/dwell; 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not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 65, "max_object_lift_m": 0.09916130034873971, "max_pad_normal_force_n": 1.0258499562385792, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.167, "terminal_xy_error_m": 0.011498380524268893, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal1-nominal", "condition": "nominal", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 5.16, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.010174098756774237, "trace_lift_dwell_s": 1.7799999999999994, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 67, "max_object_lift_m": 0.099656419882275, "max_pad_normal_force_n": 0.935768370672424, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.004, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.167, "terminal_xy_error_m": 0.010174098756774237, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 1, "total_s": 0.001, "maximum_s": 0.001, "intervals": [ { "start_s": 13.494, "end_s": 13.495000000000001, "duration_s": 0.001 } ] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal1-nominal", "condition": "nominal", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 5.16, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.00996351472497436, "trace_lift_dwell_s": 1.7599999999999998, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.09752326978521425, "max_pad_normal_force_n": 1.0738005874999854, "dwell_seconds": 5.172000000000062, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.077999999997083 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 5.172, "terminal_xy_error_m": 0.00996351472497436, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal1-nominal", "condition": "nominal", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11098204661068857, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 71, "max_object_lift_m": 6.229994298223573e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11098204661068857, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "feedback", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11141016461467922, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 62, "max_object_lift_m": 0.0004282466027183268, "max_pad_normal_force_n": 0.4758120783645621, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11141016461467922, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "blind", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11126319252551152, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 62, "max_object_lift_m": 0.0005245927936803063, "max_pad_normal_force_n": 0.46197583557694166, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11126319252551153, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "feedforward", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11116082455604195, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": true, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 66, "max_object_lift_m": 0.0005347823045730032, "max_pad_normal_force_n": 0.5010744464734885, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11116082455604195, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "teacher", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": true, "reason": "success", "strict_v01": { "success": true, "reason": "success", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": true, "native_outcome_success": true, "native_outcome_valid": true, "terminal_dwell_s": 4.879999999999999, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.013308950925830992, "trace_lift_dwell_s": 1.58, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": true, "lift_seen": true, "grasp_seen": true, "carry_complete": true, "retention_lost": false, "unexpected_contact_native_ticks": 0, "max_object_lift_m": 0.07973378306957904, "max_pad_normal_force_n": 1.3824885681251773, "dwell_seconds": 4.891999999999968, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": 15.357999999996927 }, "native_metrics_mismatches": [], "terminal_only": { "success": true, "dwell_s": 4.892, "terminal_xy_error_m": 0.013308950925830992, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } }, { "case_id": "confirmation-05-goal1-jaw_interruption", "condition": "jaw_interruption", "variant": "open_jaw", "score": { "schema": "dvidia.piper-feedback-score/v1", "valid": true, "success": false, "reason": "native_outcome_failed", "strict_v01": { "success": false, "reason": "native_outcome_failed", "reference_xy_m": [ 0.4, -0.08 ], "terminal_reference_success": false, "native_outcome_success": false, "native_outcome_valid": true, "terminal_dwell_s": 0.0, "required_dwell_s": 0.25, "terminal_xy_error_m": 0.11098204661068857, "trace_lift_dwell_s": 0.0, "required_lift_dwell_s": 0.1, "sample_interval_s": 0.02, "trajectory_complete": true, "native_metrics_source": "simulator-authored episode record; not authenticated sensor input" }, "native_recomputed": { "success": false, "lift_seen": false, "grasp_seen": false, "carry_complete": false, "retention_lost": false, "unexpected_contact_native_ticks": 71, "max_object_lift_m": 6.229994298223573e-11, "max_pad_normal_force_n": 0.0, "dwell_seconds": 0.0, "lift_dwell_seconds": 0.0, "max_carry_contact_loss_seconds": 0.0, "carry_contact_loss_events": 0, "first_success_time_seconds": null }, "native_metrics_mismatches": [], "terminal_only": { "success": false, "dwell_s": 0.0, "terminal_xy_error_m": 0.11098204661068857, "scope": "Terminal-only geometry/release/settling/dwell; excludes lift, carry and retention history." }, "grip_events": [], "grip_summary": { "loss_events": 0, "restored_events": 0, "unresolved_events": 0, "supported_events": 0, "airborne_events": 0, "qualification_latency_s": [] }, "native_diagnostics": { "premature_open_jaw": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] }, "support_touchdown_before_destination": { "count": 0, "total_s": 0.0, "maximum_s": 0.0, "intervals": [] } }, "false_alarms": { "status": "not_applicable", "reason": "Continuous residual policy has no declared discrete alarm events." }, "evidence_scope": "Recomputed simulator-authored numeric evidence; no physics rerun, source attestation or hardware sensing.", "restoration_scope": "Loaded contact restored for 100 ms after sustained loss; does not establish task recovery or airborne regrasp." } } ], "variants": { "feedback": { "scheduled": 24, "successes": 6, "valid": 24 }, "blind": { "scheduled": 24, "successes": 8, "valid": 24 }, "feedforward": { "scheduled": 24, "successes": 5, "valid": 24 }, "teacher": { "scheduled": 24, "successes": 24, "valid": 24 }, "open_jaw": { "scheduled": 24, "successes": 0, "valid": 24 } }, "physical_robot_ready": false, "limitations": [ "Synthetic authored-expert jaw labels and privileged simulator sensing; not human video or hardware.", "Only the jaw is controlled by the new learned adapter; all six arm commands remain the frozen v0.1 primitive.", "Same rigid 40 g block, two trained destinations and narrow starting region as v0.1.", "Development starts were reused after five full-residual candidates each failed all 16 development cases.", "Interventions affect acquisition; airborne regrasp and general slip recovery are not established.", "Native servos, joint/jaw caps and gravity compensation remain authored.", "Timing excludes sensing, network transport and physical actuators; no hard real-time guarantee." ] }