{
  "additional_source_bindings": {
    "development-00-goal0-absolute": {
      "native_episode_sha256": "53421d8fa8e37fe01fcdfd56e6e68cdd27aca6a15fe2bfb090b6f1edacb41c2c",
      "native_metadata_sha256": "d9c53d07cff4a12cd1d515b3570f20630b1345738e067da3139039e410c5a385"
    },
    "development-00-goal0-delta": {
      "native_episode_sha256": "3f91710eb25b61a0fb6c64fa050cc8406f8d11b2eeff3a65dee1502eb2c5fd8f",
      "native_metadata_sha256": "d9c53d07cff4a12cd1d515b3570f20630b1345738e067da3139039e410c5a385"
    },
    "development-00-goal1-absolute": {
      "native_episode_sha256": "0bdfdb41bf019c8a8eb56971142a2556a58401a07aa7a33307d6804a78c6308f",
      "native_metadata_sha256": "d9c53d07cff4a12cd1d515b3570f20630b1345738e067da3139039e410c5a385"
    },
    "development-00-goal1-delta": {
      "native_episode_sha256": "c38becb927b94c6c7478c76253f86ee4a656f8d8ab1c482258fdfb5ef4dfa8b2",
      "native_metadata_sha256": "d9c53d07cff4a12cd1d515b3570f20630b1345738e067da3139039e410c5a385"
    },
    "development-01-goal0-absolute": {
      "native_episode_sha256": "a343b13eb717ad56c9f0230fdb1b4e4294264878c138d28c18480fc13d87c986",
      "native_metadata_sha256": "d9c53d07cff4a12cd1d515b3570f20630b1345738e067da3139039e410c5a385"
    },
    "development-01-goal0-delta": {
      "native_episode_sha256": "51b909802d8da08157c87cc1d1dffac6eea4b28a8f9448669b5cc02797e961ae",
      "native_metadata_sha256": "d9c53d07cff4a12cd1d515b3570f20630b1345738e067da3139039e410c5a385"
    },
    "development-01-goal1-absolute": {
      "native_episode_sha256": "6ff7b0ce962146a7a4c771a3f53e3abfb0e835c4fb30b885250d4d05480b7606",
      "native_metadata_sha256": "d9c53d07cff4a12cd1d515b3570f20630b1345738e067da3139039e410c5a385"
    },
    "development-01-goal1-delta": {
      "native_episode_sha256": "42e5e034ee6c8a6d4cf58cdf7efe2d7545f4554d2e0253b6eca42d477e623da0",
      "native_metadata_sha256": "d9c53d07cff4a12cd1d515b3570f20630b1345738e067da3139039e410c5a385"
    }
  },
  "full_analysis_sha256": "13defd906154dbcc3cc76ddc2888a9df8ee8c4e60ac501463a446b6cb02acec0",
  "interpretation": [
    "All four matching teachers qualified a sustained lift by 11.836\u201312.056 s and achieved strict placement.",
    "Absolute development-01-goal1 qualified a lift at 18.991 s after its applied finger reference first remained below 30 mm at 17.72 s, 6.76 s later than its teacher. Absolute development-01-goal0 never crossed this closing threshold.",
    "Absolute joint RMS tracking error was 0.0140\u20130.0200 rad, versus 0.0197\u20130.0206 rad in matching teachers. Loads and references differ; this cannot establish equal actuator quality, but stalled commanded progress is not explained solely by weak target tracking.",
    "All four relative runs made critical table contact at 7.344\u20137.574 s while fingers were approximately 34.7\u201334.8 mm open. The first 50 Hz critical snapshots identify task_table contact with link7 and/or link8; TCP height was 4.54\u20137.04 mm below the matched teacher.",
    "These observations motivate a learned local pose and progress comparison. They do not prove that phase supervision, an output representation or a correction rule will solve the failures."
  ],
  "limitations": [
    "Same-time teacher anchors describe deviations; students have no recorded phase variable and cannot be assigned teacher phases as fact.",
    "Thresholds are post-hoc descriptive:0.05rad maximum-joint and10mm TCP difference sustained across five50Hz sampled points. They are not acceptance gates.",
    "Applied jaw below30mm is a one-finger reference threshold, not total jaw opening or proof of grip; contact, loading and lift are separately reported.",
    "Joint tracking compares applied reference with measured joints at the same interval end; contact constraints and controller loads differ, so this is not an actuator calibration experiment.",
    "Teacher phase labels and native truth are used only for offline diagnosis, not learner observations.",
    "Shared starts do not establish arbitrary video transfer, new-arm compatibility or physical safety."
  ],
  "native_audit_sha256": "098c3c7b8c678790cc089dbec50d5c7c874e0a54da72844e48c49222683f9d7f",
  "native_result_sha256": "597277fd6c4671a7d2791aa861beb5da896573fcbf51f8db08e30d4bc501284e",
  "physical_robot_ready": false,
  "proposed_next_experiment": {
    "claim_boundary": "No candidate or treatment was run or selected by this diagnosis; a separately registered comparison is required.",
    "fairness": "Fix training starts, example budget, correction budget and evaluation roster before fitting; distinguish any authored IK or progress scaffold from learned control. Phase labels and native contact truth may supervise training or diagnose results, but may not enter evaluation inputs.",
    "measurement": "Measure contact-free aligned approach, loaded bilateral grasp, sustained table-free lift, timing, stalls, false progress and clearance violations before extending to carry and release. Causal camera/encoder estimates can be uncertain; do not equate a predicted completion flag with independently scored contact truth.",
    "status": "proposed_not_run",
    "treatment": "A bounded short-horizon acquisition policy that explicitly predicts tool-pose/gripper subgoals and completion progress for approach, close and test lift, compared with the unchanged endpoint controller."
  },
  "qualified_skill": false,
  "schema": "dvidia.reference-action-development-path-diagnosis/v1",
  "scope": "Offline descriptive analysis of eight saved student trajectories and exactly four matching original development teacher recordings; no confirmation records, new fitting, model calls, teacher intervention or simulation.",
  "source_commit": "78ea4fbb4b2733e7738eb425eeecd7cb67a52195",
  "source_derivative_sha256": "18dfaafc04bf51768cd01d2b7f8b6ced7fac14d7edf3289bcbc8cec42e2889e4",
  "student_cases": [
    {
      "applied_minus_measured_joint_rms_rad": 0.0186109561552025,
      "exact_initial_state_and_task_config_match": true,
      "first_applied_left_finger_below_30mm_for_five_intervals_s": 11.6,
      "first_bilateral_contact_s": 12.16,
      "first_critical_contact": {
        "first_control_snapshot_seconds": 12.499999999998511,
        "first_native_tick_seconds": 12.404,
        "matched_teacher_tcp_z_m": 0.16958692057182284,
        "measured_left_finger_m": 0.020598185824451356,
        "scope": "First 50 Hz state reporting critical contact; this can occur after an earlier brief 1 ms contact. Pair labels do not identify every earlier native contact.",
        "table_robot_pairs": [
          [
            "task_table",
            "link7"
          ]
        ],
        "tcp_orientation_difference_from_matched_teacher_rad": 0.40375595310990153,
        "tcp_z_m": 0.07651672168001449
      },
      "first_measured_left_finger_below_30mm_for_five_samples_s": 11.7,
      "first_persistent_measured_joint_difference_over_0_05rad_s": 1.4,
      "first_persistent_tcp_difference_over_10mm_s": 0.7,
      "id": "development-00-goal0-absolute",
      "loaded_bilateral_100ms_qualified_s": null,
      "strict_success": false,
      "sustained_lift_qualified_s": null,
      "teacher_applied_minus_measured_joint_rms_rad": 0.020104881158995103,
      "teacher_case_id": "development-00-goal0-teacher",
      "teacher_close_timestamp_snapshot": {
        "student_measured_left_finger_m": 0.034589194047558856,
        "student_next_applied_left_finger_m": 0.034544781088829045,
        "student_tcp_minus_block_m": [
          0.004556715642450582,
          -0.000891744796602284,
          0.002869387502067583
        ],
        "time_s": 10.64
      }
    },
    {
      "applied_minus_measured_joint_rms_rad": 0.0887845320564452,
      "exact_initial_state_and_task_config_match": true,
      "first_applied_left_finger_below_30mm_for_five_intervals_s": 10.96,
      "first_bilateral_contact_s": 11.654,
      "first_critical_contact": {
        "first_control_snapshot_seconds": 7.360000000000793,
        "first_native_tick_seconds": 7.344,
        "matched_teacher_tcp_z_m": 0.08216098899746793,
        "measured_left_finger_m": 0.03477562026328776,
        "scope": "First 50 Hz state reporting critical contact; this can occur after an earlier brief 1 ms contact. Pair labels do not identify every earlier native contact.",
        "table_robot_pairs": [
          [
            "task_table",
            "link7"
          ],
          [
            "task_table",
            "link7"
          ],
          [
            "task_table",
            "link8"
          ],
          [
            "task_table",
            "link8"
          ]
        ],
        "tcp_orientation_difference_from_matched_teacher_rad": 0.05050198247320056,
        "tcp_z_m": 0.07757141893736598
      },
      "first_measured_left_finger_below_30mm_for_five_samples_s": 11.56,
      "first_persistent_measured_joint_difference_over_0_05rad_s": 2.34,
      "first_persistent_tcp_difference_over_10mm_s": 1.14,
      "id": "development-00-goal0-delta",
      "loaded_bilateral_100ms_qualified_s": 12.259,
      "strict_success": false,
      "sustained_lift_qualified_s": null,
      "teacher_applied_minus_measured_joint_rms_rad": 0.020104881158995103,
      "teacher_case_id": "development-00-goal0-teacher",
      "teacher_close_timestamp_snapshot": {
        "student_measured_left_finger_m": 0.034962318563648884,
        "student_next_applied_left_finger_m": 0.03313883943110702,
        "student_tcp_minus_block_m": [
          0.0029097086970731323,
          -0.004534872999564073,
          -0.00516346893267107
        ],
        "time_s": 10.64
      }
    },
    {
      "applied_minus_measured_joint_rms_rad": 0.0199700259860191,
      "exact_initial_state_and_task_config_match": true,
      "first_applied_left_finger_below_30mm_for_five_intervals_s": 10.3,
      "first_bilateral_contact_s": 10.801,
      "first_critical_contact": {
        "first_control_snapshot_seconds": 10.899999999999398,
        "first_native_tick_seconds": 10.899,
        "matched_teacher_tcp_z_m": 0.0818646591018556,
        "measured_left_finger_m": 0.020038540485999654,
        "scope": "First 50 Hz state reporting critical contact; this can occur after an earlier brief 1 ms contact. Pair labels do not identify every earlier native contact.",
        "table_robot_pairs": [
          [
            "task_table",
            "link7"
          ],
          [
            "task_table",
            "link7"
          ]
        ],
        "tcp_orientation_difference_from_matched_teacher_rad": 0.044568873504458754,
        "tcp_z_m": 0.07534325592267584
      },
      "first_measured_left_finger_below_30mm_for_five_samples_s": 10.4,
      "first_persistent_measured_joint_difference_over_0_05rad_s": 1.78,
      "first_persistent_tcp_difference_over_10mm_s": 0.58,
      "id": "development-00-goal1-absolute",
      "loaded_bilateral_100ms_qualified_s": 11.034,
      "strict_success": false,
      "sustained_lift_qualified_s": null,
      "teacher_applied_minus_measured_joint_rms_rad": 0.019666245212800953,
      "teacher_case_id": "development-00-goal1-teacher",
      "teacher_close_timestamp_snapshot": {
        "student_measured_left_finger_m": 0.023292699840583728,
        "student_next_applied_left_finger_m": 0.01435402870178223,
        "student_tcp_minus_block_m": [
          0.00029428391843416835,
          -0.0038664203857624313,
          0.004471814138625976
        ],
        "time_s": 10.64
      }
    },
    {
      "applied_minus_measured_joint_rms_rad": 0.08846997284623258,
      "exact_initial_state_and_task_config_match": true,
      "first_applied_left_finger_below_30mm_for_five_intervals_s": 11.48,
      "first_bilateral_contact_s": 12.073,
      "first_critical_contact": {
        "first_control_snapshot_seconds": 7.420000000000813,
        "first_native_tick_seconds": 7.409,
        "matched_teacher_tcp_z_m": 0.08249870479219393,
        "measured_left_finger_m": 0.03473698829152097,
        "scope": "First 50 Hz state reporting critical contact; this can occur after an earlier brief 1 ms contact. Pair labels do not identify every earlier native contact.",
        "table_robot_pairs": [
          [
            "task_table",
            "link7"
          ],
          [
            "task_table",
            "link7"
          ],
          [
            "task_table",
            "link8"
          ],
          [
            "task_table",
            "link8"
          ]
        ],
        "tcp_orientation_difference_from_matched_teacher_rad": 0.06952260856964124,
        "tcp_z_m": 0.07755880944609146
      },
      "first_measured_left_finger_below_30mm_for_five_samples_s": 12.0,
      "first_persistent_measured_joint_difference_over_0_05rad_s": 4.6,
      "first_persistent_tcp_difference_over_10mm_s": 2.14,
      "id": "development-00-goal1-delta",
      "loaded_bilateral_100ms_qualified_s": null,
      "strict_success": false,
      "sustained_lift_qualified_s": null,
      "teacher_applied_minus_measured_joint_rms_rad": 0.019666245212800953,
      "teacher_case_id": "development-00-goal1-teacher",
      "teacher_close_timestamp_snapshot": {
        "student_measured_left_finger_m": 0.03477029794491075,
        "student_next_applied_left_finger_m": 0.03481083365750968,
        "student_tcp_minus_block_m": [
          0.005088624138431974,
          -0.002308413988377167,
          -0.0016225066057250076
        ],
        "time_s": 10.64
      }
    },
    {
      "applied_minus_measured_joint_rms_rad": 0.014007568749701492,
      "exact_initial_state_and_task_config_match": true,
      "first_applied_left_finger_below_30mm_for_five_intervals_s": null,
      "first_bilateral_contact_s": null,
      "first_critical_contact": null,
      "first_measured_left_finger_below_30mm_for_five_samples_s": null,
      "first_persistent_measured_joint_difference_over_0_05rad_s": 1.36,
      "first_persistent_tcp_difference_over_10mm_s": 0.6,
      "id": "development-01-goal0-absolute",
      "loaded_bilateral_100ms_qualified_s": null,
      "strict_success": false,
      "sustained_lift_qualified_s": null,
      "teacher_applied_minus_measured_joint_rms_rad": 0.020617563963146263,
      "teacher_case_id": "development-01-goal0-teacher",
      "teacher_close_timestamp_snapshot": {
        "student_measured_left_finger_m": 0.035000007722876245,
        "student_next_applied_left_finger_m": 0.035,
        "student_tcp_minus_block_m": [
          -0.005248521295870445,
          -0.002097655683085786,
          0.0921401175512518
        ],
        "time_s": 10.86
      }
    },
    {
      "applied_minus_measured_joint_rms_rad": 0.03146300419927837,
      "exact_initial_state_and_task_config_match": true,
      "first_applied_left_finger_below_30mm_for_five_intervals_s": 11.52,
      "first_bilateral_contact_s": 11.973,
      "first_critical_contact": {
        "first_control_snapshot_seconds": 7.460000000000826,
        "first_native_tick_seconds": 7.454,
        "matched_teacher_tcp_z_m": 0.08249673654260048,
        "measured_left_finger_m": 0.034817099546300294,
        "scope": "First 50 Hz state reporting critical contact; this can occur after an earlier brief 1 ms contact. Pair labels do not identify every earlier native contact.",
        "table_robot_pairs": [
          [
            "task_table",
            "link7"
          ],
          [
            "task_table",
            "link7"
          ]
        ],
        "tcp_orientation_difference_from_matched_teacher_rad": 0.04822802496585092,
        "tcp_z_m": 0.07795271862862262
      },
      "first_measured_left_finger_below_30mm_for_five_samples_s": 11.9,
      "first_persistent_measured_joint_difference_over_0_05rad_s": 2.26,
      "first_persistent_tcp_difference_over_10mm_s": 1.3,
      "id": "development-01-goal0-delta",
      "loaded_bilateral_100ms_qualified_s": null,
      "strict_success": false,
      "sustained_lift_qualified_s": null,
      "teacher_applied_minus_measured_joint_rms_rad": 0.020617563963146263,
      "teacher_case_id": "development-01-goal0-teacher",
      "teacher_close_timestamp_snapshot": {
        "student_measured_left_finger_m": 0.035005771784548695,
        "student_next_applied_left_finger_m": 0.03496219695231411,
        "student_tcp_minus_block_m": [
          -0.004686137743318719,
          -0.014310468371111044,
          0.007896057615335836
        ],
        "time_s": 10.86
      }
    },
    {
      "applied_minus_measured_joint_rms_rad": 0.01881046018774333,
      "exact_initial_state_and_task_config_match": true,
      "first_applied_left_finger_below_30mm_for_five_intervals_s": 17.72,
      "first_bilateral_contact_s": 18.238,
      "first_critical_contact": null,
      "first_measured_left_finger_below_30mm_for_five_samples_s": 17.82,
      "first_persistent_measured_joint_difference_over_0_05rad_s": 1.64,
      "first_persistent_tcp_difference_over_10mm_s": 0.48,
      "id": "development-01-goal1-absolute",
      "loaded_bilateral_100ms_qualified_s": 18.431,
      "strict_success": false,
      "sustained_lift_qualified_s": 18.991,
      "teacher_applied_minus_measured_joint_rms_rad": 0.020033035526246846,
      "teacher_case_id": "development-01-goal1-teacher",
      "teacher_close_timestamp_snapshot": {
        "student_measured_left_finger_m": 0.03499601944706981,
        "student_next_applied_left_finger_m": 0.035,
        "student_tcp_minus_block_m": [
          -0.0048689268189966994,
          0.0016935148764068292,
          0.03219506075453704
        ],
        "time_s": 10.86
      }
    },
    {
      "applied_minus_measured_joint_rms_rad": 0.03818060317604543,
      "exact_initial_state_and_task_config_match": true,
      "first_applied_left_finger_below_30mm_for_five_intervals_s": 11.82,
      "first_bilateral_contact_s": 12.555,
      "first_critical_contact": {
        "first_control_snapshot_seconds": 7.580000000000866,
        "first_native_tick_seconds": 7.574,
        "matched_teacher_tcp_z_m": 0.08502419946602456,
        "measured_left_finger_m": 0.03475973786986259,
        "scope": "First 50 Hz state reporting critical contact; this can occur after an earlier brief 1 ms contact. Pair labels do not identify every earlier native contact.",
        "table_robot_pairs": [
          [
            "task_table",
            "link7"
          ],
          [
            "task_table",
            "link7"
          ]
        ],
        "tcp_orientation_difference_from_matched_teacher_rad": 0.06150156661395149,
        "tcp_z_m": 0.0779857930592863
      },
      "first_measured_left_finger_below_30mm_for_five_samples_s": 12.5,
      "first_persistent_measured_joint_difference_over_0_05rad_s": 2.78,
      "first_persistent_tcp_difference_over_10mm_s": 6.5,
      "id": "development-01-goal1-delta",
      "loaded_bilateral_100ms_qualified_s": 13.228,
      "strict_success": false,
      "sustained_lift_qualified_s": null,
      "teacher_applied_minus_measured_joint_rms_rad": 0.020033035526246846,
      "teacher_case_id": "development-01-goal1-teacher",
      "teacher_close_timestamp_snapshot": {
        "student_measured_left_finger_m": 0.034812255916172256,
        "student_next_applied_left_finger_m": 0.03479379169596358,
        "student_tcp_minus_block_m": [
          0.006282891380526623,
          -0.0021775531683349003,
          -0.0014460341162761542
        ],
        "time_s": 10.86
      }
    }
  ],
  "teacher_cases": [
    {
      "first_applied_left_finger_below_30mm_for_five_intervals_s": 10.74,
      "first_bilateral_contact_s": 11.075,
      "id": "development-00-goal0-teacher",
      "joint_tracking_rms_rad": 0.020104881158995103,
      "loaded_bilateral_100ms_qualified_s": 11.174,
      "phase_first_seconds": {
        "approach": 0.0,
        "close": 10.64,
        "descend": 6.62,
        "lift": 11.34,
        "place": 12.92,
        "release": 13.52,
        "retreat": 14.22,
        "transfer": 11.96,
        "verify": 14.98
      },
      "strict_success": true,
      "sustained_lift_qualified_s": 11.836
    },
    {
      "first_applied_left_finger_below_30mm_for_five_intervals_s": 10.74,
      "first_bilateral_contact_s": 11.075,
      "id": "development-00-goal1-teacher",
      "joint_tracking_rms_rad": 0.019666245212800953,
      "loaded_bilateral_100ms_qualified_s": 11.174,
      "phase_first_seconds": {
        "approach": 0.0,
        "close": 10.64,
        "descend": 6.62,
        "lift": 11.34,
        "place": 13.24,
        "release": 13.84,
        "retreat": 14.54,
        "transfer": 11.96,
        "verify": 15.34
      },
      "strict_success": true,
      "sustained_lift_qualified_s": 11.836
    },
    {
      "first_applied_left_finger_below_30mm_for_five_intervals_s": 10.96,
      "first_bilateral_contact_s": 11.298,
      "id": "development-01-goal0-teacher",
      "joint_tracking_rms_rad": 0.020617563963146263,
      "loaded_bilateral_100ms_qualified_s": 11.397,
      "phase_first_seconds": {
        "approach": 0.0,
        "close": 10.86,
        "descend": 6.66,
        "lift": 11.56,
        "place": 13.16,
        "release": 13.76,
        "retreat": 14.46,
        "transfer": 12.18,
        "verify": 15.22
      },
      "strict_success": true,
      "sustained_lift_qualified_s": 12.056
    },
    {
      "first_applied_left_finger_below_30mm_for_five_intervals_s": 10.96,
      "first_bilateral_contact_s": 11.298,
      "id": "development-01-goal1-teacher",
      "joint_tracking_rms_rad": 0.020033035526246846,
      "loaded_bilateral_100ms_qualified_s": 11.397,
      "phase_first_seconds": {
        "approach": 0.0,
        "close": 10.86,
        "descend": 6.66,
        "lift": 11.56,
        "place": 13.46,
        "release": 14.06,
        "retreat": 14.76,
        "transfer": 12.18,
        "verify": 15.58
      },
      "strict_success": true,
      "sustained_lift_qualified_s": 12.056
    }
  ]
}