QLM-EVAL-001 resources 5879/5881

benchmarks/mujoco-standard-test100-v1/validation/kick100-20261015-023.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "kick100-20261015-023",
+  "resource_identity": "586b243e65c0f521a327ea0d1256e883997cc064d6d7b6691241ab3e160b8f78",
+  "physics_steps_during_reset": 0,
+  "simulation_time_ns": 0,
+  "reset_epoch": 1,
+  "qpos_sha256": "3eeabcbba3636a6ead2172956fa0891bc69e7dbe63e53661178ae3159ed5544e",
+  "qvel_sha256": "5d89f056865052bcb89c910d2d62872e029fb273c3db03f8968a52a41593c1b5",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      2515230
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
+      "motor_delay": [
+        2
+      ],
+      "qp_regularizer": [
+        0
+      ]
+    },
+    "state_sha256": {
+      "motor_delay": [
+        "46bb87743b722ff548078744cc09e317f768b8f1c288f8b342fcbd94f5ac4ef3"
+      ],
+      "qp_regularizer": [
+        "75f1f4ff8d51b7f47d6d2df4b95856cfda196a6cf873163e6bbaef56b25a9cb6"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "37f89af0a6a4857afe3ab0070db11e9603ab949930acb95ab4a2306a4c8b7523",
+      "std": 34.42872905542744,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "50b687c64d03182094dfec9ee70df7247b252b9128ec295839aa2f944619ccbf",
+      "std": 30.295184230683095,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/kick100-20261015-024.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "kick100-20261015-024",
+  "resource_identity": "05e968d5923b8956114bf9bedf10740ff846b5b0e2a5d319561b897d525c100a",
+  "physics_steps_during_reset": 0,
+  "simulation_time_ns": 0,
+  "reset_epoch": 1,
+  "qpos_sha256": "6e41e519ee840ae63eeccd8ac8cb4312b6efff29c4c70acbbf954d7a52e053ad",
+  "qvel_sha256": "5d89f056865052bcb89c910d2d62872e029fb273c3db03f8968a52a41593c1b5",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      2515240
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
+      "motor_delay": [
+        2
+      ],
+      "qp_regularizer": [
+        0
+      ]
+    },
+    "state_sha256": {
+      "motor_delay": [
+        "f8d7481f3b8376c8a91477246a4b4819795cd97bbf4c0dd3d4f2743bfc11c619"
+      ],
+      "qp_regularizer": [
+        "167b450c9589e1ecddab727a1455faba566b581d2bc74698e9c64154c12bcc5a"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "e868868a4e8989bf466636ff19410526a73a3ddad292d39119238049442d6b3e",
+      "std": 33.39602756538834,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "07b51677aa4f1c4cf376d3969cd7bd2e5ebb8de6586d6ac094a4467179713ad7",
+      "std": 34.22221784544708,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/kick100-20261015-025.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "kick100-20261015-025",
+  "resource_identity": "768cb0bb60ada2ec5783336811e6a228c675f7db6b2048d443190a1df096784a",
+  "physics_steps_during_reset": 0,
+  "simulation_time_ns": 0,
+  "reset_epoch": 1,
+  "qpos_sha256": "1f3e7ff06b5037d4d83d74768213d9633b328dee25fb7754af9b9b08780c7a89",
+  "qvel_sha256": "5d89f056865052bcb89c910d2d62872e029fb273c3db03f8968a52a41593c1b5",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      2515250
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
+      "motor_delay": [
+        2
+      ],
+      "qp_regularizer": [
+        0
+      ]
+    },
+    "state_sha256": {
+      "motor_delay": [
+        "46d196bf34d7850f333a773a442d543557d23b07f7d0955bc9e5c7c8543b9b5a"
+      ],
+      "qp_regularizer": [
+        "96993969767663c9826a23854345182c3c0525150c10e318e74459cb6ceb08bf"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "5b50c79b330f232a981ca46b82d1a86bf90dbb48415eafc2f60fd27bf67a7aea",
+      "std": 35.02003750934748,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "12449cfc64fa9c3e9ad41a91ac8a2d08ad5bdaa522a7431f0df0e67402b0e67b",
+      "std": 30.234723396393907,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/kick100-20261015-026.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "kick100-20261015-026",
+  "resource_identity": "cf2b8d686b1766972f9d176e0c28eb690065cc23a43a661ee34169157f48329c",
+  "physics_steps_during_reset": 0,
+  "simulation_time_ns": 0,
+  "reset_epoch": 1,
+  "qpos_sha256": "960f40ce668ca008a2b18d638653c915b74da88be6d123480a5fc61f5370e3de",
+  "qvel_sha256": "5d89f056865052bcb89c910d2d62872e029fb273c3db03f8968a52a41593c1b5",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      2515260
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
+      "motor_delay": [
+        2
+      ],
+      "qp_regularizer": [
+        0
+      ]
+    },
+    "state_sha256": {
+      "motor_delay": [
+        "bfc4aa8c3e2f89107eb06e7ecbd95c707df520420dd4b6f9853d751ee70a8bd7"
+      ],
+      "qp_regularizer": [
+        "d788dee9dd61760f1f063f97496cf2c88a50a268734909bc6b1dc8c74b086cdc"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "60e92c6d44584ee28f07371a6fe90e2a32be1f86455de32dd0d3c1ced58fcc04",
+      "std": 33.7063591460812,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "01170f00949ee9e90ff7a34f902ec00ee2aee08d1826956e87726ef1bbd6f245",
+      "std": 33.90005252158886,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/kick100-20261015-027.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "kick100-20261015-027",
+  "resource_identity": "29fa3d633e6b7801b87e479eb2aebc334ff8c6e07894a7c60244710d2b211492",
+  "physics_steps_during_reset": 0,
+  "simulation_time_ns": 0,
+  "reset_epoch": 1,
+  "qpos_sha256": "937fbbad0990b6d51dfa48778926b65bf6c4d183554bba3c5d92e86de382d9fd",
+  "qvel_sha256": "5d89f056865052bcb89c910d2d62872e029fb273c3db03f8968a52a41593c1b5",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      2515270
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
+      "motor_delay": [
+        2
+      ],
+      "qp_regularizer": [
+        0
+      ]
+    },
+    "state_sha256": {
+      "motor_delay": [
+        "7261a02efa29e23479eb893f43c3796eb9fa94e9c76266d993d3587d55cb47e4"
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+      "qp_regularizer": [
+        "b80f145d6e631280d82892f866877f8e63ae28016bf33a66dfbfdcfa518e7e5b"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "d5248504618e3473456f69350c201b3e246cce0061e2db27b33af28e3b293892",
+      "std": 35.13185715451968,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "751a74f355e7e2ece02ba0dadec0ed3c8c7238f2be68f39cdf2391994af9b8fc",
+      "std": 30.210820516900768,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/kick100-20261015-028.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "kick100-20261015-028",
+  "resource_identity": "b2a509fc05bf2e40c73195816697dcdb61357206953cbb6ccf74f5710a6c26a1",
+  "physics_steps_during_reset": 0,
+  "simulation_time_ns": 0,
+  "reset_epoch": 1,
+  "qpos_sha256": "e04e3986731b1b336e7181ebb5472a00dd44118ef8ce599943817934eef6ef5d",
+  "qvel_sha256": "5d89f056865052bcb89c910d2d62872e029fb273c3db03f8968a52a41593c1b5",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      2515280
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
+      "motor_delay": [
+        2
+      ],
+      "qp_regularizer": [
+        0
+      ]
+    },
+    "state_sha256": {
+      "motor_delay": [
+        "8cdb6d9064c6380ca7eed00b7fb89c1a5df2b669eadcb9d027ef4485d7fe9f8c"
+      ],
+      "qp_regularizer": [
+        "66ad0d848619c8595d1eb647edfbcaffebf4f998941fcbcc9b8861a8f70ac1be"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "1d545bf6399fec5569168c4476d00a608716abc5ab6a9044fab506d2a4570549",
+      "std": 34.100775767280304,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "5de3e05b59271d2d4bbf3fcc0dfd80be691d2561f58ac8490c07fea0db086886",
+      "std": 33.769504673782286,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/kick100-20261015-029.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "kick100-20261015-029",
+  "resource_identity": "db38b3ea916c60fedc66605026ff75f9c3895fe5fd67b1c8173aa2a02e43e577",
+  "physics_steps_during_reset": 0,
+  "simulation_time_ns": 0,
+  "reset_epoch": 1,
+  "qpos_sha256": "814161ec8dbde9e7ba69af9ec12646e38c423d69149c6d0b5f23928cba49fcf8",
+  "qvel_sha256": "5d89f056865052bcb89c910d2d62872e029fb273c3db03f8968a52a41593c1b5",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      2515290
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
+      "motor_delay": [
+        2
+      ],
+      "qp_regularizer": [
+        0
+      ]
+    },
+    "state_sha256": {
+      "motor_delay": [
+        "b2a1fc2ae16051adaadce360368b2ca3b530a1e7e6a5a9fcae29e8d187f97f03"
+      ],
+      "qp_regularizer": [
+        "4d6cfd18786a2ffc36d36910fdf8eb6061d4644fb913a386599901258fd582a1"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "602d19a0afc7c5fb24249dec7afcc8403754f397a0bb3cb63aeb3b1d1a2a22a3",
+      "std": 34.59739916019474,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "124a94be46ae83a95a83d3833ee2ee90b1f3ea27aa7a72d59ab4751b07c91e0f",
+      "std": 30.486639719571915,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/kick100-20261015-030.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "kick100-20261015-030",
+  "resource_identity": "c53975a72cd3475db7e2b723b70988b803a5addbe79c6ee1c2b5ec47a8393186",
+  "physics_steps_during_reset": 0,
+  "simulation_time_ns": 0,
+  "reset_epoch": 1,
+  "qpos_sha256": "3e3d3d1621eabaa0c3213c03c816f1013beebfa6e0b0ea62110526a66d1682d7",
+  "qvel_sha256": "5d89f056865052bcb89c910d2d62872e029fb273c3db03f8968a52a41593c1b5",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      2515300
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
+      "motor_delay": [
+        2
+      ],
+      "qp_regularizer": [
+        0
+      ]
+    },
+    "state_sha256": {
+      "motor_delay": [
+        "c30e8fc0ad200c89879bf6b83a6cf3b934467f6cec0a50930b23f92156220d6e"
+      ],
+      "qp_regularizer": [
+        "54af2ff0183e975912f13ae823832d69ada72cd5091352eeb71146007a9e0c56"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "30ff7fa7c5aaa2ef47a9e59e4ac0e50300f88911dcc4b4d82876327a4fe581c2",
+      "std": 32.131467733509965,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "ddbe644a8b443152fbe96d3a589d13602cf2ae80c83df3e73ab08f4ac80627d3",
+      "std": 34.469601919070215,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/lift100-20261015-021.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "lift100-20261015-021",
+  "resource_identity": "6e2574552c3d46aa00bf9d3cada28bf66f428f56df78ff6d7f59b42f8daa6da6",
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+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
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+    "case_seeds": [
+      2215210
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
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+        2
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+    "state_sha256": {
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+        "24b21c8dd84c5a896352fdca3dccfafcb56c011ad30e819a4252131d6bec2ca2"
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+        "1ce637f2abf8417a6c705e369bdb696a58a85609a40cfa3478e7a417f3146abf"
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "ec155cd7dc245e6927d0a59f255a00ca561f1142bd0b7f2370a030342b78c7ca",
+      "std": 30.180407385433814,
+      "shape": [
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+        640,
+        3
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+    "d435i_rgb_task": {
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+      "std": 28.40071268497131,
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+        640,
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+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/lift100-20261015-022.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "lift100-20261015-022",
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+  "qpos_sha256": "564c67e2b6baed1ff002671c4ca31c3aca6d0cc7c3e86dc0b7d2dd6d14b49811",
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+  "history_empty": true,
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+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
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+    "case_seeds": [
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+    ],
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+    "draw_counts": {
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+        "0bd1629c467fab25aecff677c7be54f43b93832e4beb56fe817b388c0fe37362"
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+      "std": 30.177069721075714,
+      "shape": [
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+        640,
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+    "d435i_rgb_task": {
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+      "std": 28.38022312357526,
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+  "GL": {
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+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/lift100-20261015-023.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "lift100-20261015-023",
+  "resource_identity": "6e2574552c3d46aa00bf9d3cada28bf66f428f56df78ff6d7f59b42f8daa6da6",
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+  "qpos_sha256": "7a0bfd99f7774e14f62a01aec47b00d4b9a20d3181aeab71f5188ab487dc91da",
+  "qvel_sha256": "5d89f056865052bcb89c910d2d62872e029fb273c3db03f8968a52a41593c1b5",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
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+    "case_seeds": [
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+    "draw_counts": {
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+        "a10245b97b1a009fffbc6d595e69aec199d10984ef79802ac690071b5ff16981"
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+        "396e31c2ef1773926d924ec350d300e6e27877e98d1b19ff753fe63ad2d3d2b7"
+      ]
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+      "std": 30.17088524728227,
+      "shape": [
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+    "d435i_rgb_task": {
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+      "std": 28.36620759600227,
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+        360,
+        640,
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+      ]
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+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/lift100-20261015-024.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "lift100-20261015-024",
+  "resource_identity": "c5b998f5ddd707de24198dfdfbaaaeba146d5aa90c90663198dfb2427bea7216",
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+  "qpos_sha256": "080801566ea6286824530df77bb8f77df582f9bc41e8f046b411faa1706692f1",
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+  "history_empty": true,
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+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
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+    "case_seeds": [
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+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
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+        "b862a3447a95b431109a944493e970482a96a1ef0e03f4558d3ea992476476c7"
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+    "d435i_rgb_task": {
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+      "std": 28.6120461109819,
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+        640,
+        3
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+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/lift100-20261015-025.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "lift100-20261015-025",
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+  "qpos_sha256": "9101dccd4c91947c94cbc64e1ad4703f9012b49acd2f457e55aea1a96d710208",
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+  "history_empty": true,
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+      "std": 28.551024958468663,
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+        640,
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+  "GL": {
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+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/lift100-20261015-026.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+  "history_empty": true,
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+    "case_seeds": [
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+        "2423a244ac931891011cdf8d7a919eef815608593f8fc9707ae417a34200675e"
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+    "d435i_rgb_task": {
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+      "std": 28.69364262183504,
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+        640,
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+  "GL": {
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+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/lift100-20261015-027.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+  "case_id": "lift100-20261015-027",
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+  },
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+    "go2_ego": {
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+      "shape": [
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+    "d435i_rgb_task": {
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+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/lift100-20261015-028.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "lift100-20261015-028",
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+  "history_empty": true,
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
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+  },
+  "RGB": {
+    "go2_ego": {
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+    "d435i_rgb_task": {
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+      "std": 28.607920563500667,
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+        640,
+        3
+      ]
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+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/lift100-20261015-029.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "lift100-20261015-029",
+  "resource_identity": "6e2574552c3d46aa00bf9d3cada28bf66f428f56df78ff6d7f59b42f8daa6da6",
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+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
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+    "draw_counts": {
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+        2
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+    "state_sha256": {
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+        "0110e3bfe49e180a10a0a6bd32e22636fd0724ca9ab23c38f7a25b55b7db1550"
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+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "e5992bf777c22573cc3334be153e63d2a404714ce824b3019d8cc9ff3a39536d",
+      "std": 30.190748483892076,
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+    "d435i_rgb_task": {
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+      "std": 28.533303311500372,
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+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/lift100-20261015-030.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "lift100-20261015-030",
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+  "controller_last_action_zero": true,
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+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
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+        "172fe58dd6e1a9da70e7e8ac9ef32ba10b2f17eb72224c3364e926c08b9b0ebd"
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+      "std": 28.47396622100176,
+      "shape": [
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+    "d435i_rgb_task": {
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+      "std": 28.714061430621737,
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+  "GL": {
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+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/open_room_door-20261016-091.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "open_room_door-20261016-091",
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+  "qpos_sha256": "f418bcfc6fc7c88ce73d649311c86f5311d5f8ec066a09801c883802838c01c5",
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+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
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+    "case_seeds": [
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+    "draw_counts": {
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+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
+      ]
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+      "std": 33.36575308620953,
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+    "d435i_rgb_task": {
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+      "std": 50.13927520187428,
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+  "GL": {
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+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/open_room_door-20261016-092.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "open_room_door-20261016-092",
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+  "controller_clock_zero": true,
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+    "case_seeds": [
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+    "draw_counts": {
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+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+  "GL": {
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+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/open_room_door-20261016-093.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+  "history_empty": true,
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+    "case_seeds": [
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+    "draw_counts": {
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+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/open_room_door-20261016-094.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+  "case_id": "open_room_door-20261016-094",
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+  },
+  "RGB": {
+    "go2_ego": {
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+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
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+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/open_room_door-20261016-095.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/open_room_door-20261016-096.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+  },
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+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/open_room_door-20261016-097.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "open_room_door-20261016-097",
+  "resource_identity": "80cee0bfba1ca358bf063f41c8e742227d6f418473a411d7b22ef39d84025a6d",
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+  "reset_epoch": 1,
+  "qpos_sha256": "f418bcfc6fc7c88ce73d649311c86f5311d5f8ec066a09801c883802838c01c5",
+  "qvel_sha256": "e3c2af35d1dfc500e16f826a071cc311bf55003a3de77de7ea3376c6b6fa2857",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
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+    "case_seeds": [
+      42
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+    "draw_counts": {
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+        2
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+    "state_sha256": {
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+        "1b056113a45c4964f55adfff0794b63172b5f777432729ba1d3d13c757c61716"
+      ],
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+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "63a3b5387420fd7b9df55ad8def4eb253a203ff396e555f2f6e301bf6f12a72e",
+      "std": 32.23001429737386,
+      "shape": [
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+        640,
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+    "d435i_rgb_task": {
+      "sha256": "3348bc9a228c9b7b848ce6a5a5f03272b41b45fdd61112fa85989db3d240285b",
+      "std": 50.41537046311794,
+      "shape": [
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+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/open_room_door-20261016-098.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "open_room_door-20261016-098",
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+  "qvel_sha256": "e3c2af35d1dfc500e16f826a071cc311bf55003a3de77de7ea3376c6b6fa2857",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      42
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+    "draw_counts": {
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+        2
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+        "1b056113a45c4964f55adfff0794b63172b5f777432729ba1d3d13c757c61716"
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+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
+      ]
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+      "std": 34.814655716420525,
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+        640,
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+    "d435i_rgb_task": {
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+      "std": 42.95454356740304,
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+        640,
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+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/open_room_door-20261016-099.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "open_room_door-20261016-099",
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+  "qpos_sha256": "f418bcfc6fc7c88ce73d649311c86f5311d5f8ec066a09801c883802838c01c5",
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+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
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+    "case_seeds": [
+      42
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+    "draw_counts": {
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+        "1b056113a45c4964f55adfff0794b63172b5f777432729ba1d3d13c757c61716"
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+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+      "std": 33.66439774246506,
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+    "d435i_rgb_task": {
+      "sha256": "e186e103239d5ce0efaf152e9363eaf45d7dd6ecf7e52e2dfcbdc6f5129bca90",
+      "std": 50.040479667204835,
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+        640,
+        3
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+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/open_room_door-20261016-100.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "open_room_door-20261016-100",
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+  "qpos_sha256": "f418bcfc6fc7c88ce73d649311c86f5311d5f8ec066a09801c883802838c01c5",
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+  "history_empty": true,
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+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
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+    "case_seeds": [
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+    "draw_counts": {
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+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "2bb90d18b48d96be4265120f769def0325f319018bd5e092c162f90cc2722f5f",
+      "std": 31.138376084331007,
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+    "d435i_rgb_task": {
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+      "std": 42.87770778921219,
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+        640,
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+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/press100-20261015-021.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "press100-20261015-021",
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
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+  },
+  "RGB": {
+    "go2_ego": {
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+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/press100-20261015-022.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+        "babf5793c54390a681a2dea50d28ab852118b678e9497e9382f4bf79a7682490"
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
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+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/press100-20261015-023.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+  },
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+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/press100-20261015-024.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
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+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/press100-20261015-025.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "press100-20261015-025",
+  "resource_identity": "9ef6110ed9875b4288e7de6a4ac0f9c01ca0908b15cefdbcebd9f9251d1634ce",
+  "physics_steps_during_reset": 0,
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+  "qpos_sha256": "57b19dec05c0c0a2f2448085bbac9536ada656d929a0f5826214e004beaf3c10",
+  "qvel_sha256": "85ada57e1f601e962d705f389285adb4e74f450bc00672240dfef7399d82457f",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      1915250
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+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
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+        2
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+    "state_sha256": {
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+        "2fa6c71a1aa31b6fd94ecba3448a699ef91f6b8952efd19922e2b049e8fa33e8"
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+        "1af85c118845b0f1ec75abf985dbc29cd5d2e1aefe44a1314e21ad2f4b8d6e02"
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+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "fb707bd25d0d5c752d7b1ad6af7abe4f54c72dd79789268c17f1fc1097eb34a9",
+      "std": 25.137954610873727,
+      "shape": [
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+        640,
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+    "d435i_rgb_task": {
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+      "std": 53.2840404243781,
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+        640,
+        3
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+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/press100-20261015-026.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "press100-20261015-026",
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+  "qpos_sha256": "57b19dec05c0c0a2f2448085bbac9536ada656d929a0f5826214e004beaf3c10",
+  "qvel_sha256": "85ada57e1f601e962d705f389285adb4e74f450bc00672240dfef7399d82457f",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
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+    "version": "rambo-case-rng-v1",
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+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
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+        2
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+        "dbe1ee47ef573f2a9e7ec361dde8a4cf4f59944fd1e61531c56edbd416a0f96f"
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+      "std": 25.44506370020238,
+      "shape": [
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+        640,
+        3
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+    "d435i_rgb_task": {
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+      "std": 48.43809958507535,
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+        640,
+        3
+      ]
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+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/press100-20261015-027.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "press100-20261015-027",
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+  "qpos_sha256": "57b19dec05c0c0a2f2448085bbac9536ada656d929a0f5826214e004beaf3c10",
+  "qvel_sha256": "85ada57e1f601e962d705f389285adb4e74f450bc00672240dfef7399d82457f",
+  "history_empty": true,
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+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
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+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      1915270
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+    "draw_counts": {
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+        2
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+        "696c9ab84837169790b9cd759626156e255e483f3dd2c53dd45622a2109cf75c"
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+        "850da71c5a4c47e0e10550531ae24690d8d69f4a26f4e6812745a4bccfaddcd5"
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "eba3040f2096da2653c961681f93d99717455969063bcb57773d10411121ca9a",
+      "std": 25.502897507339714,
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+        640,
+        3
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+    "d435i_rgb_task": {
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+      "std": 48.10774980551246,
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+        640,
+        3
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+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/press100-20261015-028.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "press100-20261015-028",
+  "resource_identity": "1522264377418ca21d196b6991bf368ecc70084b2e8b0f6a998b67e2213f3f80",
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+  "qpos_sha256": "57b19dec05c0c0a2f2448085bbac9536ada656d929a0f5826214e004beaf3c10",
+  "qvel_sha256": "85ada57e1f601e962d705f389285adb4e74f450bc00672240dfef7399d82457f",
+  "history_empty": true,
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+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
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+    "case_seeds": [
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+    "draw_counts": {
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+        "31811117855fbd1d05b61d77b79f1a6493be7059219bd0576aa74e2c3e0ce758"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "96a8cb024038e855aeed832b650d29044adfa411c7b9e796c82815feae15eae8",
+      "std": 25.98148111444946,
+      "shape": [
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+        640,
+        3
+      ]
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+    "d435i_rgb_task": {
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+      "std": 48.20029800423221,
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+        640,
+        3
+      ]
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+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/press100-20261015-029.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "press100-20261015-029",
+  "resource_identity": "7eb79c68f4868eaf59766acceaa9fbcdb1514c24fc61267d197b8aced6bfe601",
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+  "reset_epoch": 1,
+  "qpos_sha256": "57b19dec05c0c0a2f2448085bbac9536ada656d929a0f5826214e004beaf3c10",
+  "qvel_sha256": "85ada57e1f601e962d705f389285adb4e74f450bc00672240dfef7399d82457f",
+  "history_empty": true,
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+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "1dae1ef64a92897fa1cf6af097f2b3f91af9eb4c31f3480813fd1ffc85d3068c",
+      "std": 25.008239496480925,
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+    "d435i_rgb_task": {
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+      "std": 48.40772098881482,
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+        640,
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+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/press100-20261015-030.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "press100-20261015-030",
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+  "qpos_sha256": "57b19dec05c0c0a2f2448085bbac9536ada656d929a0f5826214e004beaf3c10",
+  "qvel_sha256": "85ada57e1f601e962d705f389285adb4e74f450bc00672240dfef7399d82457f",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
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+  },
+  "RGB": {
+    "go2_ego": {
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+      "std": 25.559271934848528,
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+    "d435i_rgb_task": {
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+      "std": 53.358827403443286,
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+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/pull_open_drawer-20261016-091.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+  "case_id": "pull_open_drawer-20261016-091",
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
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+  },
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+    "go2_ego": {
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+      "std": 30.758391260556554,
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+    "d435i_rgb_task": {
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+      "std": 39.32285234764389,
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+  "GL": {
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+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/pull_open_drawer-20261016-092.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+  "case_id": "pull_open_drawer-20261016-092",
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+    "draw_counts": {
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
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+  },
+  "RGB": {
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+    "d435i_rgb_task": {
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+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/pull_open_drawer-20261016-093.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "pull_open_drawer-20261016-093",
+  "resource_identity": "fe83baa69f11a8d477a18f97be76357c023f0c8faee67e95680495f110586c3c",
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+  "reset_epoch": 1,
+  "qpos_sha256": "5e7ccb5a5eee778bfd581f8ef7931c3c52691a4185acce80a36ac70931a920b5",
+  "qvel_sha256": "85ada57e1f601e962d705f389285adb4e74f450bc00672240dfef7399d82457f",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      42
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
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+        2
+      ],
+      "qp_regularizer": [
+        0
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+    },
+    "state_sha256": {
+      "motor_delay": [
+        "1b056113a45c4964f55adfff0794b63172b5f777432729ba1d3d13c757c61716"
+      ],
+      "qp_regularizer": [
+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "76c6944a7b9e70cdf75aa71b8ee4745d031c4b93d0ba5b61aa111371e01371a1",
+      "std": 30.58810164979119,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "72201a6fe8d53589dca0e8d34440aa687e06a0f05dc36dc88fbde3e47d4cfc2f",
+      "std": 41.21129285077811,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/pull_open_drawer-20261016-094.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "pull_open_drawer-20261016-094",
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+  "qpos_sha256": "44fb86879d729b9573609be4b5f8889cefaa1505ba92fc2c2ce5e90c1d7b84fb",
+  "qvel_sha256": "85ada57e1f601e962d705f389285adb4e74f450bc00672240dfef7399d82457f",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      42
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
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+        2
+      ],
+      "qp_regularizer": [
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+    "state_sha256": {
+      "motor_delay": [
+        "1b056113a45c4964f55adfff0794b63172b5f777432729ba1d3d13c757c61716"
+      ],
+      "qp_regularizer": [
+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "97b30a5294e65fc8eaf902b0490737bfedffd58fcf4d0de14ee7c2661f9d8c6a",
+      "std": 30.10612716517759,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
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+      "std": 35.8367188650149,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/pull_open_drawer-20261016-095.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "pull_open_drawer-20261016-095",
+  "resource_identity": "dfd095bee43d21a151734090302c4d8f05b5e709b3445ae80869b71461d9f040",
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+  "qpos_sha256": "3aa939d33491846ecb079b878d46656cbc5c944e6a9d34f67f995ca8bc8c71ed",
+  "qvel_sha256": "85ada57e1f601e962d705f389285adb4e74f450bc00672240dfef7399d82457f",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      42
+    ],
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+    "draw_counts": {
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+        2
+      ],
+      "qp_regularizer": [
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+    "state_sha256": {
+      "motor_delay": [
+        "1b056113a45c4964f55adfff0794b63172b5f777432729ba1d3d13c757c61716"
+      ],
+      "qp_regularizer": [
+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "91fea9217303a7abf59eb14eab35b95d18e636268449e197e824ca20c677aa79",
+      "std": 31.548025800346053,
+      "shape": [
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+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "e98489499ebd1d9caa56ebb1220f68052b29e14a970d3425ba12b3b08f4d3fad",
+      "std": 39.28338175600348,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/pull_open_drawer-20261016-096.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "pull_open_drawer-20261016-096",
+  "resource_identity": "6330f3fffd679697ed996c8613a51ac030080860b0ee5f45a11f96f095e534bd",
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+  "reset_epoch": 1,
+  "qpos_sha256": "4e2c0c4bf31211eef29ba23cd132fe58c71ec6864a05341d391c0328878e1ec0",
+  "qvel_sha256": "85ada57e1f601e962d705f389285adb4e74f450bc00672240dfef7399d82457f",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      42
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
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+        2
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+      "qp_regularizer": [
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+    "state_sha256": {
+      "motor_delay": [
+        "1b056113a45c4964f55adfff0794b63172b5f777432729ba1d3d13c757c61716"
+      ],
+      "qp_regularizer": [
+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "c2def3eeefdc082c36fc2c22e10c6afd51e3a70c5368c4f1bdfca891542545e0",
+      "std": 28.808488298953733,
+      "shape": [
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+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "2fc452c333eb7ab51d1eba1013b3562f9f704af05979213ddddd9861ea61f8e6",
+      "std": 35.79649242893455,
+      "shape": [
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+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/pull_open_drawer-20261016-097.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "pull_open_drawer-20261016-097",
+  "resource_identity": "17482c61d603b8f1b846dd230a08655bda25c5108bf32b0317ea3ec415935a75",
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+  "reset_epoch": 1,
+  "qpos_sha256": "c44bb9e451be6cbd214b16ce39ef078e746c4c2bc8e1c155592446b440e55010",
+  "qvel_sha256": "85ada57e1f601e962d705f389285adb4e74f450bc00672240dfef7399d82457f",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      42
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+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
+      "motor_delay": [
+        2
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+        "1b056113a45c4964f55adfff0794b63172b5f777432729ba1d3d13c757c61716"
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+      "qp_regularizer": [
+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "0ee61b6869c3e77ea7a1c05144fb2820ce2e6cbde4fe2e576cc0f89af062bf47",
+      "std": 31.690007479335094,
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+        640,
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+    "d435i_rgb_task": {
+      "sha256": "b3b83877b2bc508595ea5b41ed9e79850e2fd8d70bd5e5a0518e3aad9a7894e3",
+      "std": 38.45761320410468,
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+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/pull_open_drawer-20261016-098.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "pull_open_drawer-20261016-098",
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+  "reset_epoch": 1,
+  "qpos_sha256": "a3971ec17f4f5ed9523cfab7d6ba2de454f6cea20b556d94bc0741d8245d3531",
+  "qvel_sha256": "85ada57e1f601e962d705f389285adb4e74f450bc00672240dfef7399d82457f",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
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+    "case_seeds": [
+      42
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
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+        2
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+    "state_sha256": {
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+        "1b056113a45c4964f55adfff0794b63172b5f777432729ba1d3d13c757c61716"
+      ],
+      "qp_regularizer": [
+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "71550cc4a31f608a497bdd0bc4abf026991069a1f16c59df2bc736f26ad1f0b1",
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+    "d435i_rgb_task": {
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+      "std": 36.86076412568575,
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+        640,
+        3
+      ]
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+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
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+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/pull_open_drawer-20261016-099.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+  "case_id": "pull_open_drawer-20261016-099",
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+  "history_empty": true,
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+  "controller_last_action_zero": true,
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+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      42
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+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
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+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
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+    "d435i_rgb_task": {
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+      "std": 39.30222764667156,
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+        640,
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+      ]
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+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/pull_open_drawer-20261016-100.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
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+  "case_id": "pull_open_drawer-20261016-100",
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+    "case_seeds": [
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+    "draw_counts": {
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+    "state_sha256": {
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+        "1b056113a45c4964f55adfff0794b63172b5f777432729ba1d3d13c757c61716"
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+        "fd99f3ddb34441f2d7263a19b0ccd893d73bd36908845db39170f896b9570fef"
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+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
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+  },
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+    "d435i_rgb_task": {
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+      "std": 36.7551722918251,
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+        640,
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+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/push100-20261014-091.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "push100-20261014-091",
+  "resource_identity": "3a222a27bc1aa0a4cd41dfd557b63f278defd6e053aa03b6734ba1b2627acf21",
+  "physics_steps_during_reset": 0,
+  "simulation_time_ns": 0,
+  "reset_epoch": 1,
+  "qpos_sha256": "f5b94b76352439be4dde80b7e2f7a57befc60cc8a1ee02be833c9572ef94da2d",
+  "qvel_sha256": "5d89f056865052bcb89c910d2d62872e029fb273c3db03f8968a52a41593c1b5",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      1614800
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
+      "motor_delay": [
+        2
+      ],
+      "qp_regularizer": [
+        0
+      ]
+    },
+    "state_sha256": {
+      "motor_delay": [
+        "c1666ad83091ef84df21a1b6a2aa92051d8152dfd1029aa50a7390d9d728f749"
+      ],
+      "qp_regularizer": [
+        "794245e96f4eadc57e6f33d3a3c427a94140882de9736ff1a18bcde938125817"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "6036ca92330d60fdbb59f26296b1e8165fb36418dbc78775f4527a735f10475a",
+      "std": 33.81470778325575,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "461500a4b146409c27f4da5433ca6bcc1936d92fc3ce7e9136234529710f2334",
+      "std": 29.03864070693309,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}

benchmarks/mujoco-standard-test100-v1/validation/push100-20261014-092.json

@@ -0,0 +1,67 @@
+{
+  "evidence_kind": "actual_runtime",
+  "reset_reconstruction_passed": true,
+  "case_id": "push100-20261014-092",
+  "resource_identity": "9f2b63b18d9eb8fb4c1fe86f4e50e673d268329f5606dda33433732f512564bb",
+  "physics_steps_during_reset": 0,
+  "simulation_time_ns": 0,
+  "reset_epoch": 1,
+  "qpos_sha256": "5b1580799bdadcffe05f67d413f3f575126c1efb681e630ab84bbb74a4e96073",
+  "qvel_sha256": "5d89f056865052bcb89c910d2d62872e029fb273c3db03f8968a52a41593c1b5",
+  "history_empty": true,
+  "controller_history_initialized_from_reset_state": true,
+  "controller_last_action_zero": true,
+  "controller_clock_zero": true,
+  "RNG": {
+    "version": "rambo-case-rng-v1",
+    "case_seeds": [
+      1614810
+    ],
+    "generator": "Torch CPU; domain-separated SHA256 seeds",
+    "draw_counts": {
+      "motor_delay": [
+        2
+      ],
+      "qp_regularizer": [
+        0
+      ]
+    },
+    "state_sha256": {
+      "motor_delay": [
+        "699f72083b8f727ec5d4221e3eaea23524f5eb8f59b69d84ec0513835d4d1b09"
+      ],
+      "qp_regularizer": [
+        "413d992de8cbe02399059e0b43dc6ed72c526086da3ca171e3c022c1842e072e"
+      ]
+    },
+    "motor_distribution": "two independent UniformInteger[0,10] per case reset: calf then hip/thigh",
+    "QP_distribution": "Uniform[0,1) times original1e-6 diagonal regularizer, one draw per case/controller call"
+  },
+  "RGB": {
+    "go2_ego": {
+      "sha256": "a0de82b62eee9b1f25fb0a5121fcaef8de5dd88d5c80003ab5af660870586074",
+      "std": 33.81311816587624,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    },
+    "d435i_rgb_task": {
+      "sha256": "f1fe920fbfcb9ade8011340bd931ff23a0eb9cf4dc30f4db0b87a377729eafb8",
+      "std": 29.036883700982457,
+      "shape": [
+        360,
+        640,
+        3
+      ]
+    }
+  },
+  "GL": {
+    "vendor": "NVIDIA Corporation",
+    "renderer": "NVIDIA GeForce RTX 5070 Ti/PCIe/SSE2",
+    "version": "4.6.0 NVIDIA 595.99.02"
+  },
+  "render_backend": "egl",
+  "observation_did_not_advance": true
+}