diff --git a/.gitattributes b/.gitattributes
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@@ -73,3 +73,78 @@ workstation-mirror/v01/mirror-ui/workstation-390.png filter=lfs diff=lfs merge=l
 workstation-editorial/v01/mobile-layouts.png filter=lfs diff=lfs merge=lfs -text
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 workstation-rendering-followup/v01/workstation-1440.png filter=lfs diff=lfs merge=lfs -text
+prerequisites/v03/benchmark.json filter=lfs diff=lfs merge=lfs -text
+prerequisites/v03/graspability_lab.bundle.js filter=lfs diff=lfs merge=lfs -text
+prerequisites/v03/index.html filter=lfs diff=lfs merge=lfs -text
+prerequisites/v03/trials/grasp-fresh-01-light-current-shoe-absent.json filter=lfs diff=lfs merge=lfs -text
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diff --git a/README.md b/README.md
index 35220b664a5714af0f282e5341c20855b79a11b1..c49349019e86c9c7b51f6c68fb8cb7dbbd6d4b80 100644
--- a/README.md
+++ b/README.md
@@ -468,3 +468,10 @@ The Hugging Face workstation can load its three compressed simulator resources f
 [Explore the grip comparison](prerequisites/v02/index.html). Recorded replays of native MuJoCo runs compare the previous mounted-rake controller with continuous acquisition and grip-loss checks on matched scenes. Run the open-source Python benchmark locally for fresh physics. All planned attempts and independent outcome scores remain visible. Policies use privileged simulator observations; contact is synthetic and hardware transfer remains open.
 
 [Pinned source](https://github.com/Dvidia-Inference/dvidia-training/tree/af8933994b4626e28a0554abc782ae9d22cff06c) · [Research](https://research.dvidia.org/papers/continuous-shoe-grip-v02/)
+
+
+## Shoe graspability v0.3
+
+[Explore the graspability comparison](prerequisites/v03/index.html). Recorded native MuJoCo trials isolate shape, load and mounted-tool condition with one shared policy. The absent-tool condition starts without the rake; it does not demonstrate autonomous tool removal or a complete retrieval task. Every planned attempt and independent retention score remains visible. Run the Python benchmark locally for fresh physics. Objects are rigid, contact is synthetic and observations are privileged simulator state.
+
+[Pinned source](https://github.com/Dvidia-Inference/dvidia-training/tree/73057dc259c6a19344906f4a43a283553e17ade0) · [Research](https://research.dvidia.org/papers/shoe-graspability-v03/)
diff --git a/index.html b/index.html
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@@ -4,7 +4,7 @@
 </style></head><body><main><header><span class="brand">DVIDIA · ROBOT SIMULATION LAB</span><nav aria-label="DVIDIA resources"><a href="https://dvidia.org/">Official site ↗</a><a href="https://research.dvidia.org/">Research ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training">Open-source tools ↗</a></nav></header>
 <h1>See the motion. Inspect the evidence.</h1><p>A native six-joint arm, an articulated gripper and a free rigid object. Recorded task attempts make the simulator's behavior visible, and the complete receipts make its limits checkable.</p><p class="scope">This is recorded simulation from an authored controller with privileged simulator state. The browser does not run physics or connect to hardware. Learned skills, shoe manipulation and physical transfer remain future stages.</p>
 <div class="summary"><strong>Frozen confirmation cohort: 18 planned attempts across 6 synthetic scenes. Counts are descriptive, with no population or physical reliability claim.</strong><br>nominal / placement: 4/4 completed, 4 numerically valid<br>nominal / replay_open_jaw: 0/4 completed, 4 numerically valid<br>nominal / hold: 0/4 completed, 4 numerically valid<br>low_friction / placement: 2/2 completed, 2 numerically valid<br>low_friction / replay_open_jaw: 0/2 completed, 2 numerically valid<br>low_friction / hold: 0/2 completed, 2 numerically valid</div>
-<section aria-labelledby="workstation-title"><h2 id="workstation-title">A live PiPER shoe workstation.</h2><p>Drag the gripper target, open and close the jaws, and push a free rigid shoe. MuJoCo physics runs locally in your browser. Explore contacts and download a session receipt.</p><p>Authored control and synthetic shoe properties; no learned policy or hardware qualification.</p><a href="workstation/v01/index.html">Enter the live workstation →</a></section><section aria-labelledby="assets-title"><h2 id="assets-title">The shoe asset library is runnable.</h2><p>Choose one of three robot profiles, inspect six original rigid shoe proxies, download a reusable scene and run CPU simulation locally. Synthetic properties are labelled as assumptions; gravity/support benchmarks retain every attempt and matched control.</p><a href="asset-library/v01/index.html">Open the asset library →</a></section><section aria-labelledby="continuous-grip-title"><h2 id="continuous-grip-title">From reaching a shoe to keeping hold.</h2><p>Compare a fixed grasp sequence with continuous acquisition checks, a measured lift checkpoint and bounded grip-loss recovery. Recorded native MuJoCo attempts preserve the full comparison, failures and independent scoring. Authored policies; synthetic contact; no physical robot qualification.</p><a href="prerequisites/v02/index.html">Inspect the grip comparison and every result →</a></section><section aria-labelledby="prerequisites-title"><h2 id="prerequisites-title">Before a skill can succeed.</h2><p>Explore a hinged shoe box and an out-of-reach shoe. Recorded native MuJoCo attempts retain failed access, withdrawal and tool-assisted reach. Authored policies; synthetic properties; no physical robot qualification.</p><a href="prerequisites/v01/index.html">Inspect both simulations and every result →</a></section><section aria-labelledby="replay-title"><h2 id="replay-title">Native grasp, carry and release.</h2><div class="links"><a href="replay/index.html">Open the full 3D replay ↗</a><a href="replay/receipt/report.html">Every attempted task ↗</a><a href="README.md">Install and reproduce ↗</a></div><div class="replay"><iframe src="replay/index.html" title="DVIDIA recorded native robot task replay" allow="fullscreen"></iframe></div><p class="tiny">Use orbit, zoom, recorded motion selection and the timeline inside the viewer. Replay is an excerpt; the full benchmark includes every matched control and invalid attempt. The native meshes, binary poses, complete receipts and license notices are served locally by this Space.</p></section>
+<section aria-labelledby="workstation-title"><h2 id="workstation-title">A live PiPER shoe workstation.</h2><p>Drag the gripper target, open and close the jaws, and push a free rigid shoe. MuJoCo physics runs locally in your browser. Explore contacts and download a session receipt.</p><p>Authored control and synthetic shoe properties; no learned policy or hardware qualification.</p><a href="workstation/v01/index.html">Enter the live workstation →</a></section><section aria-labelledby="assets-title"><h2 id="assets-title">The shoe asset library is runnable.</h2><p>Choose one of three robot profiles, inspect six original rigid shoe proxies, download a reusable scene and run CPU simulation locally. Synthetic properties are labelled as assumptions; gravity/support benchmarks retain every attempt and matched control.</p><a href="asset-library/v01/index.html">Open the asset library →</a></section><section aria-labelledby="graspability-title"><h2 id="graspability-title">Give the gripper a fair test.</h2><p>Compare a small block, a simplified shoe and the current shoe across light and heavy loads, with the rake mounted or absent. One shared authored policy and independent retention checks expose how the setup affects the lift. Recorded native physics; rigid synthetic objects; no physical robot qualification.</p><a href="prerequisites/v03/index.html">Explore the graspability comparison →</a></section><section aria-labelledby="continuous-grip-title"><h2 id="continuous-grip-title">From reaching a shoe to keeping hold.</h2><p>Compare a fixed grasp sequence with continuous acquisition checks, a measured lift checkpoint and bounded grip-loss recovery. Recorded native MuJoCo attempts preserve the full comparison, failures and independent scoring. Authored policies; synthetic contact; no physical robot qualification.</p><a href="prerequisites/v02/index.html">Inspect the grip comparison and every result →</a></section><section aria-labelledby="prerequisites-title"><h2 id="prerequisites-title">Before a skill can succeed.</h2><p>Explore a hinged shoe box and an out-of-reach shoe. Recorded native MuJoCo attempts retain failed access, withdrawal and tool-assisted reach. Authored policies; synthetic properties; no physical robot qualification.</p><a href="prerequisites/v01/index.html">Inspect both simulations and every result →</a></section><section aria-labelledby="replay-title"><h2 id="replay-title">Native grasp, carry and release.</h2><div class="links"><a href="replay/index.html">Open the full 3D replay ↗</a><a href="replay/receipt/report.html">Every attempted task ↗</a><a href="README.md">Install and reproduce ↗</a></div><div class="replay"><iframe src="replay/index.html" title="DVIDIA recorded native robot task replay" allow="fullscreen"></iframe></div><p class="tiny">Use orbit, zoom, recorded motion selection and the timeline inside the viewer. Replay is an excerpt; the full benchmark includes every matched control and invalid attempt. The native meshes, binary poses, complete receipts and license notices are served locally by this Space.</p></section>
 <section aria-labelledby="profiles-title"><h2 id="profiles-title">Hardware profiles and the next experiments.</h2><div class="gallery"><article class="profile"><span class="status">Recorded native contact task</span><h2>UR5e + Robotiq 2F-85</h2><p>Six arm joints, eight articulated gripper coordinates and a free rigid block. Full source outcomes and matched controls are available.</p><a href="replay/index.html">Inspect the task replay ↗</a></article><article class="profile"><span class="status">PiPER reliability v0.5 · synthetic</span><h2>Measure placement reliability.</h2><div class="summary"><p><strong>Placement completion: v0.4 4/12, v0.5 second lift 6/12, v0.5 full 7/12.</strong></p><p>v0.5 second lift versus v0.4: 2 gained, 0 lost, 4 shared successful scenes, 6 neither completed. Mean completion-time change on shared successes: +0.000 simulated seconds (candidate minus reference).</p><p>v0.5 full versus v0.4: 3 gained, 0 lost, 4 shared successful scenes, 5 neither completed. Mean completion-time change on shared successes: +0.847 simulated seconds (candidate minus reference).</p><p>v0.5 full versus v0.5 second lift: 1 gained, 0 lost, 6 shared successful scenes, 5 neither completed. Mean completion-time change on shared successes: +0.434 simulated seconds (candidate minus reference).</p><p>Protocol cohort: confirmation; seed 832847. 84 planned attempts across twelve synthetic scenes. Matched open-jaw and hold controls: 0/48 completed. Every failed or invalid attempt remains in the denominator. Cohorts are reported separately; a cohort label alone does not establish independence. Counts are descriptive synthetic evidence, not physical reliability, detector accuracy, learned competence or real-time sensor performance.</p><details><summary>Inspect every stratum, control and pilot gate</summary>Pilot gate complete planned denominator: passed<br>Pilot gate all native attempts valid: passed<br>Pilot gate all controls fail: passed<br>Pilot gate native integrity clean: passed<br>Pilot gate gained without lost completions: passed<br>μ=0.80, mass=0.04 kg / recovery_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / reacquire_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / reacquire_grasp_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / reacquire_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / reacquire_grasp_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / recovery_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / reacquire_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / reacquire_grasp_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / reacquire_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / reacquire_grasp_placement: 1/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / reacquire_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / reacquire_grasp_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / reacquire_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / reacquire_grasp_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid</details></div><p>The original height, retention and placement gates remain. Second-lift and alternate-grasp controllers use privileged simulator observations; a recovered grip is not automatically a completed placement. These are recorded receipts, with no PiPER 3D viewer or live browser physics.</p><div class="links"><a href="tasks/piper-reliability-v05/confirmation-832847/report.html">Complete paired comparison ↗</a><a href="tasks/piper-reliability-v05/confirmation-832847/report.json">Every outcome and diagnostic ↗</a><a href="tasks/piper-reliability-v05/confirmation-832847/protocol.json">Frozen protocol ↗</a><a href="tasks/piper-reliability-v05/confirmation-832847/integrity.json">Stored and decoded hashes ↗</a><a href="tasks/piper-reliability-v05/confirmation-832847/licenses/agilex_piper/LICENSE">Original MIT model license ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/0545ac47aedcd7c197341986533aa3e74c263ac6/docs/piper-reliability-v05-plan.md">Pinned experiment plan ↗</a></div></article><article class="profile"><span class="status">PiPER reliability v0.5 · synthetic</span><h2>Measure placement reliability.</h2><div class="summary"><p><strong>Placement completion: v0.4 6/12, v0.5 second lift 6/12, v0.5 full 8/12.</strong></p><p>v0.5 second lift versus v0.4: 0 gained, 0 lost, 6 shared successful scenes, 6 neither completed. Mean completion-time change on shared successes: +0.000 simulated seconds (candidate minus reference).</p><p>v0.5 full versus v0.4: 2 gained, 0 lost, 6 shared successful scenes, 4 neither completed. Mean completion-time change on shared successes: +0.698 simulated seconds (candidate minus reference).</p><p>v0.5 full versus v0.5 second lift: 2 gained, 0 lost, 6 shared successful scenes, 4 neither completed. Mean completion-time change on shared successes: +0.698 simulated seconds (candidate minus reference).</p><p>Protocol cohort: confirmation; seed 227037. 84 planned attempts across twelve synthetic scenes. Matched open-jaw and hold controls: 0/48 completed. Every failed or invalid attempt remains in the denominator. Cohorts are reported separately; a cohort label alone does not establish independence. Counts are descriptive synthetic evidence, not physical reliability, detector accuracy, learned competence or real-time sensor performance.</p><details><summary>Inspect every stratum, control and pilot gate</summary>Pilot gate complete planned denominator: passed<br>Pilot gate all native attempts valid: passed<br>Pilot gate all controls fail: passed<br>Pilot gate native integrity clean: passed<br>Pilot gate gained without lost completions: passed<br>μ=0.80, mass=0.04 kg / recovery_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / reacquire_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / reacquire_grasp_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / recovery_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / reacquire_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / reacquire_grasp_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / recovery_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / reacquire_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / reacquire_grasp_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / reacquire_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / reacquire_grasp_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / reacquire_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / reacquire_grasp_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / reacquire_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / reacquire_grasp_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid</details></div><p>The original height, retention and placement gates remain. Second-lift and alternate-grasp controllers use privileged simulator observations; a recovered grip is not automatically a completed placement. These are recorded receipts, with no PiPER 3D viewer or live browser physics.</p><div class="links"><a href="tasks/piper-reliability-v05/confirmation-227037/report.html">Complete paired comparison ↗</a><a href="tasks/piper-reliability-v05/confirmation-227037/report.json">Every outcome and diagnostic ↗</a><a href="tasks/piper-reliability-v05/confirmation-227037/protocol.json">Frozen protocol ↗</a><a href="tasks/piper-reliability-v05/confirmation-227037/integrity.json">Stored and decoded hashes ↗</a><a href="tasks/piper-reliability-v05/confirmation-227037/licenses/agilex_piper/LICENSE">Original MIT model license ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/0545ac47aedcd7c197341986533aa3e74c263ac6/docs/piper-reliability-v05-plan.md">Pinned experiment plan ↗</a></div></article><article class="profile"><span class="status">PiPER reliability v0.5 · synthetic</span><h2>Measure placement reliability.</h2><div class="summary"><p><strong>Placement completion: v0.4 5/12, v0.5 second lift 6/12, v0.5 full 8/12.</strong></p><p>v0.5 second lift versus v0.4: 1 gained, 0 lost, 5 shared successful scenes, 6 neither completed. Mean completion-time change on shared successes: +0.000 simulated seconds (candidate minus reference).</p><p>v0.5 full versus v0.4: 3 gained, 0 lost, 5 shared successful scenes, 4 neither completed. Mean completion-time change on shared successes: +0.800 simulated seconds (candidate minus reference).</p><p>v0.5 full versus v0.5 second lift: 2 gained, 0 lost, 6 shared successful scenes, 4 neither completed. Mean completion-time change on shared successes: +0.602 simulated seconds (candidate minus reference).</p><p>Protocol cohort: confirmation; seed 862186. 84 planned attempts across twelve synthetic scenes. Matched open-jaw and hold controls: 0/48 completed. Every failed or invalid attempt remains in the denominator. Cohorts are reported separately; a cohort label alone does not establish independence. Counts are descriptive synthetic evidence, not physical reliability, detector accuracy, learned competence or real-time sensor performance.</p><details><summary>Inspect every stratum, control and pilot gate</summary>Pilot gate complete planned denominator: passed<br>Pilot gate all native attempts valid: passed<br>Pilot gate all controls fail: passed<br>Pilot gate native integrity clean: passed<br>Pilot gate gained without lost completions: passed<br>μ=0.80, mass=0.04 kg / recovery_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / reacquire_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / reacquire_grasp_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / recovery_placement: 1/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / reacquire_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / reacquire_grasp_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / recovery_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / reacquire_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / reacquire_grasp_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / reacquire_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / reacquire_grasp_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / reacquire_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / reacquire_grasp_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / reacquire_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / reacquire_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / reacquire_grasp_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / reacquire_grasp_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid</details></div><p>The original height, retention and placement gates remain. Second-lift and alternate-grasp controllers use privileged simulator observations; a recovered grip is not automatically a completed placement. These are recorded receipts, with no PiPER 3D viewer or live browser physics.</p><div class="links"><a href="tasks/piper-reliability-v05/confirmation-862186/report.html">Complete paired comparison ↗</a><a href="tasks/piper-reliability-v05/confirmation-862186/report.json">Every outcome and diagnostic ↗</a><a href="tasks/piper-reliability-v05/confirmation-862186/protocol.json">Frozen protocol ↗</a><a href="tasks/piper-reliability-v05/confirmation-862186/integrity.json">Stored and decoded hashes ↗</a><a href="tasks/piper-reliability-v05/confirmation-862186/licenses/agilex_piper/LICENSE">Original MIT model license ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/0545ac47aedcd7c197341986533aa3e74c263ac6/docs/piper-reliability-v05-plan.md">Pinned experiment plan ↗</a></div></article><article class="profile"><span class="status">PiPER grip recovery v0.4 · synthetic</span><h2>Measure recovery and grip refusal.</h2><div class="summary"><p><strong>Placement completion: v0.3 4/12, v0.4 carry-only 4/12, v0.4 full 4/12.</strong></p><p>Retries, resumes and grip refusals do not imply successful placement or recovery. Shared successful scenes: 4; gained placements: 0; lost placements: 0. Mean completion-time change on shared successes: -1.270 simulated seconds (v0.4 minus v0.3). Hold-duration and post-resume motion remain separate in the report.</p><p>Frozen confirmation cohort: 84 planned attempts across twelve synthetic scenes. Three frictions, two masses and two shared layouts; seven variants per scene. Every failed or invalid attempt remains in the denominator. Counts are descriptive, not physical reliability or detector accuracy.</p><details><summary>Inspect all friction, mass and control counts</summary>μ=0.80, mass=0.04 kg / history_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / recovery_carry_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / recovery_carry_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / recovery_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / history_placement: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / recovery_carry_placement: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / recovery_carry_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / history_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / recovery_carry_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / recovery_carry_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / recovery_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / history_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / recovery_carry_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / recovery_carry_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / history_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / recovery_carry_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / recovery_carry_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / history_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / recovery_carry_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / recovery_carry_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / recovery_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / recovery_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid</details></div><p>Frozen v0.3, v0.4 carry-only and v0.4 full use privileged native simulator state. Each placement policy has its own matched open-jaw replay; a shared hold control remains. Failed grip tests, native motion, decisions, refusals, retries, resumes, aborts and invalid outcomes are retained. Uncalibrated contact proxies do not qualify a learned skill, physical detector or robot.</p><div class="links"><a href="tasks/piper-recovery-v04/report.html">Full three-policy comparison ↗</a><a href="tasks/piper-recovery-v04/report.json">Every outcome and diagnostic ↗</a><a href="tasks/piper-recovery-v04/protocol.json">Frozen recovery protocol ↗</a><a href="tasks/piper-recovery-v04/integrity.json">Stored and decoded attempt hashes ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/0545ac47aedcd7c197341986533aa3e74c263ac6/docs/piper-contact-recovery-v04.md">Pinned offline inspection guide ↗</a></div><p class="tiny">All eighty-four full attempts are retained as deterministic gzip JSON with original stored and decoded hashes. Previous task and numerical evidence remains separate and unchanged. This adds no PiPER 3D viewer or physical qualification.</p></article><article class="profile"><span class="status">PiPER contact memory v0.3 · synthetic</span><h2>Compare probe and contact history.</h2><div class="summary"><p><strong>Placement completion: baseline 4/12, probe-only 4/12, history 6/12.</strong></p><p>Retries, resumes and release refusals do not imply successful placement or recovery.</p><p>Frozen confirmation cohort: 84 planned attempts across twelve synthetic scenes. Three frictions, two masses and two shared layouts; seven variants per scene. Every failed or invalid attempt remains in the denominator. Counts are descriptive, not physical reliability or detector accuracy.</p><details><summary>Inspect all friction, mass and control counts</summary>μ=0.80, mass=0.04 kg / baseline_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / probe_only_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / history_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / baseline_placement: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / probe_only_placement: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / history_placement: 2/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / baseline_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / probe_only_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / history_placement: 2/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / baseline_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / probe_only_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / history_placement: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / baseline_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / probe_only_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / history_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.04 kg / hold: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / baseline_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / probe_only_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / probe_only_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / history_placement: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / history_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15, mass=0.06 kg / hold: 0/2 completed, 2 numerically valid</details></div><p>Three authored controllers use privileged native simulator state. Each placement policy has its own matched open-jaw replay; a shared hold control remains. Full contact history, decisions, refusals, retries, resumes, aborts and invalid outcomes are retained. Uncalibrated contact proxies do not qualify a learned skill, physical detector or robot.</p><div class="links"><a href="tasks/piper-contact-v03/report.html">Full three-policy comparison ↗</a><a href="tasks/piper-contact-v03/report.json">Every outcome and diagnostic ↗</a><a href="tasks/piper-contact-v03/protocol.json">Frozen contact-memory protocol ↗</a><a href="tasks/piper-contact-v03/integrity.json">Stored and decoded attempt hashes ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/0545ac47aedcd7c197341986533aa3e74c263ac6/docs/piper-contact-memory-v03.md">Pinned offline inspection guide ↗</a></div><p class="tiny">All eighty-four full attempts are retained as deterministic gzip JSON with original stored and decoded hashes. Previous task and numerical evidence remains separate and unchanged. This adds no PiPER 3D viewer or physical qualification.</p></article><article class="profile"><span class="status">Recorded PiPER contact pilot · synthetic</span><h2>PiPER: authored grasp, carry and release</h2><p>Six arm commands in radians and one jaw command in metres. This pilot uses an authored controller and privileged native simulator state. Contact is uncalibrated; no learned skill, shoe competence or physical robot is qualified. No PiPER 3D viewer is included.</p><div class="summary"><strong>Frozen confirmation cohort: 9 planned attempts across 3 synthetic scenes. Counts are descriptive, with no population or physical reliability claim.</strong><br>nominal / placement: 2/2 completed, 2 numerically valid<br>nominal / replay_open_jaw: 0/2 completed, 2 numerically valid<br>nominal / hold: 0/2 completed, 2 numerically valid<br>low_friction / placement: 0/1 completed, 1 numerically valid<br>low_friction / replay_open_jaw: 0/1 completed, 1 numerically valid<br>low_friction / hold: 0/1 completed, 1 numerically valid</div><div class="links"><a href="tasks/piper/report.html">Every contact attempt ↗</a><a href="tasks/piper/report.json">Complete task report ↗</a><a href="tasks/piper/protocol.json">Frozen protocol ↗</a><a href="tasks/piper/integrity.json">All task file hashes ↗</a><a href="tasks/piper/licenses/agilex_piper/LICENSE">Original MIT model license ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/0545ac47aedcd7c197341986533aa3e74c263ac6/docs/piper-contact-pilot.md">Pinned PiPER contact guide ↗</a></div></article><article class="profile"><span class="status">PiPER guarded grip comparison · synthetic</span><h2>Test the grip. Inspect recovery.</h2><div class="summary"><p><strong>Placement completion: baseline 4/6 versus guarded 2/6.</strong> This cohort does not show improved placement success.</p><p>Retries and qualification decisions do not imply successful recovery.</p><p>Frozen confirmation cohort: 30 planned attempts across six synthetic scenes. Two shared layouts at each friction; five variants per scene. Counts are descriptive, not physical reliability or detector accuracy.</p>μ=0.80 / baseline_placement: 2/2 completed, 2 numerically valid<br>μ=0.80 / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80 / guarded_placement: 2/2 completed, 2 numerically valid<br>μ=0.80 / guarded_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.80 / hold: 0/2 completed, 2 numerically valid<br>μ=0.55 / baseline_placement: 2/2 completed, 2 numerically valid<br>μ=0.55 / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55 / guarded_placement: 0/2 completed, 2 numerically valid<br>μ=0.55 / guarded_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.55 / hold: 0/2 completed, 2 numerically valid<br>μ=0.15 / baseline_placement: 0/2 completed, 2 numerically valid<br>μ=0.15 / baseline_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15 / guarded_placement: 0/2 completed, 2 numerically valid<br>μ=0.15 / guarded_open_jaw: 0/2 completed, 2 numerically valid<br>μ=0.15 / hold: 0/2 completed, 2 numerically valid</div><p>Baseline and guarded controllers use privileged native state. Each has its own matched open-jaw replay; a shared hold control remains. Qualification decisions, retries, alarms, unresolved opportunities and aborts are retained. These are authored policies with uncalibrated contact, not learned skills or a physically qualified detector.</p><div class="links"><a href="tasks/piper-grip/report.html">Full paired comparison ↗</a><a href="tasks/piper-grip/report.json">All outcomes and diagnostics ↗</a><a href="tasks/piper-grip/protocol.json">Frozen guard and evaluation contract ↗</a><a href="tasks/piper-grip/integrity.json">Stored and decoded attempt hashes ↗</a><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/0545ac47aedcd7c197341986533aa3e74c263ac6/docs/piper-grip-recovery.md">Pinned offline inspection guide ↗</a></div><p class="tiny">Every full attempt is retained as deterministic gzip JSON. The CLI checks compressed and decoded hashes with bounded decompression; no archive extraction is needed. This comparison adds numerical evidence to the existing contact pilot; it adds no PiPER 3D viewer.</p></article><article class="profile"><span class="status">Recorded native mechanics · unloaded</span><h2>AgileX PiPER</h2><p>6 arm axes + 1 gripper axis. This separate bundle measures native model structure and authored unloaded motion. Its numerical receipts do not qualify a contact task, learned policy or physical robot. Simulation asset license: MIT.</p><div class="links"><a href="profiles/piper/report.html">Numerical report ↗</a><a href="profiles/piper/report.json">Complete recorded states ↗</a><a href="profiles/piper/integrity.json">File hashes ↗</a><a href="profiles/piper/licenses/piper/LICENSE">Model license ↗</a></div><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/0545ac47aedcd7c197341986533aa3e74c263ac6/docs/robot-simulation-library.md">Pinned local simulator guide ↗</a></article><article class="profile"><span class="status">Recorded native mechanics · unloaded</span><h2>The Robot Studio SO101</h2><p>5 arm axes + 1 gripper axis. This separate bundle measures native model structure and authored unloaded motion. Its numerical receipts do not qualify a contact task, learned policy or physical robot. Simulation asset license: Apache-2.0.</p><div class="links"><a href="profiles/so101/report.html">Numerical report ↗</a><a href="profiles/so101/report.json">Complete recorded states ↗</a><a href="profiles/so101/integrity.json">File hashes ↗</a><a href="profiles/so101/licenses/so101/LICENSE">Model license ↗</a></div><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/0545ac47aedcd7c197341986533aa3e74c263ac6/docs/robot-simulation-library.md">Pinned local simulator guide ↗</a></article><article class="profile"><span class="status">Upcoming · no task evidence</span><h2>Two arms and dexterous hands</h2><p>The roadmap extends to bilateral manipulation and five-finger hands. Contact tasks, sensing adapters and physical qualification remain to be built.</p><a href="https://research.dvidia.org/">Follow the research ↗</a></article></div><p class="tiny">A native mechanics benchmark establishes model structure and recorded motion. A native task benchmark adds measured contact outcomes. Neither establishes hardware reliability or a learned motor policy. Upcoming profiles have no verified implementation claim.</p></section>
 <section><h2>Run it on your own machine.</h2><p>The native task is a local CPU workload. Fetch the pinned dependencies and assets once, then simulate offline. WebGL2 supports viewing; no hosted inference or paid GPU server is requested by this static Space. Minimum RAM and arbitrary-dataset speed guarantees remain unmeasured.</p><div class="links"><a href="https://github.com/Dvidia-Inference/dvidia-training/blob/0545ac47aedcd7c197341986533aa3e74c263ac6/docs/native-task-benchmark.md">Local installation and benchmark guide ↗</a><a href="provenance.json">Artifact provenance ↗</a><a href="replay/replay-integrity.json">Replay file hashes ↗</a><a href="replay/licenses/universal_robots_ur5e/LICENSE">UR5e model license ↗</a><a href="replay/licenses/robotiq_2f85/LICENSE">Gripper model license ↗</a></div></section>
 <footer><span>Open-source DVIDIA research</span><a href="https://x.com/iammrriver">@iammrriver ↗</a><a href="mailto:hello@dvidia.org">hello@dvidia.org</a><a href="https://huggingface.co/Dvidia">Hugging Face organization ↗</a></footer></main></body></html>
diff --git a/prerequisites/v03/LICENSE b/prerequisites/v03/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..a7056f2889009b6b736691291d2e65e63bab2fdc
--- /dev/null
+++ b/prerequisites/v03/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 DVIDIA contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/prerequisites/v03/README.md b/prerequisites/v03/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6284c75f5a6bdd82be221f35a00035a3ce8e72a8
--- /dev/null
+++ b/prerequisites/v03/README.md
@@ -0,0 +1,15 @@
+# DVIDIA graspability v0.3
+
+Authored direct in-reach pickup with pinned PiPER drives, rigid object proxies and privileged native observations. Shape, explicit load and mounted-tool conditions are diagnostic controls. No learned skill, tool detachment, retrieval or hardware qualification.
+
+Three rigid shapes, explicit 30 g and 300 g loads, and mounted versus absent rake conditions. Tool-free means absent from reset: no in-flight detachment or retrieval is simulated. A 30 g shoe-shaped control is not a physical shoe mass measurement.
+
+All attempts and dense contact traces are retained, including failures. The independent score requires 500 ms continuous bilateral finger contact, object-origin rise >=35 mm from the initial verified settled state, and no world, rake or non-finger robot support.
+
+Serve this folder using `python -m http.server 8000`. Browser visualization replays recorded poses; fresh physics runs through Python.
+
+Reproduce from the exact source commit, install `.[arm]`, fetch assets using `dvidia-robot-sim fetch piper --output robot-assets`, then run `dvidia-graspability-benchmark --assets robot-assets --output fresh-results --split heldout`.
+
+Pinned model gains are not measured hardware calibration. Collision geometry is a rigid approximation. CPU-only native benchmark; WebGL2 replay. Minimum RAM and real robot transfer are not established.
+
+DVIDIA code and original synthetic object primitives: MIT. Robot, Three.js and font notices retained. No trademark rights are granted.
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+}
diff --git a/prerequisites/v03/licenses/agilex_piper/LICENSE b/prerequisites/v03/licenses/agilex_piper/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..1ace5a240f199be4ae0567bed99051213893345c
--- /dev/null
+++ b/prerequisites/v03/licenses/agilex_piper/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 RosenYin
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/prerequisites/v03/licenses/agilex_piper/README.md b/prerequisites/v03/licenses/agilex_piper/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..7a300b81e0556b580ed4e4942bf0aaa9c90944a8
--- /dev/null
+++ b/prerequisites/v03/licenses/agilex_piper/README.md
@@ -0,0 +1,39 @@
+## AgileX PiPER Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.4 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+### Overview
+
+This package contains a simplified robot description (MJCF) of the [AgileX PiPER](https://global.agilex.ai/products/piper). It is derived from the publicly available [model](https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha/src/piper_description/urdf).
+
+<p float="left">
+  <img src="piper.png" width="400">
+</p>
+
+### Derivation steps
+
+1.  Added `<mujoco> <compiler balanceinertia="true" discardvisual="false"/> </mujoco>` to the URDF's
+   `<robot>` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Converted the the .objs to .xmls using [obj2mjcf](https://github.com/kevinzakka/obj2mjcf) and replaced the original stls with them (since each obj in mujoco can have 1 color).
+4. Merged similar materials between the .objs
+5. Created a `<default>` section to define common properties for joints, actuators, and geoms.
+6. Added an equality constraint so that the right finger mimics the position of the left finger.
+7. Manually designed box collision geoms for the gripper.
+8. Added `exclude` clause to prevent collisions between `base_link` and `link1`.
+9. Added position controlled actuators.
+10. Added `impratio=10` and `cone=elliptic` for better noslip.
+11. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under an [MIT License](LICENSE).
+
+## Acknowledgement
+
+This model was graciously contributed by [Omar Rayyan](https://orayyan.com/).
diff --git a/prerequisites/v03/protocol.json b/prerequisites/v03/protocol.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab26f25f1fa65eb90c7a2694daeb03987b5a83cc
--- /dev/null
+++ b/prerequisites/v03/protocol.json
@@ -0,0 +1,454 @@
+{
+  "schema": "dvidia.graspability/v3",
+  "split": "heldout",
+  "fixture_sha256": "c33ef6991379fda77d6084931d2b4b3665830ffa448f9ea403a65d2c37b757a3",
+  "cohort": "fresh-layout-factorial-v03",
+  "attempts": [
+    {
+      "id": "grasp-fresh-01-light-easy-block-mounted",
+      "task": "in-reach-graspability",
+      "policy": "shared-v03",
+      "case": {
+        "id": "grasp-fresh-01-light",
+        "replicate_id": "grasp-fresh-layout-01",
+        "load_band": "lightweight-control",
+        "mass": 0.03,
+        "object_x": 0.391,
+        "object_y": -0.113,
+        "friction": 0.54,
+        "object_shape": "easy-block",
+        "tool_condition": "mounted",
+        "split": "heldout"
+      }
+    },
+    {
+      "id": "grasp-fresh-01-light-easy-block-absent",
+      "task": "in-reach-graspability",
+      "policy": "shared-v03",
+      "case": {
+        "id": "grasp-fresh-01-light",
+        "replicate_id": "grasp-fresh-layout-01",
+        "load_band": "lightweight-control",
+        "mass": 0.03,
+        "object_x": 0.391,
+        "object_y": -0.113,
+        "friction": 0.54,
+        "object_shape": "easy-block",
+        "tool_condition": "absent",
+        "split": "heldout"
+      }
+    },
+    {
+      "id": "grasp-fresh-01-light-simplified-shoe-mounted",
+      "task": "in-reach-graspability",
+      "policy": "shared-v03",
+      "case": {
+        "id": "grasp-fresh-01-light",
+        "replicate_id": "grasp-fresh-layout-01",
+        "load_band": "lightweight-control",
+        "mass": 0.03,
+        "object_x": 0.391,
+        "object_y": -0.113,
+        "friction": 0.54,
+        "object_shape": "simplified-shoe",
+        "tool_condition": "mounted",
+        "split": "heldout"
+      }
+    },
+    {
+      "id": "grasp-fresh-01-light-simplified-shoe-absent",
+      "task": "in-reach-graspability",
+      "policy": "shared-v03",
+      "case": {
+        "id": "grasp-fresh-01-light",
+        "replicate_id": "grasp-fresh-layout-01",
+        "load_band": "lightweight-control",
+        "mass": 0.03,
+        "object_x": 0.391,
+        "object_y": -0.113,
+        "friction": 0.54,
+        "object_shape": "simplified-shoe",
+        "tool_condition": "absent",
+        "split": "heldout"
+      }
+    },
+    {
+      "id": "grasp-fresh-01-light-current-shoe-mounted",
+      "task": "in-reach-graspability",
+      "policy": "shared-v03",
+      "case": {
+        "id": "grasp-fresh-01-light",
+        "replicate_id": "grasp-fresh-layout-01",
+        "load_band": "lightweight-control",
+        "mass": 0.03,
+        "object_x": 0.391,
+        "object_y": -0.113,
+        "friction": 0.54,
+        "object_shape": "current-shoe",
+        "tool_condition": "mounted",
+        "split": "heldout"
+      }
+    },
+    {
+      "id": "grasp-fresh-01-light-current-shoe-absent",
+      "task": "in-reach-graspability",
+      "policy": "shared-v03",
+      "case": {
+        "id": "grasp-fresh-01-light",
+        "replicate_id": "grasp-fresh-layout-01",
+        "load_band": "lightweight-control",
+        "mass": 0.03,
+        "object_x": 0.391,
+        "object_y": -0.113,
+        "friction": 0.54,
+        "object_shape": "current-shoe",
+        "tool_condition": "absent",
+        "split": "heldout"
+      }
+    },
+    {
+      "id": "grasp-fresh-01-reference-easy-block-mounted",
+      "task": "in-reach-graspability",
+      "policy": "shared-v03",
+      "case": {
+        "id": "grasp-fresh-01-reference",
+        "replicate_id": "grasp-fresh-layout-01",
+        "load_band": "reference-load",
+        "mass": 0.3,
+        "object_x": 0.391,
+        "object_y": -0.113,
+        "friction": 0.54,
+        "object_shape": "easy-block",
+        "tool_condition": "mounted",
+        "split": "heldout"
+      }
+    },
+    {
+      "id": "grasp-fresh-01-reference-easy-block-absent",
+      "task": "in-reach-graspability",
+      "policy": "shared-v03",
+      "case": {
+        "id": "grasp-fresh-01-reference",
+        "replicate_id": "grasp-fresh-layout-01",
+        "load_band": "reference-load",
+        "mass": 0.3,
+        "object_x": 0.391,
+        "object_y": -0.113,
+        "friction": 0.54,
+        "object_shape": "easy-block",
+        "tool_condition": "absent",
+        "split": "heldout"
+      }
+    },
+    {
+      "id": "grasp-fresh-01-reference-simplified-shoe-mounted",
+      "task": "in-reach-graspability",
+      "policy": "shared-v03",
+      "case": {
+        "id": "grasp-fresh-01-reference",
+        "replicate_id": "grasp-fresh-layout-01",
+        "load_band": "reference-load",
+        "mass": 0.3,
+        "object_x": 0.391,
+        "object_y": -0.113,
+        "friction": 0.54,
+        "object_shape": "simplified-shoe",
+        "tool_condition": "mounted",
+        "split": "heldout"
+      }
+    },
+    {
+      "id": "grasp-fresh-01-reference-simplified-shoe-absent",
+      "task": "in-reach-graspability",
+      "policy": "shared-v03",
+      "case": {
+        "id": "grasp-fresh-01-reference",
+        "replicate_id": "grasp-fresh-layout-01",
+        "load_band": "reference-load",
+        "mass": 0.3,
+        "object_x": 0.391,
+        "object_y": -0.113,
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+        "object_shape": "simplified-shoe",
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+      "task": "in-reach-graspability",
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+      "task": "in-reach-graspability",
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+    {
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+      "task": "in-reach-graspability",
+      "policy": "shared-v03",
+      "case": {
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+        "replicate_id": "grasp-fresh-layout-02",
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+    {
+      "id": "grasp-fresh-02-reference-current-shoe-absent",
+      "task": "in-reach-graspability",
+      "policy": "shared-v03",
+      "case": {
+        "id": "grasp-fresh-02-reference",
+        "replicate_id": "grasp-fresh-layout-02",
+        "load_band": "reference-load",
+        "mass": 0.3,
+        "object_x": 0.429,
+        "object_y": -0.071,
+        "friction": 0.91,
+        "object_shape": "current-shoe",
+        "tool_condition": "absent",
+        "split": "heldout"
+      }
+    }
+  ],
+  "criteria": {
+    "native_dt_s": 0.002,
+    "policy_dt_s": 0.02,
+    "initial_settle_s": 0.4,
+    "reference_window_s": 0.1,
+    "reference_axis_range_max_m": 0.001,
+    "reference_scope": "At the fixed 0.4 s native timestamp, the previous 50 ticks must each show world normal force >0.01 N and aggregate robot/tool normal force <0.01 N, with range <=1 mm on each position axis. The reference height is read from the native trace, never trusted from an event coordinate.",
+    "final_retention_s": 0.5,
+    "final_retention_ticks": 250,
+    "relative_origin_lift_min_m": 0.035,
+    "finger_force_min_n": 0.01,
+    "support_force_max_n": 0.01,
+    "height_scope": "Object body-origin rise >=35 mm from the verified settled reference, on every final native tick. Actual lowest collision-surface height is an additional diagnostic and does not replace the fixed criterion.",
+    "support_scope": "Both finger normal forces >0.01 N; world, tool and other-robot normal forces each <0.01 N during the final 500 ms. Synthetic evidence thresholds, not calibrated hardware limits.",
+    "abort_scope": "All planned attempts remain in the denominator. A recorded physical abort, short run or unsettled initialization cannot pass. Corrupt or incomplete native evidence is invalid and also cannot pass. No outcome-dependent exclusion or private retry."
+  },
+  "design": "Direct in-reach pickup, crossing three object shapes, two explicit loads, two tool states and two fresh layout/friction replicates: 24 confirmation attempts. A single fixed authored controller uses a declared geometry-aware grasp-position rule. Layout and friction vary jointly between the two deterministic replicates; these are not random population samples or confidence-interval estimates. Development uses one separate known layout crossed with the same two loads, three shapes and two tool states.",
+  "comparison": "Within each layout and load, object mass, friction, spawn position, robot actuators and control settings are matched across all six shape/tool cells. Load pairs share the same layout and friction. Changing shape necessarily changes contact geometry and inertia; removing the mounted rake changes wrist mass/inertia as well as clearance. Tool absence is a morphology ablation, not successful tool detachment. Report shape \u00d7 load \u00d7 tool results separately; never present easy-object lifts as shoe-skill success.",
+  "cohort_access": "The independent evaluator seals the fresh parameter cases before the final controller is frozen. Controller tuning may use development only. Do not inspect or execute fresh cases until a source freeze is recorded. After the first evaluation these cases are known regressions; rerunning them does not create new confirmation evidence.",
+  "scope": "Authored direct-pickup diagnostic with privileged native observations, assumed rigid-object contact properties and pinned simulation actuators. No retrieval, learned policy, tool acquisition, deformable shoe, physical grip-capacity measurement or hardware-transfer claim. Frozen v02 retrieval results remain separate regressions and are not pooled into this study.",
+  "source_commit": "73057dc259c6a19344906f4a43a283553e17ade0",
+  "implementation_sha256": {
+    "graspability.py": "735239a7071cbfd3258d09f260bb2bd82b7a0a4577013cae594bfb8542ea03ee",
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+    "graspability_protocol_v03.json": "c33ef6991379fda77d6084931d2b4b3665830ffa448f9ea403a65d2c37b757a3",
+    "graspability_benchmark.py": "47687b0a214140d16cb29611b7f933945398cf4ba82064dfa58b30cbef4f2308",
+    "workstation.py": "2a6aa6686b5b273efcfb21156952df8ceca88d991674cd17df92f2dccc11b701",
+    "asset_library.py": "12520ca13b7806004be37a0d7e0d1e023c90410c1eba899296fdcd5b28fdc7f7",
+    "asset_catalog.json": "592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7",
+    "robot_profiles.py": "fb90782a6a9979e282182118ae0e3e29d00f101255cc57378dd3f692672bb13d",
+    "robot_profiles.lock.json": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
+    "prerequisite_benchmark.py": "c78efb24263300c56f50413aa65333e4fbf1b99403aa816de9bf4cb5656a3811",
+    "asset_preview.py": "12f4806162504a3c8773b10b516d6b7abb05f670a1f5817be144ea98fc1d25d8",
+    "reference_sim.py": "c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8",
+    "graspability_lab.html": "259c497a5ec94cfdfe2cfaab51ea1715211aba5c6d2d5e85fd77104d72439c09",
+    "graspability_lab.js": "fd177706cb5222076fecd7ae66238c1e1523c0a262d84bcad411ef9bacc11d3f",
+    "graspability_lab.bundle.js": "0f8fc4eec45a9da5ff1b4c8bc18b89457273065cab13728b267374eef6aa610d"
+  }
+}
diff --git a/prerequisites/v03/reference_replay.third-party.txt b/prerequisites/v03/reference_replay.third-party.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90689e3bf3feb75cb7e7fb0e72cd389e508c35a5
--- /dev/null
+++ b/prerequisites/v03/reference_replay.third-party.txt
@@ -0,0 +1,26 @@
+DVIDIA self-hosted reference replay
+
+Three.js 0.180.0 and OrbitControls
+https://github.com/mrdoob/three.js/tree/r180
+
+The MIT License
+
+Copyright © 2010-2025 three.js authors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
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