{
  "schema": "dvidia.continuous-shoe-grip/v2",
  "scope": "Authored PiPER policies in native MuJoCo with synthetic rigid objects and privileged simulator observations. Browser replay uses recorded poses; no learned policy, hardware safety qualification or real-world transfer result.",
  "source": {
    "commit": "af8933994b4626e28a0554abc782ae9d22cff06c",
    "protocol_sha256": "0593b55a937a4157477e4d3e1c911b6958687ef67b23492465a9d0c39e2429e6",
    "mujoco": "3.15.0",
    "robot_assets": {
      "profile": "piper",
      "repository": "https://github.com/google-deepmind/mujoco_menagerie",
      "commit": "0059d4335f8156206f63a35662313385f7ad6d74",
      "files_verified": 90,
      "bytes_verified": 34562302,
      "lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
      "simulation_asset_license": "MIT"
    }
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  "split": "heldout",
  "host": {
    "system": "Darwin",
    "machine": "arm64",
    "python": "3.12.9",
    "compute": "CPU native simulation; no GPU required for benchmark. Browser replay needs WebGL2."
  },
  "learned_policy": false,
  "hardware_validated": false,
  "attempts": [
    {
      "id": "fresh-01-baseline",
      "task": "tool-reach",
      "policy": "baseline",
      "case": {
        "id": "fresh-01",
        "shoe_x": 0.698,
        "shoe_y": -0.067,
        "mass": 0.16,
        "friction": 0.38,
        "tool_length": 0.335,
        "lateral_error": 0.012,
        "split": "heldout",
        "rationale": "Light, low-friction shoe with a small alignment offset."
      },
      "valid": true,
      "success": false,
      "metrics": {
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        "grasp_attempted": true,
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    {
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        "claim_scope": "strict",
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    {
      "id": "fresh-09-baseline",
      "task": "tool-reach",
      "policy": "baseline",
      "case": {
        "id": "fresh-09",
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        "split": "heldout",
        "rationale": "Tool cannot get behind the far edge; deferral is appropriate."
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        "rationale": "Farther shoe with insufficient tool length; deferral control."
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        "deferral_requested": true,
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        "scope": "Synthetic continuous-retention scoring. No injury threshold, physical safety or learned policy claim.",
        "loss_episodes": [],
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        "sustained_losses_without_detection": 0,
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        "unmatched_recovery_request_count": 0,
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        "detection_scope": "Independent native scoring-condition loss after 100 ms acquisition. Recovery request and first issued native control packet are separate; packet issuance does not establish changed target, physical stopping or successful recovery. Planned releases can also break this condition, so uncovered episodes are not certified missed alarms. Unmatched events may use another conservative predicate; they are not automatically false alarms. Times exclude sensor/transport latency and hardware stopping time.",
        "claim_scope": "strict",
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      "controller_reported_success": false,
      "scored_outcome": "tool_cannot_reach_far_edge",
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        "model": "trials/fresh-10-recovery.model.json",
        "motion": "trials/fresh-10-recovery.motion.json"
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    {
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      "comparison_scope": "Same mounted rake, robot and shoe physics; authored controller change."
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    {
      "task": "tool-reach",
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      "same_compiled_model": true,
      "comparison_scope": "Same mounted rake, robot and shoe physics; authored controller change."
    },
    {
      "task": "tool-reach",
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      "same_compiled_model": true,
      "comparison_scope": "Same mounted rake, robot and shoe physics; authored controller change."
    },
    {
      "task": "tool-reach",
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      "same_compiled_model": true,
      "comparison_scope": "Same mounted rake, robot and shoe physics; authored controller change."
    },
    {
      "task": "tool-reach",
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      "same_compiled_model": true,
      "comparison_scope": "Same mounted rake, robot and shoe physics; authored controller change."
    },
    {
      "task": "tool-reach",
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      "same_compiled_model": true,
      "comparison_scope": "Same mounted rake, robot and shoe physics; authored controller change."
    },
    {
      "task": "tool-reach",
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      "comparison_scope": "Same mounted rake, robot and shoe physics; authored controller change."
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    {
      "task": "tool-reach",
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      "same_compiled_model": true,
      "comparison_scope": "Same mounted rake, robot and shoe physics; authored controller change."
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    {
      "task": "tool-reach",
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      "comparison_scope": "Same mounted rake, robot and shoe physics; authored controller change."
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    {
      "task": "tool-reach",
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      "comparison_scope": "Same mounted rake, robot and shoe physics; authored controller change."
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  "timing_scope": "Native wall time includes model setup and recording. Export/audit timing is separate; no camera, network or hardware latency."
}