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    "robot_profiles.lock.json": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe"
  },
  "teacher_config": {
    "gate_offset_s": 0.16,
    "minimum_pad_force_n": 0.2,
    "secure_dwell_s": 0.1,
    "maximum_relative_drift_m": 0.002,
    "acquisition_only": true
  },
  "post_grip_parameters": {
    "force_threshold_n": 0.1,
    "lift_threshold_m": 0.065,
    "eligibility_dwell_s": 0.1,
    "delay_s": 0.1,
    "pulse_duration_s": 0.04,
    "minimum_opening_m": 0.02
  },
  "roster": {
    "seed": 273031,
    "groups": {
      "train": 16,
      "development": 8,
      "confirmation": 32
    },
    "rounding_decimals": 6,
    "minimum_group_distance_m": 0.00075,
    "historical_exclusions_xy_m": [
      [
        0.284,
        -0.045
      ],
      [
        0.284,
        -0.035
      ],
      [
        0.284,
        -0.025
      ],
      [
        0.284,
        -0.015
      ],
      [
        0.285,
        -0.044
      ],
      [
        0.285,
        -0.034
      ],
      [
        0.285,
        -0.024
      ],
      [
        0.285,
        -0.016
      ],
      [
        0.286,
        -0.031
      ],
      [
        0.287,
        -0.032
      ],
      [
        0.289,
        -0.04
      ],
      [
        0.289,
        -0.02
      ],
      [
        0.29,
        -0.039
      ],
      [
        0.29,
        -0.019
      ],
      [
        0.291,
        -0.018
      ],
      [
        0.292,
        -0.017
      ],
      [
        0.294,
        -0.045
      ],
      [
        0.294,
        -0.035
      ],
      [
        0.294,
        -0.025
      ],
      [
        0.294,
        -0.015
      ],
      [
        0.295,
        -0.044
      ],
      [
        0.295,
        -0.034
      ],
      [
        0.295,
        -0.024
      ],
      [
        0.295,
        -0.016
      ],
      [
        0.298,
        -0.042
      ],
      [
        0.299,
        -0.041
      ],
      [
        0.302,
        -0.027
      ],
      [
        0.303,
        -0.028
      ],
      [
        0.304,
        -0.045
      ],
      [
        0.304,
        -0.035
      ],
      [
        0.304,
        -0.025
      ],
      [
        0.304,
        -0.015
      ],
      [
        0.305,
        -0.044
      ],
      [
        0.305,
        -0.034
      ],
      [
        0.305,
        -0.024
      ],
      [
        0.305,
        -0.016
      ],
      [
        0.306,
        -0.021
      ],
      [
        0.307,
        -0.022
      ],
      [
        0.309,
        -0.04
      ],
      [
        0.309,
        -0.02
      ],
      [
        0.31,
        -0.039
      ],
      [
        0.31,
        -0.019
      ],
      [
        0.311,
        -0.038
      ],
      [
        0.312,
        -0.037
      ],
      [
        0.313,
        -0.044
      ],
      [
        0.313,
        -0.034
      ],
      [
        0.313,
        -0.024
      ],
      [
        0.313,
        -0.016
      ],
      [
        0.314,
        -0.045
      ],
      [
        0.314,
        -0.035
      ],
      [
        0.314,
        -0.025
      ],
      [
        0.314,
        -0.015
      ]
    ],
    "case_pairing": "Both goals and both conditions in each whole-XY split; conditions share reset seed."
  },
  "training": {
    "episodes": 64,
    "label": "Actual causal pre-issue teacher progress increment: 0 or .02 seconds.",
    "hold_weight": 20.0,
    "advance_weight": 1.0,
    "selection": "Every finite prefix, without outcome filtering.",
    "candidate_recipes": {
      "full4": {
        "blind": false,
        "max_depth": 4,
        "min_leaf": 64,
        "max_bins": 31
      },
      "full6": {
        "blind": false,
        "max_depth": 6,
        "min_leaf": 64,
        "max_bins": 31
      },
      "blind4": {
        "blind": true,
        "max_depth": 4,
        "min_leaf": 64,
        "max_bins": 31
      },
      "blind6": {
        "blind": true,
        "max_depth": 6,
        "min_leaf": 64,
        "max_bins": 31
      }
    }
  },
  "analysis": {
    "primary_denominator": "All scheduled attempts; invalid/aborted/acquisition failures remain failures.",
    "nonactivation": "Score observed strict outcome; do not discard or automatically fail an unactivated condition.",
    "primary_contrasts": [
      "clock-minus-blind_clock",
      "clock-minus-fixed"
    ],
    "independent_unit": "Whole initial-XY group; four paired goal/condition cases.",
    "confirmation_groups": 32,
    "cases_per_variant": 128,
    "scheduled_confirmation_attempts": 512,
    "interval": "Mean group difference \u00b1 t(.9875,31)*sampleSD(group difference)/sqrt(32).",
    "t_critical": 2.3555682821598367,
    "simultaneous_coverage": 0.95,
    "comparison_interval_coverage": 0.975,
    "minimum_mean_benefit": 0.1,
    "lower_interval_bound_must_exceed": 0.0,
    "nominal_difference_floor": -0.05,
    "critical_contact_attempt_increase_allowed": 0,
    "invalid_or_aborted_allowed": 0,
    "post_grip_effective_fraction_for_recovery_interpretation": 0.75,
    "full_step_over_20ms_fraction_limit": 0.01,
    "status": "Exploratory; no adequate-power, hardware qualification or general recovery claim."
  },
  "strict_endpoint": "Unchanged v0.1/v0.2 native lift/carry/retention/release/settling scorer; no relaxed recovery endpoint.",
  "physical_robot_ready": false,
  "limitations": [
    "Exploratory simulation-only comparison; 32 independent XY groups do not establish adequate statistical power.",
    "Synthetic direct hold/advance labels and privileged simulator sensing, not human videos or camera learning.",
    "Jaw architecture is declared and hash-bound separately; physical-jaw and coordinated-reference studies are not pooled.",
    "Blind clock masks only its live clock inputs; it has the same declared path/jaw architecture as the full clock.",
    "Acquisition-only teacher releases its wait latch once; this is not continuous learned grip recovery.",
    "Same rigid 40 g block, two known destinations and narrow PiPER start envelope; no physical robot qualification.",
    "Simulator computation timing excludes camera, communication and physical actuators; no hard real-time guarantee.",
    "All seven frozen v0.1 raw references, including the learned base jaw reference, share virtual progress; no v0.2 jaw adapter."
  ]
}