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+  "experiment_id": "v179_global_semantic_b64_large66_r2_20260822",
+  "purpose": "Test whether the old 12-episode ObjectNav conclusion was dominated by small-sample instability.",
+  "frozen_protocol": "nav3r-hm3d-objectnav-mtu3d-ggf/v16",
+  "selection": {
+    "path": "runtime/staging/v179_global_semantic_b64_large_objectnav_20260822/selection_large66_v16_compatible.json",
+    "file_sha256": "3b83f0df74191430b0377a139868101ef685ce4b034e919e0f6ab34281a59515",
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+    "identity_overlap_with_original_12": 0,
+    "scene_overlap_with_original_12": 5,
+    "maximum_start_navmesh_snap_m": 0.0001,
+    "note": "All 66 identities are new and satisfy the unchanged v16 <=0.1mm start/navmesh gate. Selection used category round-robin and scene-count balancing on frozen metadata only. Results will be stratified by the 5 overlapping versus 8 non-overlapping scenes."
+  },
+  "groups": [
+    "mtu3d_baseline",
+    "global_semantic_b64_seed42",
+    "global_semantic_b64_seed123",
+    "global_semantic_b64_seed777"
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+    "SR@0.10m",
+    "SPL@0.10m",
+    "SR@0.25m",
+    "SoftSPL",
+    "final_DTG_m"
+  ],
+  "analysis": [
+    "same-episode paired deltas",
+    "three-seed macro average",
+    "episode bootstrap confidence interval",
+    "scene-cluster bootstrap confidence interval",
+    "overlapping-scene versus new-scene strata",
+    "rescue/harm counts at both success thresholds"
+  ],
+  "analysis_code_sha256": "a87e6ead829a92f93e193d47fedcad5e6ae58407f3a8269612dd55854b16f553",
+  "interpretation_rule": "A positive conclusion requires directionally positive three-seed mean SR@0.10 and no material SR@0.25 regression; all uncertainty intervals and seed heterogeneity must be reported without post-hoc threshold changes.",
+  "videos_required": true,
+  "formal_validation_touched": true
+}
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+  "selection_mode": "deterministic_scene_balanced_v16_compatible",
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+    "bed": 11,
+    "chair": 11,
+    "plant": 11,
+    "sofa": 11,
+    "toilet": 11,
+    "tv_monitor": 11
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+    "4ok3usBNeis": 6,
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+  "evaluation_uses_all_official_goal_viewpoints": true,
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diff --git a/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_analysis.json b/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_analysis.json
new file mode 100644
index 0000000000000000000000000000000000000000..3502c3a78dc9794b3486edba1cdc6f886b92ce5f
--- /dev/null
+++ b/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_analysis.json
@@ -0,0 +1,2831 @@
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+  "interpretation_boundary": "Closed-loop trajectories are paired by episode identity; after action divergence they are outcomes, not same-state counterfactuals."
+}
diff --git a/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_analysis_corrected_mtu3d025_r1.json b/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_analysis_corrected_mtu3d025_r1.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c158f9821569ec04418d97bda1a4e63ad937c97
--- /dev/null
+++ b/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_analysis_corrected_mtu3d025_r1.json
@@ -0,0 +1,2831 @@
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+      "point_branch_active_decisions": 0,
+      "ground_argmax_changed_decisions": 0,
+      "decision_argmax_changed_decisions": 0,
+      "adapter_hashes_from_records": [],
+      "adapter_hashes_from_provenance": [],
+      "expected_adapter_sha256": null,
+      "adapter_hash_matches": true,
+      "stop_count": 60,
+      "follower_failure_count": 4,
+      "video_path_nonempty_count": 66,
+      "goal_coordinates_passed_to_policy_any": false
+    },
+    "seed42": {
+      "episode_count": 66,
+      "decision_count": 404,
+      "point_branch_active_decisions": 404,
+      "ground_argmax_changed_decisions": 49,
+      "decision_argmax_changed_decisions": 0,
+      "adapter_hashes_from_records": [],
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+      "adapter_hash_matches": true,
+      "stop_count": 58,
+      "follower_failure_count": 5,
+      "video_path_nonempty_count": 66,
+      "goal_coordinates_passed_to_policy_any": false
+    },
+    "seed123": {
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+      "decision_count": 401,
+      "point_branch_active_decisions": 401,
+      "ground_argmax_changed_decisions": 27,
+      "decision_argmax_changed_decisions": 0,
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+      "adapter_hashes_from_provenance": [
+        "ae602f9747d02f466926df03c0c0b506764c57e2b47d56e0f4ee0b5a52643526"
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+      "expected_adapter_sha256": "ae602f9747d02f466926df03c0c0b506764c57e2b47d56e0f4ee0b5a52643526",
+      "adapter_hash_matches": true,
+      "stop_count": 61,
+      "follower_failure_count": 3,
+      "video_path_nonempty_count": 66,
+      "goal_coordinates_passed_to_policy_any": false
+    },
+    "seed777": {
+      "episode_count": 66,
+      "decision_count": 398,
+      "point_branch_active_decisions": 398,
+      "ground_argmax_changed_decisions": 17,
+      "decision_argmax_changed_decisions": 0,
+      "adapter_hashes_from_records": [],
+      "adapter_hashes_from_provenance": [
+        "886e454edef9a947fa18b426c0197959af79ac62f42e109974e837ad21673e3c"
+      ],
+      "expected_adapter_sha256": "886e454edef9a947fa18b426c0197959af79ac62f42e109974e837ad21673e3c",
+      "adapter_hash_matches": true,
+      "stop_count": 61,
+      "follower_failure_count": 3,
+      "video_path_nonempty_count": 66,
+      "goal_coordinates_passed_to_policy_any": false
+    }
+  },
+  "interpretation_boundary": "Closed-loop trajectories are paired by episode identity; after action divergence they are outcomes, not same-state counterfactuals."
+}
diff --git a/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_episodes.csv b/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_episodes.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d583ee8b6f943253ee46ff4720035321c26a078
--- /dev/null
+++ b/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_episodes.csv
@@ -0,0 +1,67 @@
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diff --git a/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_episodes_corrected_mtu3d025_r1.csv b/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_episodes_corrected_mtu3d025_r1.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f409ff957dc6e596ff85cccf3d78e3f7b1f7be0
--- /dev/null
+++ b/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_episodes_corrected_mtu3d025_r1.csv
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diff --git a/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_mechanism_audit.json b/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_mechanism_audit.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cde892ea2769c792ff3b9fc76df078bea2cc2c5
--- /dev/null
+++ b/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_mechanism_audit.json
@@ -0,0 +1,868 @@
+{
+  "cross_seed_trajectory_divergence_overlap": {
+    "intersection_all_three_episode_count": 6,
+    "seed123_seed42": {
+      "intersection_episode_count": 12,
+      "jaccard": 0.4,
+      "union_episode_count": 30
+    },
+    "seed123_seed777": {
+      "intersection_episode_count": 9,
+      "jaccard": 0.5,
+      "union_episode_count": 18
+    },
+    "seed42_seed777": {
+      "intersection_episode_count": 7,
+      "jaccard": 0.25,
+      "union_episode_count": 28
+    },
+    "union_episode_count": 30
+  },
+  "interpretation": {
+    "after_first_action_divergence_is_closed_loop_outcome_not_same_state_counterfactual": true,
+    "ground_argmax_audit_is_global_over_all_candidates_not_active_class_only": true,
+    "same_action_prefix_is_same_state": true
+  },
+  "per_seed": {
+    "seed123": {
+      "decision_argmax_changed_count": 0,
+      "decision_count": 401,
+      "episode_count": 66,
+      "follower_failure_count": 3,
+      "frontier_decision_count": 338,
+      "global_ground_argmax_changed_count": 27,
+      "global_ground_argmax_changed_on_frontier_decision_count": 23,
+      "global_ground_argmax_changed_on_object_decision_count": 4,
+      "goal_coordinates_passed_to_policy_any": false,
+      "ground_residual_max_abs_delta": {
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+        "median": 1.808823585510254,
+        "p90": 2.453577995300293
+      },
+      "maximum_follower_endpoint_error": {
+        "budget_truncated": true,
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diff --git a/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_mechanism_audit_corrected_mtu3d025_r1.json b/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_mechanism_audit_corrected_mtu3d025_r1.json
new file mode 100644
index 0000000000000000000000000000000000000000..43f08de02c5da8cd1fa6e0ba30dcaea26df66d0e
--- /dev/null
+++ b/experiments/objectnav_v179_global_semantic_b64_large66/data/v179_large66_mechanism_audit_corrected_mtu3d025_r1.json
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