{
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    ]
  },
  "variants": [
    "learned",
    "teacher",
    "open_jaw",
    "hold",
    "shuffled_labels"
  ],
  "data_grouping": "Complete episodes grouped by exact initial XY; both destinations share the same split.",
  "training_selection": "All teacher attempts retained; only independently successful complete training episodes supply labels.",
  "development": "Checkpoint choices and diagnostics use development cases only; all development trials remain.",
  "confirmation": "Model and protocol hash frozen before these rollouts. No retries or result-based tuning.",
  "timeout_s": 20,
  "control_dt_s": 0.02,
  "timestep_s": 0.001,
  "mass_kg": 0.04,
  "target_novelty": false,
  "start_novelty": true,
  "physical_robot_ready": false,
  "limitations": [
    "Synthetic state/action demonstrations from an authored PiPER controller, not human video or teleoperation.",
    "Learned inference uses privileged simulator joint, TCP, object and contact measurements; no vision pipeline is trained.",
    "Only starting-position interpolation for a 40 g rigid block and two trained destinations is evaluated.",
    "The pinned native servo and rate limiter remain authored low-level control; no teacher, phase machine or IK is called by the student.",
    "Uncalibrated simulated friction, contacts and actuators; no physical robot qualification or other-arm transfer.",
    "Compute latency excludes sensing, camera processing, communication and physical actuation; CPU/GPU minima are not certified."
  ]
}